关键词： Discrete-time nonlinear optimization   Robot manipulators   Continuous-time zeroing neural dynamics model   Explicit linear multi-step methods   Discrete-time zeroing neural dynamics models  

摘要： In this paper, discrete-time nonlinear optimization (DTNO) for tracking control of robot manipulators is investigated. By utilizing zeroing neural dynamics (ZND) method, a continuous-time ZND (CTZND) model is first proposed for solving the corresponding continuous-time nonlinear optimization (CTNO) problem. Afterwards, three different explicit linear multi-step methods (i.e., explicit linear 3-step, 2-step, and 1 step methods) are respectively presented and investigated. To solve such a DTNO problem, the explicit linear 3-step method is adopted to combine with the CTZND model, and hence a 3-step discrete-time ZND (DTZND) model is proposed. For comparison purposes, 2-step and 1-step DTZND models are also developed. Besides, theoretical analyses indicate the validity and superiority of the proposed 3-step DTZND model. Finally, the numerical experimental results based on a 2-joint robot manipulator and a PUMA560 robot manipulator further verify that the proposed 3-step DTZND model is much superior to the other two DTZND models. (c) 2020 Elsevier B.V. All rights reserved.

摘要： Background Scholars have analyzed the possibilities that robotics-centered learning programs offer, including opportunities for developing collaboratively and engaging in authentic STEM professional practice. This work adds a sociopolitical perspective, explicating a case of a newcomer to a robotics team that elucidates the nuances of in-the-moment social positioning and its enduring impact on youth's participation in afterschool STEM learning environments. Methods Through interaction analysis of three episodes and ethnographic perspectives, participants' contributions to social interaction are analyzed as chronotopes, or spacetime representations, to understand how Denisse's, a young Black and Latinx woman, role as the driver of the team's robot at competitions is collaboratively crafted, building on the feminist tradition of positioning theory. Findings My analysis shows that Denisse is both empowered, through co-production of future decision-making in practice, and disempowered, through the rejection of non-present spacetime storylines at the competition. Further, notions of expertise and ownership are brought to bear on interactions, together with racialized and gendered narratives across the negotiations of the role of the driver to limit Denisse's local social power. Contribution This story shares how representation is not enough for educational justice for minoritized youth and informs how STEM education communities must take on the task, together.

关键词： Agreement   spin   technology   clinical trials   robotics   virtual reality  

摘要： Background: Emerging technologies such as robotics and virtual reality (VR) are being trialled and implemented into physiotherapy practice. As emerging technologies compete for market share, trials on emerging technologies are at risk of spin. For consumers to make informed decisions about whether to use a new technology, trials should accurately portray the results. If spin is present, outcomes may not be comparable to the results reported when interventions are implemented clinically. Objectives: To determine the amount and type of spin in abstracts of physiotherapy clinical trials that use robotic or VR interventions. A secondary objective is to determine the agreement between raters, both experienced and inexperienced, using an existing 7-item checklist with updated item definitions. Methods: We will perform two meta-research reviews on a random set of 100 robotics (study 1) and 100 VR (study 2) trials, from any year, indexed in the PEDro database. Using the updated spin checklist, the abstract of each trial will be assessed in corroboration with full-text. The total spin score and proportion of studies with spin for each item will be reported. Agreement between experienced and inexperienced raters will be determined using kappa statistics. Rater confidence in rating each item will be collected. Discussion: We will identify if spin is present in robotics and VR literature and evaluate if the spin checklist can be confidently and consistently used by raters. We hope this research will facilitate best-practice reporting of research findings so emerging technologies will be implemented with realistic expectation of clinical outcome.

摘要： Place a drop of pond water under the microscope, and you will likely find an ocean of extraordinary and diverse single-celled organisms called ciliates. This remarkable group of single-celled organisms wield microtubules, active systems, electrical signaling, and chemical sensors to build intricate geometrical structures and perform complex behaviors that can appear indistinguishable from those of macroscopic animals. Advances in computer vision and machine learning are making it possible to completely digitize and track the dynamics of complex ciliates and mine these data for the hidden structure, patterns, and motifs that are responsible for their behaviors. By deconstructing the diversity of ciliate behaviors in the natural world, themes for organizing and controlling matter at the microscale are beginning to take hold, suggesting new modular approaches for the design of autonomous molecular machines that emulate nature's finest examples.

关键词： 机器视觉   机器人学   手语识别   人工智能技术   翻译器   海洋开发   MATLAB算法   先进理念  

摘要： 机器人学是将现代科技与传统机械相结合的学科,包括了机器人的设计、生产及运用等各方面的知识内容,传递出了人工智能的先进理念,是对各行业发展及人类社会进步有益的学科,也是当下备受各国重视的热门学科。在这一学科的建设方面,我国起步较晚,与其他国家也存在差异,但经过奋起直追,在相关领域也有了突破。时至今日,我国人工智能技术日臻完善,并得以顺利地将这一技术运用到了不同的行业之中,去解决人类各方面的难题,在海洋开发、危险工作等场景中,都可以见到机器人的身影。

关键词： SCARA机器人   动力学模型   运动学规划   联合仿真  

摘要： 因SCARA机器人具有高精度、高速度的优点,被广泛用于装配和搬运等场合,但是对于机器人电机和减速器的选择上存在一些困难,这就需要对机器人的动力学模型进行研究分析。首先通过MATLAB完成运动学规划,得到机器人各关节的运动关系曲线,然后在三维软件中绘制机器人的真实模型,并运用到ADAMS软件中,结合机器人各关节的运动曲线图完成动力学的仿真,获取各关节执行作业任务时的力矩曲线。通过软件联合仿真法的运用,可以模拟机器人的实际运动状况,又能明显缩短设计周期,为机器人电机和减速器的选择提供帮助。

关键词： 大学学报   日本信州大学   客座研究员   加利福利亚   工程院院士   特邀编委   工学博士   机器人学  

摘要： 1959年生,工学博士,博士生导师,日本国立信州大学( Shinshu University)纤维学部著名教授,日本工程院院士。现任日本信州大学机械/机器人学科学科长,日本材料学会复合材料委员会(JSMS )会长,日本材料学会北陆信越支部支部长;日本复合材料学会(JSCM)终身会员,日本机械学会代表会员,美国加利福利亚大学客座研究员,加拿大卡尔顿大学客座教授。

关键词： 工业机器人   动力学   集成轨迹规划框架   RRT-Connect算法  

摘要： 随着工业机器人应用领域不断扩大,其轨迹规划智能化是大势所趋。本文以工程实际为背景,提出了一个全面和实用的有障碍集成轨迹规划框架,在生成三维无碰撞轨迹的同时,将复杂的动力学因素考虑在内。该框架包含三个阶段,第一阶段为信息输入输出层;第二阶段中,通过C空间高效的RRT-Connect算法,获得一个无碰撞路径,然后对路径进行修剪与光滑操作;第三阶段中,通过动力学优化器,将第二阶段规划好的路径优化成动力学可执行轨迹。最后,通过实验,证明了在复杂障碍环境中,本文所提轨迹规划方法的高效性和实用性。

关键词： 仿生机器人   船足   棘铲   单片机控制   电机控制  

摘要： 针对全国大学生机器人大赛Robtac机器人对抗赛的比赛规则,设计研发了一种四足船足棘铲仿生机器人系统。该系统包括机械机构和控制系统两大部分。采用三维建模软件Solidworks设计了一种新颖的电机可控升抬棘铲机构作为攻击机构,该机构还可作为机器人登上高台时的前支点;并设计了一种新颖的船足电机控制驱动式四足双向行走机构。采用STM32单片机对所设计的机器人车辆进行加速向左转和减速向左转、加速向右转和减速向右转、加速直行和减速直行、加速后退和减速后退等运动控制。采用软件对所设计的船足机器人进行直线往返模拟测试、左转右转模拟测试。模拟测试结果表明:直线前进后退运动灵活,步行速度快,可达到为50 cm/s,比履带式及轮胎式机器人运行速度快;地形适应性强、转弯速度可达到45 cm/s。在2019年全国大学生机器人比赛中获得二等奖的好成绩。

关键词： 机器人   机械手臂   振动分析   ADAMS  

摘要： 本文介绍了一种物料抓取机器人在自动化生产线上的动态特性,对两种机器人机械手臂进行不同参数组合的研究。首先在Solid works软件平台对机械手臂进行三维建模,保存为parasolid(.x_t)文件后导入到ADAMS中生成虚拟样机模型,同时建立动力学仿真模型。其次,通过对机械手臂运动学仿真分析和振动分析,得出每个关节达到指定转速所需力,从而为各关节电机的选型提供依据。最后,通过ADAMS的仿真,可有效预测机器人机械手臂的运动规律和受力变化因素。