关键词： Defects  

摘要： This work presents a process for automated end-to-end inspection of area defects-specifically spalls and delaminations-in RC bridges. The process uses a mobile robotic platform to collect three-dimensional (3D) spatial data via lidar, and visual defect data via visible and infrared spectrum cameras. A convolutional neural network (CNN) is implemented to automatically make pixelwise predictions about the presence of defects in the images. Simultaneous localization and mapping is employed to fuse 3D lidar data with labeled images to generate a colorized and semantically labeled 3D map of a structure. Using this 3D map, a procedure was developed to automatically quantify the delamination and spall areas. This procedure was validated on a concrete bridge, and results showed that the automated defect quantification inspection process is feasible to detect and quantify both spalls and delaminations. Error rates in the physical scale of defect areas when using ground truth-labeled versus CNN-labeled images were similar to the corresponding pixel error rates between ground truth and CNN labels in the image domain. The central contribution of this paper is an objective, repeatable, and reference-free approach to area defect quantification from images collected in unstructured environments using a mobile platform.

关键词： 并联机器人   影响系数矩阵   性能图谱  

摘要： 本文提出了一种含可预紧虎克铰铰链的新型3-R2H2S并联机器人。在其结构简化和一阶影响系数矩阵分析的基础上,将二阶影响系数矩阵引入全域性能指标中。通过设置不同的结构参数,对3-R2H2S并联机构进行速度和惯性力指标分析,讨论了在可达工作空间内机构尺寸变化对机构性能的影响,并绘制相关指标的等高线性能图谱,得到了机构性能的最优组合。该方法为该类型机器人结构优化设计和机构性能分析提供了理论依据。

关键词： 机器人   气动   跳跃   动力学建模  

摘要： 为提高机器人对复杂地形环境的适应能力,提出了一种基于轮式移动和气动跳跃相结合的机器人结构设计和气动跳跃方案;对所提出的气动跳跃方案,进行了动力学建模;通过对模型的参数估计,计算出了机器人气动跳跃的理论高度;利用ADAMS对机器人进行了跳跃过程的运动仿真;制作了所设计的气动轮式跳跃机器人的原型样机,并进行了多次跳跃试验。计算机仿真和跳跃试验的结果与理论计算相吻合,证明了所提出的机器人跳跃方案的可行性。研究成果为设计微型机器人的气动跳跃提供了有益参考。

关键词： 管道机器人   惯性驱动   非圆齿轮   非对称惯性力   行走动力学  

摘要： 针对恶劣管道作业环境,提出了一种由非圆齿轮和双轴偏心块组成的非对称惯性驱动机器人。阐明了同性干摩擦环境中机器人的惯性驱动原理,研究了非圆齿轮偏心率、阶数以及非圆齿轮与偏心块间相位角对惯性力的影响规律,获得了适合同性摩擦条件的非对称惯性力激发原则;通过数值方法求解出水平和倾斜管道中机器人的动力学模型,分析了机器人平均移动速度随系统参数的变化规律。研究结果表明:随机器人与偏心块的质量比和管道倾角(机器人爬坡状态)的增大,机器人移动速度减小;随电机角速度、非圆齿轮偏心率、偏心块回转半径以及管道支承力的增大,机器人移动速度先增大后减小。

关键词： Delta机器人   动力学分析   拉格朗日方程   齐次变换  

摘要： 针对Delta机器人动力学分析问题,通过齐次变换建立机器人运动学方程,求得空间坐标与电机进给之间的关系、连杆与坐标轴之间夹角的大小。在运动学分析的基础上,通过求取系统动能、势能,进而建立拉格朗日方程。通过对拉格朗日方程求偏导,建立动力学方程,进而分析不同变量对系统力矩的影响。通过系统仿真,验证了速度因素、空间位置因素对系统力矩的影响。

关键词： 仿人视觉   卷积神经网络   图像处理与运动规划   赛道识别   自动驾驶  

摘要： 根据仿人视觉机器人竞赛项目的要求,设计并实现基于CNN-PID算法的赛道识别及自主驾驶机器人系统,将机器视觉和运动控制相互融合,采用CSI接口摄像头获取图像信息,运用卷积神经网络处理采集的数据,使用PID算法进行机器人的运动控制。最终测试结果表明:以此方案进行图像处理与运动规划的机器人从启动区开始运行,经过若干弯道与迷彩地形,均可正确识别赛道并正常驾驶,最后在停止禁入区前减速、停止并击打靶标,顺利完成基于单目视觉的智能驾驶、定点停止和击打动作的任务要求,具有较强的稳定性与可拓展性。

关键词： 巡检机器人   Lagrange动力学   动态可操作性椭球(DME)   越障轨迹   动力学评价方法  

摘要： 以新设计的输电线巡检机器人为具体研究对象,采用D-H法推导出机器人的雅可比矩阵;然后建立输电线巡检机器人的Lagrange动力学模型,进而依据机器人动力学模型求得输电线巡检机器人的操作臂惯性矩阵,提出了基于操作臂惯性矩阵所建立的机器人动力学评价指标:动态可操作性椭球(DME:dynamic operability ellipsoid)评价指标;最后结合逆运动学的反解,建立了不同空间轨迹坐标下的动态可操作性衡量指标,获得机器人动力学性能最佳的越障轨迹.通过机器人跨越绝缘子障碍的实验证明了所提动力学评价方法的有效性.

关键词： COVID-19  

摘要： The COVID-19 pandemic has resulted in the deaths of hundreds of thousands of people, the unemployment of tens of millions and nearly every industry has been disrupted. This includes the robotics industry, but the long-term future still looks bright as companies change their tactics.

摘要： As the world’s population gradually grows older, more and more adults are experiencing sensory–motor disabilities due to stroke, traumatic brain injury, spinal cord injury and other diseases. People with such disabilities can greatly benefit from the help of robotic technologies. For example, rehabilitation robots can help stroke survivors perform the intensive, repetitive exercises needed for relearning motions, robotic prostheses can replace body parts after amputations, and robotic orthoses and exoskeletons can strengthen body parts that have been permanently weakened by disease. Together, all these technologies thus have the potential to greatly improve quality of life for people with *** first paper, by Huang et al. [1], presents a novel wheelchair robot with attached leg exoskeletons for leg muscle exercise. The authors implemented an exoskeleton control system based on master–slave control and sensor fusion and conducted experiments to evaluate exercise efficiency with regard to the gluteus medius muscles. As many people with lower leg disabilities use wheelchairs, the proposed technology allows them to maintain mobility while also enabling pedaling exercises that can strengthen the limb and prevent atrophy, thus combining assistive and rehabilitation functions.