关键词： Actuators   Polymers   Soft robotics   Surface cracks   Temperature measurement   Surface treatment   Pneumatic systems  

摘要： Healable soft robotic systems have been developed by constructing flexible membranes out of Diels-Alder (DA) polymer networks. In these components, relatively large amounts of damage, on the centimeter scale, can be healed, provided that the temperature is increased to 80-90 degrees C. This article presents a new DA polymer network that can heal at room temperature through a smart design of the network that increases the molecular mobility in the material. This new material is used to develop the first healable soft robotic prototype that can autonomously recover from severe, realistic damage. The soft pneumatic hand can recover from various types of injuries, including being cut completely in half, without the need for a temperature increase. After healing, the performance of the soft robotic prototype is recovered.

关键词： actuators   graphene   hydrogels   soft robotics  

摘要： Hydrogels are biocompatible soft materials that resemble biological tissues more than any other material. However, the use of these systems in soft robotics has been limited to aqueous environments. In the work published to date, hydrogels have relied on external water to swell or shrink in response to stimuli and, therefore, to actuate macroscopically. In the work reported here, this limitation is overcome by synthesizing a novel type of electroactive hydrogels capable of actuating when a low electric field is applied, even outside water. The bending actuation of these materials is caused by the movement of solvated ions within the hydrogel, which generates a concentration gradient, making it possible to use them directly in ambient-air conditions. A mathematical model for this behavior is proposed. Issues like resistive heating and material drying are addressed by preparing graphene hybrid hydrogels and by using hygroscopic salts. Two applications are presented as a demonstration of the capabilities of these hydrogels: a soft gripper with two continuum actuators and a soft fingertip capable of changing its volume and stiffness. In addition, the possibility of fabrication by 3D printing technologies enhances the applicability of these promising materials, thus paving the way for innovative developments.

关键词： 船舶运动控制   航迹保持控制   间接式控制   机器人学   闭环增益成形算法   carrot following算法  

摘要： Carrot following是一种间接式航迹保持算法,它找到期望航向后只使用简单的比例控制,因此航迹保持控制效果较差,为了在保持原方法简洁性的同时改善船舶的航迹保持效果,本文通过引入闭环增益成形算法对其控制率做了改进。间接式航迹保持控制能够使相关成果简单迁移到航迹保持问题中。仿真结果表明:所提出的间接式控制方法能够实现船舶的航迹保持,仿真下的稳态误差小于5 m,而航向保持中的许多技巧在航迹保持中依然适用。本文所提方法简洁有效,具有推广价值。

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关键词： Inspection   Probes   Service robots   Wireless fidelity   Hardware   Oscilloscopes   Electromagnetic acoustic transducer   non-destructive evaluation   wireless   acquisition system   robotics  

摘要： The deployment of transducers to perform in situ inspections of industrial components can be complicated, and in many cases is still performed manually by a team of operators, which involves significant costs and can be dangerous. Robots capable of deploying probes in difficult to access locations are becoming available. Electromagnetic acoustic transducers (EMAT) are well suited to be used with robots since they are non-contact transducers that do not require a coupling medium, and can easily perform scans. However, existing acquisition systems for EMATs are generally not suitable to be directly mounted on robots. In this paper, a new wireless acquisition system for EMATs is presented. The system is standalone, it transmits the inspection data over WiFi, and is compatible with the robotics operating system (ROS). In addition, it is designed to be modular, small and lightweight so that it can be easily mounted on robots. The system design in terms of hardware and software is described in this paper. The resulting performance of the system is also reported.

关键词： 球形机器人   玻璃纤维增强聚合物(GFRP)   球壳结构   渐进损伤   动力学响应  

摘要： 球形机器人工作过程中受到的低速冲击能够对其内部装置与运行精度产生重大威胁。针对球形机器人的玻璃纤维增强聚合物(GFRP)薄壁球壳结构可能受到的大变形动载作用,进行GFRP球壳的低速冲击损伤研究,分为试验和仿真两个方面,通过不同冲击速度的低速冲击试验与准静态压缩试验得出GFRP球壳的动力学响应及剩余承载力,并且基于Hashin准则建立球壳的复合结构渐进损伤仿真模型,阐明其在不同冲击速度下的应力分布、结构变形模式和能量耗散机制。研究结果再现了球形机器人球壳在严苛环境下发生变形与侵彻贯穿的情况,得到了球壳发生侵彻贯穿的临界冲击速度范围,对高性能球形机器人的研制及其精准控制的实现有着极为重要的意义。

关键词： 机器人学   工程学   营养需求   澳大利亚   墨尔本  

摘要： 博特伦兄弟从澳大利亚墨尔本搬到美国之后,就爱上了工程学与机器人学--并立下了满足世界营养需求的远大目标。抵达加州之后不到十年,他们共同创办了一点一农业科技公司,以及威洛--他们直接面对消费者的健康与生活方式的品牌。

关键词： 阿西莫夫   人工智能技术   技术伦理   机器人学   科幻小说   技术异化   乐观主义者   技术创新  

摘要： 著名的科幻作家阿西莫夫研究了以往机器人题材的科幻小说,总结出机器人学三定律:第一定律提出,机器人不得伤害人,也不得见人受到伤害而袖手旁观;第二定律明确,机器人应服从人的一切命令,但不得违反第一定律;第三定律指出,机器人应保护自身的安全,但不得违反第一、二定律。一些技术乐观主义者认为,有了机器人学三定律,人类对技术创新特别是人工智能技术创新安全性问题的担忧就可以打消了。然而,他们对技术异化的警惕性远远不够。

关键词： 创新实践   机器人竞赛   案例分析   创新创业  

摘要： 为了培养大学生的创新实践能力、理论知识应用能力、动手能力和协作精神,中国科学技术大学积极组织学生参加机器人竞赛。该文参考中国科学技术大学RoboGame机器人大赛的历史及现状,对2019年机器人大赛进行案例分析,对赛事背景、主题规则、比赛特点等进行梳理与总结,以期为其他高校大学生机器人赛事的组织与发展提供借鉴与参考,培养更多优秀的创新创业人才。

关键词： 学科竞赛   机器人   智慧课堂  

摘要： 机器人创新设计课程教学改革是为学生提供一种模拟机器人竞赛项目运行的机制和环境,依托学科竞赛和智慧课堂优化课程教学内容,让学生在学习项目的运作流程和管理方法过程中,提升实践技能和综合创新能力。