关键词： perception knowledge   knowledge-based reasoning   task-motion planning  

摘要： Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots.

关键词： 任务驱动教学法   机器人学课程   应用研究  

摘要： 本文研究任务驱动教学法在机器人应用专题课程教学中的应用。任务驱动教学法是基于学习理论知识基础之上的一种新型的教育教学方法,让学生带着实实在在的任务学习,使学生真正成为学习的主体,教师成为引导者,激发学生的学习兴趣,培养创新思维,提高操作能力,达到教学效果。

关键词： 机器人   青少年   竞赛   北京   科学技术协会   人民政府   科技创造   顺义区  

摘要： 近日,第19届北京青少年机器人竞赛在顺义区牛栏山第一中学正式开赛。竞赛由北京市科学技术协会、北京市顺义区人民政府共同主办,以“诚信伴我成长,科技创造未来”为主题。本届竞赛共有来自全市16区、中国儿童中心、天津、河北的共283支参赛队,797名学生参赛,100名领队、教练,总计约900人参与竞赛。

关键词： 北京市顺义区   机器人竞赛   青少年   科协   科学技术协会   第一中学   人民政府   科技创造  

摘要： 近日,第19届北京青少年机器人竞赛在顺义区牛栏山第一中学正式开赛。竞赛由北京市科学技术协会、北京市顺义区人民政府共同主办,以“诚信伴我成长,科技创造未来”为主题。本届竞赛共有来自全市16区、中国儿童中心、天津、河北的共283支参赛队,797名学生参赛,100名领队、教练,总计约900人参与竞赛。

关键词： 机器人学  

摘要： 所谓智人,历史对其褒贬不一。他们创造了械人,却愚蠢地毁灭在他们自己的造物手中。智人最后的黄昏被称为——巨婴时代。叶麟抬头便看见镜子里映出他棱角分明的脸。他理了理领带,挑起嘴角露出一个标准的微笑,随即迈步走进'主人'的房间。只见房间里摆着一张大床,床边是高高矮矮的各式机器,床上躺着一个……人。这人浑身赤裸,身上的肥肉堆积如山,一根根线连接着他的身体和机器,他的胸膛上下起伏还伴随着呼哧呼哧的声音,似乎喘气对他而言也过于费劲。'

关键词： Abdominoperineal resection   Colectomy   Colon cancer   Low anterior resection   Rectal cancer   Robotic colorectal surgery   Total mesorectal excision  

摘要： Purpose of Review: Despite the growth in laparoscopic surgery, comparable oncological outcomes, and reduced complication rates, the majority of colorectal surgery is still performed via an open approach. Reasons for this may include technical difficulties associated with operating in narrow spaces such as in the pelvis and inadequate experience. Robotic surgery provides potential solutions to some of these challenges. This review will summarize the state of the literature regarding robotic colorectal surgery. Recent Findings: The most consistent benefit of robotic surgery is decreasing operative conversions, specifically in rectal cancer. In partial colectomies, there is evidence to support quicker return to bowel function. Oncologic outcomes compared to the laparoscopic approach are equivalent. Summary: Robotic surgery provides solutions to the challenges posed by laparoscopy, including wristed instruments, ease of intracorporeal suturing, and ergonomic advantages. Randomized trials to evaluate peri-operative outcomes will be important. If robotics is able to facilitate conversion of open colectomies to their minimally invasive equivalent, robotics may end up proving to be advantageous in the peri-operative and post-operative period. Continued studies are warranted. © 2019, Springer Science+Business Media, LLC, part of Springer Nature.

关键词： 全方位移动机器人   动力学   MATLAB仿真   拉格朗日方程  

摘要： 动力学是全方位移动机器人运动控制和导航定位研究的基础,但建立精确动力学模型较为困难。以四轮正交驱动全方位移动机器人为研究对象,探讨拉格朗日法求解移动机器人动力学模型可靠性,通过MATLAB/Simulink仿真和在实验室环境下样机测试来分析驱动力矩和机器人速度、加速度运行参数关系,进而验证该方法的正确性。从仿真曲线和实验数据可分析出机器人运动特性与机械结构关系,可为其他形式移动机器人的动力学研究提供参考。

关键词： Adaptive control   coordinated control   control allocation   mobile robot   robust control  

摘要： Four-wheel independently driven mobile robots are widely used in industrial automation, intelligent inspection, and outdoor exploration. The traditional kinematic control is usually applied for them, where only the chassis kinematics is taken into account and the robot dynamics (especially the wheel dynamics) is normally ignored. It may lead to some performance limitations such as the chattering phenomenon during robot rotating, because of the overactuation characteristic by four driving wheels. To address these problems, the integrated dynamic model is proposed, which includes chassis kinematics, chassis dynamics, wheel-ground interaction, and wheel dynamics. Subsequently, different from kinematic control, a model-based coordinated adaptive robust controller is developed, which generally consists of three-level designs for different parts of robot dynamics, and directly generates the motor driving torque commands for four wheels. The stability and tracking performance are theoretically guaranteed. Comparative experiments are carried out, and the results show the better performance of our proposed scheme.

关键词： Artificial intelligence   Robots   Government   Ethics   Law   Social implications of technology  

摘要： Rapidly emerging technologies, such as AI and robotics, present a serious challenge to traditional models of government regulation. These technologies are advancing so quickly that in many sectors, traditional regulation cannot keep up, given the cumbersome procedural and bureaucratic procedures and safeguards that modern legislative and rulemaking processes require. Consequently, regulatory systems will predictively fail to put in place appropriately tailored regulatory measures by the time new applications of fast-moving technologies begin to affect society. Perhaps even worse, if a regulatory system does somehow manage to rush into place new regulations for an emerging technology, they will likely be obsolete by the time the ink dries on the enactment. Given this so-called “pacing problem,” traditional regulatory approaches will either produce no regulation or bad regulation [1].

关键词： Dialogical phenomenology   Human-robot interaction   Human relationship   Feral children   Attachment theory   Ethics of care   Gendered attachment  

摘要： Artificially Intelligent robotic technologies increasingly reflect a language of interaction and relationship and this vocabulary is part and parcel of the meanings now attached to machines. No longer are they inert, but interconnected, responsive and engaging. As machines become more sophisticated, they are predicted to be a direct object of an interaction for a human, but what kinds of human would that give rise to? Before robots, animals played the role of the relational other, what can stories of feral children tell us about what it means to be human? What of relationship' do AI and robotic scientists draw on to generate ideas about their relational others? I will address these questions by reference to the work of Martin Buber in I and Thou.