关键词： 溧阳市文化小学   科技教育   江苏省   教育特色   人工智能   机器人竞赛   电脑制作活动   2009年  

摘要： 江苏省溧阳市文化小学以科技教育立校,并逐步形成了自身的办学特色。2009年,溧阳市首个机器人工作室在学校成立;2015年,溧阳市青少年机器人俱乐部成立,学校创客工作室也成为常州市首批校园创客空间之一。学校机器人团队在2016、2017年蝉联江苏省青少年机器人竞赛“超级轨迹赛”项目（小学组）冠军和团体一等奖,代表江苏省参加全国中小学电脑制作活动电脑机器人竞赛”超级轨迹赛”项目,荣获二等奖。

关键词： 中国科学技术协会   机器人竞赛   青少年   邀请赛   世界   贵州大学   科技中心   中国科协  

摘要： 1月20日,第十八届中国青少年机器人竞赛暨2018世界青少年机器人邀请赛开幕式在贵阳市贵州大学举行.本届赛事由中国科学技术协会主办,贵州省科学技术协会、贵州大学、中国科协青少年科技中心共同承办.

关键词： 四旋翼机器人   运动控制   动力学   模糊自适应PID  

摘要： 针对四旋翼机器人关键技术进行了深入的研究,首先分析了四旋翼机构特征及其主要的用途。其次,根据其旋翼采用正交安装的结构特征进行了运动控制分析,实现了悬停、前后、水平、俯仰和翻转运动等。再次,建立了四旋翼机器人的非线性动力学数学模型,实现了无人机实时力矩补偿控制。最后,采用模糊自适应PID控制算法设计位姿控制器,提出了一种基于动态数学模型的位姿控制方法。经过实验,将运动控制和动力学算法应用到四旋翼机器人,进行了空载位姿跟踪和悬停等实验,同时采集了姿态转角。通过实验证明了无人机运动控制算法、动力学算法和模糊自适应控制器的稳定性、准确性和鲁棒性。

关键词： 双臂机器人   动力学   伺服系统   电机控制  

摘要： 针对关节一体化双臂机器人手臂高速运动下稳定抓取和电机控制问题,文章研究了其动力学建模与伺服系统控制算法。首先,对其双臂机械结构进行了分析,总结了各个关节对机器人末端位姿的影响;简化后的动力学方程更利于实现,有效加快计算速度。其次针对简化后的模型参数采用最小二乘法辨识,最后通过仿真和系统实验,验证动力学计算结果的正确性。再次由机器人动力学和电机动力学建立关节转矩模型进行关节转矩力控制;最后讨论了交流永磁同步电机的建模和控制问题。经过验证简化后的模型一方面等效于直流电机便于设计控制器,另一方面可用于机器人关节转矩控制。

关键词： 机器人学   教学改革   实践教学   实验平台   任务驱动教学法  

摘要： 机器人学课程是学校面向机械电子工程专业本科学生所开设的一门专业基础课。了解传统教学现状,分析研究教学过程中存在的问题,从教学内容、教学方法、考核方式等方面构思机器人学课程建设方案及教学新方法。在机器人学课程教学中引入任务驱动教学方法,增加实践教学环节,构建教学实验平台,激发学生主动学习的兴趣,着重培养学生的实践动手能力和创新思维,努力适应新的教学方法,达到高质量、高要求的教学目的。

关键词： Answer set programming   Cognitive robotics   Planning  

摘要： We discuss applications of ASP in robotic planning, considering (1) full observability and complete knowledge and (2) with incomplete knowledge and partial observability. We emphasize the strengths of ASP as a useful knowledge representation and reasoning paradigm to integrate AI and robotics, as well as its flexibility to provide different levels of integration of feasibility checks with planning.

关键词： frequency-modulated continuous-wave radar   microwave radar   mobile robotics   robust perception   two-dimensional imaging  

摘要： Robust environmental perception is a crucial parameter for the development of autonomous ground vehicle applications, especially in the field of agricultural robotics which is one of the priorities for the Horizon 2020 robotics funding (EU funding program for research and innovation). Because of uncontrolled and changing environmental conditions in outdoor and natural environments, data from optical sensors classically used in mobile robotics can be compromised and unusable. In such situations, microwave radar can provide an alternative and complementary solution for perception tasks. The aim of this paper is to present PELICAN radar, a microwave radar specifically designed for mobile robotics applications, including obstacle detection, mapping, and situational awareness in general. PELICAN radar provides each second a view over 360 degrees of the surrounding environment, from 5 m up to 100 m. A description of the technological solutions adopted for the development of PELICAN radar (hardware and software) is presented. Results obtained in various outdoor and open environments, including urban and natural areas, are also described. Sets of PELICAN radar data are made available online for researchers interested in processing this type of data.

关键词： Obstacle avoidance   Space robotics   Trajectory planning  

摘要： Manipulators can be utilized for various purposes during space missions, e.g., Canadarm2 manipulator mounted on the International Space Station assists in station construction and maintenance. Up to now, with only a few exceptions, manipulators in space were always controlled by astronauts or by operators on the ground. However, new ambitious missions, such as on-orbit servicing missions and active debris removal missions, will require a high level of autonomy and will pose new challenges in the field of space robotics. One of such challenges, addressed in this paper, is the problem of obstacle avoidance. This problem has been divided into three topics: (i) collision-free trajectory planning of a space manipulator mounted on a large orbital structure (such as a space station), (ii) collision-free trajectory planning of a manipulator mounted on a relatively small satellite, and (iii) collision-free trajectory planning of a space robot moving in proximity to a large orbital structure. For each topic, major challenges are identified and proposed solutions are reviewed. The presented review shows that the collision-free trajectory planning in space robotics is a very active field of studies, but there are still several open problems that need to be solved before the proposed methods could be applied during on-orbit servicing, active debris removal and on-orbit assembly of large structures.

关键词： Aerial robotics   distributed robot systems   networked robots  

摘要： The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware. The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics. A key enabling technology for swarms is the family of algorithms that allow the individual members of the swarm to communicate and allocate tasks amongst themselves, plan their trajectories, and coordinate their flight in such a way that the overall objectives of the swarm are achieved efficiently. These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level without direct intervention. This technology depends on the clever and innovative application of theoretical tools from control and estimation. This paper reviews the state of the art of these theoretical tools, specifically focusing on how they have been developed for, and applied to, aerial swarms. Aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional space and the dynamics of individual vehicles adds an extra layer of complexity. We review dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing. The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping. Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas.

关键词： arthroplasty   instrumentation   robotics   healthcare innovations   robotic assisted surgery  

摘要： Future health-care projection projects a significant growth in population by 2020. Health care has seen an exponential growth in technology to address the growing population with the decreasing number of physicians and health-care workers. Robotics in health care has been introduced to address this growing need. Early adoption of robotics was limited because of the limited application of the technology, the cumbersome nature of the equipment, and technical complications. A continued improvement in efficacy, adaptability, and cost reduction has stimulated increased interest in robotic-assisted surgery. The evolution in orthopedic surgery has allowed for advanced surgical planning, precision robotic machining of bone, improved implant-bone contact, optimization of implant placement, and optimization of the mechanical alignment. The potential benefits of robotic surgery include improved surgical work flow, improvements in efficacy and reduction in surgical time. Robotic-assisted surgery will continue to evolve in the orthopedic field. (c) 2018 Elsevier Inc. All rights reserved.