摘要： Presents the President’s message for this issue of the publication.

关键词： 创新教育   培养模式   机器人竞赛   计算机类本科  

摘要： 创新教育越来越受到高等教育地重视,以机器人竞赛为代表科技创新竞赛成为当前计算机专业应用型创新人才培养的重要载体。以合肥师范学院计算机学院为例,阐述了机器人竞赛在创新素质培养中的重要作用,介绍了针对计算机类专业建立创新素质全程化培养模式四个阶段,并对目前开展的工作进行总结。

关键词： Robotic arm rehabilitation   Creativity   Intrinsic motivation   Audio-haptic display   Music therapy   Serious games   Stroke   User interface  

摘要： Background: Robots have been successfully applied in motor training during neurorehabilitation. As music is known to improve motor function and motivation in neurorehabilitation training, we aimed at integrating music creation into robotic-assisted motor therapy. We developed a virtual game-like environment with music for the arm therapy robot ARMin, containing four different motion training conditions: a condition promoting creativity (C+) and one not promoting creativity (C-), each in a condition with (V+) and without (V-) a visual display (i.e., a monitor). The visual display was presenting the game workspace but not contributing to the creative process itself. In all four conditions the therapy robot haptically displayed the game workspace. Our aim was to asses the effects of creativity and visual display on motivation. Methods: In a prospective randomized single-center study, healthy participants were randomly assigned to play two of the four training conditions, either with (V+) or without visual display (V-). In the third round, the participants played a repetition of the preferred condition of the two first rounds, this time with a new V condition (i.e., with or without visual display). For each of the three rounds, motivation was measured with the Intrinsic Motivation Inventory (IMI) in the subscales interest/enjoyment, perceived choice, value/usefulness, and man-machine-relation. We recorded the actual training time, the time of free movement, and the velocity profile and administered a questionnaire to measure perceived training time and perceived effort. All measures were analysed using linear mixed models. Furthermore, we asked if the participants would like to receive the created music piece. Results: Sixteen healthy subjects (ten males, six females, mean age: 27.2 years, standard deviation: 4.1 years) with no known motor or cognitive deficit participated. Promotion of creativity (i.e., C+ instead of C-) significantly increased the IMI-item interest/en

关键词： Ag nanowire percolation networks   anisotropic actuators   anisotropic thermal expansion   color-changing actuators   low-temperature actuators   soft robots  

摘要： To add more functionalities and overcome the limitation in conventional soft robots, highly anisotropic soft actuators with color shifting function during actuation is demonstrated for the first time. The electrothermally operating soft actuators with installed transparent metal nanowire percolation network heater allow easy programming of their actuation direction and instantaneous visualization of temperature changes through color change. Due to the unique direction dependent coefficient of thermal expansion mismatch, the suggested actuator demonstrates a highly anisotropic and reversible behavior with very large bending curvature (2.5 cm(-1)) at considerably low temperature (approximate to 40 degrees C) compared to the previously reported electrothermal soft actuators. The mild operating heat condition required for the maximum curvature enables the superior long-term stability during more than 10 000 operating cycles. Also, the optical transparency of the polymer bilayer and metal nanowire percolation network heater allow the incorporation of the thermochromic pigments to fabricate color-shifting actuators. As a proof-of-concept, various color-shifting biomimetic soft robots such as color-shifting blooming flower, fluttering butterfly, and color-shifting twining tendril are demonstrated. The developed color-shifting anisotropic soft actuator is expected to open new application fields and functionalities overcoming the limitation of current soft robots.

关键词： 凿岩机器人   钻臂   动力学参数   理论辨识法   分步辨识  

摘要： 凿岩机器人钻臂具有多冗余自由度耦合关节,且结构尺寸庞大,难以准确获取其动力学参数。为此,提出一种分步理论辨识法辨识钻臂动力学参数。推导出钻臂的牛顿-欧拉方程,并建立其动力学模型,采用5阶傅立叶级数规划钻臂各关节运动的激励轨迹,将钻臂3维Pro/E模型导入ADAMS中,根据各关节在激励轨迹下的驱动力（或力矩）,从推进器关节开始沿机身方向进行递推,对各关节的动力学参数进行分步辨识。仿真结果表明,分步理论辨识法具有较高的辨识精度,提高了钻臂末端（钎头）定位控制的精度和稳定性。

关键词： 柔性并联机器人   ANSYS仿真分析   假设模态法   耦合动力学模型   模态特性  

摘要： 为了有效抑制柔性平面3-RRR并联机器人柔性杆件的弹性变形,针对现有动力学模型复杂,不易求解,控制器设计困难等问题。考虑刚柔耦合效应及两端集中转动惯量对柔性中间连杆的作用,确定柔性中间连杆的边界条件为两端铰支并计算其振型函数。考虑柔性中间连杆的主要振动模态及系统惯性力和耦合力的影响,在保证精度的基础上建立系统简单实用的动力学模型。将所建动力学模型分析结果与有限元分析软件(ANSYS)及模态试验结果对比,结果表明,所建立动力学模型能够有效反映柔性平面3-RRR并联机器人的主要振动模态,并能充分反映惯性力和耦合力对柔性中间连杆动力学模型及模态特性的影响,同时此模型由于动态参数较少,方便依托动力学模型为基础的控制方案实施。

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： 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： 机器人   竞赛   科学技术协会   青少年   教育部  

摘要： 有这样—项竞赛，虽然兴起的时间很短，但却吸引了众多青少年的参与，而且越来越多的学校也开始成立社团，各省、市教育部门、各地科学技术协会等也大力支持其发展，使更多的人接触这项竞赛。说到这儿，想必你能猜到是什么竞赛了吧？不错，就是机器人竞赛!