关键词： Robotics   Early childhood   STEAM   Programming  

摘要： In recent years, Singapore has increased its national emphasis on technology and engineering in early childhood education. Their newest initiative, the Playmaker Programme, has focused on teaching robotics and coding in preschool settings. Robotics offers a playful and collaborative way for children to engage with foundational technology and engineering concepts during their formative early childhood years. This study looks at a sample of preschool children (N = 98) from five early childhood centers in Singapore who completed a 7-week STEAM (Science, Technology, Engineering, Arts, and Mathematics) KIBO robotics curriculum in their classrooms called, "Dances from Around the World." KIBO is a newly developed robotics kit that teaches both engineering and programming. KIBO's actions are programmed using tangible programming blocks-no screen-time required. Children's knowledge of programming concepts were assessed upon completion of the curriculum using the Solve-Its assessment. Results indicate that children were highly successful at mastering foundational programming concepts. Additionally, teachers were successful at promoting a collaborative and creative environment, but less successful at finding ways to engage with the greater school community through robotics. This research study was part of a large country-wide initiative to increase the use of developmentally appropriate engineering tools in early childhood settings. Implications for the design of technology, curriculum, and other resources are addressed.

关键词： neuromorphic engineering   event-based processing   Address-Event-Representation   Dynamic Vision Sensor   approach sensitivity cell   Retina Ganglion Cell   robotic   FPGA  

摘要： Taking inspiration from biology to solve engineering problems using the organizing principles of biological neural computation is the aim of the field of neuromorphic engineering. This field has demonstrated success in sensor based applications (vision and audition) as well as in cognition and actuators. This paper is focused on mimicking the approaching detection functionality of the retina that is computed by one type of Retinal Ganglion Cell (RGC) and its application to robotics. These RGCs transmit action potentials when an expanding object is detected. In this work we compare the software and hardware logic FPGA implementations of this approaching function and the hardware latency when applied to robots, as an attention/reaction mechanism. The visual input for these cells comes from an asynchronous event-driven Dynamic Vision Sensor, which leads to an end-to-end event based processing system. The software model has been developed in Java, and computed with an average processing time per event of 370 ns on a NUC embedded computer. The output firing rate for an approaching object depends on the cell parameters that represent the needed number of input events to reach the firing threshold. For the hardware implementation, on a Spartan 6 FPGA, the processing time is reduced to 160 ns/event with the clock running at 50 MHz. The entropy has been calculated to demonstrate that the system is not totally deterministic in response to approaching objects because of several bioinspired characteristics. It has been measured that a Summit XL mobile robot can react to an approaching object in 90 ms, which can be used as an attentional mechanism. This is faster than similar event-based approaches in robotics and equivalent to human reaction latencies to visual stimulus.

关键词： Autonomous agents   real-time systems   robots   robot programming   simultaneous localization and mapping (SLAM)   software architecture  

摘要： In this paper, we discuss model-driven development (MDD) and real-time objected oriented software design paradigms to solve two uninhabited autonomous robotics problems. The first problem we analyze is that of a single robot that has strict timing requirements to perform simultaneous localization and mapping. The second problem we analyze is that of a swarming of flocks of various sizes. Both architectures are discussed and compared for the solution of complex robotics problems. The main contribution of this paper is the definition of an MDD methodology for solving robotics problems, its implementation and validation. Results show that the method can guarantee the real-time requirements for the applications.

关键词： Human-centered robotics   STEM education   Problem-based learning   Sociotechnical systems   Engineering design cycle   Qualitative case study  

摘要： This paper presents a middle school human-centered robotics (HCR) learning experience and the ways in which it supported students' orientation to technical and social aspects of Science, Technology, Engineering, and Mathematics (STEM). The interdisciplinary project associated with this analysis aims to engage diverse students in authentic STEM practices by creating robotic technologies that can assist people in their school, and connect with remote peers. The goal of this project is to increase student interest in and knowledge of STEM topics, and to help students recognize STEM as relevant to their daily lives and broader societal issues. The human-centered focus of the curriculum encouraged thinking from multiple perspectives (e.g. design, social science, programming) and allowed for diverse STEM exploration. We present samples from student work and classroom interactions. These samples show challenges and successes in engaging students with STEM as a combination of social and technical questions and skills. We trace the trajectory of one group's work to highlight moments in which students navigated an engineering design cycle, analyzed and designed social environments, and crossed disciplinary domains through HCR design-using a phenomena, mechanisms, components framework (PMC) to explore systems thinking. Phenomena refers to attention to the function of the robotic technology in the classroom environment. Components included a focus on single parts of the robot, while mechanism addressed how parts of the robot worked together. This qualitative case study demonstrates the capacity social robotics and inquiry-based learning experiences hold for broadening notions of STEM as a social and multidisciplinary learning domain.

关键词： 机器人学  

ISBN: (纸本)9787121341953

摘要： 机器人和未来科技呈现给我们前所未有的机遇和威胁。将经济和社会的未来看作纯粹消极的或者纯粹积极的描述都存在本质上的不足和偏颇。前进的道路充满挑战，我们必须弥补现在与未来之间的关键差距，才能最大限度地获得未来带给我们的福利。

关键词： Assistive robots   3D object perception   Open-ended learning   Interactive learning   Object manipulation  

摘要： This paper presents an artificial cognitive system tightly integrating object perception and manipulation for assistive robotics. This is necessary for assistive robots, not only to perform manipulation tasks in a reasonable amount of time and in an appropriate manner, but also to robustly adapt to new environments by handling new objects. In particular, this system includes perception capabilities that allow robots to incrementally learn object categories from the set of accumulated experiences and reason about how to perform complex tasks. To achieve these goals, it is critical to detect, track and recognize objects in the environment as well as to conceptualize experiences and learn novel object categories in an open-ended manner, based on human-robot interaction. Interaction capabilities were developed to enable human users to teach new object categories and instruct the robot to perform complex tasks. A naive Bayes learning approach with a Bag-of-Words object representation are used to acquire and refine object category models. Perceptual memory is used to store object experiences, feature dictionary and object category models. Working memory is employed to support communication purposes between the different modules of the architecture. A reactive planning approach is used to carry out complex tasks. To examine the performance of the proposed architecture, a quantitative evaluation and a qualitative analysis are carried out. Experimental results show that the proposed system is able to interact with human users, learn new object categories over time, as well as perform complex tasks. (c) 2018 Elsevier B.V. All rights reserved.

关键词： 工业机器人   运动学   动力学  

摘要： 为更好地控制工业机器人进行精准的作业,以Puma560工业机器人为例,运用D-H表示法对工业机器人的结构和连杆参数进行分析,建立运动学方程?利用三次多项式插值方法规划出机器人关节角的运动轨迹?在分析了工业机器人运动学模型的基础上,提出了一种通过对机器人轨迹拟合计算表示机器人关节运动精度和机器人运动精度的方法,为后续提高机器人运动精度研究提供了理论依据?

关键词： 并联机器人   弹性动力学   固有频率   冗余驱动  

摘要： 建立了球面2-DOF冗余驱动并联机器人弹性动力学模型。将机器人系统的6个空间弯杆划分为6个子结构,考虑空间弯杆的弯曲、拉伸和扭转变形,基于有限元法求出了各子结构的弹性动力学模型;根据转动副的约束特点以及各分支与输出轴的变形协调约束关系,将子结构组装成3个分支并进行装配,得到系统的弹性动力学模型;将理论计算与有限元仿真得到的机构在初始位置时的固有频率进行对比,验证了系统弹性动力学模型的正确性。通过对比分析球面2-DOF非冗余与冗余驱动并联机器人输出端的动态响应,验证了冗余驱动的引入可以明显减小机器人输出端的最大弹性位移。研究结果为含有空间弯杆并联机器人的结构优化设计以及振动分析提供了理论依据。

关键词： 机器人   主持人   栏目   评测   学习   新兴学科   常春藤   头文件  

摘要： 机器人教育,可谓是一枝常春藤,不仅历久弥新,而且自身的成长性更是让同处新课程边缘的诸多新兴学科望尘莫及.甚至有人笑称,不少红头文件标榜的新加课程都早已成为明日黄花,只有机器人教育呈现出校内校外遍地花开、受众人群不断壮大的可喜局面.

关键词： 冗余驱动   并联机器人   动力学建模   驱动力优化  

摘要： 针对并联机器人系统动力学分析建模的复杂性,采取拉格朗日—达朗伯法对二自由度冗余驱动机器人进行动力学分析建模,不仅可以直接求得逆动力学方程,而且与单独采用拉格朗日法所建立的动力学模型相比具有一致性,并提出了二自由度冗余驱动并联机器人的驱动力优化方法,解决了驱动力分配问题,为改善并联机器人动力学性能提供了理论依据。