关键词： 贵州科技馆   机器人  

摘要： 2018年新年伊始,中国科协青少年科技中心主任刘阳一行六人到贵阳调研机器人大赛场地情况。贵州省科协副主席刘开树、贵州科技馆馆长杨泳滨、贵州省青少中心主任朱莞苏、贵州科技馆副馆长刘嵘陪同调研。据悉,此次现场调研是为2018年第十八届全国青少年机器人竞赛各项活动的开展摸底。调研组先

关键词： Inspection   Robot   Drones   Non-destructive testing  

摘要： Purpose - The purpose of this paper is to provide an insight on the use of robots in a range of industrial test and inspection applications. Design/methodology/approach - Following a brief introduction, this discusses robotic test and inspection products and practices in the following applications: pipelines, storage tanks, bridges, marine uses, green energy generation and aerospace. Finally, concluding comments are drawn. Findings - This shows that robotic test and inspection practices are being used in a wide range of applications across a diversity of industries. This reflects the many operational and economic benefits arising from their use which include the ability to automate certain laborious manual methods;operation in hazardous locations;uses in inaccessible environments such as within pipelines;the ability to deploy several different techniques simultaneously and thus detect multiple potential defects;reduced workforce costs;and, very often, more rapid testing and greater data acquisition rates than are possible with human operators. Originality/value - This illustrates the increasingly important role played by robotic technologies in industrial test and inspection practices.

关键词： 冗余驱动   并联机器人   刚体动力学   刚柔耦合   主动控制  

摘要： 面向先进制造业领域对高性能并联机器人的应用需求,本文以一种平面冗余驱动并联机器人为主要研究对象,系统研究其刚体动力学建模、性能分析、刚柔耦合非线性动力学建模以及主动控制策略设计等关键问题。全文取得如下成果:(1)以平面3-RRR并联机器人及其衍生出的平面冗余驱动4-RRR并联机器人为分析对象,基于矢量链法,建立其位置逆解模型,并进一步获得了两类机器人的逆速度雅克比矩阵和逆加速度映射模型;在此基础上,针对特定运动轨迹,进行逆运动学仿真;基于间接雅克比矩阵,定义灵巧度指标,对两类机器人进行运动学性能比较分析。结果表明,冗余驱动可有效克服传统非冗余驱动并联机器人工作空间内的第二类奇异,并可有效改善机器人的运动学性能。(2)基于凯恩方程和多体理论,提出了一种模块化建模方法,据此建立了冗余驱动并联机器人和非冗余驱动并联机器人的刚体动力学模型,有效降低了建模复杂度。基于系统刚体动力学模型,定义动态灵巧度指标,据此比较分析了上述非冗余驱动并联机器人和冗余驱动并联机器人的动态性能,并针对特定运动轨迹,开展了逆刚体动力学分析。最后,建立机器人的多体仿真参数化模型,对理论模型的正确性进行了验证。(3)针对高速应用环境和面向控制需求,建立平面冗余驱动4-RRR并联机器人的刚柔耦合动力学模型。首先,借助假设模态法和凯恩方程,建立机构任意支链的刚柔耦合动力学方程;其次,基于多体思想,组集支链和动平台动力学方程,进而附加约束方程,建立系统的刚柔耦合动力学模型;在此基础上,基于零空间矩阵法,消除系统动力学模型中广义约束力,获得独立广义坐标形式的动力学简化模型,为主动控制策略实施奠定基础。(4)为适应主动控制,建立永磁同步伺服电机动力学模型,进而与机械系统刚柔耦合动力学模型进行整合,建立系统的机电耦合动力学模型。在此基础上,借助奇异摄动方法,将机电耦合动力学模型分解为不同时间尺度下的慢、快变子系统,分别针对各子系统设计控制器,进而组合获得系统的复合控制器,以实现机器人的轨迹跟踪和振动抑制。最后,针对特定运动轨迹,开展主动控制仿真,验证了主动控制策略的有效性。本文研究成果可进一步充实并联机构研究理论,对进一步拓展其应用领域具有重要的理论意义和参考价值。

关键词： 智能机器人   智能装备  

摘要： 智能机器人学院是广东开放大学(广东理工职业学院)与巨轮智能装备股份有限公司(广东首批15家机器人骨干企业之一)合作共建。实行"混合所有制"办学模式,是广东省高职院校首家机器人学院。学院主动对接"中国制造2025"国家战略,重点、发展工业机器人、服务机器人、无人机、人工智能四大领域,培养智能装备制造业紧缺的高素质技术技能型人才。

关键词： 阿西莫夫的教诲   机器人学三法则   人类与机器人的关系   人类中心主义  

摘要： 阿西莫夫通过《双百人》展示了人格的丰富内在含义,特别是其中所包含的财产、自由、生命和人格尊严的基本内容。作者通过揭示在现代英美法框架下,机器人安德鲁获得法律上的主体资格的过程,或明或暗地提出了机器人学三法则所内含的矛盾问题,但是作者并没有对机器人学三法则进行任何文本的修订,这是因为作者意图通过对机器人安德鲁独一无二之特性丧失分析,隐微地告诉潜在的立法者对普遍赋予机器人法律主体资格之可能性与必要性的否定性倾向。阿西莫夫从机器人学的终极发展进行思考,将《双百人》作为他最喜爱也是自认为写得最好的机器人短篇作品,以不那么刺耳和令人反感的方式,提醒和警告在人工智能发展的时代,重申保障人类整体和个体的安全是而且必将是人类立法者的最高义务和最高价值。

关键词： 超冗余仿生象鼻机器人   结构设计   运动学   动力学   虚拟样机技术  

摘要： 本文以5(3UPS-URP)超冗余仿生象鼻机器人为研究对象，研究超冗余仿生象鼻机器人的结构设计、运动学、动力学及虚拟样机技术等。论文取得如下成果：　　以生物象鼻的生理结构和运动形式为参考依据，提出仿生象鼻机器人的机械结构设计要求，制定详细设计方案，确定单元体构型、机器人整体构型与连接方式，根据实际需求选取实体样机所需零部件，最终完成超冗余方式象鼻机器人设计方案。　　在考虑到支链关节灵活性的情况下，从支链角度研究3UPS-URP并联机构动力学。利用矢量链法进行运动学分析，引入自然正交补法推导与分解惯量矩阵，同时建立其支链动力学模型，在给定末端运动轨迹的条件下对其驱动力及驱动功率进行模块化解耦分析，最后通过具体数值算例进行仿真分析，验证了自然正交补法运用于3UPS-URP并联机构动力学建模的正确性。　　研究超冗余仿生象鼻机器人运动学与动力学，对其进行运动学建模，同时引入各单元体的自然正交矩阵来消除运动方程的约束力项，并对其进行动力学建模，进而推导出一种运用自然正交补法的超冗余仿生象鼻机器人逆动力学模块化求解方法，最后通过具体数值算例进行仿真验证。　　运用虚拟样机技术建立3UPS-URP并联机构和超冗余仿生象鼻机器人的三维模型，对其进行运动学仿真，验证运动学理论建模的正确性。选取几种具有代表意义的超冗余仿生象鼻机器人极限构型进行静刚度分析(变形量、应力及应变)，保证超冗余仿生象鼻机器人整体强度满足要求。在运动学仿真分析与静刚度分析的基础上，对3UPS-URP并联机构和超冗余仿生象鼻机器人进行动力学仿真分析，在验证前面动力学建模的同时，分析其运动误差状况，并对所选驱动装置是否符合要求进行校核。

关键词： Mobile robots   Quadrotor helicopters   Robust control  

摘要： The paper “ARM-Cortex M3-Based Two-Wheel Robot for Assessing Grid Cell Model of Medial Entorhinal Cortex: Progress towards Building Robots with Biologically Inspired Navigation-Cognitive Maps” by J. Cuneo et al. presents the implementation and use of a two-wheel autonomous robot and its effectiveness as a tool for studying the use of grid cells as part of mammalian’s brains space-mapping circuitry. The paper “Review of Neurobiological Based Mobile Robot Navigation System Research Performed Since 2000” by P. Zeno et al. presents a literature survey of the state-of-the-art research on rodent neurobiological and neurophysiological based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus was to explore the functionality of the cognitive maps developed in the mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.

关键词： 水下机器人   模糊控制   机械手   神经网络控制   模型试验  

摘要： 随着陆地资源的不断消耗,人们开始探索新的资源。海洋蕴含着丰富的资源,水下机器人作为水下探测的重要工具正在被人们不断地研究。水下机器人及其机械手可以在水下完成一系列复杂的作业任务,极大地提高了水下作业的效率。为了使水下机器人在水下作业时保持较好的操纵准度,本文基于水下机器人的潜浮、进退和横向运动设计了模糊控制器,通过数值仿真和水下模型试验验证了控制器的有效性。同时,设计神经网络控制方法实现对UVMS(水下机器人机械手系统)的机械手的运动跟踪控制。本文在绪论中描述了水下机器人的概念及其分类,探讨了水下机器人及其控制算法的研究动态,并介绍了水下机器人机械手及其控制算法的研究动态。依据水下机器人的结构特征以及实际的运动情况,对水下机器人在水下所受的重力、浮力、推力以及流体水动力进行详细的分析,建立了其运动模型,为后续的模糊控制奠定了基础。基于UVMS的结构特征与运动情况,建立了其运动和动力学模型。接着介绍了模糊控制算法,结合水下机器人的运动特征,对模糊控制器的结构和控制规则进行研究,并基于水下机器人的运动模型建立了模糊控制系统,设计了模糊控制器并进行控制仿真实验,验证模糊控制方法的正确性和有效性。然后基于UVMS在水下操纵的特征,设计神经网络控制器实现对机械手的跟踪控制。为了保证控制器的鲁棒性,Lyapunov设计被应用到其中。为了检测所设计的控制器的有效性,设定了水下机器人机械手的具体参数,通过软件仿真的结果验证了神经网络控制方法相对于PD控制方法更具有优越性。最后,搭建实验平台。以本课题组的ROV(缆控水下机器人)为试验对象进行模型试验,验证本文所设计的模糊控制器的可行性。

关键词： network model   Optimal design   robotics   piezoelectric pump   simulating  

摘要： The traditional suction mechanism with an air pump in robotics is difficult to miniaturize. Integrating a piezoelectric pump into a suction cup is an effective method to achieve miniaturization. In this paper, a novel suction cup with a piezoelectric micropump is designed. The micropump is valveless and the suction cup is designed with a laminated structure in order to facilitate miniaturizing and manufacturing. A systematic optimization design method of the suction cup is introduced which addresses the static and dynamic driving characteristics of the piezoelectric actuator and the rectifying efficiency of diffuser/nozzle's optimization. The design is verified via simulation using an improved equivalent electric network model. Static lumped parameters in this model are calculated by the finite element method instead of the traditional analytic method, and the diffuser/nozzle's flow resistance is computed by integrating and introducing rectifying efficiency coefficient. Simulation results indicate that the suction cup can generate a stable negative pressure, and the equivalent electric network model can improve the simulation efficiency and accuracy. The maximum steady-state negative pressure of the suction cup can also be effectively improved after optimization.

关键词： curriculum   gender   mathematics   robotics   socialization   STEM   stereotypes   underrepresented populations  

摘要： Children using robotics for engineering, science, technology, and mathematics (CREST-M) is an ongoing curriculum creation and evaluation project developing math-focused science, technology, engineering, and mathematics (STEM) curriculum units that incorporate storytelling with math and are designed to be engaging for students from backgrounds traditionally underrepresented in STEM fields and to be appropriate for all ability levels including the gifted. This mixed-methods study evaluated one CREST-M unit, The Tale of the Monarchs, aligned to the Common Core State Standards: Mathematics (CCSS-M) for fourth- and fifth-grade fractions while incorporating all aspects of STEM. The unit includes an engineering design loop to help students create and program robots using LEGO WeDo 2.0. Students also use the scientific method in a problem-based learning (PBL) investigation in which they design and conduct experiments. The unit features a comprehensive storyline in which diverse characters solve real-world problems using STEM skills. The curriculum was evaluated through a CCSS-M aligned pre- and post-assessment of students' understanding of fractions, the Cognitive Abilities Test Screening Form 7 (CogAT 7), and the Draw-a-Scientist pre- and post-assessment. The curriculum led to significant and meaningful gains in math achievement (Cohen's d = 0.72) consistent for students at multiple ability levels (including high ability) and children from groups traditionally represented in STEM fields as well as those traditionally underrepresented (across gender, race, and socioeconomic status). In addition, the mental models of the career of a scientist that students articulated before the program were markedly more complex and less stereotypical following the program, indicating increased understanding of the career of a scientist.