关键词： Dynamics superposition   Parameter identification   Robot manipulator   Sinusoidal trajectory  

摘要： In this study, we propose a technical method - the so-called dynamic superposition method - for separation of dynamic terms of robot manipulators. We lay over a set of dynamic responses from sinusoidal joint trajectories of different cyclic frequencies, so as to disassemble pure inertial, gravitational and/or frictional torques from the full dynamics forces. The benefits are: first to help us identify dynamic parameters in a simpler sequential manner with better reliability, and second to enable us to understand the in-depth dynamic nature of a specific robot system through dissection. Experimental results confirm the effectiveness of the proposed method.

关键词： Robotic Prefabrication System (RPS)   Robotics   Prefabrication   Disassembly   Refabrication  

摘要： Prefabrication has the advantages of simplicity, speed and economy but has been inflexible to changes in design which is a primary reason behind its limited market share in the construction industry. To tackle this drawback, this study presents a Robotic Prefabrication System (RPS) which employs a new concept called "re-fabrication": the automatic disassembly of a prefabricated structure and its reconstruction according to a new design. The RPS consists of a software module and a hardware module. First, the software employs the 3D model of a prefabricated structure as input, and returns motor control command output to the hardware. There are two underlying algorithms developed in the software module. First, a novel algorithm automatically compares the old and new models and identifies the components which the two models do not have in common in order to enable disassembly of the original structure and its refabrication into the new design. In addition, an additional novel algorithm computes the optimal refabrication sequence to transform one model into another according to the differences identified. Meanwhile, the hardware module takes the motor control commands as input and executes the appropriate assembly/disassembly operations, and returns the desired refabricated structure in realtime. Validation tests on two lab -scaled prefabricated structures demonstrate that the system successfully generated the desired refabrication sequences and performed all assembly operations with acceptable placement precision.

关键词： 机器人学  

ISBN: (纸本)9787301289402

摘要： 本书基于人类道德判断和伦理的本质，第一次深入探讨了人类在设计具有道德判断能力的机器人的漫漫征途上所面临的巨大挑战。

关键词： Robots   Sliding Mode Control   Space Debris   Space Robot   Space Tethers   Young's Modulus   Satellites   Contact Dynamics   Angular Motion   Japan Aerospace Exploration Agency  

摘要： Space robots are considered as a promising solution to active space-debris capture and removal. In this paper, a brand new space robot system called the maneuverable tethered space net robot is proposed. In addition to the advantages inherited from the tethered space net, extra maneuverability in the tethered space net robot allows for wider possibilities for debris capture. The motion equations of the system are derived, and both symmetrical and asymmetrical configurations are analyzed. According to the specific vibration analysis, a modified adaptive supertwisting sliding-mode control scheme is proposed. The proposed adaption law is a function of the disturbance, which is considered as the sum of all the adjacent forces working on the controller plant: that is, the maneuverable unit. Both symmetrical and asymmetrical cases are simulated to verify that the tethered space net robot can fly toward active space debris steadily under the proposed control scheme.

关键词： Robots  

摘要： Healthcare robotics can provide health and wellness support to billions of people.

关键词： Robotics education   Co-robots   Marine robots   Assistive robots   Engineering design   Hands-on activity   K-12 stem education  

摘要： This paper presents the effect of meaningful learning contexts and hands-on activities, facilitated using two robots that work with people (co-robots), in broadening and sustaining pre-college student engagement in Science, Technology, Engineering, and Mathematics (STEM). The two co-robots are: (1) a Glider for Underwater Problem-solving and Promotion of Interest in Engineering or GUPPIE and (2) a Neurally controlled manipulator called Neu-pulator. The co-robots are easy and inexpensive to manufacture, with readily available lightweight and durable components. They are also modular to accommodate a variety of learning activities that help young students to learn crosscutting concepts and engineering practice. The early assessment results show that students' interests in activities related to robotics depend on their perception of the difficulty and their confidence level. The key is to start early when the students are young. The challenge is to break the barriers and define tasks as fun activities with a learn and play approach that can be rewarding. In this work, using a meaningful context - as in co-robots that help humans - in a hands-on project-based program that integrates different aspect of design, science, and technology is found effective in increasing students' enthusiasm and participation. The co-robots and the hands-on activities can be easily adopted in classrooms by teachers with no engineering background who seek innovative ways to connect interdisciplinary core ideas and standards to the concepts they need to teach. (C) 2017 Elsevier B.V. All rights reserved.

关键词： Mobile communication   5G mobile communication   Radio frequency   Bandwidth   Broadband communication   Long Term Evolution   Internet of Things  

摘要： The ever-increasing data rate and number of connections for mobile communication offer exciting user experiences in our everyday lives. Currently, the wireless communication frontier is shifting from the current fourth generation (4G) to the forthcoming fifth generation (5G). We expect much of society to go through a revolutionary change with the advent of the 5G era-a change that will involve not only the telecommunication industry but also a wide range of vertical sectors, including automobiles, robotics, health care, factory automation, agriculture, and education.

摘要： Click to increase image sizeClick to decrease image size

关键词： 青少年活动   机器人竞赛   竞赛活动   渭滨区   成功   选拔人才   参赛选手   活动中心  

摘要： 本刊讯：近期，2017年渭滨区青少年机器人竞赛在区青少年活动中，心开幕，区教体局副局长刘小莉出席开幕式。她在致辞中表示，举办这次区级竞赛活动是为明年春季的全市青少年机器人竞赛锻炼队伍．选拔人才，做好铺垫。青少年是祖国的未来．科学的希望。希望各位参赛选手通过竞赛相互学习，互相交流．赛出风格、赛出水平。活动中心副主任曾建华、何亚周分别出席并观摩了竞赛活动。

关键词： 多传感器融合   递推总体最小二乘   水下机器人   参数辨识  

摘要： 对于水下机器人动力学模型辨识问题,如果其观测方程的系数矩阵包含随机扰动,则其最小二乘估计一般是有偏的。为此,该文提出一种基于多传感器递推总体最小二乘融合的水下机器人动力学模型辨识算法(RTLS_F)。首先,给出了集中式总体最小二乘融合的算法;然后,在总体最小二乘框架下,推导出多传感器递推融合估计算法。通过仿真实验对RTLS_F与其它水下机器人动力学参数辨识算法进行了比较。实验结果表明,在系数矩阵和观测向量都含有误差的情况下,最小二乘融合是有偏估计且难以提高估计精度,而RTLS_F算法可以有效改善参数辨识性能。