关键词： Robotics   Industrial robots   Research & development projects   Intelligent control systems   Automatic detection in radar   Global Positioning System  

摘要： The article discusses the developed automation technologies in Australia. Topics mentioned include wave radar sensor and real-time-kinetic global positioning sensor as the key parts to the navigation system, safety measures on technology, and the international trade event MEGATRANS2018 to be held in Melbourne in May. It highlights the robotics and intelligent systems research and development projects led by Professor Salah Sukkarieh, with focus on areas such as logistics, aerospace and mining.

关键词： Attention   Rehabilitation   Stroke   Upper extremity   Robotics  

摘要： Objective: To compare the long-term effects of external focus (EF) and internal focus (IF) of attention after 4 weeks of arm training. Design: Randomized, repeated-measures, mixed analysis of variance. Setting: Outpatient clinic. Participants: Individuals with stroke and moderate-to-severe arm impairment living in the community (N=33;withdrawals: n=3). Interventions: Four-week arm training protocol on a robotic device (12 sessions). Main Outcome Measures: Joint independence, Fugl-Meyer Assessment, and Wolf Motor Function Test measured at baseline, discharge, and 4 week follow-up. Results: There were no between-group effects for attentional focus. Participants in both groups improved significantly on all outcome measures from baseline to discharge and maintained those changes at 4-week follow-up regardless of group assignment (joint independence EF condition: F-1.6,F-45.4 =17.74;P<.0005;partial eta(2)=.39;joint independence IF condition: F-2,F-56= 18.66;P<.0005;partial eta(2)=.40;Fugl-Meyer Assessment: F-2,F-56 = 27.83;P<.0005;partial eta(2) =.50;Wolf Motor Function Test: F-2,F-56 = 14.05;P<.0005;partial eta(2)=.35). Conclusions: There were no differences in retention of motor skills between EF and IF participants 4 weeks after arm training, suggesting that individuals with moderate-to-severe arm impairment may not experience the advantages of an EF found in healthy individuals. Attentional focus is most likely not an active ingredient for retention of trained motor skills for individuals with moderate-to-severe arm impairment, whereas dosage and intensity of practice appear to be pivotal. Future studies should investigate the long-term effects of attentional focus for individuals with mild arm impairment. (C) 2017 by the American Congress of Rehabilitation Medicine

关键词： Cloud robotics   Energy consumption   Green software modeling method   State transition matrix   Bounded model checking  

摘要： The energy consumption of cloud robotics is an important design factor to be considered early in system development. Software as the main enabler of cloud robots, its energy consumption will directly influence the energy consumption level of the entire system. In this paper, we propose a green software model for cloud robotics based on energy consumption time state transition matrix (ETSTM), which can effectively integrate the logic functions, energy consumption, and execution time of software into a single model. To improve the practicability of ETSTM, we provide a software energy consumption function based on software characteristic fitting by a backpropagation (BP) neural network, which can be used to predict software energy consumption. Furthermore, we provide two types of energy consumption analysis algorithms based on explicit execution path search and bounded model checking (BMC) for ETSTM. The experiment results show that the proposed method can achieve good performance. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Cloud robotics   Smart manufacturing   Simultaneous localization and mapping   Cloud computing  

摘要： In Smart Manufacturing Environments (SME), the use of cloud robotics is based on the integration of cloud computing and industrial robots, which provides a new technologica approach to task execution and resource sharing compared to traditional industrial robots. However, research on cloud robotics in SME still faces some challenges. First, highly flexible load scheduling mechanisms are immature. Second, traditional optimization mechanisms for the network service quality do not meet the requirements of smart manufacturing due to time variability and service quality dynamics. And, finally, existing learning algorithms used without cloud-assisted resources cause great resource wasting. Accordingly, this paper explores main technologies related to cloud robotics in SME. The research contents include self-adaptive adjustment mechanisms for the service quality of a cloud robot network, computing load allocation mechanisms for cloud robotics, and group learning base, on a cloud platform. The results presented in this paper are helpful to understand the internal mechanisms of perception and interaction, intelligent scheduling and control of cloud robot systems oriented to smart manufacturing, and the design of a cloud architecture oriented to group learning. (C) 2017 Elsevier Ltd. All rights reserved,

关键词： Cloud robotics   Neuromorphic computing   Cognitive computing   Vertical RRAM structure   Memristor   Monolithic 3D-IC  

摘要： Neuromorphic computing based on three-dimensional inetgraed circuits (3D-NCs) offers a novel hardware implementation of neuromorphic computing, and provides high device density, massively parallel signal processing capability, low power consumption, and direct analog signal processing capability. In this paper, by replacing conventional CPUs based on Von Neumann architecture with 3D-NCs, a novel neuromorphic computing based cloud robotics (NC-robotics) system is proposed, which is constructed by 1) cloud server center using 3D-NCs as computing units, 2) neuromorphic robotics based on neural network control technology. Besides the benefits of normal Cloud Robotics platform, this NC- Robotics system has more advantages on massive parallel-computing, analog signals processing, and lower power consumption. In order to implement this NC--Robotics system, a novel 3D-NCs architecture combining vertical RRAM structure is investigated and its concise equivalent circuit model is created, evaluated, and analyzed through SPICE simulations. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： 动力学模型   参数重组   参数辨识   遗传算法  

摘要： 首先采用牛顿-欧拉法推导了工业机器人的动力学模型,并对动力学参数进行重组得出工业机器人的动力学基础参数;其次,综合考虑了观察矩阵条件数、惩罚函数等指标,采用遗传算法优化得出参数辨识轨迹;最后,通过对ADAMS软件中的机器人模型进行参数辨识仿真实验,验证了参数辨识方法的有效性。

关键词： 机器人   竞赛   创新创业  

摘要： 创新创业实验室是工科专业培养创新创业人才的重要载体,而机器人竞赛旨在引导和提升大学生学习的自主性、实践性和创新性,可以说符合创新创业实验室目标.创新创业实验室构建机器人竞赛平台,引导学生从毕业设计、创新创业项目、教师科研任务等几方面与竞赛结合,以此带动创新创业实验室的发展和建设.经过两年多的教学竞赛实践验证,这种方法对于创新创业实验室的建设取得了较好的成效.

关键词： 从动轮式龙行机器人   非完整约束   拉格朗日方程   动力学模型  

摘要： 根据龙行车运动原理,研制出从动轮式龙行机器人样机。根据机器人结构和运动特点,提出了机器人的简化动力学模型,运用非完整约束存在时带不定乘子的拉格朗日方程,推导出机器人滑行时的动力学方程。仿真算例和样机实验证明了所提出的动力学建模方法的合理性。

关键词： 主动脚轮   运动学建模   动力学建模   动力学解耦  

摘要： 设计了一种具有驱动能力的主动脚轮,在主动脚轮设计方案基础上建立了具有两个主动脚轮的全向移动机器人的运动学和动力学模型,并提出了基于两个主动脚轮的全向移动机器人的动力学解耦控制方案,解决了主动脚轮式全向移动机器人运动过程中的动力学耦合问题。

关键词： 混联机器人   并联机构   动力学模型   虚功原理   达朗贝尔原理  

摘要： 基于一种具有两转动一移动(2R1T)3自由度的并联机构2RPU/UPR构造了5自由度混联机器人,该5自由度混联机器人具有结构简单、运动学模型简单及模块化程度高的特点。为解决该5自由度混联机器人的动力学问题,首先推导出了并联机构各分支和并联机构动平台独立运动参数之间的3×3速度雅可比方阵;然后求得了并联机构各分支质心速度与动平台质心广义速度之间的速度映射矩阵,并建立了UPR分支和RPU分支的运动学模型,且基于虚功原理建立了并联机构2RPU/UPR的动力学模型;其次运用达朗贝尔原理对并联机构所串联的单自由度摆头进行受力分析,建立单自由度摆头和并联机构动平台之间的力学关系;最后运用Matlab和ADAMS仿真软件,对机器人的理论动力学模型进行了仿真验证,通过所得结果的对比分析验证了理论模型的正确性。