关键词： AAR-2   6-DOF   Fuzzy sliding mode control   Simulation  

摘要： Space robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.

关键词： FOOD packaging  

摘要： The article reports that Bimba would be offering solutions to engineering challenges in the packaging and food and beverage fields at Pack Expo Las Vegas and mentions its collaboration with Mitsubishi Electric Automation Inc. to combine automation technology with electric motion-control solutions.

关键词： Robotics -- Competitions   Robot design & construction  

摘要： The article announces the winner of the Amazon Robotics Challenge 2017 as the Australian Centre for Robotic Vision squad and winning robot to be Cartma capable of creating a machine used for picking and stowing warehouse goods.

关键词： Robots   Training   Robotics   Machine tools   Automation   Automotive industry   Workstations   Manufacturing engineering   Automotive components   Automotive engineering   Industrial robots  

摘要： The article offers news briefs related to the metalworking industry as of September 2017. Topics include milestones of Denso Robotics, partnership between 5ME and Doosan Machine Tools America to offer cryogenic machining solutions, and the extended service hours of Mitsubishi Electric Automation Inc. to provide technical support for customers.

关键词： Position commanded servo   Robust control   Robot manipulators   Sliding mode   Backstepping  

摘要： In this paper, a simple torque to position conversion method is proposed for position commanded servo actuators used in robot manipulators. The torque to position conversion is based on the low level controller of the servomotor. The proposed conversion law is combined with a backstepping sliding mode control method to realize a robust dynamic controller. The proposed torque based method can control a servomotor which can otherwise be operated only through position inputs. This method facilitates dynamic control for position controlled servomotors and it can be extended to position commanded robotic manipulators also. Simulation and experimental studies are conducted to validate the proposed torque to position conversion based robust control method. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： laser spectroscopy   laser sensing   laser induced fluorescence   laser induced breakdown spectroscopy   chlorophyll A   fluorometer   ROV  

摘要： Laser technologies that are used for the development of sensor elements for Remotely Operated Vehicles (ROVs) are presented, as well as the latest developments in underwater robotics where laser spectroscopy methods are applied to environmental monitoring. A submersible laser spectrometer unit intended for studying Raman scattering and laser-induced fluorescence (LIF) spectra is presented. The spectrometer was developed as an element of an ROV sensor system for remote detection and measurements of organic matter concentrations in sea water and underwater objects. The results of environmental tests of the submersible LIF spectrometer in various marine areas, including the Arctic, are described.

关键词： Visual attention in 3D   eye tracking in 3D   computational models of visual attention   saliency maps  

摘要： 3D visual attention plays an important role in both human and robotics perception that yet has to be explored in full detail. However, the majority of computer vision and robotics methods are concerned only with 2D visual attention. This survey presents findings and approaches that cover 3D visual attention in both human and robot vision, summarizing the last 30 years of research and also looking beyond computational methods. First, we present work in such fields as biological vision and neurophysiology, studying 3D attention in human observers. This provides a view of the role attention plays at the system level for biological vision. Then, we cover computer and robot vision approaches that take 3D visual attention into account. We compare approaches with respect to different categories, such as feature-based, data-based, or depth-based visual attention, and draw conclusions on what advances will help robotics to cope better with complex real-world settings and tasks.

关键词： force feedback   haptics   mitral valve repair   robotics-assisted cardiac surgery  

摘要： BackgroundThe objective of this work was to determine the effect of both direct force feedback and visual force feedback on the amount of force applied to mitral valve tissue during ex vivo robotics-assisted mitral valve annuloplasty. MethodsA force feedback-enabled master-slave surgical system was developed to provide both visual and direct force feedback during robotics-assisted cardiac surgery. This system measured the amount of force applied by novice and expert surgeons to cardiac tissue during ex vivo mitral valve annuloplasty repair. ResultsThe addition of visual (2.161.67), direct (1.62 +/- 0.86), or both visual and direct force feedback (2.15 +/- 1.08) resulted in lower mean maximum force applied to mitral valve tissue while suturing compared with no force feedback (3.34 +/- 1.93N;P<0.05). ConclusionsTo achieve better control of interaction forces on cardiac tissue during robotics-assisted mitral valve annuloplasty suturing, force feedback may be required.

关键词： Tutorials   Robots   MATLAB   Kinematics   Mobile robots   Performance evaluation  

摘要： The Robotics System Toolbox for MATLAB provides a wide and growing set of functionalities for creating robotic systems: Robot Operating System (ROS) integration, mobile robotics, and robot manipulator arms. This capability increases with each release and is targeted at industrial developers as well as academic teaching and research. This tutorial is concerned with the robot manipulator kinematic functionality that has been available since MATLAB release 2016b.