关键词： Nonlinear control systems   nonlinear dynamical systems   robot control   unmanned aerial vehicles  

摘要： In this paper, we consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties such as differential flatness, controllability, and observability. We prove that the robotic system is differentially flat with respect to two output pairs: elevation of the link and attitude of the vehicle;elevation of the link and longitudinal link force (e.g., cable tension, or bar compression). We show the design of an almost globally convergent nonlinear observer of the full state that resorts only to an onboard accelerometer and a gyroscope. We also design two almost globally convergent nonlinear controllers to track any sufficiently smooth time-varying trajectory of the two output pairs. Finally, we numerically test the robustness of the proposed method in several far-from-nominal conditions: nonlinear cross-coupling effects, parameter deviations, measurements noise, and nonideal actuators.

关键词： Anthropomorphic robots  

摘要： Recent robotics efforts have automated simple, repetitive tasks to increase execution speed and lessen an operator's cognitive load, allowing them to focus on higher-level objectives. However, an autonomous system will eventually encounter something unexpected, and if this exceeds the tolerance of automated solutions, there must be a way to fall back to teleoperation. Our solution is a largely autonomous system with the ability to determine when it is necessary to ask a human operator for guidance. We call this approach human-guided autonomy. Our design emphasizes human-on-the-loop control where an operator expresses a desired high-level goal for which the reasoning component assembles an appropriate chain of subtasks. We introduce our work in the context of the DARPA Robotics Challenge (DRC) Finals. We describe the software architecture Team TROOPER developed and used to control an Atlas humanoid robot. We employ perception, planning, and control automation for execution of subtasks. If subtasks fail, or if changing environmental conditions invalidate the planned subtasks, the system automatically generates a new task chain. The operator is able to intervene at any stage of execution, to provide input and adjustment to any control layer, enabling operator involvement to increase as confidence in automation decreases. We present our performance at the DRC Finals and a discussion about lessons learned. (C) 2016 Wiley Periodicals, Inc.

关键词： Elementary education   Gender studies   Interactive learning environments   Teaching/learning strategies   Applications in subject areas  

摘要： Using robotics technologies in education is increasingly common and has the potential to impact students' learning. Educational robotics is a valuable tool for developing students' cognitive and social skills, and it has greatly attracted the interest of teachers and researchers alike, from pre-school to university. The purpose of this study is to understand the behavioral patterns of elementary students and teachers in one-to-one robotics instruction process. The participants were made up of 18 elementary school students and 18 preservice teachers. Quantitative content analysis and lag sequential analysis were used to analyze the student-teacher interactions. According to findings, the students' assembling bricks, sharing ideas and experiences, and the teachers' providing guidance and asking questions were the most frequent behaviors. Regarding behavioral sequences, the teachers' guidance significantly followed the students' behavior of expressing and sharing their ideas that followed the teachers' questions. The students also significantly tended to play with robots that they themselves designed. Moreover, the teacher-student interactions were discussed in detail in terms of gender differences and difficulty level of robotics activities. The results of this study can be taken into consideration in the design of learning environments with robotics activities. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： TUNA   BEHAVIOR   FINS (Anatomy)   HYDRAULICS   ROBOTICS  

摘要： The shape-changing fins of fish are of great interest to engineers developing the locomotion and maneuvering capabilities of underwater and aerial systems. On page 310 of this issue, Pavlov et al. (1) find that the lymphatic circulatory system in tuna and other members of the Scombridae family of fish serves as a hydraulic system that actively changes the sweep angle of their second dorsal (back) and anal (underside) fins. This is an important finding because sweep-angle changes alter fin erectness and thereby affect the lift-force capacity of the fin. Such changes are used consistently during maneuvering and transient motion, especially for sharp turns.

关键词： 机器人竞赛   电脑制作活动   中小学生   银川市   宁夏   机器人足球   能力的培养   中国移动  

摘要： 2017年6月10日，第十八届“中国移动‘和教育’杯”全国中小学电脑制作活动（宁夏赛区）机器人竞赛在银川九中阅海分校举行。此次竞赛分别在小学、初中、高中设置了机器人足球、FLL“动物之友”竞赛、WER“工业时代”竞赛等7个项目。比赛以“实践、探索、创新”为主题，主要侧重信息技术对学生思维能力的培养。来自固原、吴忠、银川市的中小学生选手指挥他们的机器人在各自参赛的项目中进行了智力、创意以及动手能力等方面的比拼。

关键词： 多机器人系统   吊运系统   动力学工作空间   工作空间质量   虚拟柔索法  

摘要： 针对多机器人通过柔索协同吊运同一重物的并联机器人系统,分析不同因素对系统动力学工作空间的影响。依据力旋量平衡方程建立了吊运系统的动力学模型,采用虚拟柔索法给出了该欠约束系统力旋量封闭的解决方案,并对系统的动力学工作空间和工作空间质量进行了分析。通过实例仿真计算得到了系统在不同工况下的动力学工作空间,并获得不同因素对系统动力学工作空间的影响规律,所得结果为进一步研究系统轨迹规划和运动稳定性提供了一定的基础。

关键词： 学生组织   机器人   钥匙   直播   在线   教育领导力   小组讨论   互相帮助  

摘要： 在美国蒙大拿大学讲师麦考（BillMcCaw）授课的教育领导力课程上，参观者可能会看到学生组织小组讨论、互相帮助完成作业，其中，超过半数的学生是机器人。

关键词： 机器人   学会   衣服   研究成果   西班牙   科学家   TEO   卡洛斯  

摘要： 让机器人包揽家务的梦想离现实又近了一步：西班牙科学家研制的一款机器人新近学会了熨衣服,所需的工具是普通熨斗和支架熨衣板.这款机器人名叫TEO,是西班牙马德里卡洛斯三世大学的研究成果.它身高1.8米,体重80公斤,跟人一样有头、躯干和四肢.此前它已经学会爬楼梯和开门.

关键词： 机器人   衣服   学会   患者   三维图像   高清晰度   TEO   癌  

摘要： 西班牙马德里卡洛斯三世大学研发的机器人TEO，在学会了爬楼梯和开门之后，又学会了熨衣服。面对铺在熨衣板上的衣服，TEO会用头部内置的相机进行全面扫描，建立高清晰度三维图像，计算衣服的褶皱情况。