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： Educational assessment   Robotics  

摘要： The learning of a basic task is based on traditional classroom instruction with qualitative assessment and observation. Introduction of individualized tutorials with integrated behavioral-based evaluation techniques could significantly accelerate skill acquisition. The main idea is to provide correct behavior feedback during the process of skill acquisition but isn’t by the result only. It is possible by special motion capture suit.

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。

关键词： 仿生四足机器人   运动学   动力学   仿真分析  

摘要： 为了提高四足机器人的设计效率和设计的可靠性,缩短四足机器人研发周期,文章采用虚拟仿真技术对四足机器人进行仿真研究。文章对虚拟样机进行机构运动学与动力学分析,建立仿生四足机器人的运动学方程及拉格朗日动力学方程,利用三维建模软件pro/E建立实体模型导入到ADAMS中进行系统仿真,采用对角小跑步态,通过仿真结果验证了运动学和动力学数学建模的正确性,分析了影响机器人动态稳定性因素,为物理样机的设计提供了理论依据。

摘要： Preface CACRE 2017 was held in Prague, Czech Republic during June 28-30, 2017. CACRE 2017 was organized by Hong Kong Society of Mechanical Engineers(HKSME), supported by Czech Technical University in Prague and other organizations. The conference provides a useful and wide platform both for display the latest research and for exchange of research results and thoughts in broad Automation, Control and Robotics Engineering. The participants of the conference were from almost every part of the world, with background of either academia or industry, even well-known enterprise. The success and prosperity of the conference is reflected high level of the papers received. The proceedings are a compilation of the accepted papers and represent an interesting outcome of the conference. This book cover 2 chapters: Robotics Engineering; Control and Vision Engineering. We would like to acknowledge all of those who supported CACRE 2017. Each individual and institutional help were very important for the success of this conference. Especially we would like to thank the organizing committee for their valuable advices in the organization and helpful peer review of the papers. We sincerely hope that CACRE 2017 will be a forum for excellent discussions that will put forward new ideas and promote collaborative researches. We are sure that the proceedings will serve as an important research source of references and the knowledge, which will lead to not only scientific and engineering progress but also other new products and processes. Prof. Dan Zhang, York University, Canada Prof. Xiaoping Liu, Carleton University, Canada

关键词： Kane方程   动力学建模   MATLAB  

摘要： 利用矩阵理论,在逆运动学分析的基础上,基于Kane方程推导出了3-PSS并联机器人的逆动力学方程。利用该方程,在给定动平台的运动规律及外载荷后,求得作用于滑块上的驱动力;利用MATLAB和ADAMS软件对推导结果进行仿真。