关键词： Dynamics (Mechanics)   Control equipment   Robots   Wheels   Torque   Trajectories (Physics)  

摘要： In differential drive robots, wheel slip severely affects the ability to track a desired motion trajectory and the problem is exacerbated when differential drive robots are used in applications involving coordination of multiple robots. This problem is investigated and, based on the wheel-ground traction forces, a simple slip avoidance control strategy is discussed. Differential drive robots with two driven wheels and one or more ball-type caster wheels are considered. The traction forces between the wheels and the ground surface are determined by assuming rigid wheel, rigid ground interaction. These traction forces are used to determine the maximum value of the input wheel torque that can be applied on the wheel before it slips. To avoid wheel slip, this limiting torque value is used to set a saturation limit for the input torque computed by a trajectory tracking controller. Stability of the closed-loop system with the slip avoidance strategy is shown. Experiments are conducted with this strategy using a single robot as well as multiple robots in a platoon. A representative sample of the experimental results is presented and discussed.

摘要： 2017年'和教育杯'湖北省中小学电脑制作活动暨NOC活动机器人竞赛于5月20-21日在孝感举行,来自全省10多个市州的800多名选手、300余名指导教师参加了竞赛活动.省教育厅巡视员严学军出席开幕式并讲话,孝感市人民政府副市长张志敏、湖北工程学院院长潘慧明、湖北工程学院副校长鲁旭东、中国移动通信集团湖北有限公司副总经理刘焱宇、孝感市教育局局长季云堂等领导出席了开幕式,省教育信息化发展中心主任、省电教馆馆长邹德智主持了开幕式.

关键词： Resource utilization   testing   performance bugs   continuous integration   resource prediction   performance regressions  

摘要： Unintended changes in the utilization of resources like CPU and memory can lead to severe problems for the operation of robotics and intelligent systems. Nevertheless, systematic testing for such performance regressions has largely been ignored in this domain. We present a method to specify and execute performance tests for individual components of component-based robotics systems based on their middleware interfaces. The method includes an automatic analysis of each component revision against previous ones that reports potential changes to the resource utilization characteristics. This informs developers about the impact of their changes. We describe the design of the framework and present evaluation results for the automatic detection of performance changes based on tests for a variety of robotics components. Additionally, we demonstrate how performance tests can be used as a basis for learning resource utilization models of components. These models can be used to detect faults at system run-time, which provides an additional level of safety for the systems besides the offline testing.

关键词： 机器人   魏德米勒  

摘要： 2017年10月,中国首家机器人学院——佛山机器人学院正式落地中国,作为德国汉诺威机器人学院唯一海外授权的机构,它将是"中国制造2025"对接"德国工业4.0"的示范平台。魏德米勒作为佛山机器人学院的第一批合作伙伴,与其形成了战略联盟,借助这个全新的平台,为机器人行业的客户展示全套应用解决方案,将魏德米勒的优质的产品和服务推向周边区域进而辐射全中国,助力客户和行业实现进一步的产业升级。亚洲区执行副总裁赵鸿钧先生,工业以太网和SAI产

关键词： 机器人学   人机交互   仿人智能   机器人控制  

摘要： 人-机器人交互(Human-Robot Interaction,HRI)是指人与机器人之间通过某种特定的传感器和接口,在一定的交互技术支撑下实现相互理解的信息通信。HRI的研究目的是使机器人与人类和谐共处、自然高效地完成用户交待的任务并为用户提供及时有效的反馈。HRI技术的发展不仅有益于提高人类的工作效率,而且有助于满足人类的生活需求。目前HRI技术已经成为机器人应用领域的一个重要研究热点。随着人机交互应用领域的不断扩展,人机交互面临的环境越来越复杂,用户对人机交互自然性、直观性的需求越来越高。这些不同的应用场景,难以用统一的数学模型进行概括,采用固定模型的传统交互方式很难兼顾人机交互系统的性能和用户的需求。因此,在人机交互的关键技术中融入仿人智能的方法,是克服人机交互技术目前瓶颈的一个重要途径。本论文主要研究基于仿人智能的人机交互技术。本论文的主要贡献和创新点概括如下:1)建立了仿人智能人机交互系统的仿人行为模型。肌肉训练行为模型(Muscle Training Behavior Model,MTBM)应用于人机交互系统中用户手势操作指令的优化。预接触环境检测行为模型(Pre-touching Surrounding Detecting Behavior Model,PTSDBM)应用于人机交互过程中机器人预接触信息的实时检测。双手协作行为模型(Dual Hands Cooperation Behavior Model,DHCBM)应用于人机交互系统中的多机器人协作控制。2)提出了基于MTBM的用户手势操作指令优化方法。一方面提出了双重有向聚类算法(Double Directed Clustering Algorithm,DDCA)对用户手势操作数据进行训练,生成用户手势操作的核心意图,避免用户非意图手势操作对机器人运动控制的干扰,从而减少机器人的冗余运动。一方面提出了记忆-响应算法(Memory-Responding Algorithm,MRA),构建机器人期望运动和任务需求的映射,实现用户对人机交互经验可重用性的需求。3)设计了基于PTSDBM的人机交互预接触信息检测方法。针对多机器人人机交互系统,对机器人相对感知传感器是否存在感知信息遮挡的情况分别进行了研究。首先构建了人机交互机器人预接触工作域,然后采用构建机器人末端包围虚拟边框的方法实现人机交互无遮挡时预接触信息的检测。采用创建机器人和感知传感器工作空间映射的方法,对被遮挡机器人信息进行计算,为精简平台下人机交互系统的研究提供了一种机器人信息遮挡问题的解决方法。4)提出了基于DHCBM的人机交互多机械臂协作控制方法。该方法包括集中主从意图控制和多机械臂闭环约束控制。集中主从意图控制是指用户手势操作对操作物体的期望运动进行直接控制,形式上赋予操作物体虚拟的自我驱动能力。多机械臂闭环约束控制是指依据操作物体的期望运动和操作物体当前运动状态的反馈规划机器人的运动控制指令。行为结果就是在机器人与操作物体构成的闭环约束链下,机器人的运动变化量带动了操作物体的运动。所提出的方法有助于解决多机械臂协作系统中机械臂运动学不一致的问题,实现降低人机交互多机械臂协作系统中的运动误差累积的目的。5)设计了仿人智能人机交互方法的验证实验。在上述理论研究基础上,分别对基于MTBM的用户手势操作指令优化、基于PTSDBM的机器人预接触信息检测以及基于DHCBM的人机交互多机器人协作进行了实验测试和分析。实验结果表明:所设计的仿人智能人机交互方法减少了用户非意图操作对机器人冗余运动的影响,降低了系统的运动误差累积,从而提高了人机交互系统的性能,同时增强了用户的操作自然性和直观性。为智能人机交互的深入研究奠定了坚实的基础。

关键词： 机器人竞赛   创新   培养  

摘要： 随着我国经济社会的飞速发展,各领域的改革的步伐已经走向了纵深。在教育领域,培养全面综合素质的人才已经成了新时期教育改革的目标。要实现这一目标就要转变过去的保守的教育理念,积极通过各种更灵活多样的模式提高学生的创新能力,学生的创新能力得到提高,就会将所学的课本知识灵活运用到实际生活中,达到学以致用的目的。为培养学生的创新能力就要充分利用新时期信息技术条件的巨大优势,机器人竞赛这一信息技术条件的新的模式对于培养学生的创新能力就是一个很有效果的尝试。

关键词： Ground vehicles   UNMANNED   Payload   robotics   waves   rougher   oceans   time periods   liquids   Reconnaissance  

摘要： The next-generation Wave Glider - an unmanned surface vehicle that can traverse the surface of the ocean -will be able to collect intelligence, surveillance and reconnaissance data in rougher waters, for longer periods of time and while carrying more payloads, said a Liquid Robotics executive.

关键词： 球型机器人控制平台   快速控制原型   自动代码生成   物理建模  

摘要： 在移动机器人控制系统的设计中,由于理论和实际存在较大差别,控制工程师往往发现仿真结果难以直接应用于实际系统,工作效率较低,急需一个能观察算法实时性能的控制平台;为了满足移动机器人这个特殊的使用环境,该平台需具备小型化、无线控制的特点,而现有解决方案如dSPACE实时系统由于体积较大且不支持无线控制,无法满足使用要求。本论文借助快速控制原型的思想,设计制作了一个球型机器人控制平台。首先,完成机器人的软硬件配置,并制作系统各部分的代码生成模块;其次,建立机器人的仿真模型,利用仿真结果为实际调试提供参考;最后,通过实验对系统的传感器和执行机构进行调整,再完成整体平衡控制器的调试。论文的主要内容如下:(1)硬件平台设计。首先,根据系统要求从全局高度规划整个电气/机械系统;其次,完成机械结构的设计与组装;再次,配合机械架构对机器人的电气系统进行配置与改造,为发挥机电系统的全部潜力打下硬件基础。(2)软件平台设计。首先,介绍了软件的设计思想与整个控制平台的使用流程;其次,分别完成传感器、执行器的驱动程序开发;再次,利用S函数将驱动程序封装为代码生成模块。软件平台将硬件与MATLAB&Simulink环境相结合,实现了仿真与实际系统的无缝连接,使工程师能够方便快捷地观察控制算法与实际被控对象相连时算法的实际性能。(3)仿真模型建立。首先,采用传统机理建模的方法推导了机器人的拉格朗日方程,得到其动力学模型并进行简要分析;其次,重点介绍了机器人的物理建模过程与控制器的设计,仿真结果表明了控制器的有效性;最后,总结了机电系统物理建模过程中的注意事项。(4)实验验证。首先,通过姿态估计、电机调整、平衡调试三个实验展示了控制平台与实际系统实时交互的过程,体现了控制平台与外部物理世界相互作用的能力;其次,详细对比、分析了系统的仿真结果与实际曲线;最后,根据实际经验总结出正确看待理论仿真与实际调试的观点:理论仿真提供大致范围,实际经验确定具体细节。

关键词： Robotics   Path planning   Robot design   Modular automation   Actuators   Surgical robots  

摘要： Purpose - The following paper is a "Q& A interview" conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned-entrepreneur regarding the commercialization and challenges of bringing a technological invention to market. The paper aims to discuss these issues. Design/methodology/approach - The interviewee is Dr Howie Choset, Chief Technical Officer at the Advanced Robotics for Manufacturing Institute and Professor of Robotics at Carnegie Mellon University (CMU). Motivated by applications in confined spaces, Dr Choset created a comprehensive program in modular, high degree(s) of freedom (DOF) and multirobot systems. This research led Dr Choset to cofound three companies. In this interview, Dr Choset shares some of his personal and business experiences of working in academia and industry. Findings - Dr Choset received his Bachelor of Science, Engineering (BSE) degree in computer science and his Bachelor of Science, Economics (BSEcon) degree in business from the University of Pennsylvania in 1990. Dr Choset received his Masters and PhD from Caltech in mechanical engineering and robotics in 1991 and 1996. Since 1996, Dr Choset has been a Professor of Robotics at CMU and Director of the CMU Biorobotics Lab. He is also the Director of CMU's undergraduate major and minor of Robotics. Along with his students, Choset formed several companies including Medrobotics (2005) for surgical systems;Hebi Robotics (2014) for modular robots;and Bito Robotics (2017) for autonomous guided vehicles. In 2017, Choset co-led the formation of the Advanced Robotics for Manufacturing Institute, which is a $250m national institute advancing both technology development and education for robotics in manufacturing. Choset is a founding editor of the journal Science Robotics and is currently serving on the editorial board of International Journal Robotics Research. Originality/v

关键词： Principles of robotics   deceptive   vulnerable   machine nature  

摘要： The Principles of Robotics were outlined by the EPSRC in 2010. They are aimed at regulating robots in the real world. This paper represents a response to principle number four which reads: Robots are manufactured artefacts. They should not be designed in a deceptive way to exploit vulnerable users;instead their machine nature should be transparent. The following critique questions the principle's validity by asking whether it is correct as a statement about the nature of robots, and the relationship between robots and people. To achieve this, the principle is broken down into the following two main component statements: (1) Robots should not be designed in a deceptive way to exploit vulnerable users, and, (2) Machine nature should be transparent. It is argued that both of the component statements that make up this principle are fundamentally flawed because of the undefined nature of the critical terms: deceptive, vulnerable, and machine nature, and that as such the principle as a whole is misleading.