关键词： 工程师   学会   电子   电气   人工智能   机器人学   智能控制   中南大学  

摘要： 近日．中南大学蔡自兴教授当选电气和电子工程师学会会士。蔡自兴是我国人工智能、智能控制和智能机器人学科领域的开拓者和带头人，湖南省自兴人工智能研究院首席科学家。他数十载如一日地耕耘在智能科学技术基础研究、科技开发和教学的第一线，建立了我国人工智能、智能控制、机器人学三学科交叉融合的理论体系。

关键词： 教学竞赛   中小学   湖南省   机器人   成功   省教育学会   天心区   长沙市  

摘要： 本刊讯2016年11月23-25日，湖南省首届中小学机器人教学竞赛在长沙市天心区青园小学圆满落幕。本次大赛由湖南省教育学会主办，长沙市天心区青园小学协办。

关键词： Service robots   Technology assessment   Aggregate production function   Labor substitution   Labor complementarity  

摘要： Since the beginning of robotics, the substitution of human labor has been one of the crucial issues. The focus is on the economic perspective, asking how robotics affects the labor market, and on changes in the work processes of human workers. While there are already some lessons learnt from industrial robotics, the area of service robots hag been analyzed to a much lesser extent. First insights into these aspects are of utmost relevance to technology assessment providing policy advice. As conclusions for service robots in general cannot be drawn, we identify criteria for the ex-ante evaluation of service robots in concrete application areas. (C) 2016 The Authors. Published by Elsevier B.V.

关键词： Robotics   stroke   rehabilitation   sensory   motor  

摘要： Two decades of research on robots and upper extremity rehabilitation has resulted in recommendations from systematic reviews and guidelines on their use in stroke. Robotics are often cited for their ability to encourage mass practice as a means to enhance recovery of movement. Yet, stroke recovery is a complex process occurring across many aspects of neurologic function beyond movement. As newer devices are developed and enhanced assessments are integrated into treatment protocols, the potential of robotics to advance rehabilitation will continue to grow.

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.

关键词： Critical illness   Mathematical thinking   Robotics   Technology  

摘要： A 14-year-old child with Acute Lymphoblastic Leukemia participated in 52 weeks of robotics task-based interviews. We present 3 of her tasks from Weeks 1, 20, and 46 along with an overview of the complete 52 weeks. We compare the data from the tasks to Brousseau's (1997) Theory of Didactical Situations of Mathematics to answer our research questions: Can robotics play support the devolution of a fundamental situation to an adidactic situation of mathematics for children who are critically ill? When children with critical illness engage in robotics play, what are the key features of the robotics phenomenon that support devolution to an adidactic situation? We found evidence of the robotics supporting the devolution of a fundamental situation to an adidactic situation of mathematics in each robotics task and evidence of 4 key features (thick authenticity, feedback enabling autonomy, connectivity, and competence) of robotics play that support this devolution.

关键词： Social robotics   Experimental approach, psychology   Foundational and applied research   Measurement  

摘要： Why should an experimental psychologist bother entering a relatively novel field like social robotics and how could the scientific community in social robotics potentially gain from this? This paper highlights the theoretical and practical gains and challenges associated with an interdisciplinary approach when addressing current research questions in human-machine interaction, with a particular focus on social robotics. Three core issues are discussed from an experimental social psychological perspective: First, this paper focuses on the importance of a scientific, theory-driven approach to test causal relationships between key constructs of interest in the domain of human-machine interaction;second, it addresses the need for advancement in the realm of measurement, e.g., in terms of validity. To illustrate, this paper provides an overview of the author's own research in the domain of human-robot interaction in which we have tried to live up to the aforementioned desiderata. Finally, following common Research-Development practice, we argue for bridging the gap between foundational and applied research by testing the validity of the theoretical assumptions and the robustness of our technical platforms in real-world human machine interaction settings. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Parallel robot   Inverse dynamics   Singularity   Removable singularity  

摘要： It is commonly claimed in the literature that if the dynamic equations are made consistent at a type II singular configuration, then a parallel robot can pass through this configuration while the actuator forces remain bounded. However, in contrast to the existing literature, the present paper proves that the consistency of the dynamic model is not sufficient alone within this context, and derives the additional necessary conditions for this purpose. It is then shown that under these new conditions, type II singularities of parallel manipulators can be removed to guarantee finite and continuous inverse dynamics solutions while fully utilizing the workspace. These are achieved through a novel analysis of type II singularities of parallel robots based on the limit concept. Another contribution of the paper is the proposal for definitions of natural and actual orders of type II singularities.

关键词： 电磁直驱   汽车驾驶机器人   动力学分析   结构拓扑优化  

摘要： 汽车驾驶机器人是一种无需对现有车辆结构进行改装,可无损安装在不同车型的驾驶室内,替代驾驶员进行自动驾驶的智能化机器人。本文在前三代DNC系列驾驶机器人实物样机的研究基础上,针对DNC-4电磁直驱汽车驾驶机器人进行了结构动力学拓扑优化探索性研究。本文首先对换挡机械手及驾驶机械腿的结构及工作原理进行了分析,在分析了不同驱动方式优缺点的基础上,选择了合适的直线电机作为驱动装置,确定了电磁直驱汽车驾驶机器人的系统总体结构,并建立了总体结构的三维模型。接着通过对电磁直驱汽车驾驶机器人换挡机械手及驾驶机械腿进行了运动学及动力学分析与建模,确定了换挡机械手及驾驶机械腿末端与结构驱动端之间位移、速度、加速度的关系,并以此为依据,建立了电磁直驱汽车驾驶机器人虚拟样机驱动函数,使得机械手能够按照要求完成选换挡,机械腿能够实现制动、离合、加速功能。然后对电磁直驱汽车驾驶机器人进行了运动学与动力学仿真,验证了机构运动学与动力学分析的正确性及方案的可行性;在满足驾驶机器人各项性能指标的要求下,得到了执行机构关节间相互作用力,为有限元分析及结构拓扑优化打下基础。最后为了得到质量轻、抗振性强的汽车驾驶机器人,对结构进行了有限元分析及结构拓扑优化。对驾驶机器人模态及外界激励进行了分析,分析了驾驶机器人在不同频率下的振动效果,得到了驾驶机器人需要规避的频率;对换挡机械手进行了结构拓扑优化,降低了驾驶机器人的质量,提高了一阶固有频率,增强了驾驶机器人的抗振能力。