关键词： LEGO robotics   play   inclusion   children   physical disability   autism   inclusive STEM   underserved youth   elementary school   robotics  

摘要： Purpose: Youth with disabilities are under-represented in science, technology, engineering, and math (STEM) in school and in the workforce. One encouraging approach to engage youth's interest in STEM is through robotics;however, such programs are mostly for typically developing youth. The purpose of this study was to understand the development and implementation of an adapted robotics program for children and youth with disabilities and their experiences within it. Method: Our mixed methods pilot study (pre- and post-workshop surveys, observations, and interviews) involved 41 participants including: 18 youth (aged 6-13), 12 parents and 11 key informants. The robotics program involved 6, two-hour workshops held at a paediatric hospital. Results: Our findings showed that several adaptations made to the robotics program helped to enhance the participation of children with disabilities. Adaptations addressed the educational/curriculum, cognitive and learning, physical and social needs of the children. In regards to experiences within the adapted hospital program, our findings highlight that children enjoyed the program and learned about computer programming and building robots. Conclusions: Clinicians and educators should consider engaging youth with disabilities in robotics to enhance learning and interest in STEM. IMPLICATIONS FOR REHABILITATION Clinicians and educators should consider adapting curriculum content and mode of delivery of LEGO (R) robotics programs to include youth with disabilities. Appropriate staffing including clinicians and educators who are knowledgeable about youth with disabilities and LEGO (R) robotics are needed. Clinicians should consider engaging youth with disabilities in LEGO (R) to enhance learning and interest in STEM.

关键词： Hemiparesis   motor learning   multiple sclerosis   neglect   neurorehabilitation   Parkinson disease   robotics   spinal cord injury   stroke  

摘要： BACKGROUND: During the last two decades, extensive interaction between clinicians and engineers has led to the development of systems that stimulate neural plasticity to optimize motor recovery after neurological lesions. This has resulted in the expansion of the field of robotics for rehabilitation. Studies in patients with stroke-related upper-limb paresis have shown that robotic rehabilitation can improve motor capacity. However, few other applications have been evaluated (e.g. tremor, peripheral nerve injuries or other neurological diseases). PURPOSE: This paper presents an overview of the current use of upper limb robotic systems for neurorehabilitation, and highlights the rationale behind their use for the assessment and treatment of common neurological disorders. CONCLUSIONS: Rehabilitation robots are little integrated in clinical practice, except after stroke. Although few studies have been carried out to evaluate their effectiveness, evidence from the neurosciences and indications from pilot studies suggests that upper limb robotic rehabilitation can be applied safely in various other neurological conditions. Rehabilitation robots provide an intensity, quality and dose of treatment that exceeds therapist-mediated rehabilitation. Moreover, the use of force fields, multi-sensory environments, feedback etc. renders such rehabilitation engaging and motivating. Future studies should evaluate the effectiveness of rehabilitation robots in neurological pathologies other than stroke.

关键词： 四足机器人   混联机构   动力学   动载协调   ADAMS仿真  

摘要： 本课题提出一种具有混联腿部结构的新型四足机器人,引入张量分析理论和旋量理论,构建了该混联四足机器人对于广义输入的逆向协调方程。以整机的防滑性能作为优化指标,利用遗传算法进行了协调计算,并基于该协调方法求取了整机动力学。本课题还基于旋量理论和李群李代数方法结合张量分析方法提出了求解运动学的方法,为分析机构的运动学构建了新思路,具有一定的理论价值和指导意义。首先,对混联腿部机构进行了运动学分析,得到了腿部机构运动学反解模型以及正解求取方法,并对正解算法进行了验证。对四足机器人整机进行了运动学求解时直接利用坐标变换规则将整机运动学问题转化为了单腿运动学问题,简化了整机运动学求解过程。提出了单腿的动力利用率指标,利用遗传算法对单腿机构的关键结构参数进行了优化分析;针对单目标优化结果中存在的问题,引入加权综合指标作为适应度函数,并改变了单腿机构关键结构参数的组成,对单腿结构参数进行了进一步的优化。结果表明,改进的优化算法能够得到综合性能更加良好的优化结果。分别利用拉格朗日方法和牛顿欧拉与影响系数结合的方法对腿部机构进行了动力学求解。利用MATLAB对腿部机构运动学与动力学进行了计算,并利用ADAMS虚拟样机仿真软件,对单腿机构的运动学和动力学进行了仿真分析,得到结果与MATLAB计算结果一致,验证了样机的正确性及运动学与动力学建模的正确性,为进一步的运动及动力控制奠定了基础。最后,将四足机器人各支撑足端点受力作为机器人的广义输入,引入反对称张量构建了整机逆向协调方程,并拟定了机器人动载荷,以各支撑足端点受力与地面法线方向的夹角作为评价机器人防滑性能的指标,利用遗传算法对支反力进行了协调优化;基于牛顿欧拉方法和理论力学中相对运动的转换方程,求取了整机动载,并利用上述协调优化方法结合牛顿欧拉法求解了整机动力学;并求取了各足端点支反力与地面法线方向夹角的变化曲线,分析了整机运动中存在的问题,结合整机步态对该问题进行了分析。本课题的研究为该新型四足机器人的运动和动力控制奠定了基础,并且对于混联机构及混联构型四足机器人的运动及动力学研究具有一定的参考意义。

摘要： 本刊讯(记者张英通讯员侯桂芬)5月12日至14日,由陕西省科协、陕西省教育厅、共青团陕西省委、陕西省知识产权局联合主办的第十七届陕西省青少年机器人竞赛在西安高新国际学校举行,来自全省10个市、32个县区、75个基层单位的师生组成的160支队伍,裁判员、工作人员和志愿者近700人参加了竞赛。本次竞赛共设置创意比赛、综合技能、FLL挑战赛、VEX挑战赛、WER创新赛5项赛事,在同等规则下分小学、初中、

关键词： 机器人   人工智能   澄海   汕头市   澄海区   广东省  

摘要： 科技永恒、创新无限。5月12日至14日,来自广东全省各地的"小创客"们欢聚汕头澄海宝奥城,进行综合技能、机器人创意、FLL、VEX、WER和机器人现场拼装等项目竞赛。经过紧张的角逐,16个市322支队伍850多名选手,其中170名选手夺得一等奖,并选出14支冠军队伍参加7月中旬在广东中山市举办的第17届中国青少年机器人竞赛。"广东省青少年机器人竞赛"(以下简称:广东机器人赛)自2001年至今已成功举办17届,是目前

关键词： Elementary school teachers   Teaching methods   Science education   Science teachers   Design engineering   Engineering   Design   Institutions  

摘要： Engineering has become an important subject in the Next Generation Science Standards (NGSS), which have raised engineering design to the same level as scientific inquiry when teaching science disciplines at all levels. Therefore, preservice elementary teachers (PSTs) need to know how to integrate the engineering design process (EDP) into their science teaching. In this article, we describe how we used the LEGO Mindstorms EV3 Kit as part of a NGSS-aligned engineering unit in an elementary science teaching methods course to introduce EDP to PSTs. The use of educational robotics in introduction to engineering courses is not new in higher education institutions. However, integrating engineering through robotics in elementary teacher training is unique. PSTs, with no prior programming or robotics experience, were introduced to NGSS science and engineering practices, nature of engineering (NOE) ideas, and the Engineering is Elementary EDP via the LEGO Mindstorms EV3 Kit. We found that PSTs improved their NOE views after experiencing the engineering unit. © 2017 National Science Teaching Association.

关键词： 工业机器人   学习应用   实训台  

摘要： 由哈工大机器人集团自主设计的国内首款工业机器人学习应用APP——"海渡学院"8月23日在世界机器人大会上正式发布,并已在安卓、苹果等主流手机系统的"应用市场"上线。据介绍,该软件搭建了从入门到精通的进阶式学习系统,涵盖丰富的轻量学习内容;平台每周开设业内资深专家、学者讲座直播,实现实时互动,颠覆传统课堂学习方式,打造全免费、无门槛的工业机器人线上

关键词： 2-DOF并联机器人   机器人动力学   加速度反馈控制   滑模变结构   联合仿真  

摘要： 随着社会生产的发展,机器人产业空前繁荣,但是当前的少自由度并联机器人远不能满足人们对智能化生产的需求,为此本论文针对一种2-DOF平面并联机器人开展相关研究。建立了2-DOF平面并联机器人末端动平台与主动关节的转角之间的位置关系;采用拉格朗日函数建立平面五杆并联机构动力学模型,验证了平面五杆并联机构与2-DOF平面并联机器人的等价性。以单轴系统为研究对象,系统阐述了加速度反馈控制的基本原理;从系统惯量与鲁棒性的角度分析,说明系统采用加速度反馈控制可以有效增加系统抵抗外界干扰和负载变化的能力;从系统稳定性角度说明系统加入加速度反馈控制可以有效改善其应对非线性摩擦时的系统特性;从系统的幅频特性角度分析阐明了系统在加入加速度反馈以后,能够使系统的固有频率增加,从而提高其抑制机械谐振的能力。将加速度反馈控制应用到2-DOF平面并联机器人当中,分别求解PD控制、增广PD控制及加速度反馈控制的控制律,通过对比证明了加速度反馈控制在系统负载变化时的性能优越性,最后通过ADAMS与MATLAB联合仿真,证明了加速度反馈控制是有效的。为了消除加速度反馈给系统造成的的不确定性影响,在加速度反馈控制的基础上,引入滑模变结构控制,进一步提高系统的鲁棒性,同时提高系统的响应速度。研究对于该机器人的推广应用具有理论指导意义。

关键词： 岩石钻孔   隧道支护   钻头振动分析   误差补偿   仿真分析  

摘要： 本文课题来源于国家自然科学基金重大科研仪器研制项目:深部巷道/隧道动力灾害物理模拟试验系统,编号:51427803,对正确、深入地揭示深部巷道/隧道岩爆等类似动力灾害的形成机制和演化规律具有重要的理论和应用价值。本课题所研究的隧道支护钻孔机器人是整个动力灾害模拟试验系统中锚杆支护和钻孔的主要装置。通过对其进行研制及动力学分析,再加上相应的控制系统以完成定位及钻孔的任务,同时预留安装插锚杆机构的位置为后续插锚杆做准备。本文首先介绍了钻岩技术的历史发展,并由此引出国内外锚杆钻机的研究现状,介绍了机械振动和定位误差分析的方法。通过对比国内外锚杆钻机的驱动形式和样式,结合具体工况和课题要求,提出了隧道支护钻孔机器人总体设计方案。包括钻头进给机构、整机支撑机构、支撑主轴、驱动方式的选择,以及驱动电机及控制电机的选型计算及整个机器人工作过程介绍。其次,本文对隧道支护钻孔机器人进行了运动学及逆运动学分析,给出了钻头的工作空间,得出了钻头的运动满足设计要求的结论;针对径向进给电机和钻头电机转速匹配问题,进行了理论推导,为实验提供了理论依据;针对钻头轴向振动这一严重影响工作稳定性的问题,提出了钻孔机器人简化的力学模型,并在理论上推导了钻孔机器人的振动方程。根据方程及振动模型受力,对支撑弹簧的参数进行了优化。并利用优化的弹簧模型结合钻头受力,对整机进行了adams振动仿真,验证了理论推导的合理性;针对细长钻头,对其进行了有预应力的模态分析,得出钻头强度和刚度满足设计要求的结论。再次,本文对控制系统进行了设计。包括控制系统总体框架、通信设计、电机控制硬件设计以及控制系统软件设计。其中电机控制硬件部分包括传感器的选型及原理介绍、步进电机及无刷直流电机的控制原理和实现。此外,重点分析了电机的定位误差,并提出了误差的来源及补偿方法。最后,本文对隧道支护钻孔机器人样机进行了现场实验,包括钻孔功能实验、振动实验、行走定位实验,得出此隧道支护钻孔机器人能满足设计要求的钻孔功能的结论,并且通过实验验证了振动分析理论的正确性以及误差补偿方法的有效性。

摘要： [in Japanese]