关键词： Dynamic analysis   Finite element   Modal analysis   Silo   Suspended robot  

摘要： All mechanical systems are subjected to dynamic forces when they are in functioning. Thus a dynamical analysis has to be studied to determine the system behaviour. The vibration is of interest to study, due to its destructive or constructive effect. In the present era computational techniques are quite common and are very reliable as far as the modal analysis is concerned. In this work, the robot of silo cleaning is analysed for its vibration behaviour using finite element method (FEM).The robot was modelled and meshed in ANSYS. Modal analysis was conducted to calculate few initial natural frequencies. After carrying out the modal analysis, harmonic and transient analysis were done to see the response of the robot under dynamic loading. It was observed that robot is safe in its entire range of operation. © IAEME Publication.

关键词： 机器人   萤火虫  

摘要： 第五届"阳光杯"青少年机器人竞赛暨首届萤火虫校园创客邀请赛,于2016年5月28日在天津市南开区科技实验小学隆重召开。来自天津市南开区、和平区、河西区、河北区、北辰区、西青区36所中小学的460余名学生,参加了这次机器人爱好者和校园创客的盛会。活动中,南开区科技实验小学被授予南开区科学技术贡献奖。本次比赛共设6个项目,分室内、室外两块场地,室内为迷宫机器

关键词： acoustics   anchovy   echosounder   pelagic fish   sardine   Wave Glider (R)  

摘要： South Africa's small-pelagic fishery is a socio-economically important component of the country's commercial fisheries sector, second in value only to the demersal trawl fishery. Management of this sector relies on infrequent hydro-acoustic surveys, which provide measures of anchovy Engraulis encrasicolus and sardine Sardinops sagax biomass used in the assessments of stock status and in the development of management plans for the sustainable utilisation of these resources. We demonstrate how technological capabilities in ocean robotics at the Council for Scientific and Industrial Research (CSIR) could augment the current resource-intensive hydro-acoustic ship-based survey programme and create opportunities for expanding its spatial and temporal resolution. We successfully implement and demonstrate an autonomous wave glider, fitted with a hydro-acoustic sensor and compare the data to a collocated 'traditional' ship-based acoustics survey. In the future these autonomous systems approaches could be seen as a means to lessen the cost burden of the ship-based survey, while at the same time with the added advantage of continuous collection over much wider spatial and temporal domains. This could enable a more reflexive stock management approach taking into account the seasonal characteristics of the fishery and its ecosystem. Gliders thus have potential to increase dramatically the quantity of information available to fisheries managers, thereby reducing uncertainty and contributing to improved management of valuable fish resources. They are likely to contribute to improved knowledge of the ecology of small pelagic fish species off the coast of South Africa in a changing climate and should potentially also permit the collection of biomass data for other marine resources currently not routinely monitored.

关键词： 网络环境   智能机器人   学习模式  

摘要： 现代社会信息技术的飞速发展,使得人工智能有了更广泛的研究和应用,为了跟上时代的需要,智能机器人教学已在中小学校开展的有声有色.目前,在网络环境下进行学习是随着计算机技术和网络技术的发展而产生的一种新型学习方式,两者结合,网络环境下中小学智能机器人学习研究将成为我们面临的一项重要研究课题,网络环境下中小学智能机器人学习模式的研究将成为这一重要研究课题中的一个重要研究方面.

摘要： For robotic systems to continue to move towards ubiquity, robots need to be more autonomous. More autonomy dictates that robots need to be able to make better decisions. Control theory and machine learning are fields of robotics that focus on the decision making process. However, each of these fields implements decision making at different levels of abstraction and at different time scales. Control theory defines low-level decisions at high rates, while machine learning defines high-level decision at low rates. The objective of this research is to integrate tools from both machine leaning and control theory to solve higher dimensional, complex problems, and to optimize the decision making process. Throughout this research, multiple algorithms were created that use concepts from both control theory and machine learning, which provide new tools for robots to make better decisions. One algorithm enables a robot to learn how to optimally explore an unknown space, and autonomously decide when to explore for new information or exploit its current information. Another algorithm enables a robot to learn how to locomote with complex dynamics. These algorithms are evaluated both in simulation and on real robots. The results and analysis of these experiments are presented, which demonstrate the utility of the algorithms introduced in this work. Additionally, a new notion of "learnability" is introduced to define and determine when a given dynamical system has the ability to gain knowledge to optimize a given objective function.

关键词： 机器人   人工智能   机器人学  

摘要： 救援机器人按类别属特种机器人,应用场景固定。我国在"十一五"期间,已经将"废墟搜索与辅助救援机器人"项目列入国家863重点项目,由中科院沈阳自动化研究所机器人学国家重点实验室与中国地震应急搜救中心联合承担研制,并成功研制出"废墟可变形搜救机器人、机器人化生命探测仪、旋翼无人机"三款机器人。

摘要： Soft robotics is an emerging discipline that employs soft flexible materials such as fluids, gels and elastomers in order to enhance the use of robotics in healthcare applications. Compared to their rigid counterparts, soft robotic systems have flexible and rheological properties that are closely related to biological systems, thus allowing the development of adaptive and flexible interactions with complex dynamic environments. With new technologies arising in bioengineering, the integration of living cells into soft robotic systems offers the possibility of accomplishing multiple complex functions such as sensing and actuating upon external stimuli. These emerging bio-hybrid systems are showing promising outcomes and opening up new avenues in the field of soft robotics for applications in healthcare and other fields.

关键词： 蛇形机器人   运动学   动力学   鲁棒控制   样机实验  

摘要： 本课题利用蛇形机器人作为桥梁缆索检测的移动平台,在它上面搭载各种传感器如摄像头、霍尔传感器等对桥梁缆索进行检测,以对桥梁缆索的健康状况进行监测。为此,本文研制出正交关节连接的蛇形机器人并进行运动学与动力学分析,此外还对蛇形机器人的鲁棒轨迹跟踪控制进行了研究,设计出控制器。本文的主要内容为:(1)蛇形机器人样机系统设计本文采用模块化的设计思想对蛇形机器人的关节模块进行机械设计,包括超大扭矩舵机选型、U型连杆与凸字后盖的设计、外皮与电池设计、连接方式设计等。此外,还对蛇形机器人的通信系统进行设计,以及对嵌入式控制器进行架构设计与核心芯片选型,从根本上保证了所设计的蛇形机器人样机性能的可靠性。(2)正交连接的蛇形机器人运动学分析本文选择基于旋量理论的指数积公式法对蛇形机器人进行运动学建模,研究了D-H方法与旋量理论在运动学建模上的内部联系。针对蛇形机器人的运动学逆解问题,提出运用改进的遗传模拟退火算法对其逆运动学进行求解,在matlab仿真环境下编写了算法程序对蛇形机器人逆运动学进行求解,验证了算法的可行性。(3)蛇形机器人的动力学分析与鲁棒轨迹跟踪控制器的设计本文在对各种机器人动力学分析方法进行比较的基础上,选择了拉格朗日方法对蛇形机器人进行动力学建模,并利用多体系统动力学仿真软件ADAMS建立蛇形机器人的三维立体仿真模型,对其进行动力学仿真与实验数据的分析。本文还针对蛇形机器人的轨迹跟踪控制进行研究,采用鲁棒方法设计了鲁棒轨迹跟踪控制器,利用matlab/Simulink进行了仿真验证。(4)蛇形机器人样机实验本文对蛇形机器人样机的蜿蜒运动、行波运动、U型翻滚运动、螺旋攀爬运动等主要运动进行验证,为以后蛇形机器人的改进与完善提供实验数据。

关键词： 双臂救援机器人   机械臂   多刚体系统传递矩阵法   动力学建模  

摘要： 随着科学技术的不断发展,为了完成更为复杂的救援任务,双臂救援机器人应运而生,它不仅可以增强机器人对复杂任务的适应性,同时也提高了工作空间的利用率。双臂救援机器人是一个极其复杂的系统,是由多个机械臂连杆及关节串联组成,并且机械臂与移动车体、机械臂各连杆及关节之间均存在着复杂的力学耦合关系,针对其动力学的研究将尤为重要,因此本文采用多体系统离散时间传递矩阵法对其进行动力学的建模与分析。本文的研究内容主要包括以下几个部分:首先,根据救援机器人机械臂的功能需求确定了机械臂的自由度数目以及关节的运动形式,并进一步对救援机器人机械臂的驱动方式、传动方式的选择等方面进行了详细地分析,完成了机械臂的整体结构设计。其次,采用多体系统离散时间传递矩阵与现代逐步时间积分思想相结合的方法,针对双臂救援机器人的结构特点,利用空间运动的刚体数学模型原理,推得双臂救援机器人的移动车体及机械臂各部件的传递矩阵,分别建立了开环双臂救援机器人系统以及闭环双臂救援机器人系统的整体动力学方程和总传递矩阵。并应用D-H坐标系法建立了机器人双机械臂的运动学模型,对传递矩阵法模型进行了验证。然后利用MATLAB软件对开环系统的模型进行计算与仿真,得到了位移,角位移,力以及力矩关于时间的曲线图。通过对仿真结果的分析,该模型能够有效的满足实时动态仿真的需要,并为后期控制系统的建立提供了重要的理论依据。最后,分析了双臂救援机器人机械臂的救援运动,将运动路径进行划分。详细研究了机械臂的几种关节空间的轨迹规划方法。并在理想情况下,对两条机械臂中的主臂进行关节空间的三段三次多项式插值函数的轨迹规划。利用MATLAB软件进行数值仿真实验,得到了角位移,角速度以及角加速度的变化规律曲线图,验证了机械臂的运动轨迹的连续性与平稳性。

关键词： Evolutionary robotics   autonomous robots   controller synthesis   reality gap   online evolution   bootstrap problem   deception   genomic encoding   research practices  

摘要： One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. In this article, we review and discuss the open issues in evolutionary robotics. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versusevolution on real robotic hardware. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1)the bootstrap problem, (2)deception, and (3)the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. Finally, we address the absence of standard research practices in the field. We also discuss promising avenues of research. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.