关键词： ROBOTS -- Dynamics   SYNCHRONIZATION   ROBOTS -- Kinematics   SWITCHING circuits   ELECTRIC network topology  

摘要： In this paper, the problems related to control for a network of heterogeneous robots, to achieve task-space synchronization in the presence of uncertainties in kinematic and dynamic models have been reported. Based on the proposed control algorithms and adaptive laws, networked robot systems can be ensured to synchronize with imprecise measurement of system parameters and communication delays. Three different connection scenarios, namely, strongly connected graphs, switching regular graphs, and jointly connected regular graphs have been considered in this paper. With the use of weighted storage function, attempts have been made in this paper to demonstrate that a multi-robot system, interconnected over a strongly connected graph with time delays, can be stabilized with guaranteed position and velocity synchronization. Since it is difficult to set up a fixed communication network between robots, an alternative synchronization controller was developed through switching topologies. Additionally, for interconnections between robots that are time-varying and agents that are disconnected at certain time intervals, the stability and synchronous behaviors of the networked system were studied using Lyapunov theory and switching control theory. Numerical examples were also provided to demonstrate the performance of the proposed multi-robot system. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： ENGINE equipment   PROPELLERS   EQUIPMENT & supplies   HELICOPTER rotor aerodynamics   DRONE aircraft equipment & supplies   HELICOPTER motors  

摘要： This paper considers the dynamic simulation of an Unmanned Hybrid Flying Robot (UHFR) with main fuel engine in the middle to carry most of the weight and promises long flights. This configuration will increase the flight time of the unmanned copter for a given payload size as opposed to the traditional quad-copters, where only DC motors are used. A parametric study to investigate the effect of the propellers ratio (main rotor propeller diameter to secondary rotor propeller diameter), the angle of incidence of the main rotor and the twist angle of the main rotor blades on selected performance criteria of the UHFR is presented.

关键词： Dynamics (Mechanics)   Control equipment   Robots   Equations of motion   Trajectories (Physics)   Algorithms   Manipulators   Design   Kinematics   Inertia (Mechanics)  

摘要： A free-floating space robot equipped with multiple reconfigurable manipulators is designed and investigated in this paper. Lockable passive cylindrical joints (PCJs) are utilized to make the manipulator have the ability of changing its length and twisted angle. Each cylindrical joint, connecting two adjacent rigid links, has no embedded actuators but a brake mechanism. Normally, the mechanism is locked during the operation. When in the reconfiguration stage, two manipulators grasp each other to form a closed loop. Then one PCJ is unlocked, whose relative rotation and translation can be changed by the active torques at other joints. This system is a typical space multibody system. The dynamics of the space robot with unlocked cylindrical joints and a closed structural loop is investigated. The equations of motion are derived through Maggi-Kane's method. The obtained mathematical model is free of multipliers, which makes it suitable for controller design. A trajectory planning algorithm capable of avoiding the configuration singularity of the manipulators is proposed. A slide mode controller embedded with an extended state observer (ESO) is designed for the trajectory tracking control. Numerical simulations demonstrate the effectiveness of the trajectory planning and control strategy for the reconfiguration process.

摘要： [...]the only limitation of RMN that remains in experienced teams is the cost of the equipment which can be up to 2 million € [6]. [...]because of the limited availability of RMN technology, present studies are mostly non-randomised. EHRA/HRS Expert Consensus on Catheter Ablation of Ventricular Arrhythmias: developed in a partnership with the European Heart Rhythm Association (EHRA), a Registered Branch of the European Society of Cardiology (ESC), and the Heart Rhythm Society (HRS); in collaboration with the American College of Cardiology (ACC) and the American Heart Association (AHA).

关键词： Borderline tumors   Follow-up   Outcome   Ovary   Prognosis   Tumor marker   CA125  

摘要： Objective The value of the serum tumor marker CA125 in borderline tumors of the ovary (BOTs) is not well defined, with unclear benefit in both diagnosis and follow-up. The aim of the present project was to identify the predictive value of CA125 for stage and relapse. Methods CA125 data were extracted from the ROBOT multicenter study of patients with BOT treated between 1998 and 2008 in 24 German centers. While patients' data were retrieved retrospectively from hospital records and clinical tumor registries, follow-up and independent central pathology review were performed prospectively. Results We identified 127 patients from the ROBOT database fulfilling the eligibility criterion of available CA125 at initial diagnosis. Eighty-three (65.3%) patients had increased CA125 levels (>35 U/L). Of the patients, 85.0% presented with serous and 13.4% with mucinous BOT histology, whereas 29.9% had stage I disease. Fifteen (11.8%) patients experienced a relapse. Multivariate analysis identified raised CA125, young age, and serous histology as independent predictors of peritoneal implants of any type at initial presentation. Raised CA125 at initial diagnosis was, however, not an independent predictor of future relapse. Discussion Elevated CA125 seems to be associated with the presence of peritoneal implants of any type at initial diagnosis of serous BOT, but failed to have any independent predictive value on future relapse. Prospective multicenter studies are warranted to evaluate CA125 measurements in the follow-up management of BOT.

关键词： compliant robotics   Hebbian plasticity   morphological computation   recurrent neural networks   tensegrity  

摘要： In embodied computation (or morphological computation), part of the complexity of motor control is offloaded to the body dynamics. We demonstrate that a simple Hebbian-like learning rule can be used to train systems with (partial) embodiment, and can be extended outside of the scope of traditional neural networks. To this end, we apply the learning rule to optimize the connection weights of recurrent neural networks with different topologies and for various tasks. We then apply this learning rule to a simulated compliant tensegrity robot by optimizing static feedback controllers that directly exploit the dynamics of the robot body. This leads to partially embodied controllers, i.e., hybrid controllers that naturally integrate the computations that are performed by the robot body into a neural network architecture. Our results demonstrate the universal applicability of reward-modulated Hebbian learning. Furthermore, they demonstrate the robustness of systems trained with the learning rule. This study strengthens our belief that compliant robots should or can be seen as computational units, instead of dumb hardware that needs a complex controller. This link between compliant robotics and neural networks is also the main reason for our search for simple universal learning rules for both neural networks and robotics.

关键词： 机器人工程   零阳   机器人竞赛   梦想成真   机器人足球   智能机器人   编程知识   万向轮   茂达   电脑制作  

摘要： 梦想还是要有的,万一实现了呢？10年前,张家界市慈利县零阳镇一完小的王杰有一个关于机器人的梦想。他希望把机器人带进山里,带到学校,让这里的孩子走进机器人的奇妙世界。如今梦想成真。

关键词： 四足机器人   弹簧腿   优化分析  

摘要： 为了降低四足机器人行进时足底冲击对机器人本身造成的损伤并增强行走稳定性,以山东大学研制的野外高性能液压驱动四足机器人为研究对象,建立其力学模型,对其正、逆运动学进行分析,规划其行进步态。对比研究加装弹簧腿前后的机器人的质心位移、机体冲击加速度及偏转角度等,最后,针对加装弹簧腿后出现的新问题,对弹簧腿装置的阻尼系数进行优化。研究结果表明:弹簧腿对减小机体冲击加速度和控制机体稳定性有显著的作用。

关键词： Underwater robots   Hydrodynamic performance   Collaborative optimization   Particle Swarm Optimization   Approximate model  

摘要： Multidisciplinary Design Optimization (MOO) is proposed for the design of the lines of an underwater robot. Hydrodynamic performances of the underwater robot are concerned about in the design, including the resistance and the manoeuvrability. A method of MDO, Collaborative Optimization (CO), is adopted. To improve the efficiency of optimization, approximate models are established in subdisciplines. Also, an artificial intelligent technique, Particle Swarm Optimization (PSO), is incorporated into the CO framework. The optimization design of the lines of the underwater robot is carried out on an Isight platform, an automatic integration optimization platform. Through the platform, the optimization design of the lines and the analysis of the hydrodynamic performances can be achieved automatically with high efficiency. An autonomous underwater vehicle (AUV), SUBOFF, is taken as a verification model. For different lines, CFD calculation is performed to analyze the resistance and manoeuvrability. By comparison, the optimal lines of the hull and the fairwater are determined. (C) 2015 Elsevier Ltd. All rights reserved.