关键词： 拉格朗日方程   动力学   轨迹规划   MATLAB软件   机器人  

摘要： 提出了一种应用拉格朗日方程建立机器人动力学模型的方法。以单自由度机器人为例,根据其动力学模型,使用MATLAB软件对单自由度机器人常用的3种运动轨迹进行轨迹规划,仿真结果符合要求。

关键词： STS教育   机器人教学   科学教育改革   综合研究   教育内容   机器人竞赛   教育情境   问题导向   世界科学   人机交互性  

摘要： STS是Science（科学）、Technology（技术）和Society（社会）的简称,是将科学、技术和社会三者相互关系作为独立对象进行系统考察的综合研究领域。STS教育代表了当今国际科学教育改革的方向,其根本宗旨是培养具有科学素养的公民。

关键词： 多翼自治水下机器人   姿态控制   全参数控制模型   控制系统   线性二次型  

摘要： 为了提高多翼自治水下机器人姿态自主控制的稳定性和控制性能,设计了基于多翼水下机器人全参数控制模型的姿态控制系统.首先对多翼自治水下机器人进行运动学和动力学分析,建立多翼自治水下机器人的全参数运动控制模型;在此基础上建立多翼自治水下机器人整体控制系统,设计基于线性二次型最优控制的多翼自治水下机器人姿态控制器;最后进行多翼自治水下机器人姿态控制仿真实验.结果表明:在给定的外界干扰下,多翼自治水下机器人能够快速稳定跟踪目标姿态,所建立的控制器以及控制模型能够满足多翼水下机器人姿态的自主控制需要,达到设计目标.

关键词： 爬壁机器人   轮足复合   动力学模型   吸附力  

摘要： 针对爬壁机器人不同状态下吸附力合理值的求解问题开展研究.首先分析了一种包含闭链约束的轮足复合型移动机构,基于运动等效原则将其拆成开链机构.利用牛顿-欧拉算法对分拆后的开链机构进行动力学建模.基于动力学模型,以运动失效的临界条件为约束函数,构建爬壁机器人在不同倾角壁面上的吸附力学模型,从而获得不同状态下吸附力的合理值.仿真和实验表明基于该模型获得的吸附力参数能够保证机器人的安全吸附.因此所构建的模型是合理的,可以为爬壁机器人在不同状态下合理控制吸附力大小提供理论依据.

关键词： 青少年科技创新大赛   贵州省   科技节   创意   科技创新成果   机器人竞赛   科普讲座   主办方  

摘要： 贵州省首届＂青少年科技节＂暨第三十届贵州省青少年科技创新大赛上,来自全省127项青少年科技创新成果在贵阳六中向市民展示。主办方还在以往赛事的基础上增加了科普讲座、青少年科学微电影展示、3D打印演示、青少年机器人竞赛等活动。

关键词： Electric stimulation   Rehabilitation   Robotics   Stroke   Upper extremity  

摘要： In this issue of Archives of Physical Medicine and Rehabilitation, Jessica McCabe and colleagues report findings from their methodologically sound, dose-matched clinical trial in 39 patients beyond 6 months poststroke. In this phase II trial, the effects of 60 treatment sessions, each involving 3.5 hours of intensive practice plus either 1.5 hours of functional electrical stimulation (FES) or a shoulder-arm robotic therapy, were compared with 5 hours of intensive daily practice alone. Although no significant between-group differences were found on the primary outcome measure of Arm Motor Ability Test and the secondary outcome measure of Fugl-Meyer Arm motor score, 10% to 15% within-group therapeutic gains were on the Arm Motor Ability Test and Fugl-Meyer Arm. These gains are clinically meaningful for patients with stroke. However, the underlying mechanisms that drive these improvements remain poorly understood. The approximately $1000 cost reduction per patient calculated for the use of motor learning (ML) methods alone or combined with FES, compared with the combination of ML and shoulder-arm robotics, further emphasizes the need for cost considerations when making clinical decisions about selecting the most appropriate therapy for the upper paretic limb in patients with chronic stroke. (C) 2015 by the American Congress of Rehabilitation Medicine

关键词： Ontologies for robotics and automation   Ontology-based standards   Core ontology   Ontology engineering   Knowledge representation  

摘要： The working group Ontologies for Robotics and Automation, sponsored by the IEEE Robotics & Automation Society, recently proposed a Core Ontology for Robotics and Automation (CORA). This ontology was developed to provide an unambiguous definition of core notions of robotics and related topics. It is based on SUMO, a top-level ontology of general concepts, and on ISO 8373:2012 standard, developed by the ISO/TC184/SC2 Working Group, which defines in natural language important terms in the domain of Robotics and Automation (R&A). In this paper, we introduce a set of ontologies that complement CORA with notions such as industrial design and positioning. We also introduce updates to CORA in order to provide more ontologically sound representations of autonomy and of robot parts. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： ROBOTICS -- Law & legislation   INTERNET -- Law & legislation   TECHNOLOGY & law   DATA   FORESEEABILITY (Law)   ROBOTS   CRIMINAL intent   ADMINISTRATIVE law -- United States   UNITED States  

摘要： Two decades of analysis have produced a rich set of insights as to how the law should apply to the Internet's peculiar characteristics. But, in the meantime, technology has not stood still. The same public and private institutions that developed the Internet, from the armed forces to search engines, have initiated a significant shift toward developing robotics and artificial intelligence. This Article is the first to examine what the introduction of a new, equally transformative technology means for cyberlaw and policy. Robotics has a different set of essential qualities than the Internet and accordingly will raise distinct legal issues. Robotics combines, for the first time, the promiscuity of data with the capacity to do physical harm;robotic systems accomplish tasks in ways that cannot be anticipated in advance;and robots increasingly blur the line between person and instrument. Robotics will prove "exceptional" in the sense of occasioning systematic changes to law, institutions, and the legal academy. But we will not be writing on a clean slate: many of the core insights and methods of cyberlaw will prove crucial in integrating robotics and perhaps whatever technology follows.

关键词： Endometrial cancer   Robotic surgery   Laparoscopic surgery   Obesity  

关键词： Evolutionary robotics   visually guided braking   proportional rate control   constant tau-dot strategy  

摘要： This paper utilizes evolutionary robotics techniques as a hypothesis generator to explore optical variables and control strategies that could be used to solve a driving-like braking task. Given such a task, humans exhibit two different braking behaviors: continuously regulated braking and impulsive braking. Based on an oft-used experimental task in human perception/action research, a series of evolutionary robotics simulations were developed to explore the space of possible braking strategies by examining how braking strategies change as the optical information is manipulated. Our results can be summarized as follows: (1) behaviors similar to human behavior were observed only when the constraints were selected correctly;(2) the optical variables and proportional rate yielded significantly better braking performance;(3) two different classes of impulsive braking behaviors were observed, including one not reported in previous studies: discrete impulsive braking and oscillatory impulsive braking;(4) the optical variable is used to initiate and terminate braking;(5) the evolved model agents use a proportional rate control strategy to regulate braking continuously. We argue that combining psychological experiments and evolutionary robotics simulations is a promising research methodology that is useful for testing existing hypotheses and generating new ones.