关键词： molecular robotics   biped walking on microtubules   motion of kinesin-1 and dynein alog axons and dendrites   particles and wave solutions   neuro-robotics  

摘要： Remarkable biological examples of molecular robots are the proteins kinesin-1 and dynein, which move and transport cargo down microtubule "highways," e.g., of the axon, to final nerve nodes or along dendrites. They convert the energy of ATP hydrolysis into mechanical forces and can thereby push them forwards or backwards step by step. Such mechano-chemical cycles that generate conformal changes are essential for transport on all different types of substrate lanes. The step length of an individual molecular robot is a matter of nanometers but the dynamics of each individual step cannot be predicted with certainty (as it is a random process). Hence, our proposal is to involve the methods of quantum field theory (QFT) to describe an overall reliable, multi robot system that is composed of a huge set of unreliable, local elements. The methods of OFT deliver techniques that are also computationally demanding to synchronize the motion of these molecular robots on one substrate lane as well as across lanes. Three different challenging types of solutions are elaborated. The impact solution reflects the particle point of view;the two remaining solutions are wave based. The second solution outlines coherent robot motions on different lanes. The third solution describes running waves. Experimental investigations are needed to clarify under which biological conditions such different solutions occur. Moreover, such a nano-chemical system can be stimulated by external signals, and this opens a new, hybrid approach to analyze and control the combined system of robots and microtubules externally. Such a method offers the chance to detect mal -functions of the biological system.

关键词： attractive affine varieties   polynomial systems   invariant affine varieties  

摘要： The main goal of this paper is to compute a class of polynomial vector fields, whose associated dynamical system has a given affine variety as attractive and invariant set, a given point in such an affine variety as invariant and attractive and another given affine variety as invariant set, solving the application of this technique in the robotic area. This objective is reached by using some tools taken from algebraic geometry. Practical examples of how these vector fields can be computed are reported. Moreover, by using these techniques, two feedback control laws, respectively, for a unicycle-like mobile robot and for a car-like mobile robot, which make them move, within the workspace, approaching to a selected algebraic curve, are given.

关键词： 三自由度并联机器人   动力学   ADAMS  

摘要： 以Delta并联机构为模型,利用其几何关系建立逆向动力学数学模型。利用三维实体建模软件Pro/E建立三自由度并联机器人的实体模型,导入到动力学仿真软件ADAMS进行运动学和动力学仿真,所得结果与理论结果一致。为三自由度并联机器人的控制器设计与优化提供仿真数据支撑,也为并联机器人的结构研究与开发奠定了理论基础。

关键词： 机器人教学   机器人竞赛   国内外教育   硬件开发   综合素质   吉林省教育厅   教育理念   机器人小车   科教工作   学习过程  

摘要： 机器人技术是一个涵盖机械、电路、程序、控制的综合学科。它包含软件编程也包含硬件开发,是一个非常好的培养学生综合素质和解决问题能力的教学平台,受到国内外教育机构的重视。2004年,我校把机器人引进了校园。成立了＂机器人竞赛小组＂,开设了校本课程。不知不觉间,我校机器人教学活动已开展了十个年头。

关键词： 机器人竞赛   创新能力   实践教学体系  

摘要： 随着教学改革的不断推进,各类学科竞赛已经成为培养创新性人才的新平台,而机器人竞赛由于其自身的综合性、科技性,也为现代教学改革注入了新的力量。本文列举了国内外规模较大、影响力较广的几项机器人竞赛。分析了机器人竞赛对于培养大学生创新能力以及其他综合能力的推动作用。最后,提出了基于机器人竞赛的实践创新教学体系,并得到了良好的教学效果。

关键词： 机器人足球   竞赛活动   湖南省   中小学   世界   基础教育   电化教育   人型机器人  

摘要： 5月30日，第十二届湖南省中小学机器人竞赛在长沙市周南梅溪湖中学举行。机器人灭火、机器人足球、机器人篮球、人型机器人全能挑战赛、FLL工程挑战赛、能力风暴WER能力挑战赛、能力风暴WER-J普及赛、现场竞技普及赛等八大项目的机器人云集于此，大摆擂台，各显神通。 湖南省教育厅党组成员、工委委员王建华，湖南省教育厅基础教育处副处长张晓春，湖南省电化教育馆副馆长温安顺，长沙市教育局副局长缪雅琴，湖南省电化教育馆工会主席缪高勇，长沙市周南中学校长翁光龙，长沙市周南梅溪湖中学校长叶双秋等领导出席并观摩竞赛活动。

关键词： 并联机器人   Lagrange   法   滑模控制   变参趋近率   反正切函数  

摘要： 并联机构具有时变、强耦合、非线性特性,其动力学模型计算量大、耗时长,难以实现有效的实时控制。针对新型驱动冗余三自由度并联机器人的动力学控制问题,首先,采用Lagrange方法进行了完整精确的动力学建模,在此模型的基础上设计了基于指数趋近率的动力学滑模控制器,同时,为消弱滑模控制的抖振、提高控制器性能,引入反正切函数对传统指数趋近率滑模控制进行改进。最后对动力学模型进行仿真分析,并在存在初始误差的情况下进行轨迹跟踪。结果表明,所建模型正确,改进后的滑模控制器程序运行速度大大提高,跟踪快速、精度高,其突出优点是速度抖振极小、输出力输出平稳,能有效消弱系统抖振,较传统指数趋近率滑模控制器性能更好。

关键词： 自主学习   信息技术教师   能力风暴   实践教学活动   探究方法   技术探究   向右转   预测结论   接受者   延时时间  

摘要： 实验是科学课程学习的主要探究方法之一,在信息技术教学中,学生也可以通过类似科学探究实验的方式进行自主学习。因此,如何巧设探究实验,助力信息课堂,提高教学效率是信息技术教师面临的重要课题。下面笔者以《机器人学走路》（浙江教育出版社,为能力风暴VJC1.5仿真版软件）一课为例,谈谈如何设计有效的＂探究实验＂,开展探究性实践教学活动。

关键词： 食品分拣机器人   虚拟样机   动力学仿真   刚体动力学   刚柔耦合动力学  

摘要： 针对六自由度关节式食品分拣机器人的结构特点,运用拉格朗日法对所设计的机器人进行动力学分析。建立机器人的虚拟样机模型,并在ADAMS中对其进行刚体动力学仿真,得到各关节角度、角速度、角加速度、力矩以及功率曲线,发现该机器人具有较好的运动稳定性以及动态响应性,可为电机选型提供理论依据。采用SimDesigner,对所设计的机器人进行刚柔耦合动力学仿真,结果表明机械臂设计合理,可为食品分拣机器人的设计与改进提供指导。

关键词： Human behavior learning   Hidden Markov model  

摘要： Many robots, such as human guide robots and service robots, need to learn the human behavior such that the robots can merge into human society. This learning process is in task space. However, the desired trajectories should be in joint space such that each joint can be moved like human. This needs inverse kinematics. In most of cases, the inverse kinematics do not have analytical solutions. Few training methods work in joint space directly, because they need dynamic time warping to remove speed influence. Both inverse kinematics and dynamic time warping destroy the accuracy of the learning. In this paper, the desired trajectory is trained in joint space without the dynamic time warping. In order to learn the demonstrations in joint space, we use two techniques, Lloyd's algorithm and modified hidden Markov model, to solve the problems in joint space learning. Since the desired trajectories are the joint angles, they can be applied directly without inverse kinematics. Experimental results show that the proposed algorithm works well for human behavior learning. (C) 2015 Elsevier B.V. All rights reserved.