摘要： Robots rely on multiple sensors to provide them with information about their surroundings. [...]sensor fusion based robot sensing is always a key issue for object tracking, robot path plan and navigation, environment understanding, and autonomous behaviors. A conventional method for automated guided vehicle (AGV) localization has certain limitations, such as slip phenomena, because there are variations in the surface of the road and ground friction. [...]precise localization is a very important issue for the inevitable slip phenomenon situation.

关键词： 动力学模型   独轮机器人   状态反馈控制   直流电机   转矩伺服  

摘要： 本文通过分析独轮机器人的组成结构,利用Lagrange方程建立了其动力学模型。由于所建动力学模型具有很强的非线性,因此利用泰勒级数在机器人的平衡点上对所建立的机器人动力学模型进行了线性化处理。完成独轮机器人动力学模型的线性化处理之后,将线性化后的机器人动力学模型转换成了更加简单实用的状态方程。然后利用仿真软件对所建立的独轮机器人动力学模型进行了仿真验证。仿真实验结果表明,本次所建立的独轮机器人动力学模型符合物理实际,验证了所建动力学模型的正确性。最后,基于所建立的独轮机器人线性状态方程,通过利用状态反馈控制算法,设计了独轮机器人自平衡控制算法,并对所设计的独轮机器人平衡控制算法进行了仿真实验。实验结果表明所设计的算法稳定有效、具有较好的鲁棒性和抗干扰性。完成独轮机器人动力学模型的建立以及上层算法的设计之后,本文还进行了独轮机器人下层驱动控制系统硬件以及驱动控制算法的设计。首先,利用Microchip公司的高性能数字信号控制芯片ds PIC30F4012设计了直流电机驱动控制系统的控制器,然后利用IR公司的高压集成驱动芯片IR2130设计了直流电机驱动控制系统的驱动电路,最后利用IR公司的全控型MOSFET芯片IRFS4710完成了逆变电路的设计。所设计的直流电机驱动控制系统硬件电路在后续的实验验证中得到了应用,在应用过程中发现所设计的电路稳定有效,能很好地完成所设计的实验任务。完成直流电机驱动控制系统硬件电路的设计之后,基于所建立的直流电机数学模型,本文还设计了直流电机转矩伺服控制算法,其中电流状态观测器是整个算法的核心。完成算法的设计之后,在仿真软件中进行了实验验证,验证结果表明所设计的算法能快速、稳定、有效地完成转矩伺服的控制目标。最后,在搭建的直流电机驱动控制系统上,进行了直流电机模型参数的识别实验、电流状态观测器的性能测试实验以及直流电机转矩伺服控制算法的验证实验。实验结果和仿真实验结果吻合,验证了所设计算法的有效性。

关键词： 搜救机器人   寻线行走   无轨迹行走   策略设计  

摘要： 随着智能技术的发展,教育机器人逐步走进中小学课堂,机器人竞赛也成为促进科技进步、普及科技教育的方式之一,搜救机器人竞赛是中小学机器人竞赛中较常见的赛项。在搜救型机器人竞赛中,机器人要顺利完成搜救任务,主要解决三个关键问题：行走、搜索、定位。本文以“虚拟搜救机器人”为实验平台,对搜救机器人的设计与实现策略进行研究,在比赛中能够设计合理的机器人、采用优化的策略,并把这种设计和策略应用于其他搜索类机器人竞赛,从而在比赛—中取得较好的成绩。首先,提出了虚拟机器人搜救比赛需要解决的核心问题,分析了寻线循迹行走的常用算法与策略,发现其适用场合及不足,提出了用寻迹卡传感器机器人的算法与策略,优化了的寻迹卡机器人速度和寻线策略。其次,介绍机器人无轨迹行走与定位的算法和策略,提出了单个红外测距传感器沿墙直线行走的较优策略,指南针纠正位姿方向的策略。根据场地的任务进行地图分割,将无轨迹环境进行分类,找出了一条相对优化的机器人行走路径,提出了不同情况下的场地环境下机器人行走与定位的算法。通过实验,提出了传感器的设置、优化方法和提高搜救机器人整体性能的几种方法。之后,在虚拟机器人搜救仿真平台进行实验,从实验的角度验证了算法的有效性实验数据表明实验策略的结果明显优于已有策略。主要表现在以下几方面：行走速度快;稳定性高;搜索准确;定位精确。最后,提出了对中小学搜救机器人的思考。

关键词： Control   Simulation   Unmanned Aerial Vehicle  

摘要： Aerial Robots has become very popular in robotics groups. This ongoing interest is driven by a significant number of potential end-user applications where it is necessary to reduce human intervention. The validation of control/cooperation algorithms not always is an easy task and requires a large number of humans to keep tests safety. Is present in this paper the simulation of a quadrotor model in SimTwo simulation environment and evaluated the flight dynamic of the robot. To do that was developed a control layer responsible to the hovering maneuver and “go to” position function. The results prove that the objectives were achieved successfully and the simulation was validated. The navigation simulation is left as future work. © 2015, Universidade do Porto - Faculdade de Engenharia. All rights reserved.

关键词： 码垛机器人   动力学   静力学   ANSYS   ADAMS  

摘要： 近年来,随着水泥、面粉、化肥、饲料等行业的迅速发展,现有的肩膀扛、小车拉的仓库搬运和装卸方式已经远远不能满足市场的需求。现有的搬运及装卸方式劳动强度大、工作效率低、工作环境恶劣、严重危害操作工人的生命安全。在这样的背景下,一批旨在代替工人完成搬运及装卸操作的码垛机器人应运而生。“饲料码垛机器人的静力学及动力学研究”就是在这样的背景下提出的。本文首先运用三维造型软件UG构建了饲料码垛机器人的实体模型,进而用拉格朗日法建立饲料码垛机器人的动力学模型,并通过ADAMS软件完成码垛机器人的动力学分析。通过动力学分析得到不同载荷下码垛机器人电机输出转矩曲线和丝杠螺母所受的推力曲线,进而完成伺服电机功率、扭矩、转动惯量的计算,完成驱动码垛机器人的伺服电机、减速装置的选型。其次,使用ANSYS Workbench有限元分析软件对饲料码垛机器人的静力学进行分析。并对该码垛机器人的上大臂、前大臂以及后大臂等主要结构进行有限元分析,得出码垛机器人各个关键部件的受力应力云图,从而验证主要部件结构设计的合理性。

关键词： Secondary School Science   Physics   Science Instruction   High Schools   Robotics   Teaching Methods   Foreign Countries   Exhibits   Workshops   Faculty Development   Hands on Science   Learner EngagementBrazilBrazil  

摘要： In this paper, we propose some of the strategies and methodologies for teaching high-school physics topics through an educational robotics show. This exhibition was part of a set of actions promoted by a Brazilian government program of incentive for teaching activities, whose primary focus is the training of teachers, the improvement of teaching in public schools, the dissemination of science, and the formation of new scientists and researchers. By means of workshops, banners and the prototyping of robotics, we were able to create a connection between the study areas and their surroundings, making learning meaningful and accessible for the students involved and contributing to their cognitive development. © 2015 IOP Publishing Ltd.

关键词： 导管螺旋桨   水下机器人   水动力特性   数值模拟   敞水性能试验  

摘要： 水下机器人作为海洋开发的有力工具,在海洋科学研究、水质环境监测、军事等方面都具有远大的应用前景。由于水下机器人在工作中受到环境的干扰较大,其精确定位及移动面临着巨大挑战,而准确的水动力学模型和高精度的水动力学特性是提高水下机器人控制器性能的基础和前提。本文以无人带缆的导管螺旋桨式水下机器人为研究对象,推导出水下机器人的空间运动学方程;分析水下航行中水下机器人受到的外力作用,并考虑海流的影响,建立了水下机器人的动力学模型;详细的分析了水下机器人受到的水阻力,为求解其水阻力系数奠定了基础。采用数值模拟方法,对水下机器人的惯性类水阻力进行分析,计算得到了水下机器人的的附加质量和附加惯性矩;模拟了水下机器人的拖曳水池试验和旋臂水池试验,分别计算得到相应的位置力系数和旋转导数。采用数值模拟方法分析导管螺旋桨的水动力性能,提出了一种分块混合网格划分方法,结合三种不同的湍流模型进行计算;完成了导管桨模型的敞水性能试验,验证了数值方法的可靠性,并选出了适用于导管螺旋桨水动力性能分析的湍流模型。本文的工作为该水下机器人控制系统的研制提供了依据,对其他类型水下机器人的设计以及水动力特性研究也有指导作用。

关键词： 抢喷机器人   运动解耦   动力学   联合仿真   模糊PID  

摘要： 油田抢喷机器人是在井喷发生后能够自动完成抢喷阀安装的机器人。井喷发生后应立即采取抢险措施,否则会对国家财产造成巨大的损失。而目前,井喷抢险任务主要由人来完成,其工作环境恶劣、危险。因此,研制出可以代替人完成井喷抢险任务的自动装备或机器人具有重要意义。本文研发的油田抢喷机器人针对修井过程中发生的井喷,其主要内容如下:根据井喷抢险任务要求提出油田抢喷机器人的结构方案。基于D-H矩阵法建立油田抢喷机器人的运动学模型,推导驱动关节与机器人末端的位置关系和速度关系。依据位置分析结果对机器人臂部连杆进行解耦优化,使得机器人末端位移与驱动关节位移呈比例关系,减小机械磨损,降低控制难度。基于拉格朗日法对油田抢喷机器人进行动力学分析,建立施加在驱动关节上的力或力矩与各关节之间运动关系的表达式。分别应用MATLAB和ADAMS对机器人进行动力学仿真分析,对比分析结果验证所推导动力学方程的正确性。搭建基于ADAMS与MATLAB的动力学联合仿真模型,研究随抢喷阀位置变化而变化的井喷冲击力对机器人驱动力的影响,为控制方案的设计和伺服电机的选取提供理论依据。为提高机器人在抢喷作业时的控制性能,将模糊控制思想与常规PID控制相结合,设计模糊PID控制器。利用MATLAB/Simulink建立机器人的控制模型,并与动力学仿真模型联合对机器人运动的平稳性及机器人的位置精度进行分析,验证模糊PID控制策略的可行性。

关键词： GUITAR music   RESEARCH   COMPUTER music   BASS guitar music   ROBOTICS   COMPOSITION (Musical composition)  

摘要： This article provides a history of robotic guitars and bass guitars as well as a discussion of the design, construction, and evaluation of two new robotic chordophones, with a focus on different techniques to extend the expressivity of robotic guitars. Swivel and MechBass, two new robots we built, are discussed. Construction techniques likely to interest other musical roboticists are included. These robots use a variety of techniques, both new and inspired by prior work, to afford composers and performers the ability to precisely control pitch and string-picking parameters. Both new robots are evaluated to test their precision, repeatability, and speed. The article closes with a discussion of the compositional and performative implications of such levels of control, and how it might affect humans who wish to interface with the systems.

摘要： Cell migration is a fundamental biological phenomenon that plays a crucial role in a variety of physiological and pathological processes. Over the past few decades, numerous research studies on cell migration have been performed. owever, information is still limited on the mechanisms underlying this complex process. The lack of an efficient cell manipulation tool at the single-cell level hinders the quantitative analysis of cell chemotaxis. In this thesis, a cell migration inducing system with robotically controlled optical tweezers is developed. This system enables the study of cell migration mechanisms. This thesis is performed according to the following ***, an approach that utilizes optical tweezers manipulation to stimulate cell migration is proposed. Specially fabricated polylactic-co-glycolic acid beads are used in this approach. These beads can release chemoattractant molecules in the liquid environment to form a concentration gradient. Optical tweezers are used as micro- manipulators on the microsource beads to stimulate cell migration. This approach mimics the in vivo environment to stimulate cell migration in vitro. Experiments are performed to demonstrate the effectiveness of the proposed ***, the cell migration mechanisms are probed by using an optical tweezers-based cell manipulation system. A unique method that can quantitatively measure the cell protrusion force is developed based on the platform. A cell migration model is developed and includes the following aspects: the forces affecting the cell are analyzed, and a dynamic model of the migrating cell is developed; and a theoretical model that explicitly reveals the relationship between the cell migration velocity and gradient is proposed. This model explains for the first time how concentration affects cell ***, an autonomous cell migration control system with robotically controlled optical tweezers is developed. The control strategy utilizes the natural featur