关键词： Put more   nano   robotics   Nanotechnologies   WELLS   Google   science fiction   Robot   robotics   Intelligence   Organism  

摘要： The article offers the author's view on nanotechnology in robotics. He mentions the efforts of various organizations such as the European robotics association euRobotics and the U.S. National Robotics Initiative in developing nanorobots. He also notes the idea of incorporating synthetic functional elements with biological actuators.

关键词： 鲁棒控制   多移动机器人编队控制   领航者-跟随者   不确定性   机器人动力学  

摘要： 编队控制是多机器人协作的最重要的研究领域,提出的机器人控制算法具有鲁棒性是非常必要的。最近很少有提出的鲁棒控制器考虑动力学,而是依靠保守的假设,或基于滑模受到的抖振问题来获得鲁棒性。上述研究不仅考虑运动学和动力学,而且在非完整多移动机器人编队中考虑执行机构的动力学及其不确定性。提出了一个新的鲁棒控制技术,可以有效地处理系统中的未知参数和不确定性,放宽了保守的假设,得出鲁棒控制系统的设计,并进行了数学分析,而且根据李雅普诺夫定理证明系统的稳定性。仿真结果表明,提出的鲁棒控制方法的有效性。

关键词： 轮椅机器人   楼梯攀爬   完整系统   动力学   控制律  

摘要： 分析出WT轮椅机器人与楼梯环境相互作用的特点,归纳出攀爬过程中轮椅机器人可能出现的模式和确定所处模式的判据。针对WT轮椅机器人较复杂且带有完整约束的混联机构,提出了具有对称的独立广义坐标和对称的完整约束的机构化简定理和一种设计完整或非完整机器人系统控制律的思路,给出了WT轮椅机器人在攀爬楼梯过程中各模式下的Lagrange动力学方程以及保持轮椅座椅水平的各关节广义坐标的规划轨迹,并结合计算力矩法设计出WT轮椅机器人的主动张紧力控制,即在对各关节变量参考输入曲线跟踪的同时,实现了对完整约束的约束反力参考输入曲线的跟踪。最后应用Matlab中的STATEFLOW模块对WT轮椅机器人攀爬楼梯过程的动力学模型和控制律进行仿真,并通过样机试验验证其有效性。

关键词： 青少年科技创新大赛   机器人竞赛   展示活动   长沙市   湖南省   中学  

摘要： 本刊讯 2014年5月25日，第31届长沙市青少年科技创新大赛暨第七届长沙市青少年机器人竞赛展示活动在湖南省长沙市长郡芙蓉中学隆重举行。

关键词： 机器人竞赛   教练员   裁判员   百花齐放   一线教师   青少年   参赛队   家长  

摘要： 近年来，机器人竞赛呈现出百花齐放的态势。虽然规模、形式、规则不尽相同，但都受到了广大青少年的热爱，也受到很多学校和家长的认可。有些一线教师既担任了参赛队的教练员．又在竞赛时担任了裁判员，如何在竞赛裁判与教练员之间合理转换角色，从裁判员的角度去促进教学，同时又从教练员的视角去深入分析竞赛．是需要研究与分析的。

关键词： 空间绳系机器人   编队   自旋   协调控制  

摘要： 提出了一种新型辐射开环空间绳系机器人编队系统,其在编队稳定性、任务灵活性及燃料消耗等方面具有明显的优势。针对辐射开环空间绳系机器人编队系统自旋运动过程中的构型误差控制问题,首先建立了编队系统的自旋动力学模型;然后分析了空间绳系机器人的绳系拉力和空间平台的自旋扭矩对编队系统自旋运动中出现的构型误差的控制能力;设计了一种依靠空间绳系机器人绳系拉力和空间平台自旋扭矩作为控制量,对构型误差进行控制的协调控制方法;最后通过数字仿真进行了校验和分析。仿真结果表明:设计的协调控制方法能够明显改善编队系统自旋运动中构型误差的控制效果。

关键词： computer engineering education   control engineering education   robot motion  

摘要： The idea of incorporating and applying interdisciplinary concepts is an important objective in electrical and computer engineering education. In this sense, mobile robot platforms can be used as educational tools to promote and integrate different curriculum subjects. In this paper, the programme and experience of an optional course called Applied Mobile Robotics is outlined. The reported content is specially focused on the experiences of applying control theory to a mobile robot platform.

关键词： Auction-based robotic architecture   Intelligent action selection   Dynamic time and environmental constraints   Behavior-based robotics  

摘要： Service robots have the potential of improving the quality of life and assist with people's daily activities. Such robots must be capable of operating over long periods of time, performing multiple tasks, and scheduling them appropriately for execution. In addition, service robots must be capable of dealing with tasks whose goals may be in conflict with each other and would need to determine, dynamically, which task to pursue in such a case. Adding to the complexity of the problem is the fact that some task requests may have time constraints-deadlines by which the task has to be completed. Given the dynamic nature of the environment, the robots must make decisions on what tasks to pursue in situations where there could be incomplete or missing information. The robots should also be capable of accepting requests for new tasks or services at runtime, while possibly working on another task. In order to achieve these requirements, this paper presents the Auction Behavior-Based Robotic Architecture that brings the following contributions: (1) it uses an auction mechanism to determine the relevance of a task to run at any given time, (2) it handles multiple user requests while dealing with potentially critical time constraints and incomplete information, (3) it enables long-term robot operation and (4) it allows for dynamic assignment of new tasks. The proposed system is validated on a physical robotic platform, the Segway RMP (R) and in simulation.

关键词： ablation   automation   cardiac electrophysiology   efficacy and safety   electromagnetic   electromechanical   magnetic   mapping  

摘要： Robotic systems allow for mapping and ablation of different arrhythmia substrates replacing hand maneuvering of intracardiac catheters with machine steering. Currently there are four commercially available robotic systems. Niobe magnetic navigation system (Stereotaxis Inc., St Louis, MO) and Sensei robotic navigation system (Hansen Medical Inc., Mountain View, CA) have an established platform with at least 10 years of clinical studies looking at their efficacy and safety. AMIGO Remote Catheter System (Catheter Robotics, Inc., Mount Olive, NJ) and Catheter Guidance Control and Imaging (Magnetecs, Inglewood, CA) are in the earlier phases of implementations with ongoing feasibility and some limited clinical studies. This review discusses the advantages and limitations related to each existing system and highlights the ideal futuristic robotic system that may include the most promising features of the current ones.

关键词： Space robotics   On-orbit servicing   Spacecraft dynamics and control  

摘要： Space robotics is considered one of the most promising approaches for on-orbit servicing (00S) missions such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbital debris removal. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed. A number of manned on-orbit servicing missions were successfully accomplished but unmanned, fully autonomous, servicing missions have not been done yet. Furthermore, all previous unmanned technology demonstration missions were designed to service cooperative targets only. Robotic servicing of a non-cooperative satellite is still an open research area facing many technical challenges. One of the greatest challenges is to ensure the servicing spacecraft safely and reliably docks with the target spacecraft or capture the target to stabilize it for subsequent servicing. This is especially important if the target has an unknown motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To motivate and facilitate such research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions. (C) 2014 Elsevier Ltd. All rights reserved.