关键词： 机器人技术   计算机   伦理规则   无人驾驶汽车   温菲尔德   佩雷拉   机器人学   军用机器人   伦理困境  

摘要： 创建有伦理意识的机器人,是人工智能面临的一项最艰苦挑战之一。若要取得重大突破,必须将相关伦理意识融入到人工智能的研发中,并借助逻辑学提出符合伦理要求的选择。科幻作家伊萨克·阿西莫夫(Isaac Asimov)在多部科幻小说中,经常提到机器人的工程安全防护和它的伦理道德标准。在1942年科幻小说《环舞》

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： 机器人学习   关联分析   学习客观因素  

摘要： 文章依据数据挖掘技术中的关联分析方法,使用R语言对影响青少年机器人学习效果的客观因素进行了分析。分析结果表明:在是否获得奖项作为学习效果划分标准下,机器人学习时间是检验其学习成果的关键规则。

关键词： Correction  

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： 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： 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.

关键词： 轨迹规划   分段式   S形速度曲线   运动学   动力学  

摘要： 机器人技术的研究对我国工业化发展具有重要意义,轨迹规划是机器人技术中的重要部分。文章首先介绍了国内外机器人产业的发展现状,说明了我国对工业机器人技术研究的迫切需求,分析了现有的笛卡尔空间轨迹规划处理过弯时的优缺点,提出分段式轨迹规划算法,用三次非均匀B样条拟合期望曲线,根据曲线曲率极值点把曲线分段,用复合柯特斯公式求出每段曲线长度,根据每段曲线长度和始末速度限制计算出S形速度曲线表达式,得出插补步长,为了保证插补精度,采用反函数求解的方式求出插补位置,根据S速度表达式和曲线上插补点处的切线方向求出插补点速度和加速度矢量。其次,以时运F3型多用途机器人为研究对象,用改进D-H法对F3型机器人建模,推算F3型机器人正逆运动学公式,选取最优逆解。计算F3型机器人雅克比矩阵,并提出CJC(Cartesian space-Joint space-Cartesian space)转化法解决笛卡尔空间轨迹规划时出现的奇异问题。通过雅克比矩阵把笛卡尔空间的位置、速度和加速度逆推到关节空间。分析F3型机器人连杆间速度与加速度传递,给出F3型机器人连杆质量与惯量矩,采用牛顿-欧拉迭代方法求取机器人运行时各关节所需力矩。采用分段式轨迹规划算法对F3型机器人进行运动学仿真,与过弯不做减速处理时各关节运行状态进行对比,仿真表明采用分段式轨迹规划算法可以有效的减小机器人末端在过弯时产生的冲击,可以抑制振动,使机器人平稳运行,最后通过运动学方程得出机器人末端沿曲线运行时各关节力矩曲线。

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

关键词： 并联机构   运动学   动力学   MATLAB   激光跟踪  

摘要： 并联机器人是运用范围比较广的空间机构,它具有串联机器人所不具备的刚度大、动力性能好、末端执行件惯性小等优势,这种优势在高速、重载的工作条件下更加显著,也因此拓宽了并联机器人的应用范围,被广泛的用于航空、制造业、军事、海洋开发、医疗、服务等领域。在现代机械制造业和自动化行业研究浪潮中,并联机器人占据了主导地位。在我国,针对并联机器人的机构学、运动学等方面的研究相对比较成熟,对其动力学研究还不多,随着社会对并联机器人的需求日益增多,对其动力学的研究也刻不容缓。新型3-PSS并联机器人具有输出精度高、承载能力强、结构简单、逆解唯一等优点。换言之,新型3-PSS并联机器人既有一般并联机器人的优点又克服了一般并联机器人正、逆运动学多解的弊端,从而使基于逆解的机构学研究易于应用。本论文在结构理论、三维建模、运动学分析、动力学分析、参数测试等专题进行了研究,阐述了各专题研究的意义及其相互关系。基于机构学理论,本文首先运用三维软件Pro/E对3-PSS并联机器人进行了虚拟样机;其次,由于机构的运动学分析是其工作空间、动力学、轨迹规划、误差分析等研究的基础,所以基于力学理论对其进行运动学分析。并联机器人的运动学包括正、逆运动学两部分,本文就其逆运动学进行了研究,分析动平台的空间运动特性,通过位置的输入输出关系推导出动平台的位姿方程;在此基础之上求得滑块、链杆的速度、角速度方程式,建立逆运动学模型;将运动学模型离散化,运用Matlab平台得到3-PSS并联机器人在不同欧拉角、不同动平台运动轨迹下的滑块和链杆的位移、速度曲线及上、下球铰分别与动平台、滑块形成的角位移、角速度曲线。利用凯恩方法推导动力学方程可以减少计算步骤进而提高计算效率。本论文在运动学分析的基础之上,基于Kane方法进行动力学建模,包括：求解偏速度、偏角速度、广义主动力及力矩、广义惯性力及力矩等。同时,运用Matlab平台和ADAMS软件对其动力学模型进行仿真,对比分析结果,借此验证理论模型的正确性。为以后的轨迹规划、动力学性能优化及实时控制提供有力的理论支持。鉴于目前存在的空间并联机器人运动学参数在线测量困难的问题,本文提出了基于激光跟踪的解决办法。其基本思路是：在保证动平台运动轨迹与理论模型的运动轨迹相同的前提下,用激光跟踪仪追踪在动平台上布置的三个marker点即测量点,依据这三个测量点(三个测量点共面不共线)的动态测量数据,快速计算出各个被测构件的全部运动学参数。