关键词： SCARA机器人   运动学   逆解  

摘要： SCARA机器人是一种由三个自由度组成的平面关节型机器人,它的主要作用是可以完成精密仪器和物体的搬运及移动。由于体积小、传动原理简单,被广泛运用于电子电气业,家用电器业,精密机械等领域。本文通过对机器人结构的分析,建立了运动学模型,采用D-H法建立的SCAR A机器人的坐标系,推导出该机器人的运动学方程,进一步得到位置逆解的计算公式。

关键词： 机器人竞赛   比赛现场   人心   中小学生   赛前准备   弦   吉林省   开幕式  

摘要： 夏天的清晨格外清爽，虽然处处鸟语花香，我却无心欣赏——再过一会儿，我就要和另外两位同学站在第十四届吉林省中小学生机器人竞赛的比赛场上，这可是我第一次参加此类大赛，难免有些忐忑不安。到达比赛现场，我四下张望，其他学校的选手们都在进行紧张的准备工作，我和队友们也赶紧找到指定的参赛位置，进行赛前准备。开幕式结束后，比赛正式开始。

关键词： Robotics  

摘要： The robotics industry is achieving a level of commercial maturity as evidenced by innovative products brought to market, and by the increasing pace of robotics companies being acquired by larger players in a diversity of industries. However, there are challenges with accelerating the rate and scale of innovation. Our hypothesis is that, while there are remaining technological challenges, the largest challenge is for the industry to adapt by exploitation of business models that focus more intently on validating product/market fit, building teams to span seamlessly from laboratory to market, and developing creative structure and vehicles to provide the needed resources to commercialize. To this end, we suggest that the robotics field could adapt approaches from the emerging "business model playbook" that are now being used in the field of biotechnology. These industries do compare somewhat in that they are each technologically driven, have long, high-risk development cycles, and have the need for high levels of capital, at least compared to other growth industries like software. In this paper we review what has been accomplished in biotechnology, and also suggest how these lessons could be implemented in the field of robotics.

关键词： Adaptive control   RLED robot   Uncertain kinematics   Uncertain actuator dynamics   Uncertain manipulator dynamics   Adaptive observer  

摘要： In this paper, the backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of parametric uncertainties in kinematics, manipulator dynamics, and actuator dynamics. To avoid acceleration measurements, two techniques are exploited. One technique adds compensation control terms to the control law signal. The other uses a linear in variable property of the Jacobian matrix. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov analysis. Simulation results are presented to show the effectiveness of the proposed control scheme.

关键词： Brain functional modularity   brain functional graph   Piaget   autism   connectome   hierarchical reinforcement learning   mixture-of-experts neural networks  

摘要： By assimilation children embody sensorimotor experiences into already built mental structures. Conversely, by accommodation these structures are changed according to the child's new experience. Despite the intuitive power of these concepts to trace the course of sensorimotor development, they have gradually lost ground in psychology. This likely due to the lack of brain-related views capturing the dynamic mechanisms underlying them. Here we propose that brain modular and hierarchical organization is crucial to understanding assimilation/accommodation. We devise an experiment where a bio-inspired modular and hierarchical mixture-of-experts model guides a simulated robot to learn different reaching tasks by trial-and-error. The model gives a novel interpretation of assimilation/accommodation based on the functional organization of the experts allocated through learning. Assimilation occurs when the model adapts a copy of the expert trained for solving a task, to face another task requiring similar sensorimotor mappings. Experts storing similar sensorimotor mappings belong to the same functional module. Accommodation occurs when the model uses non-trained experts to face tasks requiring different sensorimotor mappings (generating a new functional group of experts). The model also provides a new theoretical framework to investigate assimilation/accommodation impairment, and proposes that such impairment might be related to autism spectrum disorder.

关键词： Flexible-base space robot   Large flexible spacecraft   Target capturing   Dynamics modeling   Vibration suppression  

摘要： Space robots are in huge demand due to the rapid growth of their service targets, i.e., spacecraft. There are generally large flexible components on spacecraft, such as antenna reflectors and solar paddles. Due to the vibratility of their structure, it is challenging for a space robot with flexible appendages (the base is then called flexible-base) to capture and repair the large flexible spacecraft. After capturing, the two spacecraft with flexible appendages are connected by a space manipulator, and a compounded system is formed. In this paper, we developed a dynamic model and a closed-loop simulation system, to provide a means to verify path planning and control algorithms. Initially, the dynamic characteristics of different capturing stages (preimpact and post-impact) were analyzed. The topologies of a flexible-base space robot and the compounded system were described based on incidence and channel matrices. Secondly, the recursive dynamics was formulated and resolved by an effective numerical method. The modeling was verified by Adams' model. Thirdly, we implemented a dynamics calculation block in Matlab/Simulink environment using the S-function package for the C program, and developed a closed-loop simulation system, which was composed of the Planning and Controller, the Multibody Dynamic, and the 3D Display modules. Finally, based on the simulation system, two typical missions-target berthing and on-orbital manipulation of the target along a circle, were simulated and evaluated. Dynamics analysis results presented some useful rules for the path planning and control to suppress the vibration of the flexible structure.

关键词： closed-loop systems for sedation   robot-assisted intubation   robot-assisted nerve block   robotic anesthesia  

摘要： Purpose of review Robots in regional anesthesia are used as a tool to automate the performance of regional techniques reducing the anesthesiologist's workload and improving patient care. The purpose of this review is to show the latest findings in robotic regional anesthesia. Recent findings The literature separates robots in anesthesia into two groups: pharmacological robots and manual robots. Pharmacological robots are mainly closed-loop systems that help in the titration of anesthetic drugs to patients undergoing surgery. Manual robots are mechanical robots that are used to support or replace the manual gestures performed by anesthesiologists. Although in the last decade researchers have focused on the development of decision support systems and closed-loop systems, more recent evidence supports the concept that robots can also be useful in performing regional anesthesia techniques. Summary Robots can improve the performance and safety in regional anesthesia. In this review, we present the developments made in robotic and automated regional anesthesia, and discuss the current state of research in this field.

关键词： Open learning   Expectations in open learning   Student satisfaction   Direct manipulation environment of robotics   Regression model  

摘要： Open learning (OL) strives to transform teaching and learning by applying learning science and emerging technologies to increase student success, improve learning productivity, and lower barriers to access. OL of robotics has a significant growth rate in secondary and/or high schools, but failures exist. Little is known about why many users stop their OL after their initial experience. Previous research done under different task environments has suggested a variety of factors affecting user satisfaction with different types of OL. In this study, we tested a regression model for student satisfaction involving students' attitudes toward OL usage. A survey was conducted to investigate the critical factors affecting students' achievements and satisfaction in OL of robotics with use of own developed direct manipulation learning environment as learning context. A multiple regression analyses were carried out to investigate how different facets of students' expectations and experiences are related to perceived learning achievements and course satisfaction. Descriptive statistics and analysis of variance was performed to determine the effect of predictor variables to student satisfaction. The results demonstrate that students have significantly positive perceptions toward using OL of robotics as a learning-assisted tool. Furthermore, behavioral intention to use OL is influenced by perceived usefulness and self-efficacy. The following five major categories of satisfaction factors with OL course were revealed during analysis of the studies (effect sizes in parentheses): organization (0.69);implementation (0.61);professional content (0.53);interaction (0.43);self-efficacy (0.14). All these effect sizes were judged to be significant and large. The results also showed that learner-mentor/instructor interaction, learner-professional content interaction, and online and offline self-efficacy were good predictors of student satisfaction and course quality. Peer interactions and self

关键词： NEUROSCIENCES   ROBOTICS   ARTIFICIAL intelligence   PERCEPTION   NEUROSCIENTISTS   ALGORITHMS  

摘要： In the attempt to build adaptive and intelligent machines, roboticists have looked at neuroscience for more than half a century as a source of inspiration for perception and control. More recently, neuroscientists have resorted to robots for testing hypotheses and validating models of biological nervous systems. Here, we give an overview of the work at the intersection of robotics and neuroscience and highlight the most promising approaches and areas where interactions between the two fields have generated significant new insights. We articulate the work in three sections, invertebrate, vertebrate and primate neuroscience. We argue that robots generate valuable insight into the function of nervous systems, which is intimately linked to behaviour and embodiment, and that brain-inspired algorithms and devices give robots life-like capabilities.

关键词： Wireless sensor network   Robotics   Teleoperation   Path planning   Task allocation  

摘要： Researchers have been extensively, but often independently, investigating Wireless Sensor Networks (WSNs), Mobile Robotics, and Teleoperation. Lately, due to the complementary nature of these areas, there is a growing trend in integrating them to support various applications that can go beyond passive monitoring and allow us to actually interact with the environment through autonomous and teleoperated robots. Such applications can extensively be used in medicine, science, military, industry, nuclear power stations, underwater, and space explorations. In this paper, we start with a review of the history of WSNs, robotics and mobility in WSNs, and teleoperation. We then introduce a system model integrating these areas as Wireless Sensor and Robot Networks with Teleoperation capabilities (WSRNT). Using this model, we define the problems associated with WSRNT. Finally, we discuss the recent research efforts and open research challenges in merging these fields with respect to major WSRNT tasks and communication requirements. (c) 2014 Elsevier B.V. All rights reserved.