关键词： 轮式机器人   高速漂移   动力学建模   方向控制  

摘要： 针对高速轮式移动机器人,提出了一种漂移运动控制方法.首先以统一轮胎模型为基础建立了移动机器人在复杂工况下的动力学模型;针对系统模型非线性、强耦合等特点,利用反馈线性化的方法设计了一种基于动力学模型的漂移运动控制器,该控制器实现了对目标姿态角及角速度的跟踪控制;针对现有视觉、GPS等测量手段实时性差、不能满足漂移运动任务的缺点,设计实现了位置速度测量单元.仿真及实验验证了该控制器的有效性.

关键词： 混联构型   动力学建模   李代数   神经网络   自适应鲁棒控制  

摘要： 针对串一并混联结构机器人因其复杂的拓扑结构给动力学建模与控制带来困难的问题,以一种4自由度串一并混联仿人机械臂为例进行了动力学建模与控制方法研究。利用旋量与李代数计算结合虚功原理推导了基于质心螺旋系数的动力学方程,以避免约束反力处理和逻辑开链划分以及大量的微分运算。在此基础上,考虑混联结构的强耦合性及系统不确定性,提出了基于反演策略的神经网络自适应鲁棒控制方案并对其进行轨迹跟踪控制仿真,将仿真结果与理想反演控制方案进行了比较,验证了所提控制方案的有效性及优越性。

关键词： 轮式移动机器人   输入输出线性化   反步   自适应   鲁棒   路径跟踪  

摘要： 使用预知期望几何路径函数描述跟踪误差,将路径跟踪问题转化为输出调节问题,基于机器人的动力学模型运用输入输出线性化方法得到运动学-动力学混合控制律,再使用反步法得到动力学控制律;基于类Lyapunov方法设计不确定参数自适应律,保证在未知定常参数情况下跟踪误差仍能够渐近收敛.最后给出了渐近稳定性的证明,数字仿真证实了该控制方案的有效性.

关键词： ELECTRONIC industries   CONSUMPTION (Economics)   PLASTICS industries -- Computer network resources   PLASTICS industries   REVERSE outsourcing   ROBOTICS   INDUSTRIAL engineering   UNITED States  

摘要： The article discusses consumer spending on electronics and electronics production whose growth will continue to be a strong market for plastics processors. It notes that more molders of tiny electronic parts will use robots to increase productivity and they will make parts for the robots as automation penetrates day-to-day activities. It indicates that the electronics industry has broken out of its downward trend and production has grown faster since June 2012.

关键词： ROBOTICS research   HUMAN-robot interaction   ARTIFICIAL muscles  

摘要： An introduction is presented in which the editor discusses various articles within the issue on topics including experimental robotics, human–robot interaction and pneumatic artificial muscles.

关键词： Hysterectomy   gynecological   laparoscopy   Robot  

摘要： Aims: To study the role of robotics in various gynaecological cases, benign and malignant. Materials and Methods: A total number of 80 cases have been analyzed. Operative time, estimated blood loss, hospital stay, complications, conversion rates have been retrospectively studied in all cases. Nodal yield, vaginal margin and paracervical clearance have been studied in all malignant cases. This investigation was conducted at a single minimal access surgery institute. Results: Of total 80 cases, 29 were benign and 51 were malignant cases. In benign cases, total robotic hysterectomies were 24, 2 cases of tubotuboplasty, 1 case of endometriotic cyst excision, 1 case of metroplasty and 1 case of rectovaginal fistula. In 51 cases, 37 of radical hysterectomy, 9 exenterations and 6 were parametrectomy. In benign cases, mean operative time was 80 min, estimated blood loss was 20 ml, mean hospital stay was for 1 day, no major complications and no conversions. In malignant cases, mean operative time was 122 min, estimated blood loss was 50-100ml, 2 cases of ureteric fistulas and no conversions, nodal yield was 30, vaginal margin was 2.5-3.8 cm and para cervical clearance was 3-3.5 cm. Conclusions: Ours is the largest series of robotic surgery in gynecological procedures in India. Benign and malignant cases were addressed robotically showing the feasibility.

关键词： Aging   Assistive technology   Robotics   Aging in place   Long-term care   Assisted living   Nursing homes   Design  

摘要： As the older adult population grows and becomes more diverse, so will their needs and preferences for living environments. Many adults over 65 years of age require some assistance (Administration on Aging in A profile of older Americans: 2009, U.S.D.o.H.a.H. Services, 2009;Ball et al. in J. Aging Stud. 18: 467-483, 2004);yet it is important for their feelings of well-being that the assistance not restrict their autonomy (Barkay in Int. J. Nurs. Pract. 8(4): 198-209, 2002). Not only is autonomy correlated with quality of life (Bowling in J. Epidemiol. Commun. Health 65(3): 273-280, 2011), autonomy enhancement may improve functionality (Ball et al. in J. Aging Stud. 18: 467-483, 2004;Greiner in Am. J. Publ. Health 86(1): 62-66, 1996). The goal of this paper is to provide guidance for the development of technology to enhance autonomy and quality of life for older adults. We explore the potential for robotics to meet these needs. We evaluated older adults' diverse living situations and the predictors of residential moves to higher levels of care in the United States. We also examined older adults' needs for assistance with activities of daily living (ADLs), instrumental activities of daily living (IADLs), and medical conditions when living independently or in a long-term care residence. By providing support for older adults, mobile manipulator robots may reduce need-driven, undesired moves from residences with lower levels of care (i.e., private homes, assisted living) to those with higher levels of care (i.e., skilled nursing).

关键词： soft robots   soft machines   actuators   rapid actuation   pneumatics  

摘要： Soft robots actuated by inflation of a pneumatic network (a pneu-net) of small channels in elastomeric materials are appealing for producing sophisticated motions with simple controls. Although current designs of pneu-nets achieve motion with large amplitudes, they do so relatively slowly (over seconds). This paper describes a new design for pneu-nets that reduces the amount of gas needed for inflation of the pneu-net, and thus increases its speed of actuation. A simple actuator can bend from a linear to a quasi-circular shape in 50 ms when pressurized at P = 345 kPa. At high rates of pressurization, the path along which the actuator bends depends on this rate. When inflated fully, the chambers of this new design experience only one-tenth the change in volume of that required for the previous design. This small change in volume requires comparably low levels of strain in the material at maximum amplitudes of actuation, and commensurately low rates of fatigue and failure. This actuator can operate over a million cycles without significant degradation of performance. This design for soft robotic actuators combines high rates of actuation with high reliability of the actuator, and opens new areas of application for them.

关键词： TECHNOLOGY   LABOR productivity   CONSTRUCTION workers   SURVEYS   WEARABLE technology   ROBOTICS   THREE-dimensional printing  

摘要： The article discusses a survey conducted by the staff of 'ENR: Engineering News Record' about the trends and technologies that will affect the productivity and future of construction workers in the U.S. Among the technologies mentioned by the respondents include wearable computers, robotics, and three-dimensional printing.

关键词： robotics for safety   security and dependability   swarm intelligence/collective intelligence   robot cooperation and coordination   biologically-inspired robots and systems   environmental intelligence  

摘要： Behaviour-based robotics is a paradigm that was proposed by Rodney Brooks in 1986. This paradigm proposes that robotic solutions should be developed by combining various reactive behaviours in an architecture. This survey overviews various biologically inspired source-seeking and multi-agent algorithms that could be combined in a behavior-based architecture towards providing visual concentration or profile information of invisible hazardous pollutants in dangerous environments. The need for this becomes even more necessary when hazardous substances that cannot be observed by human eyes are present in the environment. An example of such a scenario was the nuclear disaster caused by a Tsunami in Japan in 2011. Causalities from this disaster event could have been greatly reduced if the concentration profile of the resulting invisible pollution and radiation was made visible by using a swarm of flying microrobots.