关键词： Robots   Commodities   Humans   Machinery   Science fiction   Automobiles   Slaves   Humanity   Rule of law  

摘要： Les Trois Lois de la Robotique constituent la réponse d'Isaac Asimov à une attitude traditionnellement soup?onneuse vis-à-vis de la science et de ses productions. Leur but est de démontrer que les robots (et les machines en général) ne sont pas dangereux par nature; en effet, ils sont construits par l'homme et peuvent donc être contr?lés. A la nature scientifique des Trois Lois s'ajoute le fait que celles-ci sont établies par l'Etat, ce qui les rend "neutres". Cette neutralité s'étend aussi au texte, dans la mesure où elles deviennnent aussi des lois rhétoriques qui déterminent les intrigues, les actants, etc. La nature complexe du robot comme symbole de la machine et du travailleur (en particulier, des Noirs et d'autres minorités ethniques) a pour conséquence que les Trois Lois fonctionnent en même temps comme normes sociales. Celles-ci assurent le contr?le du processus de production, et protègent le lecteur des menaces des machines (automation) et des couches inférieures de la force de travail (qui intériorise l'infériorité, la discipline, la conservation de la force de travail). Elles constituent ainsi une solide structure de défense contre les tensions et l'angoisse répandues dans la société américaine de l'après-guerre. Enfin, le robot appara?t aussi, chez Asimov, en tant que marchandise, fabriquée pour être vendue. Les Trois Lois défendent, pour cette raison, le lecteur contre la menace des objets dans une société de consommation: fétichisme de la marchandise (le robot est une marchandise qui marche, pense, ressemble à l'homme; bref, c'est le modèle du "fétiche" de Marx) transformation des êtres humains en marchandise et en machine par la compétition sur le marché du travail, le contr?le de la pensée, l'aliénation.

关键词： 机器人学   注意中心   人工智能  

摘要： 本文就智能机器人的问题,在较为广泛的方面作了介绍,叙述了机器人的历史与现状,对什么是智能机器人的问题提出了我们的看法,对智能模拟的关键——神经系统(脑)的模拟作了较为系统的介绍;讨论了近年机器人研究的注意中心——将智能模拟各方面的成果综合起来,以求建立所谓“人的模型”之智能机器人;简述了智能机器人与机械工业现代化的关系,展示了本世纪八十年代在某些先进国家将出现无人工厂的前景。

摘要： Nowadays robots have made their way into real applications that were prohibitive and unthinkable thirty years ago. This is mainly due to the increase in power computations and the evolution in the theoretical field of robotics and control. Even though there is plenty of information in the current literature on this topics, it is not easy to find clear concepts of how to proceed in order to design and implement a controller for a robot. In general, the design of a controller requires of a complete understanding and knowledge of the system to be controlled. Therefore, for advanced control techniques the systems must be first identified. Once again this particular objective is cumbersome and is never straight forward requiring of great expertise and some criteria must be adopted. On the other hand, the particular problem of designing a controller is even more complex when dealing with Parallel Manipulators (PM), since their closed-loop structures give rise to a highly nonlinear system. Under this basis the current work is developed, which intends to resume and gather all the concepts and experiences involve for the control of an Hydraulic Parallel Manipulator. The main objective of this thesis is to provide a guide remarking all the steps involve in the designing of advanced control technique for PMs. The analysis of the PM under study is minced up to the core of the mechanism: the hydraulic actuators. The actuators are modeled and experimental identified. Additionally, some consideration regarding traditional PID controllers are presented and an adaptive controller is finally implemented. From a macro perspective the kinematic and dynamic model of the PM are presented. Based on the model of the system and extending the adaptive controller of the actuator, a control strategy for the PM is developed and its performance is analyzed with simulation.

摘要： Mobile robots compose an active research area with many potential applica- tions. Numerous robot simulators exist that provide a virtual environment enabling rapid prototyping and verification. Used as development tools, these simulations take place "offline" and are not part of normal robot operation. This work, focuses on the opposite, i. e. using simulation as part of the high- level robot control, in other words "online" simulation. Various use cases can be imagined, ranging from a robot operator testing maneuvering sequences to improving the cognition of autonomous robots. The thesis concretizes the vision of online simulation into four use cases. They are all based on simulating and evaluating a range of scenarios. More- over, a general solution to the use cases is formulated and divided into three independent sub-problems: path generation, gait generation and measure- ment. In the thesis, focus lies on simulation and virtual measurement. The Open Dynamics Engine (ODE) is often used for simulating the dynam- ics of robots. Previous research on using ODE, especially for approximating joint torques, has been extended. Simulator parameters are reviewed both with respect to empirical and theoretical considerations. ODE has further been utilized as the simulation component in a conceptual implementation of the suggested general solution framework. Finally, speeding up simulation using General Purpose GPU computing is investigated. The approach taken demonstrates how thousands of scenarios may be simulated concurrently. In order to realize the technique, a special, minimalistic simulator has been implemented which conforms to GPU hard- ware characteristics and limitations. The provided speedup is satisfactory, but a high initialization cost calls for further work.

摘要： This thesis builds on the observation that robots cannot be programmed to handle any possible situation in the world. Like humans, they need mech- anisms to deal with previously unseen situations and unknown objects. One of the skills humans rely on to deal with the unknown is the ability to learn by observing others. This thesis addresses the challenge of enabling a robot to learn from a human instructor. In particular, it is focused on objects. How can a robot find previously unseen objects How can it track the object with its gaze How can the object be employed in activities Throughout this thesis, these questions are addressed with the end goal of allowing a robot to observe a human instructor and learn how to perform an activity. The robot is assumed to know very little about the world and it is supposed to discover objects autonomously. Given a visual input, object hypotheses are formulated by leveraging on common contextual knowledge often used by hu- mans (e. g. gravity, compactness, convexity). Moreover, unknown objects are tracked and their appearance is updated over time since only a small fraction of the object is visible from the robot initially. Finally, object functionality is inferred by looking how the human instructor is manipulating objects and how objects are used in relation to others. All the methods included in this thesis have been evaluated on datasets that are publicly available or that we collected, showing the importance of these learning abilities.

摘要： La présente thèse du domaine de la « Perception Bio-inspirée » se focalise plus particulièrement sur l’Attention Visuelle Artificielle et la Saillance Visuelle. Un concept de l’Attention Visuelle Artificielle inspiré du vivant, conduisant un modèle d’une telle attention artificielle bio-inspirée, a été élaboré, mis en œuvre et testé dans le contexte de la robotique autonome. En effet, bien qu’il existe plusieurs dizaines de modèles de la saillance visuelle, à la fois en termes de contraste et de cognition, il n’existe pas de modèle hybridant les deux mécanismes d’attention : l’aspect visuel et l’aspect *** créer un tel modèle, nous avons exploré les approches existantes dans le domaine de l’attention visuelle, ainsi que plusieurs approches et paradigmes relevant des domaines connexes (tels que la reconnaissance d’objets, apprentissage artificiel, classification, etc.).Une architecture fonctionnelle d’un système d’attention visuelle hybride, combinant des principes et des mécanismes issus de l’attention visuelle humaine avec des méthodes calculatoires et algorithmiques, a été mise en œuvre, expliquée et détaillé*** autre contribution majeure du présent travail doctoral est la modélisation théorique, le développement et l’application pratique du modèle d’Attention Visuelle bio-inspiré précité, pouvant constituer un socle pour l’autonomie des systèmes robotisés d’*** études menées ont conclu à la validation expérimentale des modèles proposés, confirmant la pertinence de l’approche proposée dans l’accroissement de l’autonomie des systèmes robotisés – et ceci dans un environnement réel Dealing with the field of "Bio-inspired Perception", the present thesis focuses more particularly on Artificial Visual Attention and Visual Saliency. A concept of Artificial Visual Attention, inspired from the human mechanisms, providing a model of such artificial bio-inspired attention, was developed, implemented and tested in the context of autonomous robotics. Alt

关键词： 新工科   人工智能   创新人才   培养路径  

摘要： 从新工科建设的本质和内涵出发,对国内外新工科创新人才培养的研究现状、面对的困惑和亟待突破的难点进行了探讨,提出通过跨学科多专业融合培养、新工科课程体系改革、创新创业能力培养、师资招聘和培养体系改革、学生选拔方式改革等途径,探索形成新工科要求下的高水平创新创业人才培养模式,构建涵盖高水平应用型人才、高科技管理人才和研发创新创业领军人才的智能技术产业政、校、企三方合作生态体系。

摘要： Parallel manipulators, which consist of two rigid bodies (a base and a platform) connected by six serial kinematic chains (connectors), offer distinct advantages when compared to their serial counterparts. The motion of the platform with respect to the base is controlled by the displacement of the six parallel connectors which generate a very stiff and accurate manipulator capable of handling high payloads with minimal positioning errors. These characteristics have generated great interest in the use of this type of manipulator in applications such as machining processes and automated assembly operations. It is clearly desirable to develop a comprehensive dynamic model for effectively designing and controlling the parallel manipulators. The major objective of this research is to derive explicit equations of motion for parallel manipulators. This will provide the means to understand their dynamic behavior and enable the design of more efficient devices capable of fast and accurate motions while handling heavy payloads. As far as the author is aware, this is the first time the explicit equations of motion have been derived (as opposed to numerical solutions). They were derived using Kane's Method which proved to be well suited to the intricate kinematics of parallel manipulators, and verified with the Newton-Euler formulation. Subsequently, the equations were used for a inverse dynamic simulation, which calculated the actuator forces required for producing a desired motion of a given design whilst supporting a workpiece in a machining operation. Various geometric parameters, inertial properties and motion profiles were used for testing in order to understand some of the effects on the dynamic behavior. The equations of motion indicate a high degree of coupling between the connectors caused by the gravitational, tangential, Coriolis and centrifugal accelerations acting upon the system. A most important result of the inverse dynamic simulations is that even for feed rates i