关键词： 自动计分   自动统分   机器人   高职竞赛  

摘要： 目前高职院校机器人技能竞赛普遍采用人工裁判计分的方法,为了提高竞赛计分的效率和准确性,本文介绍基于51单片机现场数据采集,利用无线数据传输模块与上位机进行通信,采用VB软件编写上位机综合计分控制软件,实现了比赛过程的自动计分统分功能。

关键词： heart surgery   image guided   interventional cardiology   minimally invasive   pediatric   robotics  

摘要： The initial success seen in adult cardiac surgery with the application of available robotic systems has not been realized as broadly in pediatric cardiac surgery. The main obstacles include extended set-up time and complexity of the procedures, as well as the large size of the instruments with respect to the size of the child. Moreover, while the main advantage of robotic systems is the ability to minimize incision size, for intracardiac repairs, cardiopulmonary bypass is still required. Catheter-based interventions, on the other hand, have expanded rapidly in both application as well as the complexity of procedures and lesions being treated. However, despite the development of sophisticated devices, robotic systems to aid catheter procedures have not been commonly applied in children. In this article, we describe new catheter-like robotic delivery platforms, which facilitate safe navigation and enable complex repairs, such as tissue approximation and fixation, and tissue removal, inside the beating heart. Additional features including the tracking of rapidly moving tissue targets and novel imaging approaches are described, along with a discussion of future prospects for steerable robotic systems.

关键词： Robotics   Wireless networks   Robotic testbeds   Vision-based tracking   Localisation  

摘要： This paper considers the design, construction and validation of a low-cost experimental robotic testbed, which allows for the localisation and tracking of multiple robotic agents in real time. The testbed system is suitable for research and education in a range of different mobile robotic applications, for validating theoretical as well as practical research work in the field of digital control, mobile robotics, graphical programming and video tracking systems. It provides a reconfigurable floor space for mobile robotic agents to operate within, while tracking the position of multiple agents in real-time using the overhead vision system. The overall system provides a highly cost-effective solution to the topical problem of providing students with practical robotics experience within severe budget constraints. Several problems encountered in the design and development of the mobile robotic testbed and associated tracking system, such as radial lens distortion and the selection of robot identifier templates are clearly addressed. The testbed performance is quantified and several experiments involving LEGO Mindstorm NXT and Merlin System MiaBot robots are discussed.

关键词： neurosurgery   operations   robotics   spine  

摘要： Focusing on robotic technologies that are safe, intelligent, cost-effective and accessible to all, the Hamlyn Symposium is establishing itself as an annual international forum for clinicians, engineers and researchers to exchange ideas and explore new challenges and opportunities in medical robotics and allied technologies. The study highlights the relative ease of transferring pre-operative planning data into action by using robotic assistance, compared to the traditional approach of using stereotactic frames or neuro-navigation. [...]the paper by Tognarelli et al.

关键词： Spherical Robot   Trajectory Tracking   Neurodynamics   Kinematics Modeling   Nonholonomic Systems  

摘要： Spherical robot is a special kind of nonholonomic system that cannot be converted to chained form, which means most of the well-known control methodologies are not suitable for this system. For the trajectory tracking of BHQ-1, a spherical robot designed by our lab, a two-state trajectory tracking controller is proposed in this paper. First, the kinematic model of the robot is built using screw theory and exponential method and the controllability is proved based on the differential geometric control theory. Then to solve the two-state trajectory tracking problem of BHQ-1, a shunting model of neurodynamics and Lyapunov's direct method are combined to design a two-state trajectory tracking controller, of which the Lyapunov stability is validated. Finally, typical simulation examples, such as tracking linear, circular, and sinusoidal trajectories, are introduced to verify the effectiveness of the proposed controller. In this paper the proposed method can also be applied to the control of other spherical robots.

关键词： AUV (Autonomous Underwater Vehicle)   CFD (Computational Fluid Dynamics)   Design optimization   Drag force   Drag coefficient (C-D)   Sensitivity  

摘要： Autonomous Underwater Vehicles (AUVs) provide a useful means of collecting detailed oceano-graphic information. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a procedure using Computational Fluid Dynamics (CFD) for determining the hull resistance of an AUV under development, for a given propeller rotation speed and within a given range of AUV velocities. The CFD analysis results reveal the distribution of the hydrodynamic values (velocity, pressure, etc.) around the AUV hull and its ducted propeller The paper then proceeds to present a methodology for optimizing the AUV profile in order to reduce the total resistance. This paper demonstrates that shape optimization of conceptual designs is possible using the commercial CFD package contained in Ansys (TM). The optimum design to minimize the drag force of the AUV was identified for a given object function and a set of constrained design parameters.

关键词： Nuclear reactors   Nondestructive testing   Robots   Corrosion   Automation   Robotics   Shutdowns  

摘要： During these operations, the calandria vessel did not contain fuel rods or heavy water. Because the in-service inspections take place under more difficult conditions - although the NRU is shut down during in-service inspections, the calandria vessel still contains fuel rods and heavy water - and the inspection tools must be precisely positioned, the decision was made to develop a motorized, software-controlled robotic arm and interchangeable inspection tools, Zeller comments. According to AECL, areas witli corrosion damage that still met structural requirements and had an adequate corrosion allowance were not repaired.

关键词： 自由漂浮空间机器人   动力学奇异   非完整   轨迹规划  

摘要： 针对非完整约束导致的自由漂浮空间机器人广义雅可比矩阵动力学奇异性问题,提出一种间接求解机器人逆运动学的方案.该方案通过运动方程分解并构造迭代函数,将动力学奇异转换为运动学奇异问题,避免直接求解逆广义雅可比矩阵,解决广义雅可比矩阵动力学参数相关特性问题,仿真结果表明该方法能够有效地实现自由漂浮空间机器人回避动力学奇异的非完整轨迹规划.

关键词： 机器人学   机器人技术  

摘要： 本文简介国内外机器人学科学和机器人技术的发展情况,着重概述了机器人学学科和机器人技术合作发展的历史,并从中得到三点启示,即国际上机器人技术和机器人学学科是依靠大联合大合作实现大发展的;没有进行全国性的"产学研"大合作是中国机器人技术未能获得长足发展的重要原因;建立全国性的机器人学学术组织是我国机器人产业大发展必不可少的要素。基于这些启示,提出了尽快成立中国机器人学联合会、设立中国机器人协会和发展机器人学教育等历史使命。