关键词： PHYSICAL therapy   METHODOLOGY   ANALYSIS of variance   HEALTH status indicators   HEMIPLEGIA   LONGITUDINAL method   MUSCLE strength   OUTCOME assessment (Medical care)   PROBABILITY theory   ROBOTICS   SCALES (Weighing instruments)   STATISTICS   SAMPLE size (Statistics)   DATA analysis   ACTIVITIES of daily living   TREATMENT effectiveness   REPEATED measures design   STROKE patients -- Rehabilitation   DESCRIPTIVE statistics  

摘要： Background. No strongly clinical evidence about the use of hand robot-assisted therapy in stroke patients was demonstrated. This preliminary observer study was aimed at evaluating the efficacy of intensive robot-assisted therapy in hand function recovery, in the early phase after a stroke onset. Methods. Seven acute ischemic stroke patients at their first-ever stroke were enrolled. Treatment was performed using Amadeo robotic system(Tyromotion GmbH Graz, Austria). Each participant received, in addition to inpatients standard rehabilitative treatment, 20 sessions of robotic treatment for 4 consecutive weeks (5 days/week). Each session lasted for 40 minutes. The exercises were carried out as follows: passive modality (5 minutes), passive/plus modality (5 minutes), assisted therapy (10 minutes), and balloon (10 minutes). The following impairment and functional evaluations, Fugl-Meyer Scale (FM), Medical Research Council Scale for Muscle Strength (hand flexor and extensor muscles) (MRC), Motricity Index (MI), and modified Ashworth Scale for wrist and handmuscles (AS), were performed at the beginning (T0), after 10 sessions (T1), and at the end of the treatment (T2). The strength hand flexion and extension performed by Robot were assessed at T0 and T2. The Barthel Index and COMP (performance and satisfaction subscale) were assessed at T0 and T2. Results. Clinical improvements were found in all patients. No dropouts were recorded during the treatment and all subjects fulfilled the protocol. Evidence of a significant improvement was demonstrated by the Friedman test for the MRC (P < 0.0123). Evidence of an improvement was demonstrated for AS, FM, and MI. Conclusions. This original rehabilitation treatment could contribute to increase the hand motor recovery in acute stroke patients. The simplicity of the treatment, the lack of side effects, and the first positive results in acute stroke patients support the recommendations to extend the clinical trial of this treatment, in

关键词： 并联机器人   Newton-Euler法   动力学建模   计算力矩控制   最优控制  

摘要： 将并联机器人应用于自由曲面抛光已成为曲面抛光的一种趋势，如何提高抛光精度已成为并联抛光机器人研究的一个重要任务。加入动力学前馈控制的并联抛光系统，可以预测抛光头的速度和加速度，当它的运动轨迹偏离给定的轨迹时系统可以快速作出反应，从而提高系统响应速度和控制精度，这将为并联抛光机床的实用化、商用化提供重要保障。因此对并联抛光机器人进行动力学建模及动力学控制是提高并联抛光机器人精度极为重要的环节，具有重要的现实意义。 本文对五自由度并联抛光机器人机构进行了分析，建立了该并联抛光机器人的动力学模型，对其进行了动力学控制仿真，并对并联抛光机器人系统进行了在随机扰动作用下最优控制器的设计。 首先，对并联抛光机器人机构进行了分析，为各个支链建立了D-H坐标，利用Newton-Euler法建立了该并联抛光机器人的动力学模型，给出矩阵形式的动力学方程，并得出并联抛光机器人的状态方程。 其次，基于并联抛光机器人状态方程，分别设计了计算力矩控制器和最优控制器，利用MATLAB对该并联抛光机器人系统分别进行了计算力矩法和最优控制的动力学控制仿真，并得到在无干扰作用下和有干扰作用下的仿真结果，最后分析了对比了这两种控制方法的实际控制效果和抗干扰能力。 最后，对随机扰动下并联抛光机器人系统进行分析，分别设计随机扰动和参考输出的降维观测器，然后设计了在随机扰动下并联抛光机器人系统的最优控制器，并进行了MATLAB仿真，并对其仿真结果进行了分析。

关键词： 机器人竞赛   创新能力   开放实验室   创新团队   项目培训  

摘要： 作为高技术对抗赛的涉及多领域的前沿技术集成的机器人竞赛正在国内外迅速发展,也成为高等院校对大学生进行创新能力培养的重要平台。分析高校参加机器人竞赛对大学生创新能力培养的重要意义,结合我校基于机器人竞赛平台的大学生创新能力培养机制的创立及实践活动中的开放性实验室的建设、机器人创新团队的组建及项目培训等实际情况,探讨了新时代大学生创新能力的培养模式。

关键词： Artificial intelligence   Systems and control theory   Intelligent systems   Autonomous   Industrial robotics   Co-operating   Control   Vision   Machine learning   Multi-robot systems   Robot formation   Logistic application  

摘要： Purpose - Different machines are already present in the human environment, easing human beings' daily life. In the future, this tendency will be accentuated by integration of numerous robots (e.g. wheeled robots, legged robots, humanoid robots, network sensors, etc.) in the human environment. A wide range of applications, such as those dealing with warehouse management, industrial assembling, military applications, daily-life tasks, can benefit from multi-robot systems. The purpose of this paper is to propose an intelligent system for industrial robotics in the logistic field, based on collaboration between heterogeneous robots. Design/methodology/approach - The proposed infrastructure for this multi-robot system is composed of a robots' network including one humanoid robot, wheeled robots, cameras, and remote computer. All devices can communicate between them by using wireless network. The goal of the humanoid robot is to lead the wheeled robots according to the environment and wheeled robots are used to carry a load. The camera allows providing complementary information about the environment;and thanks to machine learning, this control strategy allows complex tasks to be perormed for these logistic applications. Findings - This concept is implemented on real robots within the frame of a demonstrator including the above-mentioned kind of robots. The preliminary results, obtained during experimentations, prove the feasibility of the presented strategy for real applications. Originality/value - The main originalities of this work are, on the one hand, the use of an heterogeneous multi-robots system for logistic tasks, and on the other hand, the proposed machine learning allows a collaboration task between heterogeneous robots in an autonomous manner.

摘要： This article has no abstract

关键词： Software design  

摘要： Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified based on middleware attributes.

关键词： 阿西莫夫   机器人学   科幻小说  

摘要： 2012年4月6日,世界三大科幻作家之一艾萨克·阿西莫夫去世20周年。早在上世纪阿西莫夫的科幻小说中文版出版后,就有了一大批的拥趸者,他不仅激发了中国科幻小说的创作热情,还成为一代人的记忆。作为世界科幻界的里程碑人物,阿西莫夫带给我们什么样的思考?国内科幻作家代表之一韩松说,他本人就是受阿西莫夫的影响走上科幻创作之路,如今阿西莫夫对他的影响不再是小说的情节,更多的是哲学上的思考。

关键词： 人工情感   情感建模   机器人学习   算法优化  

摘要： 随着计算机和人工智能技术的发展，机器人的应用已经从传统的工业制造领域发展到了军事民用海洋勘探月球和火星探测等方面这些应用领域已经不再是简单的结构化的环境，而是一些极端的或者复杂多变的环境，在这种情况下就对机器人的性能提出了更高的要求目前的机器人的智能化水平已经无法满足上述复杂环境的要求，需要自主性更强，实时性更好的机器人传统的机器人控制机理都是基于认知推理方式的，这种控制机理不能满足这种极端环境或者复杂多变的环境，应该从机器人控制机理上对机器人学习方式进行改进而关于情感智能的研究已经取得了一定的成果，所以将人工情感引入到机器人智能控制中逐渐成为人工智能领域一个新的研究方向 本文针对传统的机器人学习算法进行研究，将情感的因素加入到机器人学习算法中，提出了基于人工情感的机器人学习框架，并用于改进CMAC网络学习算法遗传算法和强化学习算法，提高了机器人的综合性能 首先，对CMAC网络学习算法遗传算法和强化学习算法进行分析，并结合人类大脑处理信息的原理提出将情感因素引入到机器人学习中的思路，建立了基于人工情感的机器人学习框架，为后面分别针对CMCA网络学习算法遗传算法和强化学习算法的改进作基础 其次，针对自然情感的特点进行深入研究，根据情感建模的知识分别建立了基于欧氏空间的模型和基于认知推理的情感模型，并通过仿真实验验证了前两种模型的有效性，证明了可以将人工情感模型应用于机器人智能控制中去在此基础之上建立了基于模糊推理的情感模型，应用于后面的仿真实验中 最后，在Matlab环境下，设置机器人生存实验和机器人导航实验，分别对基于CMAC网络的改进算法基于遗传算法的改进算法和基于强化学习的改进算法进行仿真实验仿真实验结果验证了基于人工情感的机器人学习框架设计的合理性和这种改进算法提高机器人整体性能的可行性

关键词： 四足步行机器人   手脚融合   结构设计   模块化   动力学   ADAMS仿真  

摘要： 经过近半个世纪的发展，多足步行机器人仍然存在着功能单一，可维护性差等缺点，且通常作为一种单纯的移动平台,或者配置特定的机械臂才能完成作业，使多足步行机器人的应用受到限制。本文以国家自然科学基金“具有手脚融合功能的多足仿生机器人构型及建模”为依托，开展四足机器人的构型设计及动力学相关问题研究。 论文综述了多足步行机器人的国内外发展概况，并对其优缺点进行对比分析。此外，对多足步行机器人及机械臂的动力学理论进行简要的综述。 根据手脚融合功能四足步行机器人的技术要求，参考国内外多足步行机器人的设计经验，提出一种具有手脚融合功能的四足机器人总体结构方案。基于模块化设计思想，对步行机器人的构型进行设计，该机器人由机架模块、腿部模块、控制模块组成。设计了两种具有手脚融合功能的机械手构型：夹钳机械手、欠驱动多关节机械手构型，并对其性能进行对比分析。 四足步行机器人是一个复杂的动力学系统，具有多个输入输出，存在复杂的耦合性和非线性。为实现机器人的最优控制，对四足机器人的动力学问题进行研究。运用D-H法建立机器人连杆坐标系，对其运动学进行分析。在此基础上建立了机器人动力学模型，推导了机器人各条行走腿的动力学方程，为机器人的运动控制和轨迹规划提供了依据。 针对机器人手脚融合腿的特殊工作性能，对其在抓取物体状态下的动力学问题进行研究。考虑重力的影响，运用牛顿-欧拉算法，建立机器人手脚融合腿的动力学方程，并通过算例进行了验证。 运用ADAMS软件对四足步行机器人的动力学特性进行仿真分析。以机器人直线行走、调整姿态抓取物体为例，对机器人在运行过程中的力学特性进行分析，得到机器人各关节的转速、转矩等参数。仿真结果为机器人的结构优化、轨迹规划、电机及驱动器的选择提供依据。 本文还对机器人的轨迹规划问题进行研究，针对机器人的两种典型运动规律，运用ADAMS软件进行仿真验证，其结果为基于降低能耗的机器人运动轨迹优化提供了思路。本文的研究方法及结果对解决同类问题有一定的参考意义。

关键词： Robots   Mentoring   High schools   Games   Design engineering   Engineering education   High school students   Sports  

摘要： As a mentor for the "Kauaibots," Kauai's All-Island High School Robotics Team, I get to help the youth of our community to learn, grow, and expand their future opportunities while honing my analytical skills and having fun. As soon as you know what competitive robotics is - kids building robots that play fast-paced, challenging games with other robots - you can see why it's a growing and highly successful activity in many of our schools, from about third grade through college. Kids love robotics because it's hands-on, full of solving real problems using real tools, surprisingly social, and intrinsically cool. Teachers love it because it appeals to a variety of kids and stimulates interest in science, math, and engineering like nothing else. There are many scholarships available (the FIRST program alone offers more than $15 million in college scholarships), and for many of these kids, this program is what gets them excited not only about engineering but about college in general. I first learned about robotics through my son and niece, who got involved with the activity in high school, but I soon found that there is even a niche on the team that is particularly suited to my professional skills as an attorney.