摘要： Reports on the RAS society 2022-2023 President-Elect.

摘要： Provides a listing of current staff, committee members and society officers.

关键词： 人工智能   机器人学   克劳福德   劳动分工   网站   弗兰克  

摘要： 2021年10月26日的《疆界2》网站上,刊载了苏·库里·延森和杰夫·普利对凯特·克劳福德2021年的著作《人工智能地图册》,以及弗兰克·帕斯奎尔2021年的著作《机器人学新法则》的书评,题为《既不人工,也不智能》。克劳福德的著作试图将人工智能置于物质现实之中,指出其对环境、劳动分工、意识形态、国家和权力的影响。

关键词： 工程训练   学科竞赛   机器人教学   课程思政   创新能力  

摘要： 通过对工程训练课程中机器人教学模式进行教学改革,借鉴国内部分高校在工程训练中纳入机器人创新实训教学的经验,建立“以赛促学、以赛促教”的教学模式;改变以往单一的“填鸭式”教学方式,逐步转变为“理论、实训、竞赛三位一体”教学方式;不断完善教学培养方案、课程结构、教学方式、专业实训模式和实训平台,提升师资队伍的整体工程实践能力,提高学生的创新能力和综合工程素养。后期通过不断改进教学方式和优化课程内容,能在同类型高校进行推广。

关键词： 校企融合   创新型   教学团队   高职院校  

摘要： “创新型”教学团队是高职院校推动双创人才建设发展的根本保障。校企融合下整合学校与企业资源,结合双方优势,是打造“创新型”教学团队的有效路径。从融合企业资源角度对“创新型”教学团队建设途径与建设保障等方面进行研究,为高职院校教学团队建设提供些思路。

关键词： 六足机器人   半被动行走   混合动力学   传输能耗  

摘要： 为降低六足机器人稳定行走能耗,提出了一种六足机器人半被动行走步态控制方法。首先,通过分析半被动行走步态的混合动力学模型,并考虑不平整地形下六足机器人多条摆动腿落地差异,提出具有摆动腿提前触地调整策略的六足机器人半被动行走控制方法。其次,基于胞映射原理分析步态稳定性并寻找初始值吸引域作为仿真起始条件。最后,在UG/Simulink联合仿真环境下对机器人低能耗半被动行走能力进行验证。仿真结果显示,六足机器人半被动行走步态的传输能耗远低于主动控制机器人的能耗,且具备台阶等不平整地形适应能力,对六足机器人复杂环境下远距离长时间作业有重要意义。

关键词： Wavelet   Parameter estimation   MLE   Least squares   Omni bundle   Noise  

摘要： Accurate parameter estimation in presence of stochastic noise is the essential part of almost all control hardware of the plants. However, the optimal design of the control hardware depends on processing power and installed memory. The proposed research investigation focuses on precise parameter estimation from compressed temporal data of error dynamics with exiguous susceptibility to the robot's controllability. Instead of using Maximum Likelihood estimation (MLE) and Least Squares (LS) estimation in the time domain, the proposed method exploits the recursive wavelet domain's properties to selectively store the error data coefficients negating the data related to noise. As a result, data compression is achieved. The proposed algorithm may be directly implemented on any scalable "Very Large Scale Integration" (VLSI) circuit due to the recursive implementation. For the evaluation of robustness, dynamic parameter variation is considered. The variation in scalar & vector-valued error is considered to evaluate the performance of the stochastic system. The proposed algorithm implementation is demonstrated experimentally on commercially available Omni Bundle robot.

关键词： 3-DOF Delta parallel robot   Dynamics analysis   The virtual works method   Insufficient excitations   Online identification   Online tuning of base parameters  

摘要： In this paper, the dynamics model of the 3-Degrees-Of-Freedom (DOF) Delta parallel manipulator is elaborated by means of a Screw-based formulation of the virtual works method in a linear regression form. Moreover, a reduced dynamics model is obtained by exploiting the singular value decomposition, leading to the determination of the base inertial parameters. This method is an offline tuning approach for which an optimized path containing several harmonics is required to establish the desired bandwidth. Additionally, this paper presents an algorithm to address the singularity problem by mapping the regressors to an orthogonal space and obtaining an optimal set of base parameters in an online manner, namely the online base inertial parameter tuning method. Thereafter, through a set of simulations, the effectiveness of the proposed method has been illustrated for different paths. Finally, a change in the value of an inertial parameter of the system, which can be regarded as a disturbance, is exerted and the obtained results reveal that the proposed method can compensate for extrinsic mass effect. In summary, it can be deduced that the the proposed approach is also able to identify the changed model under insufficient excitations for real-time purposes.

关键词： Total knee replacement   Total knee arthroplasty   Computer navigation   Robotics   Patient-specific instruments   Network meta-analysis  

摘要： Purpose To achieve the desired alignment more accurately and improve postoperative outcomes, new techniques such as computer navigation (Navigation), patient-specific instruments (PSI) and surgical robots (Robot) are applied in Total Knee Arthroplasty (TKA). This network meta-analysis aims to compare the radiological and clinical outcomes among the above-mentioned techniques and conventional instruments (CON). Methods A PRISMA network meta-analysis was conducted and study protocol was published online at INPLASY (INPLASY202060018). Three databases (PubMed, EMBASE and Cochrane) were searched up to June 1, 2020. Randomised controlled trials (RCTs) comparing any two of the four techniques were included. A Bayesian network meta-analysis was performed focusing on radiological and clinical outcomes. The odds ratio (OR) or mean difference (MD) in various outcomes were calculated, and the interventions were ranked by the surface under the cumulative ranking area (SUCRA) value. Results Seventy-three RCTs were included, with a total of 4209 TKAs. Navigation and Robot could significantly reduce the occurrence of malalignment and malposition compared with PSI and CON, and Navigation could obtain higher medium-and-long-term KSS knee scores than CON. Robot had the greatest advantage in achieving the desired alignment accurately, followed by Navigation;Navigation had the greatest advantage in the KSS score. Conclusion Navigation and Robot did improve the accuracy of alignment compared with PSI and conventional instrument in TKA, but the above four techniques showed no clinical significance in postoperative outcomes.

关键词： 空间机器人   空间机器人  

ISBN: (纸本)9787030709554

摘要： 本书以空间机器人抓捕空间非合作目标为对象，详细介绍了抓捕前、抓捕中、抓捕后的相关理论与方法，内容包括：抓捕前的非合作目标的智能识别、运动观测、运动预测、近距离交会、姿态演化、主动消旋等，抓捕中的空间机器人无扰路径规划控制技术及几种抓捕策略，抓捕后的非合作目标惯性参数辨识技术、卫星组合体消旋及姿态快速稳定控制技术。另外还介绍了空间机器人关节柔性及摩擦建模、容错控制、追逃博弈等。