关键词： Facial expression recognition   Human robot interaction   Imitation  

摘要： This paper presents a new system for recognition and imitation of a set of facial expressions using the visual information acquired by the robot. Besides, the proposed system detects and imitates the interlocutor's head pose and motion. The approach described in this paper is used for human-robot interaction (HRI), and it consists of two consecutive stages: i) a visual analysis of the human facial expression in order to estimate interlocutor's emotional state (i.e., happiness, sadness, anger, fear, neutral) using a Bayesian approach, which is achieved in real time;and ii) an estimate of the user's head pose and motion. This information updates the knowledge of the robot about the people in its field of view, and thus, allows the robot to use it for future actions and interactions. In this paper, both human facial expression and head motion are imitated by Muecas, a 12 degree of freedom (DOF) robotic head. This paper also introduces the concept of human and robot facial expression models, which are included inside of a new cognitive module that builds and updates selective representations of the robot and the agents in its environment for enhancing future HRI. Experimental results show the quality of the detection and imitation using different scenarios with Muecas.

关键词： 机器人   单片机   电路   仿真  

摘要： 分析了竞赛规则,确定了机器人的主要功能,为实现相应功能分别设计了单片机电路、电源电路、电动机驱动电路、灰度传感器电路、障碍物传感器电路和串口通信电路,电路经过在Proteus软件中仿真,表明其能够实现机器人的功能要求。

关键词： International humanitarian law   Robots   Weapon systems   War   Unmanned aerial vehicles   Land mines  

摘要： The concept of a truly autonomous weapons system-a system which is capable of operating itself, independently from human oversight-sounds more like science fiction than science fact. However, the reality is that weapons development is increasingly moving in this direction. Despite reassurances that humans will always be 'in the loop', significant amounts of autonomy have been given to certain weapons systems already. Such weapons present unique regulatory problems, arising not so much from their nature as weapons, but from their replacement of the human role in war and killing. This article considers the implications of increasing weapon autonomy for the humanitarian law principles of distinction and proportionality, and the concept of accountability for breaches of international humanitarian law.

关键词： Dynamics  

摘要： Recursive matrix relations for the inverse dynamics of a planar parallel robot are established in this paper. Three identical legs connecting to the moving platform are located in the same vertical plane. Starting from a known inverse kinematics, the dynamics of the mechanism is solved using an approach based on the principle of virtual work. Finally, compact matrix equations and graphs of simulation for some forces and torques in joints are obtained.

关键词： 欠驱动   动力学   机械臂   非完整约束  

摘要： 欠驱动机器人具有灵活性高、能耗低等优点,近年来已成为机器人研究领域的热点问题。但是目前对欠驱动机器人的研究主要是针对几种现有的典型的欠驱动机器人系统。随着科学研究的深入,设计和研究新型的欠驱动机构以满足实际应用的需求显得尤为重要。而对于较复杂结构的欠驱动机器人要实现高质量的控制,必须要基于被控对象的动态特性。机器人处于不同位形时,加于各关节的驱动力是时变的,并且可以由系统的动力学方程给以确定。因此,如何准确地建立机器人的动力学模型,从而实现对系统的精确控制,一直是机器人动力学研究者追求的目标。本论文以一种新型基于非完整约束的可控欠驱动机械臂为研究对象,将非完整力学与欠驱动机器人理论相结合,研究其动力学特性。 依据欠驱动机器人系统动力学的相关原理,利用拉格朗日-达朗贝尔方程建立了摩擦圆盘运动传递机构的动力学模型。然后,通过在Matlab软件中编程对该模型进行仿真,通过改变机构的结构参数获得较好的力矩特性。 结合非完整力学,应用广义坐标下的查浦雷金方程,建立了欠驱动机械臂的动力学模型。揭示了两驱动电机力矩与机械臂运动的关系。最后,利用Simulink仿真平台对该模型进行仿真,得出机械臂按预定路径运动时两个驱动电机需输入的力矩。通过仿真发现两个电机的转矩曲线和机械臂各关节的运动曲线都较为平缓,具有较好的动力学特性,可实现平稳运动。 为验证所建立的动力学模型的正确性,对欠驱动机械臂的运动进行了实验研究。在实验过程中,用仿真得到的两个电机的驱动力矩控制电机转动,并采集机械臂的关节运动角位移,与给定的运动路径相对比。最后,对实验结果及产生误差的原因进行了分析。验证了动力学模型的正确性,同时也说明了机械臂确实是可控的。 综上所述,本论文将理论推导和实验验证相结合,研究了一类具有一阶非完整约束的欠驱动机械臂的动力学特性,对非完整力学与欠驱动机器人两个领域相结合进行了探索。该课题研究将有效地拓宽欠驱动机器人的研究领域。

关键词： 相扑机器人   牵引力控制系统   加速   机器人学  

摘要： 这个报告描述了用以估计相扑机器人摔跤比赛场地表面的摩擦极限的技术。估计基于激光传感器，这个传感器也是机器人的运动传感器。比赛之前，需要进行几个半自动实验，试验中机器人尝试采用不同的模式加速来获得最大的牵引力并在与障碍物发生碰撞之前获得最大动量。除此之外，还开发了几种其他算法和系统，包括用来在机器人加速过程中保持初始前进方向的转向控制器,而这是极其重要的，因为试验车辆配备的马达动力比较强劲,如果两侧履带牵引力不同极易造成转向。试验用的机器人是一台小型履带式车辆。 在本文的研究中，尝试基于纵向滑移率控制来完成牵引力控制系统。该技术意图获得稳定的、最优的履带纵向滑移率以使得车辆获得最大纵向牵引力。此系统经过设计并通过履带车辆内置的单片机来实现。而稳定、适宜的滑移率通过PID控制器来实现。不过，系统的操作结果有些不尽人意，主要是因为系统功能实现需要高精度的反馈信号，但是实验所用的激光位移传感器无法提供如此精度的数据。 另外，文中也提出了很多其他算法以及系统，并且设计了多种不同的决策模式，也均在本文的研究中进行了实施。在其中一个操作模式中，试验车辆将所有的数据均输入个人计算机中，在个人计算机中完成马达的新决策和运动指令的计算工作。在此方法中，试验车辆可被视作遥控机器人。另一个操作模式是基于相反的原则设计，其决策制定完全由车辆装配的单片机来进行计算，而不需要与人或者个人电脑进行交互。还有一个操作模式可以实现半自动的运行，只有对它的评估需要个人电脑来实现。

关键词： robotics   minimally invasive surgery   cystectomy   nephroureterectomy   nephrectomy   partial nephrectomy  

摘要： In urology, the main use for the robotic technique has been in radical prostatectomy for prostate cancer. Robotic surgery for other organs, such as the kidneys and bladder, has been less explored. However, partial nephrectomy or radical nephroureterectomy can be difficult for inexperienced laparoscopic surgeons. The advent of the da Vinci robot, with multijointed endowristed instruments and stereoscopic vision, decreases the technical difficulty of intracorporeal suturing and improves the reconstructive steps. The objective of this article is to offer an overview of all robotic procedures recently developed in the field of urology. We evaluate the feasibility of these procedures and their potential advantages and disadvantages. We also describe perioperative, postoperative, and oncologic outcomes of robot-assisted surgery as well as perform a comparison with open and laparoscopic techniques. Comparative data and an adequate follow-up are needed to demonstrate equivalent oncologic outcomes in comparison with traditional open or laparoscopic procedures.

摘要： This paper presents a new approach for cooperative search of a robot swarm. After modeling the robot, the mechanical Particle Swarm Optimization method is conducted based on physical robot properties. Benefiting from the effective localization and navigation by sensor data fusion, a mixed robot swarm which contains both simulated and real robots is then successfully used for searching a target cooperatively. With the promising results from experiments based on different scenarios, the feasibility, the interaction of real and simulated robots, the fault tolerance, and also the scalability of the proposed method are investigated.

关键词： Robotic surgery  

摘要： This article reviews the flexible robotic surgery and navigation technologies that are currently available and under research development, in particular for transoral robotic surgery, in both broad and narrow senses. The clinical background, classifications, associated biomedical robotics applications, and surgical outcomes are illustrated in this new paradigm of minimally invasive surgery. The state-of-the-art robotic and navigation systems for transoral procedures are reviewed by identifying their key properties and considerations. The use of different materials and actuation methods by current robotic systems offers various movements for different purposes, and their characteristics are compared. The future research trends of robotic and navigation systems for transoral procedures are discussed in terms of emerging new material, actuation, and sensing technologies. © 2013 by Begell House, Inc.