关键词： macromolecular crystallization   screen   automation  

摘要： MS92.P01

关键词： 并联机器人   多智能体   动力学算法   JADE   系统原型  

摘要： 动力学分析计算是并联机器人动力学性能设计的理论基础,也是动力学控制的基本依据。由于并联机器人构型的特殊性和多样性,其动力学分析非常复杂,根据并联机器人动力学计算的特点,提出基于Multi-Agent的动力学建模与计算的思想。 首先,介绍了并联机器人发展的概况,阐述了牛顿.欧拉法和拉格朗日法。其次,将JADE运用到Multi-Agent系统中,勾勒出基于该平台下的Multi-Agent动力学分析系统的通信与交互协议模型。再者,研究了的Multi-Agent动力学计算系统求解方法,相应地设计并开发了基于Multi-Agent的平面并联机器人动力学计算方法,为平面并联机器人的动力学计算提供一个简捷方便的Multi-Agent计算原型系统。然后,在Multi-Agent动力学分析计算系统的原型基础上,提出了平面并联机器人动力学分析的Multi-Agent建模方法,建模过程简洁、自然、方便。所建立的Multi-Agent模型,具有良好的扩展性,解决了平面并联机器人的相关研究模型不统一的问题。最后,综合考虑选用具有代表性的五杆并联机器人和3-RRR型并联机器人作为实例分析对象,基于Multi-Agent动力学系统的建模和计算方法的原型,实现平面并联机器人动力学的Multi-Agent系统计算,并验证了该原型下实例算法的可行性。 本文提出的动力学分析计算的建模与求解方法,是对平面并联机器人动力学计算方法的新尝试,也是利用Multi-Agent理论进行动力学计算的新探索,对于促进并联机器人技术的进一步研究与发展具有重要的理论和实际意义。

关键词： BIOMEDICAL engineering   ORTHOPEDIC apparatus   MEDICAL rehabilitation   PATIENTS   REHABILITATION   ROBOTICS   PRODUCT design  

摘要： During President Barack Obama's acceptance speech on the evening of his 2008 Presidential election victory, he spoke about Ann Nixon Cooper, a 106-year-old woman who had voted in her first election. He spoke of all the great things she had seen in her long life, then stated, "If my daughters should be so lucky to live as long as Ann Nixon Cooper, what change will they see, what progress will we have made?" The same sentiment can be asked about rehabilitation robotic devices. As we move into the second decade of the 21st century, we should pause and ask a very important question: What is the future of rehabilitation robotic devices? Will these devices become commonplace in every hospital and rehabilitation clinic or will they become things of the past like so many other promising technologies? Will we, as a rehabilitation community, break down the barriers between therapists and engineers and work together or will there be continued division? As two scientists and engineers who have worked in the area of rehabilitation robotics for over a decade, we are encouraged by the future of the field but concerned that there is not enough dialog regarding how we should move forward. We are hopeful that this special issue of the Journal of Rehabilitation Research and Development dedicated to rehabilitation robotics will stimulate discussion and thought on these important questions.

关键词： 6-PSS并联机器人   运动学   动力学   Adams   仿真  

摘要： 并联机器人以其刚度大、承载能力强、误差小、精度高、易控制等一系列突出优点而得到广泛应用。与此同时,由于并联机器人因工作空间相对较小,运动速度较慢等因素而使其运用受限。随着研究的深入,一些具有大工作空间快速运动特性的并联机器人深受青睐,基于此,本文以某一大工作空间快速运动并联机构——6-PSS并联机器人为研究对象,对该机器人的位置正逆解、工作空间、动力学及基于Adams的运动学仿真与动力学仿真等方面的工作进行了研究。该类型并联机器人可以应用在机床加工与医疗等相关领域。 文章首先简要介绍了一种具有大工作空间快速运动特性的6-PSS并联机器人,然后根据6-PSS并联机器人的结构特点,利用空间矢量法建立了其解析形式的运动学方程,从而得出了该并联机器人的位置逆解;采用拟牛顿法给出了该机构的位置正解。其次,在基于该并联机器人运动学逆解的基础上,并综合考虑影响机构工作空间的几个主要因素,采用极限边界搜索法搜索该机构的工作空间,并利用Matlab数学工具绘制出了机器人的位置工作空间与姿态工作空间图谱,完成了工作空间的可视化分析。然后运用基于符号运算的微分变换法构造了并联机器人的雅可比矩阵,然后在对该并联机器人模型进行简化的基础上,采用第二类拉格朗日方法建立了该机构的动力学模型,并利用Matlab软件对所建的动力学模型进行了仿真计算。文章最后利用Adams软件建立了关于6-PSS并联机器人的虚拟样机模型,并对其进行了运动学和动力学仿真,以验证运动学模型与动力学模型的可靠性和精确性。

ISBN: (数字)9781119112952 ISBN: (纸本)9780470604465

摘要： Now in its second edition, Introduction to Robotics is intended for senior and introductory graduate courses in robotics. Designed to meet the needs of different readers, this book covers a fair amount of mechanics and kinematics, including manipulator kinematics, differential motions, robot dynamics, and trajectory planning. It also covers microprocessor applications, control systems, vision systems, sensors, and actuators, making the book useful to mechanical engineers, electronic and electrical engineers, computer engineers and engineering technologists. A chapter on controls presents enough material to make the understanding of robotic controls and design accessible to those who have yet to take a course in control systems.

关键词： elastomers   polymers   robotics   soft lithography  

摘要： Soft robots: A methodology based on embedded pneumatic networks (PneuNets) is described that enables large-amplitude actuations in soft elastomers by pressurizing embedded channels. Examples include a structure that can change its curvature from convex to concave, and devices that act as compliant grippers for handling fragile objects (e.g., a chicken egg).

关键词： 机器人   竞赛   科技活动  

摘要： 中国青少年机器人竞赛活动是中国科协主办的面向21世纪青少年的系列科技创新活动之一。该竞赛面向全体学生,旨在以丰富多彩、形式多样的机器人探究项目,培养青少年的创新精神和动手实践能力,提高他们的科学素质。同时,该活动还选拔国内优秀的青少年参与国际青少年机器人竞赛和交流。这项活动集知识性、趣味性、竞争性、娱乐性于一体,深受中学生的喜爱。本文谈谈我在辅导学生参加机器人竞赛的做法和一些思考。

关键词： Brachytherapy   lung tumour   minimally invasive   robotics-assisted surgery and therapy  

摘要： New technological concepts have been evolving to manage the relative poor prognosis of lung cancer. Brachytherapy is becoming an option for both unresectable and early resectable lung cancer. Three-dimensional ultrasound (US) of lung tumours and image-guided minimally invasive robotics-assisted brachytherapy are feasible for dosimetry planning and management of lung tumours. The present article reviews the current knowledge of lung brachytherapy and discusses its potential in future management of lung cancer.

关键词： 平台   交流会   机器人技术   中国   专业委员会   高峰论坛   自动化   杂志社   南通市   民营造船企业   智能机器人   机械工程学   机器人竞赛   工作委员会   专家   研究领域   人工智能   领导人员   江苏南通   化学  

摘要： 2010年8月12日-14日, '熔盛杯'中国机器人技术与应用高峰论坛暨高端智能产业成果展示与产学研洽谈交流会在风景秀美的江苏南通召开,此次高峰论坛得到了大型民营造船企业熔盛重工的大力支持,来自全国各个地区的300多位机器人界专家、学者和领导人员参加了此次会议.中国工程院封锡盛院士、 《机器人技术与应用》杂志社李强社长、中共南通市徐辉副市长等领导和专家出席了此次会议.'熔盛杯'中国机器人技术与应用高峰论坛是由江苏省南通市政府、中国自动化学会机器人专业委员会、中国人工智能学会智能机器人专业委员会、中国自动化学会机器人竞赛工作委员会、中国机械工程学会焊接学会机器人与自动化专业委员会、《机器人技术与应用》杂志社共同主办,是目前国内机器人产业、教育与研究领域的一次高水平、高层次的顶级峰会.

关键词： Mobile robots  

摘要： This paper proposes a novel approach for visual features detection, which is based on the presence of objects whose shape can be modelled using cylinders or generalized cylinders. These specific structures are commonly found on indoor and outdoor scenarios, and their image representations, the so-called curvilinear regions, automatically deform with changing viewpoint as to keep on covering identical physical parts of a scene. The method is based on Marr's visual theory that proposes that visual objects can be decomposed in generalized cylinders. Also, part of the method can be compared to the behavior of AOS neurons, placed in the caudal intraparietal sulcus, that respond when an elongated object is visualized. Our detector reliably finds the same curvilinear regions under different viewing conditions. Evaluation results are given to demonstrate the performance of the approach and its ability to be applied for visual features detection in a mobile robot navigation framework.