摘要： Simulations provide a safe, controlled setting for testing and are therefore ideal for rapidly developing and testing autonomous mobile robot behaviors. However, algorithms for mobile robots are notorious for transitioning poorly from simulations to fielded platforms. The difficulty can in part be attributed to the use of simplistic sensor models that do not recreate important phenomena that affect autonomous navigation. The differences between the output of simple sensor models and true sensors are highlighted using results from a field test exercise with the National Robotics Engineering Center's Crusher vehicle. The Crusher was manually driven through an area consisting of a mix of small vegetation, rocks, and hay bales. LIDAR sensor data was collected along the path traveled and used to construct a model of the area. LIDAR data were simulated using a simple point-intersection model for a second, independent path. Cost maps were generated by the Crusher autonomy system using both the real-world and simulated sensor data. The comparison of these cost maps shows consistencies on most solid, large geometry surfaces such as the ground, but discrepancies around vegetation indicate that higher fidelity models are required to truly capture the complex interactions of the sensors with complex objects.

关键词： ROBOTICS in medicine   MEDICAL rehabilitation   SPINAL cord -- Wounds & injuries   CEREBROVASCULAR disease   WALKING   QUALITY of life   NERVOUS system -- Diseases  

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关键词： UVMS   指数积   Kane方程   流场分析   力/位置混合控制  

摘要： 随着海洋开发进程的加快,对水下作业装备的需求日益增加。带有操作机械手的水下机器人系统在对海洋环境和资源进行考察和开发的作业过程中,能够完成复杂的水下操作任务,因此对水下机器人-机械手系统(Underwater Vehicle - Manipulator System,简称UVMS)进行动力学建模,运动控制以及工作过程的稳定性研究具有重要意义。 本文采用指数积公式(product exponentials formula)分析了UVMS运动学问题,在运动学分析的基础上,求得系统的广义主动力和广义惯性力,此过程采用合理的水动力学公式来建立系统的水动力学模型,基于Kane方程建立了UVMS的动力学方程。利用机械系统动力学分析软件ADAMS进行了UVMS的仿真,并且与用Kane方程建立的UVMS动力学模型做了对比,比较了两种建模方法的优缺点。 为了实现UVMS的控制,本文用ADAMS和MATLAB联合仿真,实现机械手末端的精确定位。然后分别从基于转矩的位置控制,基于转矩的力/位置混合控制,从仿真结果上证明采用合适的控制策略,可以实现机械手末端的精确定位,并且控制作用力。 UVMS在运动过程中,外部海洋环境会对其产生水阻力等作用力。为了研究UVMS机械手在工作过程中水作用力对其的影响,保证操作任务的顺利进行。用Fluent对UVMS的水动力学进行了分析,并且在仿真过程中仿真结果的水阻力系数与已有文献的实验数据做了对比。

摘要： Sociable robots are increasing in complexity, popularity, and visibility. With the rapid diffusion of digital technologies in contemporary cultures, there is often limited time for critical reflection. The purpose of this thesis is to critically dissect an evolving technology, social robotics, as it begins entering more and more modern contexts. Using an eclectic approach, this research examines social robotics discourse across The New York Times (from 1986 to 2010) and popular fiction. Specifically, this thesis analyzes the media promoted appeal of social robotics, how social robotics are being presented to a general and specific audience, and evaluates how popular discourse on social robotics might be changing perceptions of communication and humanity. This research serves as a starting point for ongoing research into how new technologies and discourse on new technologies change, and attempt to influence, people and culture.

关键词： Da Vinci system   endometrial cancer   laparoscopy   robotic surgery  

摘要： Robotic surgery is becoming increasingly popular in most surgical specialties, including gynecology. This review describes the technology of the da Vinci systems and the results obtained for the robotic approach to endometrial cancer as compared to conventional laparoscopy and laparotomy.

关键词： Cooperative motion   Multibody dynamics   Particle swarm optimization   Swarm mobile robots  

摘要： This paper addresses the problem of cooperative motion of a swarm mobile robotic system with the purpose of searching a target in a complicated environment. The solution is inspired from Particle Swarm Optimization (PSO) and combined with multibody system dynamics which also includes the consideration of robots' physical properties like mass, inertia, force, acceleration, etc. The entire robot swarm is mainly guided by this physical PSO and an independent obstacle avoidance module is active when robots encounter any conflicts during missions. This paper considers an artificial swarm mobile robot system to perform searching tasks and each member of the system may interact with its neighbors or the environment by limited local communication ability. Several groups of simulations are set up for the verification of the strategy and the results show that this method creates the desired behavior well. The simulation experiments also investigate the feature of fault tolerance of this strategy. Finally, a framework for the future application on real robots is briefly discussed.

关键词： μC/OS-II   操作系统   机器人  

摘要： 针对竞赛机器人在传统编程过程中带来的资源管理调度不完善现象,在机器人的控制芯片中装入一个嵌入式的实时操作系统内核μC/OS-II,该内核能够进行基于优先级的多任务处理,并且能够很好的管理与调度系统资源,具有很好的实时性和稳定性。在竞赛机器人的实际运用中,该内核减轻程序开发的负荷量,为软件调试人员的调试工作带来很大的方便。

关键词： gait   locomotor training   multiple sclerosis   neurological disorders   rehabilitation   robotics   spinal cord injury   stroke   traumatic brain injury   walking  

摘要： Robotic technologies are becoming more prevalent for treating neurological conditions in clinical settings. We conducted a literature search of original articles to identify all studies that examined the use of robotic devices for restoring walking function in adults with neurological disorders. We evaluated and rated each study using either the Physiotherapy Evidence Database scale for randomized controlled trials (RCTs) or the Downs and Black scale for non-RCTs. We reviewed 30 articles (14 RCTs, 16 non-RCTs) that examined the effects of locomotor training with robotic assistance in patients following stroke, spinal cord injury (SCI), multiple sclerosis (MS), traumatic brain injury (TBI), and Parkinson disease (PD). This review supports that locomotor training with robotic assistance is beneficial for improving walking function in individuals following a stroke and SCI. Gait speed and endurance were not found to be significantly different among patients with motor incomplete SCI after a variety of locomotor training approaches. Limited evidence demonstrates that locomotor training with robotic assistance is beneficial in populations of patients with MS, TBI, or PD. We discuss clinical implications and decision making in the area of gait rehabilitation for neurological dysfunction.

关键词： 张拉整体移动机器人   动力学建模   轨迹规划   运动性能  

摘要： 张拉整体移动机器人是张拉整体结构研究的一个新方向,它具有轮式和腿式机器人所没有的形状和性质。本文以张拉整体移动机器人为研究对象,首先建立它的动力学模型,之后对其进行轨迹规划和运动性能分析。具体研究内容及成果如下: 1.运用拉格朗日方法建立了张拉整体移动机器人刚体运动过程中的动力学模型;利用碰撞动力学理论建立了机器人与地面接触碰撞过程中的动力学模型;最后将两种动力学模型相结合,建立了张拉整体移动机器人的动力学模型。 2.根据张拉整体移动机器人的动力学模型和结构特性,选择索驱动作为它的驱动方式。通过寻找驱动索变化量的合适组合状态,提出了一种基于索变化量组合挑选法的张拉整体移动机器人轨迹规划算法,该算法可以实现机器人沿预定轨迹运动,并通过机器人的运动实例验证了该方法的可行性。 3.基于机器人动力学模型及轨迹规划算法,开发了张拉整体移动机器人运动仿真软件,该软件实现了张拉整体移动机器人的参数化建模和运动仿真。 4.研究了驱动器配置、索的弹性系数和机器人构型对张拉整体移动机器人运动性能的影响,分析了这些因素对机器人运动性能影响的规律,为机器人的设计及应用提供了依据。

关键词： 6自由度串联机器人   D-H坐标   机器人运动学   机器人动力学   轨迹规划  

摘要： 传统串联机器人的分析和设计都是针对某一特定结构的机器人,由于串联机器人机构类型繁多,如果都要将其一一进行分析和计算,则计算量很大,难以满足设计周期要求,且容易出现计算错误。通过Matlab软件编程把机器人的分析和计算集成,并开发出相应的分析和仿真平台可以解决这一问题。 为直观反映出机器人的位置和姿态,便于理解和计算,本文运用齐次变换法对机器人进行研究,在D-H坐标和齐次变换矩阵的基础上分析了机器人的运动学正问题,通过雅克比矩阵的Moore-pseudo inverse分析了机器人逆运动学问题,在牛顿-欧拉方程的基础上分析了考虑摩擦时机器人的动力学,运用多项式插值、四元数等方法对机器人的轨迹规划进行了研究。 运用Matlab软件把上述理论编写成各个库函数模块,通过Matlab GUI平台把这些库函数集成,编写出一个通用6自由度串联机器人分析和仿真的平台。该平台主要具有两大功能:一个是分析功能,另一个是仿真功能。分析功能包括:(1)计算6自由度串联机器人的运动学正问题、任意位置的雅可比矩阵、机器人灵巧度和求运动学逆解。(2)计算6自由度串联机器人在有/无摩擦力和有/无外力干扰情况下的动力学正问题和逆问题,并绘制出关节力矩、位移、速度和加速度的曲线图。(3)计算6自由度串联机器的关节空间和笛卡尔空间轨迹规划,绘制出机器人的轨迹规划曲线图。仿真功能包括:(1)实现输入6自由度串联机器人的D-H参数建立机器人的三维模型,通过改变机器人关节变量驱动机器人运动。(2)根据机器人的轨迹规划,仿真机器人在空间的运动状态,给出机器人末端执行器的运动轨迹,并以曲线图形式给出各关节变量值。(3)在PD控制器下使机器人沿着给定路径运动,并给出控制运动路径与给定运动路径的对比曲线图。