关键词： Image mining   Interpolation   Robotics   Spatial data quality   Spatial statistics  

摘要： This review article presents an overview of spatial statistical procedures that are of use and value in geographical information science. Spatial statistics considers the handling of spatial data, with an emphasis on modeling and on dealing with uncertainty. Spatial statistics includes issues of interpolation, point statistics, and sampling. Within a robotics context we distinguish localization, mapping, and decision control and support. Localization is based on advanced image analysis in which the idea of image mining plays an important role. Image mining considers the chain from object identification on natural or man-made processes from remote sensing images through modeling, tracking on a series of images and prediction, toward communication to stakeholders. Geographical information science serves as a scientific field, for example, to generate a platform for storing observed and collected data, analyzing them, and displaying the results. This article shows how within the domain of robotics there are novel and intriguing possibilities to use spatial statistics and image mining. The article gives a concise overview of these procedures and several ways ahead that are of value within a robotics context. It is illustrated with a field study on robotics in agriculture. © 2010 Taylor & Francis.

关键词： FPGA   ESNN   hardware/software co-design  

摘要： This paper presents an approach that permits the effective hardware realization of a novel Evolvable Spiking Neural Network (ESNN) paradigm on Field Programmable Gate Arrays (FPGAs). The ESNN possesses a hybrid learning algorithm that consists of a Spike Timing Dependent Plasticity (STDP) mechanism fused with a Genetic Algorithm (GA). The design and implementation direction utilizes the latest advancements in FPGA technology to provide a partitioned hardware/software co-design solution. The approach achieves the maximum FPGA flexibility obtainable for the ESNN paradigm. The algorithm was applied as an embedded intelligent system robotic controller to solve an autonomous navigation and obstacle avoidance problem.

关键词： 串联机器人   影响系数   性能指标   逆运动  

摘要： 利用同时基于Jacobian和Hessian矩阵机器人动力学性能指标及预期相应的串联机器人加速度全局性能指标,对FANUC M420iA(FMA)机器人机构进行了分析,给出了运动学和动力学性能指标的图谱,探讨了不同尺寸之间的性能差异。最后,利用OpenGL进行了实体仿真,验证了数值模拟的速度和加速度性能指标的正确性,为机构的优化设计提供了理论依据。

关键词： 空间机器人   动力学参数辨识   角动量守恒   改进的遗传算法  

摘要： 为了减小空间机器人动力学参数的误差,提高轨迹规划精度,根据空间机器人的角动量守恒方程,利用名义动力学参数估计角动量与真实角动量的差异,建立动力学参数辨识的误差模型,给出遗传算法的适应度函数.针对常规遗传算法容易出现"早熟"现象,采用小区间生成法、大变异策略和精英保留策略对其进行了改进.以六关节空间机器人为例进行的仿真结果表明,在参数复杂的情况下,采用改进后的遗传算法,计算效率和辨识精度均得到了提高。

关键词： 并联机器人   动力学   固有频率   拉格朗日方程  

摘要： 介绍了一种三自由度并联机器人系统,建立了系统固定坐标系和运动坐标系.使用有限元法和弯曲振动法分析了机器人的动力学特性,建立了机器人的动力学方程,并对比了假设模态法的动力学特性.通过机器人的实验系统获得了机器人的共振频率和阻尼比,并分析了共振模态.将三种计算方法得到的固有频率与实验值作了比较,结果表明假设模态法获得的固有频率更接近于实验值.

关键词： 机器人竞赛   北京工业大学   中国科协   基本技能   青少年   体育馆   高中组   比赛  

摘要： 由中国科协主办的第十届中国青少年机器人竞赛于7月20日在北京拉开帷幕，合肥168中学的李伟豪和陈薇伊同学代表安徽饔区首次出征大赛。22日下午，基本技能项目高中组比赛在北京工业大学体育馆举行，来自全国各地的34支代表队参加了这场比赛。

关键词： entertainment robotics   humanoid robotics   medical robotics   roboethics  

摘要： Even though the market size is still small at this moment, applied fields of robots are gradually spreading from the manufacturing industry to the others as one of the important components to support an aging society. For this purpose, the research on human-robot interaction (HRI) has been an emerging topic of interest for both basic research and customer application. The studies are especially focused on behavioral and cognitive aspects of the interaction and the social contexts surrounding it. As a part of these studies, the term of 'roboethics' has been introduced as an approach to discuss the potentialities and the limits of robots in relation to human beings. In this article, we describe the recent research trends on the field of humanoid robotics. Their principal applications and their possible impact are discussed. [ABSTRACT FROM AUTHOR]

关键词： GasNets   neuromodulation   evolvability   volume signalling   evolutionary robotics  

摘要： Spatial, temporal, and modulatory factors affecting the evolvability of GasNets-a style of artificial neural network incorporating an analogue of volume signalling-are investigated. The focus of the article is a comparative study of variants of the GasNet, implementing various spatial, temporal, and modulatory constraints, used as control systems in an evolutionary robotics task involving visual discrimination. The results of the study are discussed in the context of related research. (C) 2010 Wiley Periodicals, Inc. Complexity 16: 35-44, 2010

关键词： Learning by imitation   Social learning   Biologically inspired learning  

摘要： Social learning in robotics has largely focused on imitation learning. Here we take a broader view and are interested in the multifaceted ways that a social partner can influence the learning process. We implement four social learning mechanisms on a robot: stimulus enhancement, emulation, mimicking, and imitation, and illustrate the computational benefits of each. In particular, we illustrate that some strategies are about directing the attention of the learner to objects and others are about actions. Taken together these strategies form a rich repertoire allowing social learners to use a social partner to greatly impact their learning process. We demonstrate these results in simulation and with physical robot 'playmates'.

关键词： Robotic surgery   laparoscopy  

摘要： Aim Robotic colorectal surgery is an emerging field and may offer a solution to some of the difficulties inherent to conventional laparoscopic surgery. The aim of this review is to provide a comprehensive and critical analysis of the available literature on the use of robotic technology in colorectal surgery. Method Studies reporting outcomes of robotic colorectal surgery were identified by systematic searches of electronic databases. Outcomes examined included operating time, length of stay, blood loss, complications, cost, oncological outcome, and conversion rates. Results Seventeen Studies (nine case series, seven comparative studies, one randomized controlled trial) describing 288 procedures were identified and reviewed. Study heterogeneity precluded a meta-analysis of the data. Robotic procedures tend to take longer and cost more, but may reduce the length of stay, blood loss, and conversion rates. Complication profiles and short-term oncological outcomes are similar to laparoscopic surgery. Conclusion Robotic colorectal surgery is a promising field and may provide a powerful additional tool for optimal management of more challenging pathology, including rectal cancer. Further studies are required to better define its role.