关键词： Functional programming   Robotics   Man machine interface   Neural nets  

摘要： Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches to robot programming are required. The purpose of this paper is to present a robotic system that allows users to instruct and program a robot with a high-level of abstraction from the robot language. Design/methodology/approach - The paper presents in detail a robotic system that allows users, especially non-expert programmers, to instruct and program a robot just showing it what it should do, in an intuitive way. This is done using the two most natural human interfaces (gestures and speech), a force control system and several code generation techniques. Special attention will be given to the recognition of gestures, where the data extracted from a motion sensor (three-axis accelerometer) embedded in the Wii remote controller was used to capture human hand behaviours. Gestures (dynamic hand positions) as well as manual postures (static hand positions) are recognized using a statistical approach and artificial neural networks. Findings - It is shown that the robotic system presented is suitable to enable users without programming expertise to rapidly create robot programs. The experimental tests showed that the developed system can be customized for different users and robotic platforms. Research limitations/implications - The proposed system is tested on two different robotic platforms. Since the options adopted are mainly based on standards, it can be implemented with other robot controllers without significant changes. Future work will focus on improving the recognition rate of gestures and continuous gesture recognition. Practical implications The key contribution of this paper is that it offers a practical method to program robots by means of gestures and speech, improving work efficiency and saving time. Originality/value -

关键词： medical robotics   surgical systems   computer-aided surgery   minimally invasive   soft tissue   review  

摘要： This paper provides an overview of recent trends and developments in medical robotics for minimally invasive soft tissue surgery, with a view to highlight some of the issues posed and solutions proposed in the literature. The paper includes a thorough review of the literature, which focuses on soft tissue surgical robots developed and published in the last five years (between 2004 and 2008) in indexed journals and conference proceedings. Only surgical systems were considered;imaging and diagnostic devices were excluded from the review. The systems included in this paper are classified according to the following surgical specialties: neurosurgery;eye surgery and ear, nose, and throat (ENT);general, thoracic, and cardiac surgery;gastrointestinal and colorectal surgery;and urologic surgery. The systems are also cross-classified according to their engineering design and robotics technology, which is included in tabular form at the end of the paper. The review concludes with an overview of the field, along with some statistical considerations about the size, geographical spread, and impact of medical robotics for soft tissue surgery today.

关键词： 胶囊机器人   转弯驱动   空间万向旋转磁场   转弯运动特性   力矩模型  

摘要： 口服胶囊内窥镜的主动驱动与控制已成为微创或无创诊疗技术的一个研究热点和前沿,可减少诊疗周期和病人的痛苦。胶囊内窥镜在体内姿态的主动调整和行走的主动控制可以解决介入诊断的视觉盲区这一难题,因此对临床诊断技术意义重大。 在先前的研究基础上,提出利用空间万向旋转磁场驱动与控制机器人在充满黏性液体的弯管内非接触地转弯行走,以及一种离散逼近的磁场控制策略,并建立机器人的转弯动力学方程。旨在通过对机器人在弯管内转弯运动的分析,为最佳的磁场控制参数的选择提供理论依据,达到实现机器人稳定地主动转弯行走的目的。 提出新一代胶囊机器人并对其结构进行了描述。首先对空间万向旋转磁场的产生和机器人的转弯驱动原理进行了阐述。空间旋转磁场对机器人内驱动器的磁耦合作用形成磁驱动力矩,如果磁场的旋转轴与机器人回转对称轴不平行,则该磁驱动力矩在垂直于回转对称轴的方向上产生分量,该分量驱动机器人转动。 给出非定常运动的Reynolds方程,并采用有限差分法和螺旋肋阶梯边界处流量控制对Reynolds方程进行数值求解,解决了复杂动压膜间隙函数引起的Reynolds方程无法直接求解得的难题。 由于空间旋转磁场发生装置的线圈感抗引起的响应延迟,决定了空间磁场的旋转方向不能连续改变,因此本文提出离散改变磁场旋转方向的控制策略,控制机器人的行走路径逼近于弯管的中径曲线。在此控制策略的基础上,引入描述机器人空间姿态的赖柴坐标系。 根据空间磁矢量耦合理论,建立了在机器人任意空间姿态下空间旋转磁场作用于内驱动器的磁驱动力矩模型。垂直于机器人回转对称轴的磁驱动力矩分量诱导机器人转向的同时伴随着摆动,管内运动流体形成的流体动压膜对机器人的摆动和空间姿态的变化分别产生阻尼作用和刚性阻抗作用。结合这两种作用建立了流体动压膜作用于机器人的流体力矩模型。 结合前面建立的力矩模型,根据陀螺力学和定点运动的欧拉力学方程推导出了胶囊机器人的转弯动力学方程。使用MATLAB软件的Simulink工具箱编程求解动力学方程,对机器人的运动进行了仿真和分析。通过分析力矩的响应曲线,证明了机器人的随动效应；分析讨论了磁场控制参数对机器人转弯运动的影响。

关键词： 机器人  

ISBN: (纸本)9787512401464

摘要： 本书共分为3篇，分别是基础篇、实践篇、竞赛篇。基础篇包括2章，介绍了国内外的一些著名典型机器人的原理及功能和主流的机器人竞赛，并形象地从机器人的”大脑”、”五官”、”肌肉”等角度介绍了各种常用传感器、执行器、控制器和机器人编程语言的知识，供学生在设计制作机器人的时候补充背景知识等。

关键词： Algorithm portfolios   Automated Reasoning   Machine Learning   quantified Boolean formulas  

摘要： This report provides a summary of a dissertation focusing in the application of Machine Learning (ML) techniques to solve complex tasks both in Robotics and Automated Reasoning. In particular, we focus on the contributions achieved in engineering ML techniques to yield a robust solver for quantified Boolean formulas.

关键词： 移动式机器人   研究  

ISBN: (数字)9787111289760 ISBN: (纸本)9787111289760

摘要： 与移动机器人传统处理方式不同，本书基于动力系统、混沌、神经网络、统计学和系统辨识等理论，第一次运用量化分析和计算机建模对机器人、任务和环境三者交互行为建立了完整统一的形式化理论研究体系。这是一个全新的前沿视角，也是解决此类长期困扰我们的复杂问题的全新途径。本书作为反映最新前沿技术的书籍，从基本概念到应用实例进行了系统的阐述，内容全面、重点突出、理论与实例并重，叙述风格深入浅出，能够很好地将理论介绍给相关领域的一般研究人员和专家学者。

关键词： trunk   electromyography   bracing   muscle   robotics  

摘要： Lumbar bracing is prescribed frequently for disability caused by low back pain;however, investigations into this practice demonstrate a range of patient outcomes. This inconsistency may arise from the practice of employing voluntary, single-axis trunk movements when investigating braces. Alternatively, this study employed a parallel robot to create a standardised, multi-axis testing environment. Surface electromyographic (sEMG) data were collected from the trunk of 24 asymptomatic participants, who were seated on the robot, tilted to 15., then circumducted while attempting to maintain an upright posture. Multiple trials were performed for three randomised conditions: non-braced, soft-material brace and stiff- material brace. As expected, the sEMG activity was significantly reduced in the majority of muscle responses (201/240). Unexpectedly, a paradoxical increase in the sEMG activity was observed in 39/240 responses. While lumbar bracing reduces the sEMG activity on average, these data suggest the existence of an infrequent paradoxical response that may provide a possible explanation for the discordant results observed in previous bracing investigations.

关键词： Human-robot interaction   roboethics   robot legal studies   liability   robots as animals  

摘要： As service robots become increasingly common in society, so too will accidents involving service robots. Current law functions effectively to adjudicate the disputes that arise from such accidents, but as technology improves and robot autonomy grows, it will become much harder to apply currently existing laws. Instead, new legal frameworks will have to be developed to address questions of liability in human-robot interaction. We have already proposed the framework 'Robots as Animals', in which robots are analogized to domesticated animals for legal purposes in disputes about liability. In our initial presentation, though, we focused exclusively on the common law in the US Federal Government. In this paper, we examine the laws concerning domesticated animals in countries in Europe, Asia and North America. We apply the lessons learned from our analysis to build an expanded framework that better reflects the established norms of several nations, and more explicitly balances the competing interests of producers and consumers of robot technology. We also provide examples of ways in which our new framework may be applied. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

关键词： 最优激励轨迹   参数辨识   RRR操作臂   退化矩阵的条件数   Fisher信息矩阵  

摘要： 实现机器人的动力学控制,必须深入研究机器人的动力学行为,建立准确的动力学模型。机器人准确的动力学模型是对机器人精确控制、动态设计及运动仿真的前提。机器人动力学模型的建立依赖于机器人连杆的运动参数和机器人连杆惯性参数的确定,前者容易获得,后者必须加以辨识。 本论文以RRR机械臂为研究对象,建立了该机械臂的动力学模型,引入基本参数集的概念；在动力学参数辨识时,选择有穷傅里叶级数做为最优激励轨迹的表达式；采用两种优化指标：Fisher信息矩阵的逆的对数行列式和机器人退化矩阵的条件数,分别作为优化轨迹参数的目标函数,同时把各关节位置、速度和加速度的物理约束与激励轨迹结合起来,使获得的最优激励轨迹在物理意义上是可行的,并通过在激励轨迹中指定频率范围来避免激励机器人的柔性特性,获得两种“激励轨迹”；在这两种“激励轨迹”上进行惯性参数辨识,对得到的两组辨识结果进行比较分析发现,前一种方法辨识精度更高。最后仿真验证了前一种方法辨识结果的精确度。

关键词： 自治水下机器人   水动力参数   最小二乘法   遗传算法   参数辨识  

摘要： 21世纪是人类研究、开发及利用海洋的世纪。随着人类对海洋开发利用的不断增加及军事上的各种需要,自治水下机器人(AUV)作为探测水下环境并自主完成特定作业任务的工具,越来越受到国内外研究机构的重视,它代表了水下机器人技术的发展方向。但是,AUV是一种高度非线性、参数时变性系统,为了能对其进行控制、预测与仿真,建立一个精确的模型是很重要的。而模型建立的精确与否在很大程度上是取决于水动力参数的,因此对于水动力参数的研究就变得越来越重要。 本文以开架式AUV原型样机CRanger-01为研究对象,讨论了开架式自治水下机器人的动力学建模及参数辨识问题。 在分析了水下机器人的运动学和动力学的基础上,建立了水下机器人的六自由度动力学模型,同时针对开架式水下机器人的特点对模型简化。建立了推进器的动力学模型,利用推进器的水槽实验,对推进器模型参数进行了辨识。 研究了如何利用最小二乘法(LS)辨识水下机器人的水动力参数。对水下机器人水平面运动和垂直面运动进行了仿真,利用LS分别对纵向、横向、垂向、偏航及纵倾运动进行了辨识。 针对传统确定AUV水动力参数试验和理论计算的困难性及以往辨识方法优化结果趋于局部最优解的缺点,提出一种基于遗传算法(GA)的AUV水动力参数辨识方法,该方法不受参数初值选取的影响,具有较好的鲁棒性和全局寻优特性。在分析水动力参数辨识的遗传算法实现方式的基础上,利用GA对CRanger-01水平面运动和垂直面运动进行了辨识,得出了纵向、横向、垂向、偏航及纵倾运动的38个水动力参数。 在同一初始值和相同的推力指令下对CRanger-01动力学模型进行了仿真验证,辨识结果与实际值进行比较后,误差在允许范围之内,且遗传算法辨识结果相对于最小二乘法辨识结果误差大为减小,进一步说明了遗传算法能有效辨识水下机器人水动力参数,可为工程实践提供参考依据。