关键词： 清华大学出版社   机器人学   机械工业出版社   教材使用   科学基础   普通高校   课程教学   经典著作  

摘要： 蔡自兴教授编著的《机器人学基础》和《机器人学》第二版两教材，已分别由机械工业出版社和清华大学出版社出版．该教材作为国家级《智能科学基础系列课程教学团队》机器人学课程的配套教材使用．其中，《机器人学》曾获2002年全国普通高校优秀教材一等奖，被国家教育部推荐为“优先选用的获奖优秀教材”，并被广大高校师生誉为“经典著作”，主要面向研究生和重点高校高年级学生．而《机器人学基础》则是首次出版的面向本科生的机器人学导论性教材．

关键词： 动力学系统   提取技术   使用模型   移动机器人   机器人控制   汽车设计   控制器   信息  

摘要： 本书的主题是动力学系统中的模型提取，主要目的是通过使用模型提取技术为移动机器人汽车设计控制器。模型提取提供了一种简单的方法来描述动力学系统却仍能获取原始系统最重要的信息。另一个目的是对不确定初始条件下的模型提取技术进行研究。

关键词： 关节履带式移动机器人   越障   动力学   仿真  

摘要： 通过对关节履带式移动机器人越障过程的运动分析,基于履带车辆行驶力学分析及牛顿—欧拉方程,建立了机器人复合越障运动状态的动力学模型.并以车体的运动为控制目标,分析计算了车体、摆臂的运动变化以及驱动力矩的变化.仿真图形验证了机器人具有良好的运动稳定性,为机器人越障过程的控制奠定了基础.

关键词： 超高压输电线路   输电线路巡检   绝缘子检测   机器人学   巡检机器人  

摘要： 近日,东北电网有限公司组织召开了科技项目验收会,由中科院沈阳自动化所机器人学国家重点实验室研制的"超高压输电线路巡检机器人"与"绝缘子检测机器人"两项科技项目通过验收。目前,超高压输电线路巡检主要采用人工巡检作业方式,劳动强度大、费用多且危险性高。随着工业发展,电网容量的增大和额定电压等级提高。

关键词： seed DNA fingerprinting   SNP   Rapid ID Technology (RIDT)   wheat   KVD   Invader genotyping   midge varietal blend  

摘要： A rapid and inexpensive DNA diagnostic platform for fingerprinting Cdn. registered, wheat varieties has been developed. Two current, real-time applications being used in Canada include the determination of purity (% contamination) of grain shipments in rail cars and the monitoring of field plots that represent a midge varietal blend. The quantification of a sample is accomplished by fingerprinting single seeds and a sample having a mixture of varieties can be assayed. The Rapid ID Technology (RIDT) platform enables high-speed, high-throughput, robotic labautomation and low-cost single nucleotide polymorphism (SNP)-DNA fingerprinting in wheat. The inexpensive seed DNA extraction method, rapid PCR amplification, and miniaturization of the Invader assay for SNP scoring are all paramount for fingerprinting millions of single seeds per year in numerous rail cars/field plots at a low cost. The cost factor is the dominant concern in any fingerprinting program and the total cost for consumables for a single marker tested is estimated at less than $0.60 per seed. The RIDT platform can also segregate closely related cultivars, an important characteristic since many varieties have a common genetic background. The results "from seed to fingerprint data" at a central lab can then be transferred electronically to any location using a laboratory information management system.. (JALA 2009;14:221-231)

关键词： Projects   Robotics   Problem solving  

摘要： This paper presents a study about learning and the problem solving process identified among junior high school pupils participating in robotics projects in the Lego Mindstorm environment. The research was guided by the following questions: (1) How do pupils come up with inventive solutions to problems in the context of robotics activities? (2) What type of knowledge pupils address in working on robotics projects? and (3) How do pupils regard or exploit informal instruction of concepts in science, technology and problem solving within a project-based program? Data collection was made through observations in the class, interviews with the pupils, observations of the artifacts the pupils had constructed, and analyses of their reflections on each project. The study revealed that the pupils had often come up with inventive solutions to problems they tackled by intuitively using diverse kinds of heuristic searches. However, they encountered difficulties in reflecting on the problem solving process they had used. In robotics projects, the pupils deal primarily with qualitative knowledge, namely, the ability to identify specific phenomena in a system or factors that affect system performance. The study also showed that pupils are likely to benefit from implementing informal instruction on concepts in science, technology and problem solving into a project-based program. This type of instruction should take place in the context of pupils' work on their projects, and adopt a qualitative approach rather than try to communicate in the class procedural knowledge learned by rote.

关键词： Universal access   Decision criteria   Dimensional analysis   Interface   Rehabilitation robot  

摘要： This paper describes a technique using dimensional analysis that so far has been rarely, if ever, used in studies of universal access. However, this procedure can produce a robust decision support process for inclusive designs. In this paper, it is applied to a case study of a wheelchair robot computer interface with choices in data input methods, addressing disparate requirements of different groups of intended users. The main underlying issue is to combine technical measurements, speed of operation and cost with subjective opinion. It turns out that Braglia's method has greater robustness in determining rank compared to standard techniques. In this, case a simple switch was rated better than a mouse or voice operation for control.

关键词： Quality   Web   Internet   Machine vision   Robot   Manufacturing  

摘要： This paper investigates the development of a Web-based quality control system with the use of Internet-based computer machine vision. Such a system allows designers located far from the production facility to monitor, control, and program the quality inspection process as the product design evolves. Quality control tasks are performed and monitored remotely through the Web where Internet-based machine vision sensors inspect part dimensions and tolerance while Internet-enabled robots perform the necessary robotic operations. The remote quality monitoring system-which lets the user monitor the part status including data, image, and video through the Internet-is built using Java. The use of Java allows for interconnection and data transfer between the different components of the Web-based quality system and the robots. The ability to access and control quality control devices via the Web benefits the current manufacturing environment in the following ways: ubiquitous access to the production floor, remote control/programming/monitoring capability, and integration of production equipment into information networks for improving efficiency and product quality.

关键词： Flag manifold   Stratification   Euclidean motion group   Cell decomposition   Singular locus   Parallel manipulators  

摘要： In this paper we derive stratifications of the Euclidean motion group, which provide a complete description of the singular locus in the configuration space of a family of parallel manipulators, and we study the adjacency between the strata. We prove that classically known cell decompositions of the flag manifold restricted to the open subset parameterizing the affine real flags are still stratifications, and we introduce a refinement of the classical Ehresmann-Bruhat order that characterizes the adjacency between all the different strata. Then we show how, via a four-fold covering morphism, the stratifications of the Euclidean motion group are induced.

关键词： LETTERS to the editor   PROTEINS  

摘要： A letter to the editor on sub-angstrom accuracy in protein loop reconstruction is presented.