摘要： 由云南省楚雄州科协、楚雄州教育体育局主办,楚雄州科技馆、楚雄州机器人协会承办的楚雄州第二届青少年科技创新大赛机器人竞赛近日在楚雄州宾馆成功举办.云南省青科中心主任贾兴勇、楚雄州教育体育局副局长许华荣、楚雄州科协副主席倪勇出席大赛开幕式.来自全州20所学校的71支参赛队,152名参赛选手、教练员同台竞技.

关键词： Sensors   Robot sensing systems   Force   Measurement uncertainty   Force measurement   Strain   Strain measurement   Force sensors   robotics and automation   sensor selection   six-axis force sensors  

摘要： Six-axis force/torque sensors are transducers capable of measuring three dimensions of force and three dimensions of torque, and have a wide range of applications in robotic systems. The sensing principle behind the greatest majority of these is based on detecting strains in an elastic structure, and there are multiple modalities for strain measurement, including resistive strain gauge, piezoelectric, capacitive, and optoelectronic techniques. Developed sensors can be evaluated based on a range of parameters, including decoupling error, nonlinearity error, and measurement isotropy, where the primary design challenge is to maximise the allowable sensing range while minimising measurement errors. This literature review describes the state of the art of the field, and includes all relevant research associated with the search term "six-axis force/torque sensor" spanning 2015 - June 2021. The published literature for each sensing technique is summarised and evaluated, and a generalised sensor selection framework is proposed to assist the reader with the selection procedure for a state of the art sensor. In the period considered, there have been no significant improvements with the sensors documented in terms of measurement errors. Researchers have instead focused on features such as fault tolerance, alternative sensing techniques, cost reduction, and miniaturisation. These trends are expected to continue, and moving forward, the most significant challenge in the field is expected to be the lowering of manufacturing costs, as trends indicate measurement performance has reached maturity.

关键词： Environment   robotics   play   inclusion   children   youth   disability   inclusive STEM  

摘要： Purpose: This study assessed the environmental quality of an adapted, play-based LEGO(R) robotics program for children and youth with disabilities to determine the degree to which the activity setting supports the therapeutic goals of the program. Materials and methods: We measured the environmental qualities of a robotics program held at a paediatric rehabilitation hospital. We observed and coded video-recordings of the robotics program, specifically one session from each of five different rooms where the program took place. Using the 32-item Measure of Environmental Qualities of Activity Settings (MEQAS), we described the place- and opportunity-related qualities of these settings. Results: Our observations revealed that, across all five settings, the environments support the therapeutic goals of the program, including providing opportunities for social interaction with peers and adults to a great extent. We also identified several environmental features of the robotics program that support optimal outcomes for children and youth with disabilities. Conclusions: Our findings lend support for the value of examining environmental opportunities and affordances of play-based therapy within rehabilitation.

关键词： Hydrocarbons   Aromatic compounds   Perovskites   Stability   Halogens  

摘要： Antisolvent crystallization methods are frequently used to fabricate high-quality metal halide perovskite (MHP) thin films, to produce sizable single crystals, and to synthesize nanoparticles at room temperature. However, a systematic exploration of the effect of specific antisolvents on the intrinsic stability of multicomponent MHPs has yet to be demonstrated. Here, we develop a high-throughput experimental workflow that incorporates chemical robotic synthesis, automated characterization, and machine learning techniques to explore how the choice of antisolvent affects the intrinsic stability of binary MHP systems in ambient conditions over time. Different combinations of the end-members, MAPbI(3), MAPbBr(3), FAPbI(3), FAPbBr(3), CsPbI3, and CsPbBr3 (MA, methylammonium;FA(+), formamidinium), are used to synthesize 15 combinatorial libraries, each with 96 unique combinations. In total, roughly 1100 different compositions are synthesized. Each library is fabricated twice by using two different antisolvents: toluene and chloroform. Once synthesized, photoluminescence spectroscopy is automatically performed every 5 min for approximately 6 h. Nonnegative matrix factorization (NMF) is then utilized to map the time- and compositional-dependent optoelectronic properties. Through the utilization of this workflow for each library, we demonstrate that the selection of antisolvent is critical to the intrinsic stability of MHPs in ambient conditions. We explore possible dynamical processes, such as halide segregation, responsible for either the stability or eventual degradation as caused by the choice of antisolvent. Overall, this high-throughput study demonstrates the vital role that antisolvents play in the synthesis of high-quality multicomponent MHP systems.

关键词： 自动化酿酒   上甑铺料   机器人轨迹规划   动态时间规整   机器人动力学  

摘要： 在白酒酿造工厂中,大部分工艺流程通常由人工完成。为了促进白酒酿造行业的工业自动化发展,减轻高重复性的人工劳作,现关注白酒酿造过程中的上甑环节,分析上甑师傅典型作业手法,设计一套面向上甑工艺的机器人作业系统。首先,提出一种基于样条曲线-高斯模型的上甑轨迹泛化编码算法,通过现场采集人工上甑的动作数据,将其导入泛化模型得到人工上甑工艺在空间中的轨迹特征;之后,分析人工上甑工艺特性,划分机器人上甑区域,设计甑料流速可控的末端料斗机构,并结合现场布局对每个区域的铺洒轨迹进行计算;为实现期望厚度的上甑工艺要求,建立机器人动力学逆解模型,根据机器人各关节负载限制得到每个区域的最大速度,结合末端料斗机构的伺服控制性能,制定上甑作业时铺洒厚度的控制策略;最后,通过多次上甑实验,验证了设计的机器人作业系统的有效性。

关键词： 泌尿肿瘤   EAU   泌尿男科   中国抗癌协会   机器人手术   机器人学   泌尿男生殖系肿瘤   外科机器人  

摘要： 为推动中国泌尿肿瘤外科机器人手术事业的发展,由中国抗癌协会泌尿男生殖系肿瘤专业委员会(CACA-GU)与EAU机器人学组(ERUS)主办;CACA-GU微创学组及CUA泌尿男科工程学组承办的"2022 EAU与CACA-GU泌尿肿瘤机器人手术交流会"将于2022年1月23日下午14:00-18:40线上召开。

关键词： 教学机器人   机械系统   控制系统   程序设计   视觉识别  

摘要： 针对中国机器人大赛采摘机器人子项目,设计了一种教学用采摘竞赛机器人。首先,根据竞赛要求,设计教学用采摘机器人的机械系统,确定了四轮独立驱动的电机布局及差速转向的轮式结构;设计了四自由度串联机械臂,二指回转型机械爪和自动卸载的储物筐。以STM32F103ZET6单片机为核心,搭载底盘控制模块、颜色识别模块和采摘机械臂模块,构建了采摘机器人的控制系统。根据比赛要求和流程,编写了机器人基本运动子程序、颜色识别子程序、机械臂控制子程序以及系统整体流程。并搭建实物进行测试,结果显示该设计满足竞赛基本要求,能够为学生参加竞赛提供一定的参考。

关键词： 机器人   轨迹规划   时间最优   全动力学约束  

摘要： 针对当前机器人时间最优轨迹规划算法存在的求解效率低、约束不完整等局限性,提出了一种改进的基于可达性分析的时间最优轨迹规划算法.该算法基于路径离散化将整个规划问题转化为多阶段迭代求值问题,求解效率高;由于考虑了包含摩擦在内的全动力学约束以及运动学约束,算法求得的结果在保证时间最优的前提下更为符合机器人实际运动性能.数值仿真实验证实了本算法的可行性和求解高效性.

关键词： 库卡KR16 R1610-2   建模   仿真   solid works   ADAMS  

摘要： 以库卡KR16 R1610-2为例,介绍了牛顿——欧拉法在机器人关节的动力学正、逆运算中的应用,然后使用solid works软件对该工业机器人创建了三维模型,并用ADAMS软件对其进行了刚体动力学分析,最后以第3关节为研究对象,得到了其关节力和关节力矩变化曲线,以进一步开展该工业机器人的轨迹规划和结构优化设计等研究工作。

关键词： 机器人竞赛   副局长   科技馆   参赛选手   青少年科技创新大赛   协会承办   楚雄州   同台竞技  

摘要： 由云南省楚雄州科协、楚雄州教育体育局主办,楚雄州科技馆、楚雄州机器人协会承办的楚雄州第二届青少年科技创新大赛机器人竞赛近日在楚雄州宾馆成功举办。云南省青科中心主任贾兴勇、楚雄州教育体育局副局长许华荣、楚雄州科协副主席倪勇出席大赛开幕式。来自全州20所学校的71支参赛队,152名参赛选手、教练员同台竞技。