关键词： 机器人学   项目式教学法   实践教学  

摘要： “机器人”课程是面向高等学校机械工程和自动化学科专业的本科生开设的专业课,课题组在分析“机器人”课程实践教学特点与教学现状的基础上,以项目式教学法在“机器人”实践课程中进行教学改革,利用实验室的智能移动机器人设备开展“机器人”实践课,设定特定的任务和目标让学生自主学习和探索机器人方面的问题,完成老师设定的目标和任务,学生在任务过程中学习机器人的相关理论知识和实践知识。教学实践证明:该教学法显著提升了学生的创新思维和实践能力。

关键词： 学科交叉   创新实验室运行   工程教育   机器人竞赛  

摘要： 在新工科背景下,创新实验室的建设与教学模式创新显得尤为重要,创新实验室有效弥补了新专业建设初期教学内容和教学模式的不足,在打造学校亮点、提高教学水平、提高学生技能方面有很大价值。以华北理工大学的人工智能机器人实验室建设运行过程为例,总结了其在组织管理、设备采购、竞赛选择、宣传招新四方面的经验,在学科交叉分组基础上提出了逐步进阶的四年培养方案,并探索在创新项目培育过程中引入模块化、规范化、商业化的方法。

关键词： 机器人学科竞赛   创新能力   路径  

摘要： 机器人学科竞赛是一项理论知识与实践操作相结合的交叉型学科赛事,是展现高水平人才的重要平台,其作用在于检验参赛人员学以致用与自主创新的能力。以机器人学科竞赛为驱动,探索培养学生创新能力的路径,提出“课内理论,课外实践”结合的人才培养模式,以期有效提升学生创新能力、实践能力与团队协作能力。

关键词： 采摘机器人   动力学建模   动作规划   仿真模拟   神经网络  

摘要： 为了提高采摘机器人的自动化采摘效率和质量,将机器人动力学建模和仿真模拟方法引入到了采摘机器人的设计过程中,基于SolidWorksv软件建立了采摘机器人机械手的三维模型,并将其导入到ADAMS软件中进行了仿真模拟计算,得到了机械手动作的轨迹,通过对轨迹数据的分析可以实现机械手动作的优化。在机器人动作控制精度的优化上采用了神经网络PID算法,并对优化前后的动作精度进行了对比,结果表明:采用神经网络PID算法可以明显提高动作的精度,对于采摘机器人的优化设计具有重要作用。

关键词： 机器人学   反乌托邦   第二定律   《我,机器人》  

摘要： 在《我,机器人》的引言中,科幻小说家艾萨克·阿西莫夫提出了著名的"机器人学"三定律:"第一定律--机器人不得伤害人,也不得见人受到伤害而袖手旁观;第二定律--机器人应服从人的一切命令,但不得违反第一定律;第三定律--机器人应保护自身的安全,但不得违反第一、第二定律"(1)。"阿西莫夫三定律"对后来的科幻写作,具有里程碑的意义。显然,阿西莫夫已经预见,机器人,或说人工智能的造物,将拥有比自然人类更高的能力,并对人类的生存造成挑战。

关键词： Action recognition   Human activity   Descriptor   Machine vision system   Human-robot collaboration  

摘要： Vision-based control systems play an important role in modern robotics systems. An important task in implementing such a system is developing an effective algorithm for recognizing human actions and the working environment and the design of intuitive gesture commands. This paper proposes an action recognition algorithm for robotics and manufacturing automation. The key contributions are (1) fusion of multimodal information obtained by depth sensors and cameras of the visible range, (2) modified Gabor-based and 3-D binary-based descriptor using micro-block difference, (3) efficient skeleton-based descriptor, and (4) recognition algorithm using the combined descriptor. The proposed binary micro-block difference representation of 3-D patches from video with a complex background in several scales and orientations leads to an informative description of the scene action. The experimental results showed the effectiveness of the proposed algorithm on datasets.

关键词： Chaotic dynamics   Control policy learning   Control signal delay   Model free control   Non-parametric uncertainty   Under-actuated manipulator  

摘要： Development of practical control approaches for the under-actuated chaotic systems such as the robot manipulators are challenging due to the unpredictable character of the chaotic dynamics, and the inevitable real-time application properties like delays, saturations, and uncertainties In this paper, we propose a model free digital adaptive control approach, which considers the time delay of the control signal, actuator saturation, and non-parametric uncertainties, for an under-actuated manipulator. We also develop a chaos control to learn the unbiased and smooth digital control policy inside the chaotic regions of the continuous time under-actuated manipulator. We perform real-time experiments in a dynamic environment with the proposed digital adaptive control. Then we compare the results of the learning and control with and without chaos control. We observe that the proposed model free adaptive control approach can accurately learn both the long-term predictor and unbiased control policy even in the chaotic regions of the under-actuated robot manipulator. (c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Robotics  

摘要： The COVID-19 global pandemic has challenged the entire academic community (and the whole world) to adopt new and creative ways of making progress. Most conferences have now organized at least one fully virtual event, often including keynote lectures, paper presentation sessions, poster sessions, and even social events. However, when the core of one’s event is a collection of competitions among physical robots, what can be done when researchers are not able to travel? This article answers that question by recounting RoboCup 2021 Worldwide, a successful robotics competitions held during the summer of 2021.

关键词： Robots   Surgery   Automation   Cameras   Robot vision systems   Instruments   Tools  

摘要： Robotic-assisted surgery is now well established in clinical practice and has become the gold-standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade, with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to repurpose decommissioned da Vinci surgical systems [Intuitive Surgical Inc. (ISI), California, USA] as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this article, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain and build upon this initiative.

关键词： biopsy   ablation   robotics   stereotactic navigation   treatment planning   interventional radiology  

摘要： Image-guided robotics for biopsy and ablation aims to minimize procedure times, reduce needle manipulations, radiation, and complications, and enable treatment of larger and more complex tumors, while facilitating standardization for more uniform and improved outcomes. Robotic navigation of needles enables standardized and uniform procedures which enhance reproducibility via real-time precision feedback, while avoiding radiation exposure to the operator. Robots can be integrated with computed tomography (CT), cone beam CT, magnetic resonance imaging, and ultrasound and through various techniques, including stereotaxy, table-mounted, floor-mounted, and patient-mounted robots. The history, challenges, solutions, and questions facing the field of interventional radiology (IR) and interventional oncology are reviewed, to enable responsible clinical adoption and value definition via ergonomics, workflows, business models, and outcome data. IR-integrated robotics is ready for broader adoption. The robots are coming!