关键词： Education   Pandemics   COVID-19   Hardware   Educational robots   Data models   Distance learning  

摘要： The COVID-19 pandemic had profound effects on almost all aspects of daily life, including education, where it led to a rapid and massive switch to online teaching. There is evidence that the responses to the pandemic will have lasting effects in higher education and that they have accelerated the trend that (elements of) online education will be the new normal in higher education [13]. For example, students expect, as a main change for universities, that, in 10 years' time, most lectures will be online [18].

关键词： Robots   Vehicle dynamics   Delays   Upper bound   Uncertainty   System dynamics   Standards   Artificial-delay control   Euler-Lagrange (EL) systems   time delay estimation (TDE)   underactuated robotics  

摘要： Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e., artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This article formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler-Lagrange) underactuation. The appeal of studying Euler-Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.

关键词： Multi-robot system   Path planning   Neural dynamics   Neural network  

摘要： The coordination of multi-robot system (MRS) are applied commonly to various fields of the automotive industry. In a variety of cooperative modes, online path planning with obstacles avoidance is a fundamentally important hotspot, especially in a 3-D, complex, or dynamic environment. In the paper, an improved neural dynamics based approach with territorial mechanism is proposed to online path planning of MRS, which can be used as the online path planner for multi-AUVs and multi-UAVs in complex and dynamic environments. This approach integrates biological neural network, computational fluid dynamics, and territorial mechanism of animals, which has the characteristics and advantages of the biological nervous system, namely self-regulation, self-adaptation, self-organization, etc. It can cope with a variety of accidents during path planning, such as the disappearance of targets, the breakdown of robots, the change of environments, and so forth. Meanwhile, the proposed approach has better time performance and is insensitive to the number of robots in MRS. During the path planning of MRS, it can also guarantee to balance workload and to reduce entire workload and total time, which enhance robustness and fairness. The effectiveness and efficiency of the proposed approach are demonstrated by simulations and comparative studies.

关键词： Professional aspects  

摘要： While the IEEE Industrial Electronics Society (IES) is celebrating its 70th anniversary, the energy, information, robotics, and industrial revolution is speeding up. It seems that soon everyone in the world will have access to electricity. The electric power supply is a common factor for electrical and electronics devices. It does not matter if we are considering electrifying a Honduran primary school or automating a Japanese robotic factory—without a reliable, flexible, environmentally friendly energy source, modern education and industrialization is not possible. Therefore, one role of the IES is to attract as many new engineers as possible. We need to show girls that engineering is as attractive as other study fields. We must propose a discussion platform for undergraduates, postgraduates, and young professionals from industry. This kind of platform was presented at the IES 70th Anniversary Joint Forum of Women in Engineering (WiE) and Students & Young Professionals (S&YP) at the 2021 International Symposium on Industrial Electronics (ISIE2021)-Kyoto online conference by IES Vice President for Planning and Development, Prof. Makoto Iwasaki, Nagoya Institute of Technology, Japan.

关键词： Couplings   Robots   Distortion   Mathematical model   Service robots   Analytical models   Prototypes   Distortion problems   dynamics   electromechanical coupling   hybrid spray-painting robot   similitude analysis  

摘要： This article proposes the similitude analysis method to predict the dynamics of a hybrid spray-painting robot, and the electro-mechanical coupling effect is considered. As the preliminary preparation, a novel method for similitude analysis of coupling system by taking the subsystems as the object of study is introduced, which has higher efficiency and more flexibility due to the consideration of coupling relationships. Besides, since classic controller designed in complex frequency domain is the key component in an electro-mechanical system, the modified similitude analysis methods defined in complex frequency domain are proposed for deriving scaling laws of the controller. Based on these preparations, the similitude analysis of the electro-mechanical dynamics of the hybrid spray-painting robot in ideal condition is carried out, and the modifications of reduction ratios and control parameters of the scaled model are also proposed to solve the motor inertia and resistance distortion problems. Finally, the scaled model of the hybrid spray-painting robot is determined, and the experiment of the prototype is carried out. The effectiveness of the similitude analysis method is then validated by the fitness between the experimental tracking errors of the prototype and the ones predicted from the scaled model.

关键词： elastomers   mechanical properties   spectroscopy   thermal properties   thermoplastics  

摘要： In the currently rapidly developing field of soft robots, smart materials with controllable properties play the central role. Thermosensitive elastomers are soft, smart materials whose material properties can be controlled by changing their temperature. The aim of this work is to investigate the mechanical properties, to analyze the surface, the inner structure, and the heat transfer within the thermosensitive elastomer materials. This should provide a knowledge base for new combinations, such as a combination of thermosensitive and the well-known magneto sensitive elastomers, in order to realize new applications. Thermoplastic polycaprolactone particles were incorporated into a flexible polydimethylsiloxane matrix to produce thermosensitive elastomer samples. With a low melting point in the range of 58-60 degrees C, polycaprolactone offers good application potential compared to other thermoplastic materials such as polymethamethylacrylate with a melting point above 160 degrees C. Test samples of different material compositions and geometries were made to examine temperature-depending material properties. Two useful effects were identified: temperature-dependent change in stiffness and the shape memory effect. In certain examinations, carbonyl iron particles were also included to find out if the two particle systems are compatible with each other and can be combined in the polydimethylsiloxane matrix without disadvantages. Changes in shore hardness before and after the influence of temperature were investigated. Micro computed tomography images and scanning electron microscopy images of the respective samples were also obtained in order to detect the temperature influence on the material internally as well as on the surface of the thermosensitive elastomers in combination with carbonyl iron particles. In order to investigate the heat transfer within the samples, heating tests were carried out and the influence of different particle concentrations of the thermosensit

关键词： 并联机器人   各向同性   运动性能   动力学  

摘要： 在传统5R机构的基础上,设计了一种两驱动同轴的两自由度平面并联机器人机构,结构上更加简洁。首先,根据机构位置关系,建立了机构运动学正反解方程,求出雅可比矩阵表达式;其次,在运动学基础上,分析了机构的工作空间、奇异位形和雅可比条件数等运行性能指标,并以各项同性为性能目标确定了机构主、从构件的尺度参数;最后,推导了机构各构件的速度、加速度矢量表达式,根据虚功原理方法建立了机构的动力学方程,以点P给定运动轨迹为目标,计算得到驱动力矩的变化规律。结果表明,该型机器人具有良好的运动性能和高加速性能,为机构的推广应用提供了理论基础。

关键词： 高校   大数据   机器人学   翻转课堂   教学改革  

摘要： 随着信息技术的发展,当前已经进入大数据时代。在大数据时代背景下,高校机器人学课程面临新的要求,亟待进一步深化课程改革,更好地提升学生的专业素质。对大数据背景下高校机器人学课程教学改革进行分析和探讨,供相关教师参考。

关键词： 深度学习   机器人学   交叉学科   SciVal   研究热点  

摘要： 机器人正朝着智能化方向快速发展,深度学习作为人工智能最前沿的一个分支,其突破性发展促进了人工智能领域的爆发性增长,已广泛应用于机器人学的感知、决策、控制等相关技术领域。为加强科技发展战略谋划和系统布局,利用SciVal文献分析平台对深度学习与机器人学的交叉学科的发展态势进行了系统梳理和分析,并对深度学习重要算法的应用进行了综述。结果表明:中国的学术产出已达第一,但学术影响力落后于欧美,并缺少高产出的学者;当前的研究重点是计算机视觉,研究热点是卷积神经网络用于机器人对象检测及深度Q学习用于辅助决策等;深度学习元学习、分布式深度学习、三维深度CNN、深度学习融合应用展现出有良好的前景,将推动机器人学向人机混合的增强智能与智能自主化方向发展;通过比较中国与欧美发达国家的优劣势,提出了相应的对策建议。研究结果展现了深度学习与机器人学交叉学科领域的全貌,为研究人员提供了有价值的参考。

关键词： 机器人学   内窥镜   电视辅助外科手术  

摘要： 机器人在临床医学领域的应用正逐步改变传统的诊疗模式,在消化内镜领域,机器人操作的出现有望在普及内镜检查、完善质控、减轻医师负担等方面发挥重要作用。本文就不同设计类型的消化内镜机器人的研发现状进行介绍。