关键词： 并联机构   步行机器人   牛顿-欧拉法   动力学分析  

摘要： 为对2(6UPUR+3P)型六足步行机器人动力学模型进行充分验证和分析,并提高建模与分析的效率,提出了基于Matlab程序和SimMechanics环境下进行动力学建模与分析的计算机辅助分析方法。首先,将6-UPUR腿部支链描述为单个刚体,运用矢量法分析其运动特性,求出位移、速度和加速度,在此基础上,采用牛顿-欧拉法对机器人腿部的动力学进行分析,获取动力学数学模型并求取驱动力,并编写了Matlab程序;其次,通过Solidworks软件搭建2(6UPUR+3P)并联机器人的物理模型,在SimMechanics环境下进行了动力学建模仿真;最后,对两种方法进行了仿真分析,腿部的动力学响应一致,说明了在Maltab和SimMechanics下的动力学模型都是正确的。该研究为2(6UPUR+3P)六自由度并联机器人控制系统设计奠定了理论研究基础,同时也为其它并联腿式机器人结构的动力学建模与分析提供参考。

关键词： Surveys  

摘要： Robotics and automation technology (RAT) has emerged as one of the most important drivers of the Industry 4.0 digital transformation of industrial operations. Although RAT has been explored in construction over the last several decades, its applications in the field have been limited, despite its potential and rise in application opportunities. Prior studies have focused on the resistance factors that impact the adoption of RAT. However, there is limited work that simultaneously identifies the positive and negative factors that influence the decision of construction companies to adopt RAT. This study aims to identify, through semistructured interviews with prominent experts in the US, the positive and negative factors of adopting RAT and then use these adoption factors in a survey to allow these same experts to pairwise compare their importance. The survey results were prioritized based on their perceived impact on construction companies' decision-making using the analytic hierarchy process (AHP). The results indicated that the intention to use RAT is primarily positively affected by long-term cost savings and adversely affected mainly by the initial investment costs. Because construction professionals are inclined to make decisions on the adoption of RAT based mainly on costs, the understanding gained in this study of the other factors impacting RAT adoption decisions allows companies to improve how they manage their RAT adoption efforts. (C) 2021 American Society of Civil Engineers.

关键词： 教育研究机构   智能机器人   中小学   人工智能课程   教具   教学效果   青少年   实验小学  

摘要： 人工智能教育是什么?人工智能课程怎么上?用哪些器材、教具才能达到更好的教学效果?5月29日,"红心向党创新报国"首届中小学人工智能课程建设论坛暨青少年智能机器人竞赛在长沙市麓山兰亭实验小学举行,来自学校和教育研究机构的专家学者以及创业精英齐聚一堂,从产、学、研、教、评等方面入手,共同探讨中小学人工智能课程建设实际问题的系统解决方案。

关键词： 清华大学出版社   名师工作室   中小学校   创客教育   机器人竞赛   国培计划   人工智能   程序设计  

摘要： 郑剑春,首批教育部"国培计划"专家组成员,青少年机器人竞赛"十佳教练",多次指导学生参加国内、国际机器人比赛,获奖200余人次,并多次刷新比赛记录;研究方向涉及程序设计、机器人、人工智能等多方面,著有10多本相关专著;兼任清华大学出版社《青少年科技创新丛书》《创客教育丛书》主编,该丛书入选2015年教育部中小学校馆配书目,成为全国诸多中小学校开展创客、编程、人工智能教育的首选教材,并分别在清华大学出版社与台湾出版公司出版。

关键词： 采摘机器人   动力学仿真   ADAMS   SolidWorks  

摘要： 首先,对ADAMS动力学仿真过程进行了分析和介绍,采用SolidWorks三维机械设计软件建立采摘机器人虚拟样机;然后,建立了采摘机器人动力学方程并进行了动力学分析,并利用ADAMS软件进行了仿真。仿真结果表明:采摘机器人末端执行器在各坐标轴上的速度和加速度都比较稳定光滑,各个时间端没有间断点,表明采摘机器人各个关节在实际的采摘过程中工作稳定,没有明显冲击,机械结构符合要求。

关键词： Robots   Educational robots   Mechanical engineering   Robot sensing systems   Education   Programming profession   Thermal engineering   Curriculum development   department of robotics   educational programs   STEM   undergraduate curricula  

摘要： Contribution: The information described in this study provides a starting point for discussing an effective robotics curriculum offered by any engineering university or institute. Background: Robotics is a multidisciplinary field that includes mechanical engineering, electrical and electronic engineering, and computer science. Several universities have established departments of robotics to teach their students robotics education;however, a comprehensive curriculum to deliver robotics education has not yet been fully developed. Research Questions: What are the significant component courses offered by existing departments of robotics? Methodology: This article investigates component courses among departments of robotics through a title-based aggregation of existing courses and textual analyses. Findings: From a title-based aggregation of robotics curricula from 19 departments established by 2018, control engineering, programming, technical drawing/design, and electronic engineering/electronic circuits were found to be the core courses. From textual analyses of the curricula, robotics departments' course titles were similar to those of mechanical engineering departments.

关键词： benign hysterectomy   da Vinci   laparoscopy   robotics   Senhance  

摘要： Objectives Comparison of retrospective, learning curve benign hysterectomy cost and case time data from Senhance total laparoscopic hysterectomy (TLH) cases with similar da Vinci robot cases and laparoscopic-assisted vaginal hysterectomy (LAVH) cases. Methods Instrument costs, console time, and case time analysis from six surgeons at four U.S. and European hospitals compared with retrospective, sequential da Vinci TLH and standard laparoscopic LAVH cases extracted from the CAVAlytics database. Results Senhance Gyn surgeons in their learning curve when compared to da Vinci learning curve Gyn surgeons achieved lower median instrument costs ($559 vs. $1393, respectively, p < 0.001) with comparable console times (91.5 vs. 96 min, p = 0.898);Senhance and LAVH case costs were comparable ($559 vs. $498, p = 0.336). Conclusion In benign hysterectomy, the Senhance system may present a lower-cost approach with equivalent case times compared with similar da Vinci robotic cases.

关键词： Precision Agriculture   PRI   Plant water potential   Proximal sensing   Autonomous Ground Vehicle (AGV)  

摘要： The purpose of this research is deploying a proximal sensing solution using non-invasive and cost-effective sensors onboard an Autonomous Ground Vehicle (AGV) as a feasible way for building high-resolution maps of water potential in vineyards. The final objective is offering growers a practical system to make decisions about water management, especially for arid climatic conditions. The monitoring AGV was entirely developed within this research context, and as a result, it is a machine specifically designed to endure off-road conditions and harsh environments. The autonomous vehicle served as a massive, non-invasive, and on-the-go data collector robotic platform. The sensors used for measuring the relevant field variables were two spectral reflectance sensors (SRS), an infrared radiometer, and an on-board weather sensor. The collected data were displayed on comprehensible grid maps using the Local Tangent Plane (LTP) coordinate system. The proposed model has a coefficient of determination R-2 of 0.69, and results from combining six parameters: the canopy and air temperatures (as the temperature difference), the relative humidity, the altitude difference, the Normalized Difference Vegetation Index (NDVI), and the Photochemical Reflectance Index (PRI). The strongest relationships found in this study were between the temperature difference and PRI, with an R-2 of 0.75, and the temperature difference with the leaf water potential with an R-2 of 0.61. The practical use of these high-resolution maps includes irrigation scheduling and harvest zoning for sorting grape quality, with a further use as inputs to complex artificial intelligence algorithms considering larger areas or complementing airborne data. Future improvements to make the models more robust and versatile will entail considering additional variables, locations, or grapevine cultivars, and even other crops grown in vertical trellis systems.

关键词： Active learning   Robotics   Robot control   Learning theory   Perception and sensing   Artificial intelligence  

摘要： Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. This is a review of active learning in robotics, focusing on methods amenable to the demands of embodied learning systems. Robots must be able to learn efficiently and flexibly through continuous online deployment. This poses a distinct set of control-oriented challenges-one must choose suitable measures as objectives, synthesize real-time control, and produce analyses that guarantee performance and safety with limited knowledge of the environment or robot itself. In this work, we survey the fundamental components of robotic active learning systems. We discuss classes of learning tasks that robots typically encounter, measures with which they gauge the information content of observations, and algorithms for generating action plans. Moreover, we provide a variety of examples - from environmental mapping to nonparametric shape estimation - that highlight the qualitative differences between learning tasks, information measures, and control techniques. We conclude with a discussion of control-oriented open challenges, including safety-constrained learning and distributed learning.