关键词： Robots   Swarm particle optimization   Design methodology   Robustness   Performance evaluation   Self-organizing networks  

摘要： Swarm robotics deals with the design, construction, and deployment of large groups of robots that coordinate and cooperatively solve a problem or perform a task. It takes inspiration from natural self-organizing systems, such as social insects, fish schools, or bird flocks, characterized by emergent collective behavior based on simple local interaction rules [1], [2]. Typically, swarm robotics extracts engineering principles from the study of those natural systems in order to provide multirobot systems with comparable abilities. This way, it aims to build systems that are more robust, fault-tolerant, and flexible than single robots and that can better adapt their behavior to changes in the environment.

关键词： Control   Robotics   Mechatronics  

关键词： Navigation   Robot kinematics   Shape control   Shape   Convergence   Robot sensing systems   Autonomous system   fault tolerance   obstacle avoidance   shape control   swarm robotics  

摘要： This article presents a geometrical region-based shape control methodology for navigating a cohesive swarm-robotic structure toward the goal even in a field occluded by unknown obstacles. In this control approach, initially, the robotic swarm is conceived to lie within a well-defined virtual circular region thus preserving a strict interagent cohesiveness among them. However, during the progression, for evading severely constricted obstacles, the virtual circle has been allowed to change its shape and in the process, varied elliptical shapes are made to evolve. In essence, for a collision-free solution, this shrinking aspect (from circle to ellipse) depends entirely on the number of agents in the swarm and at the same time also reliance on the sensed distance between two nearest obstacles through which the shrunken circle or the virtual ellipse will be able to pass. Consequently, shape switching is a dynamic as well as a stochastic process throughout the journey of the swarm. For achieving these objectives, a two-level hierarchical control strategy has been employed. Moreover, during aggregating toward the target, the actuation failure of any agent or agents may occur. In this perspective, the proposed control law has been updated adaptively throughout the route such that agent failure does not encumber the mission. Finally, the extensive simulation results along with the hardware experimentation are provided to demonstrate the efficacy of the proposed scheme.

关键词： self-healing   soft robotics   3D printing modular   liquid metal  

摘要： Advances in materials, designs, and controls are propelling the field of soft robotics at an incredible rate;however, current methods for prototyping soft robots remain cumbersome and struggle to incorporate desirable geometric complexity. Herein, a vat photopolymerizable self-healing elastomer system capable of extreme elongations up to 1000% is presented. The material is formed from a combination of thiol/acrylate mixed chain/ step-growth polymerizations and uses a combination of physical processes and dynamic-bond exchange via thioethers to achieve full self-healing capacity over multiple damage/healing cycles. These elastomers can be three dimensional (3D) printed with modular designs capable of healing together to form highly complex and large functional soft robots. Additionally, these materials show reprogrammable resting shapes and compatibility with self-healing liquid metal electronics. Using these capabilities, subcomponents with multiple internal channel systems were printed, healed together, and combined with functional liquid metals to form a high-wattage pneumatic switch and a humanoid-scale soft robotic gripper. The combination of 3D printing and self-healing elastomeric materials allows for facile production of support-free parts with extreme complexity, resulting in a paradigm shift for the construction of modular soft robotics.

关键词： 机器人竞赛   标准化  

摘要： 高校机器人竞赛作为机器人教育的重要形式,在激发学生学习兴趣、增强学生自主创新能力和培养学生综合能力方面优势显著。本研究通过文献分析、问卷调查,就高校机器人竞赛发展现状展开调查。发现机器人竞赛标准化方面的主要问题,包括竞赛分类模糊、机器人竞赛质量良莠不齐、个别竞赛存在商业化问题等。并基于此提出编制管理标准、建立统一协调机制,设立权威协调机构、设置机器人竞赛主办准入机制等一系列对策建议,以期促进高校机器人竞赛管理的科学化、标准化、规范化。

关键词： 管道机器人   地质雷达   结构设计   力学仿真  

摘要： 利用Creo软件创建了管道检测机器人三维实体模型,在ADAMS中对机器人后轮施加140 mm/s的速度驱动,在正常工况和越障极端工况下分别进行了动力学仿真分析,重点考察机器人车轮和连接结构的受力情况。仿真结果表明:在越障过程中,机器人整体都受到较大的冲击,机器人行驶不够平稳,相关的连接件承受的载荷波动较大;特别是连接结构滑槽中的铆钉,正常工况受力最高幅值约为2600 N,而极端工况最高幅值达到18000 N左右,因此,它是强度考察的重点对象。最后,文章提出了添加压力传感器和弹簧组的优化设计方案,改善了机器人行驶状态。

关键词： Maritime robotics   AUV   ASV   Underwater robotics   Acoustic telemetry   Fish tracking  

摘要： This paper provides a systematic state of the art review on tracking the fine scale movements of fish with the use of autonomous maritime robotics. Knowledge of migration patterns and the localization of specific species of fish at a given time is vital to many aspects of conservation. This paper reviews these technologies and provides insight into what systems are being used and why. The review results show that a larger amount of complex systems that use a deep learning techniques are used over more simplistic approaches to the design. Most results found in the study involve Autonomous Underwater Vehicles, which generally require the most complex array of sensors. The results also provide insight into future research such as methods involving swarm intelligence, which has seen an increase in use in recent years. This synthesis of current and future research will be helpful to research teams working to create an autonomous vehicle with intentions to track, navigate or survey.

关键词： 机器人   竞赛   协作  

摘要： 本文旨在通过多机器人系统的敌我识别、任务分配等关键技术的研究,实现多机器人竞赛项目中的有效协作功能,以提高机器人竞赛能力,论文采用理论推导、软件仿真、硬件设计与改造等相结合的方式来开展研究,以解决机器人何时协作、如何协作等棘手问题。