关键词： 外骨骼   步态分析   动力学   仿真   Kane方法  

摘要： 人体躯干能够根据负载重量而自适应调节前倾角度,有利于人体对下肢外骨骼的控制和人机系统行走稳定性。当超出一定负重时,躯干前倾困难。设计一种新型髋背结构,利用负重重量增加躯干前倾角度。首先分析人体步态,方便仿真时施加约束和驱动等元素;然后将人体简化为七杆模型,用Kane方法建立动力学方程,减少中间变量,提高计算效率;最后通过Adams进行动力学仿真验证。仿真得到的结果表明:承载负重之后,髋背机构能使人体躯干前倾更加省力,人机系统重心位置相比于之前接近稳定区域,并且系统重心比之前有所降低,进一步保证系统稳定。

关键词： 高层次人才   先进性教育   党员教育  

摘要： 发挥高校教师党支部的战斗堡垒作用,加强对"双带头人"的政治引领,通过贯彻"一条主线",以党建领航各项工作,实施"两项"工程,抓好高层次人才党员队伍建设,依托"三个平台",推进高层次人才党员教育效能最大化,不断增强党组织在高层次人才中的凝聚力和向心力,打造一支能服务国家、引领社会、投身教育、又红又专的高层次人才队伍。

关键词： 新型搓澡与按摩机器人   动力学   控制分析  

摘要： 为了研究新型搓澡与按摩机器人的运动轨迹,提高控制精度和工作效率,以新型6自由度对称3T3R支链型3-RPRS并联机构为研究对象,设计了新型搓澡与按摩机器人的动力学控制方法。首先采用影响系数法建立该机构的加速度和速度的映射关系,以分析其运动学;然后利用虚功原理推导了该新型并联机构的Lagrange逆动力学方程,求解了驱动力,在此基础上建立其逆动力学模型以及系统框图,以此引入基于动力学模型的前馈控制的改进控制方法和前馈控制系统;最后在Simulink仿真环境下,以预设运动轨迹和实际运动轨迹为输出目标,利用前馈控制系统对不同预设轨迹进行了算例追踪实验。结果表明:新型搓澡与按摩机器人的运动情况稳定、无突变;前馈控制系统下的修正理论系统动力学模型与实际轨迹存在的各向位移偏差变化在±1mm以内,80%的位移偏差控制在±0.8mm以内,从而保证了并联机构的运动稳定性。

关键词： 球面并联机器人   驱动力矩   运动微分方程   空间定位  

摘要： 鉴于球面3自由度并联机器人上角锥具有3个纯转动自由度,其运动本质等效于3自由度转动陀螺。将该机器人构型用于刚体空间定位的执行机构,推导得到主动关节驱动力矩表达式,选取机器人3个欧拉角为广义坐标,采用拉格朗日法建立机器人运动微分方程。通过实例将球面3自由度并联机器人用作跟踪空间目标定位平台的执行机构,应用MATLAB软件对机器人进行仿真分析,得到影响机器人主动关节驱动力矩的主要因素,为机器人动力学性能分析和控制系统设计提供基础。

关键词： 多体动力学   动力学仿真模块   六足机器人   快速步态  

摘要： 实现六足机器人步态控制的前提是能够准确进行步态建模.本文提出一种基于多体动力学的六足机器人三角步态仿真模型,该模型由Simulink中的SimMechanics模块所建立,主要包括力模型和控制器模型.力模型针对足和接触地面的作用力与反作用力,控制器模型用来模拟六足机器人在行走时具有仿昆虫的行走特征.本文选用昆虫常见的三角步态来进行仿真研究,该模型成功执行了六足机器人的步态,验证了模型的有效性.

关键词： 深度学习   竞赛系统   机器人   分割   运动目标检测  

摘要： 针对竞赛系统机器人运动目标检测存在无用区域,易出现噪声以及空洞现象,存在误检率较高的问题,提出了基于深度学习的竞赛系统中机器人运动目标检测。通过机器人摄像头特点,建立运动目标图像获取模型,标定运动目标,根据标定结果深度分割图像提取运动目标所在区域、剔除无用区域、降低检测噪声。利用深度学习的卷积核反向传播特点,提取运动目标区域中的运动目标特征,建立竞赛系统四维向量,实时检测运动中的目标。实验结果表明,在同样存在背景干扰的前提下,对运动目标的误检率为0.95%,平均每帧检测时间为15.50 ms。

关键词： Risk   Ethics   Robotics   Autonomous system   Long-term care   Systematic review  

摘要： The dwindling informal care support structure for the older population and the shortage of skilled nursing care staff propelled the rise of robotics and autonomous systems as potential solutions to meet the rising demands in long-term care. However, the nascent development in the governance of their applications could predispose older people to the negative ramifications of technological risks and ethical issues. This systematic review maps out four technological risks and five ethical issues in the deployment of robotics and autonomous systems in long-term care. Safety, privacy, liability, and adverse employment consequences to the existing nursing care workers were identified as major technological risks;while loss of autonomy, loss of human interaction and social connectedness, objectification and infantilisation, deception and social justice were identified as five major ethical issues related to the deployment of robotics and autonomous systems in long-term care. This review also identified antagonistic interactions between some of the technological risks and ethical issues that could offset each other. Findings from the review have implications for advancing knowledge on the governance of robotics in long-term care. Policy formulations and implementations would need to account for intricate issues that could arise from technological risks, ethical issues and their paradoxical interactions.

关键词： Neural adaptive control   observer-based control   prescribed performance   PID2 control   robot manipulator  

摘要： This article proposes a novel prescribed performance-based neural adaptive control scheme for robot manipulators including motor dynamics under model uncertainties without velocity, acceleration, and input current measurements. The prescribed performance function approach is used to transform a constrained tracking problem of the robot model including motor dynamics into an unconstrained third-order error model in Euler-Lagrange form which inherits all properties of the robot dynamics. Then, a projection-type neural adaptive PID2 controller (a PID controller with the second-order derivative) in conjunction with a velocity-acceleration observer is proposed. Lyapunov's direct method is used to prove that the tracking and state observation errors are semiglobally uniformly ultimately bounded and converge to a small ball around the origin with a prescribed overshoot/undershoot, convergence rate, and final tracking accuracy. Finally, simulation, experimental results on a SCARA robot and comparative studies verify that the proposed controller is effective for the joint position trajectory tracking of robot manipulators in the industrial automation with minimum measurement and hardware requirements.

关键词： agriculture   automated cultivation   mobile manipulation   orchard tasks   pome fruit  

摘要： The cultivation of apples and pears in orchards consists of several tasks that still demand much human labor. The cost of this skilled labor increases while the number of competent seasonal workers becomes insufficient. These facts are a threat to the fruit industry. To find a solution, this paper addresses current as well as future automation possibilities for the main orchard tasks as a profitable alternative to human labor. Besides an activity research in pome fruit orchards, this paper contains an overall review of the research and developments that have been performed to automate each major activity (e.g., pruning, thinning, spraying, harvesting and mobile navigating) in the cultivation of pome fruit. These tasks are individually evaluated on feasibility and profitability of the developed automations. Finally, this paper concludes that, despite the large amount of research, almost no fully automated and cost-efficient solution has been developed. A possible option to increase the viability of the prototypes might be the simplification of the tree structures, and consequently the orchard architecture, to make it "robot-ready." Another option in this perspective is combining several techniques, for accomplishing individual tasks, in one multipurpose robot platform. As a result, the usability and efficiency of the robot increases.

关键词： Task analysis   Robots   Path planning   Automobiles   Scheduling   Genetic algorithms   Scheduling algorithms   Genetic algorithm   high-density automatic parking   multirobot systems   optimal scheduling algorithm  

摘要： With the process of urbanization, the problem of insufficient parking spaces has become prominent. Adopting a high-density parking lot with parking robots can greatly improve the land utilization rate of the parking lot. This article tackles the multiple parking robots scheduling problem of high-density layout parking lots, including task execution sequence decision, robot allocation, and cooperative path planning. First, we mathematically describe the parking robot scheduling problem. Existing approximation algorithms are often far from the optimal solution. This article proposes an improved genetic algorithm and a time-enhanced A* path planning algorithm for high-density parking lots. The improved genetic algorithm can efficiently search task execution sequence and robot allocation and converge to the optimal solution even in large-scale complex scenarios. Meanwhile, the time-enhanced A* algorithm takes a new dimension "the time" into consideration, together with the distance, and security factors, to solve the multi-parking-robot path planning problem. Simulation experiments show that our algorithm can improve scheduling performance in many aspects such as task execution time, driving distance, and security in large-scale high-density parking lots. This article provides an efficient and convenient scheduling solution for the implementation of the high-density unmanned parking lot.