关键词： 快速移动   移动机构   动力学分析   Adams  

摘要： 针对目前市场上现有的机器人移动机构驱动多、控制繁琐、稳定性差的现象,研究了一款拥有平面内全方位快速移动功能的躲闪机器人同步移动转向机构。采用驱动电机和转向电机相互配合的方式实现全方位移动,为了检验移动机构模型建立的合理性,采用拉格朗日方程完成移动机构的动力学分析;并采用Adams软件完成移动机构虚拟样机的仿真模拟,得到相关转矩曲线;最后,完成了移动机构的实验测试。通过理论计算、仿真模拟、实验测试三者之间的相互验证,检验了躲闪机器人移动机构模型建立的准确性。

关键词： 高等职业教育   创新大赛   机器人竞赛   人文学院   焦作大学   理论宣讲   机电学院   经管学院  

摘要： 我校经管学院代表队在省教育厅举办的河南省高等职业教育青年教师课堂教学创新大赛中勇夺"酒店服务技能"赛特等奖。扈晓婕,焦作大学人文学院教师,在河南省"党的创新理论万场宣讲进基层"理论宣讲大赛决赛中,她的《微光成炬向光前行》荣获三等奖。我校机电学院代表队在第七届河南省大学生机器人竞赛中获一等奖一项、三等奖二项。

关键词： SCARA机器人   拉格朗日法   动力学参数辨识   递推最小二乘法  

摘要： 为了提高SCARA机器人在工业场合中的工作精度,对其动力学模型进行分析是有效途径之一。建立机器人拉格朗日动力学方程并进行线性化处理,得到一组关节力矩和待辨识参数的线性表达式。选取有限项傅里叶级数作为激励轨迹模型,并使机器人启停时关节角速度和角加速度为零,确保机器人运行平稳。再将线性表达式中观测矩阵的条件数作为优化指标,并结合MATLAB优化工具箱,获得关节最优激励轨迹系数。最后通过递推最小二乘法获得待辨识参数,并代入关节力矩表达式中,并与实际采集力矩值进行比较,确定两者变化趋势。结果表明:实验能够获得较为理想的效果,经过辨识计算所得关节力矩可用作相关领域的动力学控制。

关键词： Social robotics   Human-robot interaction   Bibliometric analysis   Topic modelling   Natural language processing  

摘要： The fast growth of social robotics (SR) has not been unidirectional, but rather towards a multidisciplinary scenario, creating a need for collaboration between different fields. This divergent expansion calls for a clear analysis of the field aimed at better orienting the research, thus paving the future of social robotics. This paper aims at understanding how the SR research field evolved in the last two decades by analyzing academic publications in SR and human-robot interaction using natural language processing (NLP) techniques. The analysis spotted an overlap between SR and human-robot interaction research fields that have been disambiguated using a data-driven approach that leads to the identification of a new group of papers we clustered under the concept of "soft HRI." This research topic has been analyzed by extracting trends and insights. Finally, another topic modelling step has been applied to identify seven sub-topics that have been discussed and analyzed picturing the current state of the art of SR. The paper reports a complete overview of the SR research field identifying various topics and sub-topics helping researchers in understanding the evolution of this field, thus supporting the strategic placing and evolution of their research activities.

关键词： Soccer robotics   Deep learning   Convolutional neural networks   Robot detection   Ball detection   Robot orientation determination  

摘要： The goal of this paper is to describe a vision system for humanoid robot soccer players that does not use any color information, and whose object detectors are based on the use of convolutional neural networks. The main features of this system are the following: (i) real-time operation in computationally constrained humanoid robots, and (ii) the ability to detect the ball, the pose of the robot players, as well as the goals, lines and other key field features robustly. The proposed vision system is validated in the RoboCup Standard Platform League, where humanoid NAO robots are used. Tests are carried out under realistic and highly demanding game conditions, where very high performance is obtained: a robot detection accuracy of 94.90%, a ball detection accuracy of 97.10%, and a correct determination of the robot orientation 99.88% of the times when the observed robot is static, and 95.52% when the robot is moving.

关键词： Robotics  

关键词： Autonomous navigation system   Road marks painting   Laser simulator (LS)   Laser range finder (LRF)   Wi-Fi camera   Odometry   Sensor fusion  

摘要： The design and experimental works of an autonomous robotic platform for road marks painting are presented in this paper as the first autonomous system of its kind. The whole system involves two main sub-systems, namely: an autonomous mobile robot navigation system which is used for recognizing the roads and estimating the position of road marks, and automatic road marks painting system that is attached to the mobile robot platform to control the spray of the paint on the road's surface. The experimental results show the capability of the proposed system to perform the task of autonomous road marks painting with accuracy of +/- 10 cm.

关键词： Manta ray robot   Computational fluid dynamics   Hydrodynamic analysis   Motion simulation  

摘要： Current research on the hydrodynamics of manta ray robots is limited to the qualitative study of pectoral fin performance;other aspects such as the hydrodynamics and motion simulation of the overall robot are rarely addressed. A hydrodynamic analysis is therefore used in this study in conjunction with a six degrees of freedom (6DOF) motion equation to conduct motion simulations predicting the hydrodynamic characteristics and motion performance of a proposed manta ray robot. Though the rising and diving motions of manta ray robots are typically realized through a buoyancy adjustment device or a rudder used for attitude adjustment, these methods are slow. This study accordingly proposes a hybrid manta ray robot driven by two pectoral fins and two vertical propellers used as auxiliary power for attitude adjustment. A structural model of the proposed manta ray robot is provided and used to conduct a complete hydrodynamics analysis and establish the 6DOF motion equation. An empirical equation is then established to describe the hydrodynamics of the pectoral fins, and its applicability is proven using a computational fluid dynamics simulation. The motion of the robot is predicted in different situations using motion simulations, demonstrating that the robot provides relatively good motion performance. The relationship between the forward speed of the robot and the flapping speed of the pectoral fins is then discussed based on the simulation results. The motion simulation results also show that the propellers can effectively adjust the posture of the robot and help to improve robot motion stability by countering the effects of the pectoral fin flapping movement. Finally, the applicability of the 6DOF motion equation simplify verified by a computational fluid dynamics motion simulation. The findings of this study are expected to provide theoretical guidance for the optimization of the proposed manta ray robot structure and its control system design.

关键词： Engineering education   Robots   Best practices  

摘要： Presents a panel discussion of IEEE RAS society Women in Engineering (WIE) who explore best practices in robotics education.

关键词： Cooperative learning   Pair programming   Robotics education   Pair learning   Roles assignment   Learning style  

摘要： Pair learning (PL) in robotics education is derived from pair programming, and impacted by many factors. Two important factors were identified including roles assignment and learning styles in this study. The roles assignment involved Driver-Navigator Pair and Software-Hardware Pair. For the learning style, the dimension of active/reflective was adopted. Therefore, a 2*3 factorial design was employed with the between-subjects factors roles assignment and learning styles. After a one-semester robotics course, we evaluated 66 fifth-grade students' learning achievements, attitude towards robotics, engagement, mental efforts, compatibility, and attitude towards PL. The results indicated that there was no statistically significant difference among different pairs in the above six indicators. Moreover, there was no significant difference in the learning outcomes among pairs of different learning styles. One important explanation is that the joint effect of PL might bridge the difference in learning performance that may be caused by learning style.