关键词： Robots   Testing   Automation   Pandemics   Robot kinematics   COVID-19   Viruses (medical)   Laboratories   Remote laboratories   Research and development   Clinical trials  

摘要： The clinical and analytical laboratory has been at the forefront of the fight against the COVID-19 pandemic. This is where testing is carried out, guiding hospitalization and providing information on the spread of the disease. It is also central to the development of new medicines and the vaccines that are still being tested. Laboratories make extensive use of robotics and automation to safely improve quality and productivity at an acceptable cost.

关键词： Unmanned aerial vehicle   Intelligent systems   Autonomous mission   Decentralized architecture   Decision-making  

摘要： Efficient algorithm integration is a key issue in aerial robotics. However, only a few integration solutions rely on a cognitive approach. Cognitive approaches break down complex problems into independent units that may deal with progressively lower-level data interfaces, all the way down to sensors and actuators. A cognitive architecture defines information flow among units to produce emergent intelligent behavior. Despite the improvements in autonomous decision-making, several key issues remain open. One of these issues is the selection, coordination, and decision-making related to the several specialized tasks required for fulfilling mission objectives. This work addresses decision-making for the cognitive unmanned-aerial-vehicle architecture coined as ARCog. The proposed architecture lays the groundwork for the development of a software platform aligned with the requirements of the state-of-the-art technology in the field. The system is designed to provide high-level decision-making. Experiments prove that ARCog works correctly in its target scenario.

关键词： Special issues and sections   Robots   COVID-19   Pandemics   Business   Market opportunities   Investment   Humand factors   Social factors   Automation  

摘要： The articles in this special section focus on how the COVID-19 pandemic has and will continue to impact the robotics industry.

关键词： Real-Time performance   Real-Time systems   Robotstone   Robotics   Benchmark  

摘要： This paper discusses a novel approach to evaluate the real-time performance of computing platforms embedded in robotic systems. The motivation behind this work is the need for the robotic systems to meet their timing constraints, thus requiring time predictable real-time systems. We proposed a benchmark, named the Robotstone, which is an adaptation of a traditional real-time performance benchmark widely known in the real-time systems community. Thus, the presented work makes it easier for a robotic engineer to apply the benchmark in the modern robotics context by filtering out issues that do not matter on the robotics applications and adapting the benchmark's relevant portions. The Robotstone has a set of experiments related to time-constrained application scenarios usually found in robotic systems. Each experiment defines an application-specific parameter that increases at every iteration until the system overloads. The real-time performance is then evaluated through the breakdown point, i.e., the system configuration in the application scenario when any functional or timing constraint is not met. The proposed toolset has been evaluated on two distinct platforms representing a class of embedded computing systems usually employed in robotic systems. Obtained results demonstrate the applicability of the Robotstone benchmark for a quick assessment of computing systems' real-time performance often required on initial development stages of a robotic system.

关键词： 哈尔滨工程大学   动手实践   中国智造   智能巡线   船舶工程学院   分营   实物教学   竞赛  

摘要： 2020年青少年高校科学营哈尔滨工程大学分营于8月14—18日在线上举行,429名来自25个省、自治区、直辖市的营员和教师参加了这次科普盛宴。分营为营员安排了丰富多彩的科技活动,如专家报告会——船舶工程学院倪宝玉教授向大家介绍了极地船舶的研究背景及国内外研究现状,并向营员分享了自己在极地航行中的经历与科考体会;实验室参观——动力学院王志涛副教授和核学院李磊副教授通过视频带领大家云游了哈尔滨工程大学动力学院燃气轮机结构实物教学展室与核学院核动力仿真研究中心;动手实践——“云上造船”线上船模制作课程及智能巡线避障机器人竞赛等。其中,特色项目“智能巡线避障机器人”备受广大营员的关注。

关键词： 信号时序逻辑   终点反溯   非一致性采样   抽象化   人工智能   机器人学  

摘要： 在信号时序逻辑约束下规划路径是一项具有挑战性的任务,其计算量非常高。提出了一种终点回溯的规划方法,它是一种适用于连续时间系统的抽象化方法。该规划方法分为离线构建阶段和在线规划阶段。离线构建阶段在Transducer理论的指导下,从能够完成任务的合理的终点构造一棵快速随机搜索树,向初始状态空间进行回溯。当采样点足够多时,在线规划阶段使用模型预测控制将机器人驱动到快速随机搜索树的叶子节点。通过所提出的规划方法,避免了环境的有限转移系统与信号时序逻辑对应的自动机乘积引起的状态空间爆炸问题。所提出的方法将在线路径规划所需时间降低到1s以下,充分说明了本方法的有效性。与混合整数线性规划以及贝叶斯优化方法相比较,所提出的终点回溯规划方法在线求解效率更优,且更加易于扩展至多机器人协同工作场景。

关键词： Systems of nonlinear inequalities   Space-filling curves   Global optimization   Derivative-free methods   Robot workspace  

摘要： The problem of approximating and visualizing the solution set of systems of nonlinear inequalities can be frequently met in practice, in particular, when it is required to find the working space of some robots. In this paper, a method using Peano-Hilbert space-filling curves for the dimensionality reduction has been proposed for functions satisfying the Lipschitz condition. Theoretical properties of the introduced algorithm showing advantages of this reduction in the context of the present problem have been established and convergence properties of this method have been studied. A number of experiments executed on test functions and problems regarding finding workspace of robots confirm theoretical results and show a promising character of the new methodology. (C) 2020 Elsevier Inc. All rights reserved.

关键词： 机器人竞赛   裁判系统   全场定位   无线传感网络  

摘要： 设计了一种基于无线传感网络的机器人竞赛裁判系统。开发了机器人击打感应道具、全场定位系统、WiFi无线数传网络。实现了比赛中各机器人和比赛道具状态通过无线方式与裁判系统实时通信,显示比分和自动判罚的功能。能够实时感知场上所有机器人的状态、位置信息,并记录、统计、显示双方机器人的得分情况,减少人工裁判的误判、漏判现象,有效提高比赛的公平性与观赏性。

关键词： 下肢康复机器人   异构式构型   欠驱动机器人   动力学分析   参数优化  

摘要： 针对现有外骨骼机器人人机自由度不匹配和关节对中性差的问题,提出欠驱动下肢康复机器人.欠驱动机器人只有4个直线驱动,驱动的直线运动通过推杆和人机连接机构转化为人下肢在矢状面内的屈伸运动,带动人体进行步态康复训练.建立机器人系统的人机耦合模型,进行模型的动力学分析,对人机耦合模型中影响动力学结果的参数进行分析,建立驱动力与肢体推动力之间的关系模型,并以推力系数最大为目标进行参数分析与优化,得到最佳的结构参数.根据优化后的结构参数搭建康复机器人实验系统,对髋、膝关节驱动力与角度进行对比.实验结果表明最大髋关节角度误差为2.9°,最大膝关节角度误差为6.4°,最大误差均约为9%,验证了动力学模型和参数优化结果的正确性.

关键词： 新工科   校企合作   人才培养   项目驱动式   创新创业能力   机器人  

摘要： 目前各高校机器人相关专业的人才培养方案是基于各校学科优势和研究基础架构的,课程体系在一定程度上缺乏科学性、系统性和融合性,实践模式也比较传统,对学生解决复杂工程问题的能力和“双创”能力的培养缺乏效率。结合“新工科”教育教学改革的新要求和机器人行业的发展趋势,以东莞理工学院粤港机器人学院“四跨”式校企协同育人模式为例,总结了在专业办学方面采取的举措、取得的成效和不足之处,为后续培养方案的进一步优化和其他院校的机器人学院教育教学改革提供一定的参考。