四轮式移动机器人非完整运动控制

针对四轮式机器人做非完整运动时系统的非完整性的问题,将四轮式机器人运动规划转化为非线性控制系统的优化问题。提出了对优化变量进行浮点数编码的改进遗传算法,使系统控制精度得到改善。同时将改进的遗传算法采用最优个体保留策略,设计交叉参数和自适应变异参数,确保算法具有良好的收敛性。通过数字仿真实验,证明了该方法的对四轮式机器人非完整运动规划问题具有可操作性。     

Q学习角色值法在机器人足球比赛中的应用

提出了基于Q学习的角色值方法,避免了在比赛中由于机器人之间的频繁角色转换而造成的系统效率损失及系统不稳定。该方法完善了多智能体系统的整体调整方法,有效地解决了在实际系统设计和实现过程中遇到的问题。经FIRA仿真比赛检验,该方法是有效的,降低了机器人丢球、漏球、不作为的可能性,弥补了按区域分配固定角色的不足,有较好的实用性。     

并联机构智能优化设计方法研究

本文分析介绍了近年来兴起的智能优化算法——遗传算法用于并联机构优化设计的基本思想和应用方法，以雅可比矩阵的条件数为优化设计目标，建立了Stewart并联机构结构参数优化设计的数学模型，分别采用两种编码方式优化设计了平台的结构参数，并用MATLAB软件编程，得到了较为合理的结果。     

基于同时发射声纳环移动机器人导航系统

开发了一种能在未知环境下实现快速障碍检测与障碍回避的基于同时发射声纳环移动机器人导航系统。为了消除由于同时发射造成的串话干扰,提出了一种基于神经网络模式识别的过滤方法;并制作了由24个声纳传感器组成的声纳环安装到实际的移动机器人上,实现了扫描频率最大可达到66Hz的全景检测。系统中应用了动态窗口法来完成快速障碍回避的运动规划。实际的导航实验表明,系统可用于室内未知环境中的移动机器人快速导航。     

Stewart机器人用作天线支撑的分析

分析了卫星通信中几种常见的天线支撑方式及钥匙孔问题，讨论了用Ｓｔｅｗａｒｔ 机器人机构作微波天线支撑解决钥匙孔问题的方案，特别指出了将Ｓｔｅｗａｒｔ 机构用于空间光通信的可能性     

新型断路器自动调节锁紧装置移动框架设计

为了实现新型断路器生产过程的自动化,设计了新型断路器自动调节锁紧装置中的移动框架结构。基于三维实 体造型以有限元分析、机械优化设计等现代分析手段为支撑,通过有限元技术和虚拟样机技术分析移动框架的受力状况 和运动情况,优化设计移动框架内各个机构,最终设计制造出操作控制简便、工作平稳、使用寿命较长的移动框架。     

机器人码垛工作站的输送整列装置设计

为了解决机器人码垛前的输送排列问题,针对2款产品的码垛方式,进行机器人码垛工作站的布局分析,提出了 在码垛机器人之前需要设计输送整列装置。其次,开发了拉距装置、转向装置和整列推送装置,在码垛机器人抓取之前 实现产品箱的输送整列功能。最后,探讨了2款产品输送整列的工艺过程,结果表明输送整列装置在机器人码垛工作站 中具有合理性和实用性。     

Using orientation statistics to investigate variations in human kinematics

This paper applies orientation statistics to investigate variations in upper limb posture of human subjects drilling at six different locations on a vertical panel. Some of the drilling locations are kinematically equivalent in that the same posture could be used for these locations. Upper limb posture is measured by recording the co-ordinates of four markers attached to the subjects hand, forearm, arm and torso. A 3×3 rotation characterizes the relative orientation of one body segment with respect to another. Replicates are available since each subject drilled at the same location five times. Upper limb postures for the six drilling locations are compared by one-way analysis-of-variance tests for rotations. These tests rely on tangent space approximations at the estimated modal rotation of the sample. A parameterization of rotations in terms of unit quaternions simplifies the computations. The analysis detects significant differences in posture between all pairs of drilling locations. The smallest changes, less than 10° at all joints, are obtained for the kinematically equivalent pairs of locations. A short discussion of the biomechanical interpretation of these findings is presented.     

在平面运动的刚体上能描绘圆弧或直线的点数定理及其证明

在作任意平面运动的刚体上,有多少个点能在定坐标(或另一运动刚体)上描绘出圆弧或直线的问题,本文将作出全面分析并用定理形式给出结论和证明。     

Relationalism through Social Robotics

Social robotics is a rapidly developing industry‐oriented area of research, intent on making robots in social roles commonplace in the near future. This has led to rising interest in the dynamics as well as ethics of human‐robot relationships, described here as a nascent relational turn. A contrast is drawn with the 1990s’ paradigm shift associated with relational‐self themes in social psychology. Constructions of the human‐robot relationship reproduce the “I‐You‐Me” dominant model of theorising about the self with biases that (as in social constructionism) consistently accentuate externalist or “interactionist” standpoints as opposed to internalist or “individualistic”. Perspectives classifiable as “ecological relationalism” may compensate for limitations of interactionist‐individualistic dimension. Implications for theorising subjectivity are considered.