骨科机器人空间设计方法研究

在分析骨科临床手术环境中各类空间的基础上，用带有约束激活函数的集合对临床空间进行了描述．采用机器人占有空间、医生占有空间、手术对象空间、手术器械占有空间、机器人工作空间、机器人有限灵活空间、误差敏感系数等概念，结合骨科临床手术环境，提出了骨科机器人空间设计的内容和方法．通过空间设计，合理使用骨科机器人的有限灵活空间，可以提高机器人的手术精度，简化机器人的结构，增加机器人的安全可靠性．最后，以双平面骨科机器人的空间设计为例，验证了方法的可行性．     

空间机器人系统的自适应控制

对于载体姿态可控的空间机器人系统，本文给出了一种笛卡空间自适应控制算法，当系统的动力学参数未知时，该算法可以保证对手端期望位置轨迹的渐近跟踪，并且不需要测量关节加速度。应用文中算法对二杆平面空间机器人系统进行仿真研究。证实了算法的有效性。     

多关节机器人工作空间的分析与评价方法

本文运用 H-D 变换的基本原理,结合极坐标变换导出了产生n自由度多关节机器人工作空间的递推算法,当给定了机器人的结构尺寸,即可将机器人工作空间在一特定平面内的边界图形用计算机打出并计算出机器人工作空间容积。在本文的另一部分介绍了两种计算机器人工作空间的性能指标,最后用几个机器人的结构参数进行计算和讨论。     

基于蚯蚓原理的多节蠕动机器人

介绍了多节蠕动机器人的机体构造和运动原理，建立了机器人运动模型并进行了分析. 阐述了该机器人系统的控制组成和软件设计. 讨论了机器人在不同倾角橡胶管道内的驱动性能试验.进行了机器人温度试验及转弯性能试验.结果表明：该微小型机器人运行可靠、平稳，控制方便，有一定的爬坡能力；连续工作时机器人温度不超过35℃；可通过大于36mm的弯曲半径.该研究为非结构环境狭小空间及人体消化道探察机器人的研制奠定了基础．     

工业机器人的工作空间综合

根据机器人工作位姿要求确定其自由度数，关节类型及排列，杆件尺寸，关节运动范围，机器人的位置等过程称为机器人的工作空间综合过程，本文侧重对已知的机器人结构提出了进行工作空间综合的优化方法。     

视觉和超声信息的融合与机器人伺服控制的研究

本文对视觉和超声信息的融合与机器人的伺服控制进行了研究。通过视觉和多超声传感器信息的融合确定了工作平面上的物体在空间的位姿，并结合机器人的伺服控制选择了物体的特征向量，推导了物体特征向量的微分变化。基于这一微分变化，本文提出了改进型的最优控制算法。并对其稳定性进行了证明，仿真实验表明该控制算法效果良好，切实可行。     

空间机器人柔性臂的动力学轨迹跟踪控制

机器人柔性擘控制问题是目前机器人研究中的一个重点和难点，本文动用基于关节的求逆技术，得到了有关大质量负载的空间机器人柔性臂动力学轨迹跟踪非线性控制问题的有效方法，并以一平面二杆空间机器人柔性臂为例进行了控制的仿真研究，仿真研究的结果表明，该方法具有较高的可靠性和良好的控制效果。     

双机器人协调作业下碰撞算法及仿真研究

本文立足于关节水平，从双机器人碰撞研究入手，提出了机器人协同作业下碰撞检测 、干涉空间的算法，解决了机器人与周边环境任意障碍物碰撞问题．建立了连杆与连杆，连 杆与平面，连杆与任意三维实体避障理论模型，给出了相应的计算方法及计算机仿真结果．     

双平面导航机器人系统在不同骨科适应症中的应用研究

从双平面定位算法和模块化导航机器人两方面阐述了双平面导航机器人系统．该系统通过对映射算法和导航机器人结构的调整，来适应不同的骨科适应症．本文从工作空间、投影模型、定位算法、临床实验及评价指标等方面介绍了双平面导航机器人系统在胫骨髓内钉、股骨髓内钉、股骨颈空心钉和骨盆骶髂关节螺钉这四种不同的骨科手术适应症中的应用研究情况．     

松协调下双臂机器人的协作工作空间计算

分析了松协调下双臂机器人的协作工作空间，介绍了一种计算双臂机器人协作工作空间的数值方法。在该方法基础上，利用LINGO软件确定双臂机器人的协作工作空间的界限曲面和极限位置。     

Human-Assisted Virtual Environment Modeling for Robots

In order to avoid the complex calculation and poor robustness in automatic visual modeling process, a man-machine interaction based stereo vision system is developed for modeling an unknown environment. The operator's knowledge about a scene is used as a guidance for modeling 3D environment. The modeling technique has advantage in terms of reliability and robustness over other automatic modeling approaches. The data points needed for modeling an objects are obtained through the intersection of lines, or calculation from equations of curve, derived via fitting from human guided edge detection. The modeling accuracy is ensured by using image feature extraction. A multi-viewpoint modeling approach has been developed in order to deal with occlusion problems.Both accuracy and speed issues are addressed in this paper. The system implementation and some 3D measurements on real scene have been performed using cameras lenses of 16 mm and 8 mm with an accuracy 0.5 mm and 0.8 mm over the field of view, respectively. The virtual environment rendering based on the modeling data of real scenes with known model of mobile robot is given at the end of this paper.     

Geometric Modeling for Swept Volume of Moving Solids

The modeling of swept volume is important in simulating the interference between a moving solid and its environment. This article presents a novel method for modeling swept voume by computing a family of critical curves from a moving solid. Based on this approach, a system has been developed for real-time verification of NC tool paths using computer graphics.     

A modeling tool for simulating and design of on-chip network systems

The conception of Network-on-Chip (NoC) presents system designers with a new approach to the design of on-chip inter-connection structures. However, such networks present designers with a large number of design parameters and decisions, many of which are critical to the efficient operation of over-all on-chip system. To aid the design process of complex systems-on-chip, this paper presents a NoC simulation environment that has been developed and implemented using the SystemC transaction-level modeling language. The simulation environment consists of on-chip components as well as traffic generators, which can generate various types of traffic patterns. The simulation environment has also been integrated with the NoC topology generation tool being developed in our group. A set of simulation results demonstrates the types of parameters that can affect the performance of on-chip systems, including topology variations, network latency and achievable throughput. These results also verify the modeling capabilities of the proposed simulation environment.     

电站仿真建模一体化环境

ＧＮＥＴ是新开发的电厂仿真图形建模一体化环境。ＧＮＥＴ建模环境完全采用图形化用主发口，使建模人员能够通过友好，方便的图形界面和数据库、模块，模型程序进行数据和信息的联系，从而支持从建模型模型验证的全过程。大大地方便了仿真建模工作。     

Dynamic Modeling and Experimental Validation for Interactive Endodontic Simulation

To facilitate training of endodontic operations, we have developed an interactive virtual environment to simulate endodontic shaping operations. This paper presents methodologies for dynamic modeling, visual/haptic display and model validation of endodontic shaping. We first investigate the forces generated in the course of shaping operations and discuss the challenging issues in their modeling. Based on the special properties and constraints associated with both pulpal tissue and endodontic files, we propose a dynamic model to simulate endodontic shaping, which is a smoothed particle based model derived for the pulpal tissue coupled with a finite element model for the endodontic files. The virtual environment has been implemented with both graphic and haptic interfaces. Furthermore, the effectiveness of the proposed model has been validated by experimental results through a novel robotic endodontic measurement system.     

PLASHTRAN: An expert consultant on two-dimensional finite element modeling techniques

An expert consultant and teaching aid has been developed to aid users of the MSC/NASTRAN (MacNeal-Schwendler Corp, Los Angeles, CA, USA) finite element code in the modeling process with two-dimensional elements. Written in LISP and LOOPS, an object-oriented programming language, the system, known as PLASHTRAN, allows engineers to work in a natural environment to obtain modeling recommendations. The program performs efficiently, especially when iterations in design require changes in the finite element model. The easily expandable modeling framework allows the knowledge base to incorporate new information.     

REASONING ABOUT CHANGING STRUCTURE: A MODELING CONCEPT FOR ECOLOGICAL SYSTEMS

This paper focuses on reasoning about change within the object-oriented modeling system EMSY. EMSY has been developed to support modeling and simulation in the domains of ecology and biology. Ecological systems are described as entities consisting of a set of attributes. rules, information about composition, environment, and coupling structure. Change takes place as the change of single entities, and is initiated by them. This specific view of systems serves as a base to describe a characteristic phenomenon of ecological systems: the change of system structure.     

Constraint-based metaview approach for modeling environment generation

Modeling environments for decision support systems (DSS's) play an important role in improving the efficiency and effectiveness of model-related work. The task of developing such an environment, however, is complicated and time-consuming. To improve the productivity and quality involved in the development of modeling environments, a metaview approach for generating these environments is proposed in this paper. Specifically, a constraint-based modeling framework is designed to specify modeling environments and associated modeling activities. The framework is based on a metaview that any modeling environment is a constraint enforcement system. A prototype environment generator called MetaDSS has been implemented. The practical generation of a modeling environment, a structured modeling environment specifically, is demonstrated using the MetaDSS.     

应用神经网络和遗传算法实现多变量离散系统优化

多变量系统是科学研究和实际应用中经常面对的系统,由于系统的应用环境各异,系统变量多,虽然可以通过试验获得系统的部分输入输出,但是系统的复杂性使得难以确定系统的数学模型,也无法实现对系统的优化。该文提出了一种针对多变量离散系统的建模和优化方法,用BP神经网络对系统的模拟能力建立离散系统的模型,同时为了寻找系统的最优解,结合遗传算法对建立的模型进行寻优,编写了神经网络建模和遗传算法的MATLAB程序,并将建模和优化算法在工艺优化中进行了应用。     

对抗性多机器人系统对手建模的研究

近年来发展起来的智能系统，已经发展到了智能对抗的水平。在对抗的环境中，由于存在竞争的一方，实时跟踪对手的行为状态、分析对手的思维和意图是对抗活动的基本前提，建立对手模型很有必要。在Agent的BDI模型的基础上结合普遍的认知规律，提出一种对抗性多机器人系统中的对手建模模型。提到的方法在足球机器人系统中得到了应用，经过实战的检验，该策略很好地满足了系统的智能要求。