机器人辅助设计、制作全口义齿人工牙列

全口牙齿脱落的患者，称为无牙颌，需用全口义齿修复。在我国目前有近１２００万无牙颌患者。人工牙列是恢复无牙颌患者咀嚼、语言功能和面部美观的关键所在，也是制作全口义齿的技术核心和难点。传统的全口义齿制作方式是由医生和技师根据患者的颌骨形态靠经验，用手工制作。 我们研制、开发了一个由计算机和机器人辅助设计、制作全口义齿人工牙列的应用试验系统。这一成果属国际上首次报道。 在该系统的开发中我们进行了如下工作： １．基础研究工作 用定量的方法建立了包括描述牙颌弓几何形态等一系列相关的数学模型，建立了人工塑料牙形…     

机器战士(上)

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。     

跳舞机器人（上）

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。     

跳舞机器人（下）

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。     

伴舞机器人（上）

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。     

灌篮高手——搬运机器人(上)

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。     

机器战士（下）

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。     

灌篮高手——搬运机器人(下)

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。     

循迹小车（上）

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。本讲座的制作由清华大学科教仪器厂提供制作套件,联系电话:010-58731576。     

循迹小车（下）

在这一年中,我们将通过完成彩星工艺盒、循迹小车、跳舞小车、变速小车、搬运机器人、掌上FLASH等8个制作,来学习单片机系统的设计与制作。读者跟着学习完成这8个项目的制作,就基本掌握了单片机的软硬件设计思想和方法,学会单片机的汇编语言和C语言编程。读者掌握了这些知识和技能,就可以胜任单片机系统开发、小型自动化产品开发和智能产品开发等岗位的基本要求,还可以从事自动化设备的维修工作。本讲座的制作由清华大学科教仪器厂提供制作套件,联系电话:010-58731576。     

Intelligent synchronized robot/conveyor system

A robot/conveyor system is an important part of the manufacturing system. As such, the robot/conveyor system must comply with all the requirements of a modern manufacturing system: high flexibility, high efficiency, and smart reasoning processes to lead the system to its next status based on its current status and varied inputs. An expert system consisting of a knowledge base and an inference engine was developed to operate and control a robot/conveyor system. A large variety of robot/conveyor system runs were performed to explore the efficiency of its operations. These system runs explore all the parameters associated with robot/conveyor system operations: manipulators specifications and velocities, pick-up methods, types of arriving parts, their locations, and orientations. The performed runs verified a well-known fact that a robot/conveyor system based on variable pick-up locations is more efficient than a robot/conveyor system based on a single, predefined, and unchanged pick-up location. The implementations of the variable pick-up locations method is associated with the need to implement real-time complicated software algorithms to track the arriving parts and to synchronize their maneuvers with the conveyor belt. Therefore, the implementation of variable pick-up locations method must be performed only when they result in most significant benefits. The system runs show that the benefits of the variable pick-up locations approach are inversely related to manipulations' velocities. If the variable pick-up location method is incorporated with efficient and reliable tracking algorithms, most efficient robot/conveyor systems will be resulted. Therefore, future efforts should address the advance of tracking algorithms of arriving parts, thus improving the synchronization of these parts with manipulator's maneuver, in order to achieve the most efficient robot/conveyor system. ©1999 John Wiley & Sons, Inc.     

面向对象的专家系统及其在柔性制造系统调度决策中的应用

本文把面向对象的方法用于专家系统的设计。文中结合柔性制造系统调度决策系统的设计，讨论了面向对象的知识获取、面向对象的知识表示及面向对象的推理的实现。文中介绍了面向对象的专家系统的实现软件。给出了实验结果。     

仿生机器鱼动力电源管理专家系统设计

提出一种基于专家系统控制策略,能监控电池充电、放电并实现电池单元自动切换控制的直流动力电源管理专家系统。该动力电源管理专家系统软件采用模块化设计,硬件采用光电隔离手段。将动力电源管理专家系统应用在SPC3-UUV仿生机器鱼平台上,试验结果表明该系统在机器鱼长航程巡游过程中运行良好,实现了电源的科学管理和实时控制,有效提高了可靠性。     

基于情感与环境认知的移动机器人自主导航控制

将基于情感和认知的学习与决策模型引入到基于行为的移动机器人控制体系中, 设计了一种新的自主导航控制系统. 将动力学系统方法用于基本行为设计, 并利用ART2神经网络实现对连续的环境感知状态的分类, 将分类结果作为学习与决策算法中的环境认知状态. 通过在线情感和环境认知学习, 形成合理的行为协调机制. 仿真表明, 情感和环境认知能明显地改善学习和决策过程效率, 提高基于行为的移动机器人在未知环境中的自主导航能力     

TIREDDX: an integrated intelligent defects diagnostic system for tire production and service

Tire manufacturing is a complicated process due to the number of processing variables involved, dealing with more than 80 raw materials undergoing six main processing steps. Accordingly, the quality of a tire and its efficiency in use depend highly on the raw materials quality and the processing variables. Consequently, in order to properly diagnose a defect (quality parameter) in a tire, the manufacturing history data of that particular tire is essential, with the raw materials inspection results, as the starting point, and going through all manufacturing steps, to the final inspection results and customer claims.This study presents an integrated tire defects diagnostic expert system (TIREDDX) that can be applied during production and service. The main objective of developing a diagnostic integrated expert system is to achieve an integrated diagnostic procedure. The developed system is able to diagnose the probable cause(s) of the defect by tracing the acquired quality and production information at the various steps of tire manufacturing processes, starting from the serial number the defected tire. Implementing such a system significantly reduces the time consumed in tire defect diagnosis, increases the consistency of diagnosing decision-making, and better utilizes the company's management information system. Moreover, it can be regarded as an advisory tool to those having much technical experience and as a training tool for less-experienced personnel those who seek guidance and advice.TIREDDX comprises two main modules: manufacturing history databases and diagnostic expert system. The system was developed and implemented in one of the leading truck tires production companies in Egypt, where satisfactory results were achieved.     

A PC-based open robot control system: PC-ORC

An open architecture manufacturing system pursues to integrate manufacturing components on a single platform. Therefore, a particular component can be easily added and/or replaced. In this paper, a modular and object-oriented approach for the PC-based open robot control (PC-ORC) system is investigated. A standard reference model for controlling robots, which consists of a hardware platform, an operating system module, and various application software modules, is first proposed. Then, PC-ORC system, which can reconfigure the control system in various production environments, is developed. The PC-ORC is constructed based upon the object-oriented method. Hence, it allows an easy implementation and modification of various modules. The PC-ORC consists of basic software, application objects, and additional hardware devices on a PC platform. Finally, by applying the proposed PC-ORC to a SCARA robot, the performance of the PC-ORC is examined.     

Integration framework for intelligent manufacturing processes

In this article, we describe a new approach to applying distributed artificial intelligence techniques to manufacturing processes. The construction of intelligent systems is one of the most important techniques among artificial intelligence research. Our goal is to develop an integrated intelligent system for real time manufacturing processes. An integrated intelligent system is a large knowledge integration environment that consists of several symbolic reasoning systems (expert systems) and numerical computation packages. These software programs are controlled by a meta-system which manages the selection, operation and communication of these programs. A meta-system can be implemented in different language environments and applied to many disciplines. This new architecture can serve as a universal configuration to develop high performance intelligent systems for many complicated industrial applications in real world domains.To whom all correspondence should be addressed.     

基于神经网络专家系统的大型异步电动机故障诊断

针对大型异步电动机发生故障时 ,故障征兆与故障原因之间复杂的对应关系 ,提出了一种利用神经网络专家系统对电动机进行故障诊断的新方法 ,专家系统作为神经网络的外壳 ,充分发挥了专家系统和神经网络各自的特点。文章介绍了系统的构成、功能、算法及实现。该算法利用MATLAB的神经网络工具箱进行了仿真。结果表明 ,该算法可行 ,可大大提高故障诊断的准确性     

装配机器人系统快速碰撞检测算法

提出一种面向操作手段装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题,并以PUMA560操作手为例对算法加以说明,该算法不仅适用于静态的障碍物已知的环境,而且适用于障碍物运动规律已知的动态环境,减少了碰撞检测占用的时间,提高了路径规划的效率。     

基于CAD的机器人焊接、切割离线编程系统

针对目前工业机器人离线编程实际应用中无法快速、便捷实现等问题,本文介绍作者开发的基于三维CAD的机器人离线自动编程系统。该系统由姿态定义模块、后处理模块、仿真模块和焊接／切割工艺模块（专家系统）模块组成,可以根据CAD模型快速完成焊接／切割姿态的规划,解决了空间曲面堆焊机器人无法实现人工示教的问题,完成各种加工任务。实践表明,应用此系统能提高机器人焊接和火焰切割的质量与速度,提高了企业的生产效率和经济效益。