基于CAN总线的机器人网络互联

根据工业机器人的应用现状，利用现有的控制技术，结合控制局域网（CAN）技术和通信技术，通过对现有的机器人控制器进行硬件改进和软件开发，并相应开发出上位机监控系统，实现了多台机器人的网络互联，最终实现基于CAN网络的机器人生产线集成系统。     

基于web的远程控制机器人研究

Internet连接了全球的计算机，它为人们提供了分享数据、图片、影像甚至实时 影像的机会，但与远程地点的真实交互还是离不开象机器人这样的智能设备．Web技术与机 器人控制技术的结合，促成了基于web的远程控制机器人概念的诞生．本文将就基于web的远 程控制机器人的发展历程、研究现状、主要技术与实现、发展趋势及应用前景等做综合的介 绍．     

竞争型网络机器人系统的研究

随着机器人技术的不断发展,网络机器人已经成为当前机器人研究的一个新的热点课题.在网络机器人技术的研究中,大多数学者都关注于多机器人间协作的机器人系统,而另一类网络机器人系统--竞争型网络机器人直到近一两年才被研究者关注.该文讲述了网络机器人的发展历程和竞争型网络机器人概念的产生和基本定义,并分析了对竞争型网络机器人进行研究的意义,希望能够为网络机器人领域的研究者提供有价值的参考意见.     

基于C/S模型机器人控制器的研究及其应用

随着网络通信技术的发展和控制系统的革新，如何将网络技术应用到机器人系统，使机器人 达到开放式、分布式的网络控制系统，是目前机器人控制器研究的热点．本文提出了基于C/ S（Client/Server）模型的机器人控制器实现原理，阐述基于Win NT操作系统的RPC（Remot e Process Call）机制的机器人控制网络客户服务器程序的开发，并实现了软件的DCOM封装 ．最后，以实例说明了利用DCOM技术开发的Win NT操作系统下的Win32机器人柔性自动化应 用程序和基于Web的远程机器人监控系统，显示了基于C/S模型的机器人控制器分布式控制网 络的优点．     

基于IP QoS技术的网络机器人遥操作研究

针对基于Internet机器人遥操作中存在的问题，结合Internet网络技术的最新发展， 借助IP QoS技术的特点和优势，本文研究并设计了基于集成业务体系结构的网络机器人遥操 作系统．通过分析IP QoS技术和机器人遥操作技术相互结合的可行性与合理性，表明该系统 能够克服目前在Internet遥操作过程中存在的问题并可在未来支持IP QoS技术的Internet中 发挥作用．本文提出了该系统的设计原型及实现方法．     

基于现场总线的工业机器人联网

本文根据国内工业机器人技术开发和应用现状及其技术发展趋势，进行了基于现场 总线的工业机器人联网技术的研究和开发，并将机器人作为生产线底层设备，实现了工业机 器人网络的互联．本文介绍了这个系统的硬件结构、上位监控机软件实现、控制器软件实现 以及系统完成的功能．     

基于CAN总线的分布式搬运机器人控制系统研制

本文通过深入研究现场总线和计算机控制技术,提出了一种基于现场总线的分布式机计算机控制技术,并将这种技术应用到搬运机器人实验平台的控制中,为高校开展现场总线技术、计算机控制和机器人技术的教学研究与应用提供了实验平台。     

基于DCOM的分布式机器人控制

机器人的应用领域不断在扩展，为了适应机器人在非工业环境的应用，机器人 的控制逐渐向分布式结构发展．DCOM技术是Microsoft对组件化编程的扩展，能够支持在局 域网、广域网甚至Internet 上不同计算机的对象之间的通讯．本文介绍了目前该领域的研 究状况，提出了一种基于DCOM的分布式的组件机器人架构．     

面向任务的虚拟环境和人机交互方法研究

基于虚拟现实技术的人机交互方法为面向任务的机器人远程作业研究提供了新的思 想和思路，增强了机器人系统的遥控作业能力．本文对机器人系统中虚拟环境和人机交互方 法研究进行了综述，对虚拟环境中的示教和遥操作进行了评析，并探讨了未来遥操作机器人 系统作业的发展趋势．     

网络机器人实时监控系统的仿真研究

在基于网络的机器人远程控制系统研究中，大量视频图像数据在网络的传输导致的延时很难保证控制者能够实时监控机器人的状态。该文从仿真的角度提出了一种有效的方案，通过减少传输数据的方式减小延时。文章对机器人的几何建模和运动建模进行了研究，然后在VC＋＋6．0语言平台下，借助CAD软件SolidWorks，运用OpenGL完成了机器人的建模和三维显示；仿真系统通过网络实时的获取机器人的位置和姿态参数，动态地以三维模拟的方式显示，使得远程用户可以实时地监控机器人的运动状态，以采取适当的控制措施。     

基于MAS(Multi Agent System)的多机器人系统：协作多机器人学发展的一个重要方向

机器人的应用方式正在由部件式单元应用向系统式应用方向发展．这是实际应用的需 要,也是技术发展的必然趋势;相关技术如计算机网络技术的发展也为它的实现提供了相应 支持．多机器人协作理论问题必然也已经成为机器人学研究的一个热点,其中,分布式人工 智能（DAI）中的多智能体（代理）系统（MAS：Multi-agent System）理论已引起多机器 人 协作理论研究者的关注．本文即在揭示协作多机器人系统与MAS的内在联系的基础上,指出 基于MAS的协作多机器人系统是协作多机器人学发展的一个重要方向．     

Testbeds for ubiquitous robotics: A survey

The growing interest in ubiquitous robotics has originated in the last years the development of a high variety of testbeds. This paper presents a survey on existing ubiquitous robotics testbeds comprising networked mobile robots and networks of distributed sensors, cameras and smartphones, among others. The survey provides an insight into the testbed design, internal behavior and use, identifying trends and existing gaps and proposing guidelines for testbed developers. The level of interoperability among different ubiquitous robotics technologies is used as the main conducting criterion of the survey. Other features analyzed include testbed architectures, target experiments and usability tools.     

Construction automation and robotics for high-rise buildings over the past decades: A comprehensive review

Automation and robotics technology is expected to improve the productivity of the construction industry as well as to solve problems such as labor shortage and safety risks, especially for high-rise buildings. Substantial research efforts have been devoted to the field over the past decades, while the application rate at the construction sites is still limited. Although various reviews have summarized the research topics and future trends in this field, few research efforts have been made on a consideration of both academic research and practical application in the industry. Focusing on high-rise building construction, this study explores the development of both academic research and practical application of automation and robotics based on literature and market review. Scientometric and critical literature reviews were conducted to identify and analyze the development of key research areas based on academic publications from the 1980s to present. In the meantime, the development of basic technologies was summarized. The market review surveyed on existing products and developers of construction automation and robotics. By comparing the results of the literature review and market review, four development patterns of academic research and product application were identified, i.e., simultaneous development led by the same party, development at a similar pace with the two sides taking the lead in different aspects, academic research providing basic technologies for product development, and available technologies in academic research with no products found. Then three gaps in this field, i.e., the gap between academic research and products, the gap between products and application, and the gap between the construction industry and the robotics industry, were discussed with corresponding suggestions to narrow the gaps, followed by an outlook for future directions. This study contributes to the knowledge body by identifying and analyzing the key research areas and the development gaps systematically.     

Cooperative Mobile Robotics: Antecedents and Directions

There has been increased research interest in systems composed of multiple autonomous mobile robots exhibiting cooperative behavior. Groups of mobile robots are constructed, with an aim to studying such issues as group architecture, resource conflict, origin of cooperation, learning, and geometric problems. As yet, few applications of cooperative robotics have been reported, and supporting theory is still in its formative stages. In this paper, we give a critical survey of existing works and discuss open problems in this field, emphasizing the various theoretical issues that arise in the study of cooperative robotics. We describe the intellectual heritages that have guided early research, as well as possible additions to the set of existing motivations.     

Aspects of non-cartesian robotics

Non-Cartesian robotics, which began with the introduction of subsumption architecture by Rodney Brooks, now encompasses a wide range of robotics that do not follow traditional cartesian principles in the running of a robot. The new field is sometimes called biorobotics as it draws its guiding principles from biology, physiology, behavioural sciences, genetics and theories of evolution, brain sciences, genetics and theories of evolution, brain sciences, ethology, psychology, and other related non-engineering disciplines. The difference in principles of operation, however, has roots deeper in the philosophical underpinnings of the way we view controlling artifacts and the concept of control itself when it is contrasted against the concept of autonomy. Realization of increasingly higher levels of autonomy is routinely demanded today not only in industry where most robotic applications occur, but also in areas closer to our daily life where a gradual but steady increase in service applications of robotics is observed. This paper introduces the concept of non-Cartesian robotics as an antithesis to conventional (Cartesian) robotics and describes various aspects of this new way of running a robotic system. This work was presented, in part, at the International symposium on Artificial Life and Robotics, Oita, Japan, February 18–20, 1996     

Applied ontologies and standards for service robots

Service robotics is an emerging application area for human-centered technologies. The rise of household and personal assistance robots forecasts a human–robot collaborative society. One of the robotics community’s major task is to streamline development trends, work on the harmonization of taxonomies and ontologies, along with the standardization of terms, interfaces and technologies. It is important to keep the scientific progress and public understanding synchronous, through efficient outreach and education. These efforts support the collaboration among research groups, and lead to widely accepted standards, beneficial for both manufacturers and users. This article describes the necessity of developing robotics ontologies and standards focusing on the past and current research efforts. In addition, the paper proposes a roadmap for service robotics ontology development. The IEEE Robotics & Automation Society is sponsoring the working group Ontologies for Robotics and Automation. The efforts of the Working group are presented here, aiming to connect the cutting edge technology with the users of these services—the general public.     

Cyberphysical systems security applied to telesurgical robotics

Researchers in telesurgical robotics and security collaborated to develop the Secure ITP, a security enhancement to the Interoperable Telesurgery Protocol (ITP). The ITP defines the structure for communication between telesurgery robots and controllers and has been adopted and tested by fourteen research groups in telesurgical robotics. The Secure ITP uses open source software tools and follows guidelines in Federal Information Processing Standards (FIPS) documents published by the National Institute of Standards and Technology (NIST) to create asecurity enhancement prototype for demonstration purposes and tofacilitate the development of new security technologies which addressthe stringent requirements of telesurgery.     

Ubiquitous robotics: Recent challenges and future trends

Ambient intelligence, ubiquitous and networked robots, and cloud robotics are new research hot topics that have started to gain popularity among the robotics community. They enable robots to acquire richer functionalities and open the way for the composition of a variety of robotic services with three functions: semantic perception, reasoning and actuation. Ubiquitous robots (ubirobots) overcome the limitations of stand-alone robots by integrating them with web services and ambient intelligence technologies. The overlap that exists now between ubirobots and ambient intelligence makes their integration worthwhile. It targets to create a hybrid physical–digital space rich with a myriad of proactive intelligent services that enhance the quality and the way of our living and working. Furthermore, the emergence of cloud computing initiates the massive use of a new generation of ubirobots that enrich their cognitive capabilities and share their knowledge by connecting themselves to cloud infrastructures. The future of ubirobots will certainly be open to an unlimited space of applications such as physical and virtual companions assisting people in their daily living, ubirobots that are able to co-work alongside people and cooperate with them in the same environment, and physical and virtual autonomic guards that are able to protect people, monitor their security and safety, and rescue them in indoor and outdoor spaces. This paper introduces the recent challenges and future trends on these topics.     

基于Applet的多用户协同学习系统的设计与实现

随着远程教育的发展，师生之间实时的屏幕共享和交流问题成为应用研究的热点。本文以计算机支持的协同工作理论为指导，介绍用Java Applet实现的基于Web环境的多用户协同学习系统的结构，通过该系统教师和学生只需要通过网页浏览器就可以参加课堂讨论。本文介绍了该系统的框架和设计结构，并给出了具体实现中的一些关键技术。     

Evolvable Hardware in Evolutionary Robotics

In recent decades the research on Evolutionary Robotics (ER) has developed rapidly. This direction is primarily concerned with the use of evolutionary computing techniques in the design of intelligent and adaptive controllers for robots. Meanwhile, much attention has been paid to a new set of integrated circuits named Evolvable Hardware (EHW), which is capable of reconfiguring its architectures unlimited time based on artificial evolution techniques. This paper surveys the application of evolvable hardware in evolutionary robotics. The evolvable hardware is an emerging research field concerning the development of evolvable robot controllers at the hardware level to adapt to dynamic changes in environments. The context of evolvable hardware and evolutionary robotics is reviewed, and a few representative experiments in the field of robotic hardware evolution are presented. As an alternative to conventional robotic controller designs, the potentialities and limitations of the EHW-based robotic system are discussed and summarized.