基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究

能量作为最基本的物理量之一, 联系着蛇形机器人蜿蜒运动的各个方面. 能量耗散描述了环境交互作用, 能量转换对应着运动的动力学过程, 能量平衡反映了蜿蜒运动的协调性. 提出一种基于能量的蛇形机器人蜿蜒运动控制方法-被动蜿蜒. 通过输出关节力矩控制机器人蜿蜒运动, 由机器人的能量状态调整力矩的大小. 仿真结果显示了被动蜿蜒控制下机器人的构形、角度、力矩、能量状态和转弯特性, 并对控制力矩进行了递归分析. 基于Optotrak运动测量系统构建了被动蜿蜒控制的模拟/物理混合实验系统. 进行了移动实验和拖动实验, 前者改变环境的摩擦特性,后者改变机器人的负载. 仿真和实验验证了蛇形机器人被动蜿蜒控制的有效性和适应性.     

基于控制函数的蛇形机器人攀爬运动分析

为实现对正交关节蛇形机器人多种运动形式的简单、统一控制,从研究蛇形机器人控制函数出发,提出了一种简单的并可同时实现正交关节蛇形机器人蜿蜒运动、行波运动、侧向翻滚运动和螺旋攀爬运动等多种运动形式的控制函数.对蛇形机器人实现螺旋攀爬运动的控制参数进行了分析,并用粒子群优化算法(PSO)对控制参数进行了优化拟合,给出了控制参...     

新型蛇形机器人蜿蜒运动的动力学分析

为提高蛇形机器人执行各种运动的能力,研制了新型蛇形机器人系统．重点研究了该蛇形机器人的动力学．建立了机器人的运动学模型,并根据运动学模型提出了控制蛇形机器人蜿蜒运动的复合运动控制方法．用拉格朗日方法建立动力学模型,对不同参数下蛇形机器人的关节力矩特性和摩擦力特性进行了分析比较,为蛇形机器人的有效运动提供了理论依据．     

基于Hopf振荡器实现的蛇形机器人的步态控制

针对生物蛇不同步态的运动特点,提出了一种基于Hopf振荡器实现的蛇形机器人的中枢模式发生器(CPG)运动控制方法.首先,利用具有非线性极限环特性的耦合的Hopf振荡器构建出能够实现蜿蜒运动和侧向蜿蜒运动两种步态的链式网络模型.然后,根据动力学仿真软件建立机器人的虚拟样机,利用模型中振荡器的输出作为蛇形机器人分布式多冗余度关节的控制信号来驱动前进,成功实现了以上两种运动方式,并讨论了CPG的模型参数与机器人前进速度的关系.最后,在实物样机上的实验进一步验证了所提出的方法在实现蛇形机器人多种步态控制方面的有效性.     

蛇形机器人蜿蜒运动控制分析

针对蛇形机器人的蜿蜒运动控制,首先分析了关节角度约束对运动控制函数参数取值的限制,确定了满足机械结构的运动控制参数范围;之后在Adams仿真环境下,建立蛇形机器人的三维虚拟运动模型,进行蜿蜒运动仿真,通过分析幅值控制参数对蛇形机器人弯曲度、运动速度和运动轨迹偏移的影响,提出了调整幅值参数的方法;实验结果表明,调整方法的有效性,从而实现蛇形机器人蜿蜒运动控制的优化。     

蜿蜒步态下的蛇形机器人路径跟踪控制研究

在面向灾区救援等针对蛇形机器人蜿蜒运动的直线路径跟踪效果差的问题,本项目提出基于滑模控制理论的方向控制器,有效收敛了蛇形机器人在稳态时的运动误差。针对蛇形机器人头部晃动影响头部传感器获取有效数据的难题,创新地提出基于补偿函数的头部控制方法,使得蛇头的运动方向与蛇身整体的运动方向一致,保证了蛇头相机拍摄的可读性和传感器测量的准确性,便于机器人准确地感知环境,确保在转弯时机器人整体呈蛇形曲线。     

蛇形机器人蜿蜒游动性能动力学仿真分析

模仿蛇在水中游动,设计了蛇形机器人仿真模型.通过蛇形曲线控制该机器人在动力学仿真水环境中实现蜿蜒游动.实验分析了蛇形曲线公式中起始弯角、S波个数、弧长变化率对蜿蜒游动性能的影响.实验结果表明:在一定范围内,增大蛇形曲线公式中起始弯角、S波个数、弧长变化率等参数的值,蛇形机器人的蜿蜒游动速率也随着增加.     

基于循环抑制CPG模型控制的蛇形机器人蜿蜒运动

根据生物蛇和蛇形机器人的结构及运动特点，应用循环抑制CPG建模理论构建了蛇形机器人神经网络模型；利用蛇形机器人模型，仿真验证了CPG模型对蜿蜒运动控制的有效性；提出并仿真验证了实现有目的转弯控制的CPG参数调节方法。最后，给出了今后的研究方向。     

NSGA-Ⅱ在蛇形机器人中的优化与控制

研究蛇形机器人蜿蜒运动步态的优化与控制问题。结合摩擦力模型,并分析蛇形机器人运动步态模型,根据基于闭环反馈的控制系统结构运用PID控制器对其步态进行跟踪控制,在此基础上采用基于非支配排序遗传算法(NSGA-Ⅱ)对步态进行优化,该优化方法实现对闭环反馈跟踪控制系统的参数优化。仿真结果表明,NSGA-Ⅱ算法能达到变量优化目的,在功率和速度之间寻找最优值,对于解决蛇形机器人运动步态多目标优化问题是可行有效的。     

基于Webots的蛇形机器人翻滚运动仿真及实现

针对蛇形机器人的侧向翻滚运动,给出一种建立正交关节蛇形机器人三维空间运动模型的方法,提出了一种更为简单的实现蛇形机器人侧向翻滚运动的舵机输入函数.通过选择不同的控制参数,可以实现蛇形机器人"U"字形和"V"字形侧向翻滚运动.在Webots移动机器人仿真软件上进行正交关节蛇形机器人翻滚运动仿真,并在蛇形机器人本体上进行试验,验证了所提控制规律的有效性.     

煤矿井下安全监控分站的设计及其仿真实现

为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.     

Call for Papers The 6^th International Conference on Grid and Cooperative Computing

Recent years have seen rapid advances in various grid-related technologies, middleware, and applications. The GCC conference has become one of the largest scientific events worldwide in grid and cooperative computing. The 6th international conference on grid and cooperative computing (GCC2007) Sponsored by China Computer Federation (CCF),Institute of Computing Technology, Chinese Academy of Sciences (ICT) and Xinjiang University ,and in Cooperation with IEEE Computer Soceity ,is to be held from August 16 to 18, 2007 in Urumchi, Xinjiang, China.     

View-based model-driven architecture for enhancing maintainability of data access services

In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times.     

A pragmatic multi-method investigation of discrepant technological events: Coping,attributions, and ‘accidental’ learning

Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice.     

The Distributed Time-Triggered Simulation Scheme: Core Principles and Supporting Execution Engine

Distributed real-time simulation is a young technology field but its practice is under increasing demands. In recent years the author and his collaborators have been establishing a new approach called the distributed time-triggered simulation (DTS) scheme which is conceptually simple and easy to use but widely applicable. The concept was initiated in the course of developing a new-generation object-oriented real-time programming scheme called the time-triggered message-triggered object (TMO) programming scheme. Some fundamental issues inherent in distributed real-time simulation that were learned during recent experimental studies are discussed along with some approaches for resolving the issues. An execution engine developed to support both the TMOs engaged in control computation and the TMOs engaged in DTS is also discussed along with its possible extensions that will enable significantly larger-scale DTSs.     

Software-Konfigurationsmanagement in großen Softwareprojekten

Zusammenfassung Mit zunehmender Größe der Softwaresysteme verschärfen sich die für die Software-Herstellung typischen Probleme: Beherrschen großer Objektmengen, Erhalten der Systemkonsistenz, Kontrolle der ständigen Änderungseinflüsse und Gewährleisten einer langen Lebensdauer. Die Disziplin Konfigurationsmanagement bildet den methodischen Ansatz, diese Probleme besser zu beherrschen. Software-Konfigurationsmanagement faßt die Herstellung von Softwaresystemen als eine Abfolge von kontrollierten Änderungen an gesicherten Zwischen- und Endergebnissen auf. Dargestellt werden die Objekte und Funktionen des Software-Konfigurationsmanagements sowie die hierfür in großen Software-Projekten benötigten Methoden, Instanzen und Hilfsmittel.     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and     

Editorial:Brain-machine interface(BMI) and cyborg intelligence

正Brain-machine interfaces(BMIs)aim at building a direct communication pathway between the brain and an external device,and represent an area of research where significant progress has been made during the past decade.Based on BMIs,mind information can be read out by neural signals to control     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate     

SCIENCE CHINA Information Sciences SUBJECT INDEX TO VOLUME 57(2014)

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