共查询到20条相似文献,搜索用时 156 毫秒
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张炜 《机器人技术与应用》2006,(5):7-12
目前各种媒体对日本机器人产业发展的美好未来描写得绘声绘色:“世界工业机器人70%是日本制造的。日本国内使用的台数占总台数的40%。日本现在是出类拔萃的工业机器人超级大国。支撑机器人工程学领域和人型机器人的尖端技术走在世界的前列。未来不仅在原有的制造业领域,而且在建筑、农业、防灾、医疗、宇宙、海洋开发等领域大量应用机器人,同时在娱乐、家庭等所有人类活动中,机器人将与人共存。机器人大国日本今后仍将继续引领世界机器人发展潮流。机器人产业、机器人技术将使日本经济再次崛起。”诸如此类,对前景的预测为我们展现了机器人未来梦想,但现实并非是那么轻而易举。 相似文献
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水下机器人——过去、现在和未来 总被引:4,自引:0,他引:4
1 关于海洋 在浩瀚的宇宙中,有一个蔚蓝色的星球,那是人类赖以生存的地方——地球。地球的表面积为5.1亿平方公里,而海洋的面积为3.6亿平方公里。地球表面积的71%被海洋所覆盖。在烟波浩渺的海洋深处,蕴藏着什么样的宝藏?是否存在着智慧生命?海底生物是怎样生活的?海底的地形地貌又是什么样的?所有这一切都使海洋充满了神秘的色彩,也吸引了无数科学家、探险家为之探索。 从远古时代起,人们就泛舟于海上。从19世纪起,人们开始利用各种手段对海洋进行探察。20世纪,水下机器人技术作为人类探索海洋的最重要的手段,受到了人们普遍… 相似文献
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描述了自治水下机器人搭载的三功能水下电动机械手的设计.鉴于自治水下机器人一机械手系统是运动学冗余的且自带能源,因此将系统阻力优化函数引入逆运动学求解,设计了基于系统能源消耗最小的系统协调运动规划算法.仿真表明,该算法在解决系统冗余度的同时,有效地减小了系统能源消耗. 相似文献
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DUAN HaiBin ZHANG YunPeng & LIU SenQi State Key Laboratory of Virtual Reality Technology Systems Beihang University Beijing China Science Technology on Aircraft Control Laboratory School of Automation Science Electrical Engineering China 《中国科学:信息科学(英文版)》2011,(4)
Multiple unmanned air vehicles(UAVs)/unmanned ground vehicles(UGVs) heterogeneous cooperation provides a new breakthrough for the effective application of UAV and UGV.On the basis of introduction of UAV/UGV mathematical model,the characteristics of heterogeneous flocking is analyzed in detail.Two key issues are considered in multi-UGV subgroups,which are Reynolds Rule and Virtual Leader(VL).Receding Horizon Control(RHC) with Particle Swarm Optimization(PSO) is proposed for multiple UGVs flocking,and velocit... 相似文献
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平行机器人与平行无人系统:框架、结构、过程、平台及其应用 总被引:9,自引:0,他引:9
本文将基于ACP(Artificial societies,computational experiments,parallel execution)的平行系统思想与机器人领域相结合,形成一种软硬件相结合的框架,为无人机、无人车、无人船在复杂环境中实验、学习与实际工作提供便捷、安全的平台,即平行无人系统.本文从平行机器人的基本概念出发,提出平行无人系统的基本框架,并介绍了各模块的基本功能与实现方法,探讨了其中的关键技术.然后本文围绕无人机、无人车、无人船三个方面展望了无人平行系统在实际中的应用和所面临的挑战,提出了平行无人系统的未来发展方向. 相似文献
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Abenezer Girma Niloofar Bahadori Mrinmoy Sarkar Tadewos G. Tadewos Mohammad R. Behnia M. Nabil Mahmoud Ali Karimoddini Abdollah Homaifar 《IEEE/CAA Journal of Automatica Sinica》2020,7(5):1249-1262
Timely investigating post-disaster situations to locate survivors and secure hazardous sources is critical, but also very challenging and risky. Despite first responders putting their lives at risk in saving others, human-physical limits cause delays in response time, resulting in fatality and property damage. In this paper, we proposed and implemented a framework intended for creating collaboration between heterogeneous unmanned vehicles and first responders to make search and rescue operations safer and faster. The framework consists of unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), a cloud-based remote control station (RCS). A light-weight message queuing telemetry transport (MQTT) based communication is adopted for facilitating collaboration between autonomous systems. To effectively work under unfavorable disaster conditions, antenna tracker is developed as a tool to extend network coverage to distant areas, and mobile charging points for the UAVs are also implemented. The proposed framework’s performance is evaluated in terms of end-to-end delay and analyzed using architectural analysis and design language (AADL). Experimental measurements and simulation results show that the adopted communication protocol performs more efficiently than other conventional communication protocols, and the implemented UAV control mechanisms are functioning properly. Several scenarios are implemented to validate the overall effectiveness of the proposed framework and demonstrate possible use cases. 相似文献
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Lidar SLAM技术是无人车进行精确导航的一种重要方式,也是实现无人车在复杂的园区非结构化道路环境中安全驾驶的一种前提保障。构建了一种快速精确定位与建图的方法,通过车载激光雷达返回的大量点云数据,进行噪声点移除以及Voxel Grid滤波的预处理,在保持原始点云形态的同时实现点云配准。首先利用NDT(Normal Distribution Transform)点云配准算法对无人车的位姿粗估计,然后利用ICP(Iterative Closest Point)点云配准算法对已配准的点云进行校正,实现无人车位姿的精确估计,进而完成地图的更新过程。该方法只需要车载激光雷达传感器实现了快速的、精度高的Lidar SLAM。将算法用于小旋风无人车,在校园环境进行了验证,结果表明该算法是可靠、有效的。 相似文献
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针对无人配送车在自主导航过程中存在的寻路效率低、避障能力弱、转折幅度过大等问题,该文采用搭载机器人操作系统(ROS)的Turtlebot3机器人作为无人配送车,设计并实现了高效稳定的无人配送车自主导航系统。ROS是专门用于编写机器人软件的灵活框架,对其集成的SLAM算法进行改进,以完成无人配送车在封闭园区环境中的即时定位与地图构建,同时对ROS导航功能包集成的路径规划算法进行改进,使无人配送车在已知环境地图中规划生成出适合无人配送车工作的路径和有效避开障碍物。最后在Gazebo仿真环境中对无人配送车自主导航系统进行测试与验证。仿真试验结果表明,设计实现的无人配送车导航系统能够很好地满足无人配送车在封闭园区中的自主导航功能。 相似文献
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The unmanned aerial vehicle formation plays a crucial role in numerous applications, such as reconnaissance, agricultural plant protection, and electric power inspection. This paper provides a comprehensive review and analysis of the unmanned aerial vehicle swarm communication networks and formation control strategies. First, the most commonly used unmanned aerial vehicles are introduced and compared. Next, the entire process of the formation task, from the formation assignment to the formation transformation, is detailed described. At last, the widely adopted communication networks are analyzed, and the existing formation control strategies of the UAV swarm are compared, which shows that the distributed formation control is superior to the centralized method and is the future development trend. 相似文献
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Tao Zhang Qing Li Chang-shui Zhang Hua-wei Liang Ping Li Tian-miao Wang Shuo Li Yun-long Zhu Cheng Wu 《浙江大学学报:C卷英文版》2017,18(1):68-85
Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligence (AI). The development of such systems can significantly promote innovation in AI technologies. This paper introduces the trends in the development of intelligent unmanned autonomous systems by summarizing the main achievements in each technological platform. Furthermore, we classify the relevant technologies into seven areas, including AI technologies, unmanned vehicles, unmanned aerial vehicles, service robots, space robots, marine robots, and unmanned workshops/intelligent plants. Current trends and developments in each area are introduced. 相似文献
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The ocean covers about two-thirds of the earth and has a great effect on the future existence of all human beings. About 37%
of the world’s population lives within 100 km of the ocean. The ocean is generally overlooked as we focus our attention on
land and atmospheric issues; we have not been able to explore the full depths of the ocean and its abundant living and non-living
resources. For example, it is estimated that there are about 2,000 billion tons of manganese nodules on the floor of the Pacific
Ocean near the Hawaiian Islands. We discovered, by using manned submersibles, that a large amount of carbon dioxide comes
from the seafloor and extraordinary groups of organisms live in hydrothermal vent areas. Marine robots including unmanned
surface vehicles and unmanned underwater vehicles can help us better understand marine and other environmental issues, protect
the ocean resources of the earth from pollution, and efficiently utilize them for human welfare. This paper briefly presents
some exemplary models of recent developments in marine robots in different application areas. 相似文献