基于SoC FPGA异构平台的魔方快速还原系统设计与实现

本设计基于SoC FPGA异构平台,充分利用FPGA和HPS各自的优势,实现了一套高性能的魔方快速还原系统。系统由开发板,魔方还原机械结构,CCD摄像头以及VGA显示器组成。FPGA端实现摄像头图像采集和魔方色块RGB值的获取；HPS端完成颜色识别,运用二阶段算法还原魔方,然后将还原步骤编码之后回传给FPGA,由FPGA中的并行舵机控制模块实现对魔方还原机械结构精准快速的控制,从而完成实体魔方的还原。测试结果表明,对于任意随机打乱的三阶魔方,整个识别以及还原过程在一分钟内完成。     

基于FuzzyP的多臂机器人机械臂控制系统设计

机械臂是多臂机器人的重要组成部分,针对基于姿态识别控制及位置识别控制系统受到被控量振荡影响,而导致机械臂运动轨迹控制不精准的问题,提出了基于FuzzyP的多臂机器人机械臂控制系统设计;基于FuzzyP控制系统,找到系统控制平衡点,设计系统硬件结构包含3个机械臂,共十八个自由度,简化关节控制器连线,选择直流有刷电机,采用增量型编码器,设计H桥电路,配合74ACT244增强驱动电路,利用NRF24L01无线模块获取与处理位置信息;使用FuzzyP控制器,抑制被控量振荡,控制连杆运动,完成多臂机器人机械臂控制方案设计;由实验结果可知,该系统轨迹与预期轨迹基本一致,较好解决多臂机器人机械臂对接精确定位要求。     

工业机器人空间曲线实时轨迹规划算法

本文设计了一种六轴机械臂沿空间曲线行走的控制算法。算法使机器人对输入空间曲线计算出各关节的电机控制命令使机器人沿曲线运动。算法中推导出机器人逆运动学各关节解析解,使机械臂控制器计算过程由解方程组简化为代数运算。对类似结构的机械臂都可以使用,具有一定的通用性。使用Matlab对算法进行编程实现,从而验证了文章所设计算法的正确性。     

基于HuskyLens识别的超市购物机器人

设计了一款基于HuskyLens二哈识图的人工智能摄像头进行商品识别的超市购物机器人,由机械臂、红外识别模块、循迹模块、电源模块、电机驱动模块等组成,满足近几年浙江省大学生机器人竞赛超市购物组的规则需求。该设计方案相较于其他方案,有成本低、识别效率高、运行速度快等优点。     

魔方机器人硬件系统设计

魔方机器人能够将任意打乱的三阶魔方快速还原,极大的激发人们的科研兴趣。调研发现,由于电气控制系统过于复杂,对环境适应性不强等原因,是导致魔方机器人没有普及的主要原因。针对这个现象,设计一个电气控制系统简单、性能稳定、对场景适应性强的机器人。通过嵌入式系统在魔方机器人控制技术中的应用,改变了魔方机器人的控制结构和功能,提高了机器人控制的灵活性、开放性和实时性、功能性。     

应用于实验教学的五子棋人机对弈系统

设计开发了一种能够与人进行五子棋实时对弈的机器人系统,利用摄像头识别棋盘信息,由策略系统做出落子决策,再通过机械臂执行动作,完成人机对弈的整个过程。详细介绍了系统各功能模块的软硬件设计、实现和调试。实验证明,对弈机器人以较低的成本实现了沉浸式的人机交互体验,对计算机控制装置、人工智能、软件技术等课程的实验教学起到了促进作用。     

基于D-H算法的自主机器人机械臂建模方法研究

近年来,关于自主机器人机械臂控制的研究越来越多,如何快速、准确且平稳地抓取物体一直是研究的难点。用D-H建模方法对四自由度机械臂进行建模,给出了机械臂正运动学方程,并用代数法及几何法给出了机械臂逆解,算出了各关节变量值。最后,通过实验比较了两种逆解方法的有效性,使自主机器人机械臂的控制越来越准确、平稳。     

解魔方四爪机械手结构设计与操作

本文根据还原魔方基本原理,设计一种解魔方四爪气动组合机械手,阐述其基本结构及工作过程,并提出研究思路,即:利用气爪的夹持,伸摆气缸的伸缩、摆动,实现魔方的层转及整体转动,从而实现魔方还原。     

利用平面单应分解实现服务机器人视觉伺服

智能空间中家庭服务机器人所需完成的主要任务是协助人完成物品的搜寻、定位与传递。而视觉伺服则是完成上述任务的有效手段。搭建了由移动机器人、机械臂、摄像头组成的家庭服务机器人视觉伺服系统,建立了此系统的运动学模型并对安装在机械臂末端执行器上的视觉系统进行了内外参数标定,通过分解世界平面的单应来获取目标物品的位姿参数,利用所获取的位姿参数设计了基于位置的视觉伺服控制律。实验结果表明,使用平面单应分解方法来设计控制律可简单有效地完成家庭物品的视觉伺服任务。     

排爆机械臂的运动学仿真

在机械臂性能优化设计的研究中,为了使排爆机械臂能够灵活、有效的处理爆炸物,需对其进行运动学仿真,针对所设计的排爆机械臂的机械结构,通过D-H方法建立相应的运动学模型,运用矩阵逆乘的方法分离变量,求得了运动学正解和逆解.用MATLAB平台中机器人工具箱编程并建立ADAMS虚拟样机,对机械臂的末端位移、速度和加速度做了运动学仿真,通过仿真验证了机构设计的合理性和仿真方法的正确性.结果为排爆机器人的结构设计和优化,为排爆机械臂的电机选择提供了依据.     

Chaotic encryption with different modes of operation based on Rubik’s cube for efficient wireless communication

A novel image encryption algorithm based on the Rubik’s cube scrambling is proposed in this paper to achieve simultaneous encryption of a group of images. This proposed encryption algorithm begins with chaotic Baker map permutation with a selected mode of operation or RC6 algorithm as a first step for encrypting the images, separately. After that, the obtained encrypted images are further encrypted in a second stage with Rubik’s cube. Chaotic or RC6 encrypted images are used as the faces of the Rubik’s cube. From the concepts of image encryption, the RC6 algorithm adds a degree of diffusion, while chaotic Baker map adds a degree of permutation. The Rubik’s cube algorithm adds more permutation to the encrypted images, simultaneously. The simulation results demonstrate that the proposed encryption algorithm is efficient, and it exhibits strong robustness and security. The encrypted images are further transmitted over a wireless channel with Orthogonal Frequency Division Multiplexing (OFDM) system, and decrypted at the receiver side. Evaluation of the quality of the decrypted images at the receiver side reveals good performance.

     

An algorithm for cooperative task allocation in scalable,constrained multiple robot systems

The current trends in the robotics field have led to the development of large-scale multiple robot systems, and they are deployed for complex missions. The robots in the system can communicate and interact with each other for resource sharing and task processing. Many of such systems fail despite the availability of necessary resources. The major reason for this is their poor coordination mechanism. Task planning, which involves task decomposition and task allocation, is paramount in the design of coordination and cooperation strategies of multiple robot systems. Task allocation mechanism allocates the task in a mission to the robots by maximizing the overall expected performance, and thereby reducing the total allocation cost for the team. In this paper, we formulate a heuristic search-based task allocation algorithm for the task processing in heterogeneous multiple robot system, by maximizing the efficiency in terms of both communication and processing cost. We assume a set of decomposed tasks of a mission, which needs to be allocated to the robots. The near-optimal allocation schemes are found using the proposed peer structure algorithm for the given problem, where the number of the tasks is more than the robots present in the system. The cost function is the summation of static overhead cost of robots, assignment cost, and the communication cost between the dependent tasks, if they are assigned to different robots. Experiments are performed to verify the effectiveness of the algorithm by comparing it with the existing methods in terms of computational time and quality of solution. The experimental results show that the proposed algorithm performs the best under different problem scales. This proves that the algorithm can be scaled for larger system and it can work for dynamic multiple robot system.     

Vision-based remote control of cellular robots

This paper describes the development and design of a vision-based remote controlled cellular robot. Cellular robots have numerous applications in industrial problems where simple inexpensive robots can be used to perform different tasks that involve covering a large working space. As a methodology, the robots are controlled based on the visual input from one or more cameras that monitor the working area. As a result, a robust control of the robot trajectory is achieved without depending on the camera calibration. The remote user simply specifies a target point in the image to indicate the robot final position.

We describe the complete system at various levels: the visual information processing, the robot characteristics and the closed loop control system design, including the stability analysis when the camera location is unknown. Results are presented and discussed.

In our opinion, such a system may have a wide spectrum of applications in industrial robotics and may also serve as an educational testbed for advanced students in the fields of vision, robotics and control.     

Solving extra-high-order Rubikʼs Cube problem by a dynamic simulated annealing

A Monte Carlo algorithm, dynamic simulated annealing, is developed to solve Rubik?s Cube problem at any extra-high order with considerable efficiency. By designing appropriate energy function, cooling schedule and neighborhood search algorithm, a sequence of moves can select a path to decrease quickly the degree of disorder of a cube and jump out local energy minima in a simple but effective way. Different from the static simulated annealing method that adjusting the temperature parameter in Boltzmann function, we use a dynamic procedure by altering energy function expression instead. In addition, a solution of low-order cube is devised to be used for high efficient parallel programming for high-order cubes. An extra-high-order cube can then be solved in a relatively short time, which is merely proportional to the square of order. Example calculations cost 996.6 s for a 101-order on a PC, and 1877 s for a 5001-order using parallel program on a supercomputer with 8 nodes. The principle behind this feasible solution of Rubik?s Cube at any high order, like the methods of partial stages, the way to design the proper energy function, the means to find a neighborhood search that matches the energy function, may be useful to other global optimization problems which avoiding tremendous local minima in energy landscape is chief task.     

Practical design of robots operating in radiation environments

Nuclear robots must be hardened against radiation for effective operation in high-radiation environments. These robots require special components that usually have few functions, high costs and long delivery times. In the present study, we propose a modulated and hierarchical electrical circuit system for robot components such as actuators. The hierarchical system is set into a design that can withstand radiation without reducing or limiting the functionality of the robot. The hierarchical system is achieved by minimizing the variety of integrated circuit (IC) components to be used and selecting specific ICs that require radiation testing. These ICs are defined by spotted ICs with regard to the integration density and operational speed. In some cases, it is possible to select off-the-shelf IC components, but certain key IC components are needed for on-line irradiation tests, depending on robot operation reliability and the radiation environment. Since the serial numbers of off-the-shelf IC components are random, it is important that a sufficiently large number of IC components are tested under the operating conditions for statistical evaluation. If the radiation lifetime is random, then the radiation lifetime of the sorted IC components can be estimated statistically. Here, the robot user decides the operation based on this lifetime. By doing so, the experimental cost can be minimized in accordance with the proposed method at the user's operational risk. Of course, if on-line irradiation tests are performed for various types of IC components, the radiation lifetime of the robot can be predicted with a relatively high accuracy. As a result, the design of a robot that operates under certain radiation conditions, while having a certain lifetime and cost, is possible. This design technique was applied to a nuclear disaster prevention robot and the radiation lifetime of the spotted IC components was shown to be distributed randomly, indicating the validity of the proposed method.     

基于主动视觉和超声的机器人目标跟踪系统

运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。     

Robot calibration using a 3D vision-based measurement system with a single camera

One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. This work presents techniques for modeling and performing robot calibration processes with off-line programming using a 3D vision-based measurement system. The measurement system is portable, accurate and low cost, consisting of a single CCD camera mounted on the robot tool flange to measure the robot end-effector pose relative to a world coordinate system. Radial lens distortion is included in the photogrammetric model. Scale factors and image centers are obtained with innovative techniques, making use of a multiview approach. Results show that the achieved average accuracy using a common off-the-shelf CCD camera varies from 0.2 to 0.4 mm, at distances from 600 to 1000 mm from the target, respectively, with different camera orientations. Experimentation is performed on two industrial robots to test their position accuracy improvement using the calibration system proposed: an ABB IRB-2400 and a PUMA-500. The robots were calibrated at different regions and volumes within their workspace achieving accuracy from three to six times better when comparing errors before and after calibration, if measured locally. The proposed off-line robot calibration system is fast, accurate and easy to set up.     

Control circuits simplification and computer programs design on bipedal robot

This study is expected to provide the best design of bipedal robot, which will help widen the application in the future. A new design system is presented through simplification of the control circuit, and the design of computer programs not only lowers the research barriers of the robots but also decreases the development costs. This design system can be used for various operations of manufacturing processes to make up the shortages of the flexibility for the robots. In recent years, the progress in electronics and the control technology has made the robots useful not only for dangerous and automatic tasks, but also for advanced and friendly people service. Thus, the robots have been used in the factories for automation and towards the general use in regular life. Of all robots, the bipedal robot attracts the most attention for its humanoid outlook, user-friendly design, and artificial intelligence for the human society. Many bipedal robots are developed to satisfy consumers’ needs. The control circuits and the program design are the key issues to make the bipedal robots. In this study, a synchronous robot controller for 31°-axis freedom is developed. The authors also equip a memory in the hardware architecture to store all moving commands of the bipedal robot. In terms of internal programs, the authors develop a human interface that synchronizes the movement of the robot and collects the pace data of the robot. The authors use the statistical method to analyze the data and establish a database of the robot's movement. With the database, one can finally drive the robot to walk and generate the pace design of the bipedal robots.     

Automated Construction System of Robot Locomotion and Operation Platform for Hazardous Environments— Basic System Design and Feasibility Study of Module Transferring and Connecting Motions

Unmanned robot operation is highly anticipated for use in hazardous environments such as a nuclear accident and mine accident sites. We propose an automated construction system for robot locomotion and operation platform in a severely disturbed environment. In such an environment, the sensors and actuators that can be used are restricted. The platform is intended to enable specialized working robots to have access to any cube‐diced operation point, and to build a rail both for the platform itself and for specialized working robots. The entire platform structure is modularized, which means that the structure comprises multiple modules. They are assembled and constructed through cooperation of a transfer robot and a constructor robot. This paper describes the development of prototypes and explains experiments conducted to verify our fundamental concept. In particular, the feasibility of module‐transfer and connection motions in three prioritized positions is verified using the developed prototypes. The system design and experiments reveal that the most important technique to realize the proposed system is how to use guide structures to reduce the effects of mechanical error and misalignment among robots.     

Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.