高灵活度仿人臂型七自由度冗余机器人的研究

基于新型ＰＩＴＣＨ－Ｒ０ＬＬ－ＹＡＷ关节，研制出一种高灵活度的新型仿人臂型七自由度冗余机器人系统。文中首先介绍了该机器人的机构与系统构成，然后进一步研究了运动学与工作空间，最后介绍了该机器人的应用前景。     

基于ADAMS的冗余驱动并联机器人动力学仿真研究

为使机器人具有良好的结构性能和工作性能,其结构系统必须具有良好的动力学特性.针对动力学特性问题,以ADAMS仿真软件为平台建立了简化的二自由度冗余驱动并联机器人模型,求出了运动学逆解,采用冗余驱动力控制电机的方法,完成了动力学仿真.结果表明该方法能减小驱动力变化范围和降低驱动力峰值,优化电机驱动力,提高并联机器人的驱动性能.研究所得的方法和结论具有较强的通用性,对相关冗余驱动并联机器人的动力学研究具有普遍的应用意义,同时为并联机器人的调试与控制提供了理论依据.     

双平面骨科机器人结构设计和分析

针对骨科手术的特点,提出了一种基于并联机构的骨科机器人结构(2-PPTC).该结构将机器人的主动运动副设置在两个相互平行的平面内,构成了手术空间的边界,实现了机器人的运动空间和手术空间无交集,提高了骨科机器人的安全性.并采用螺旋理论,对骨科机器人的位置和运动特性进行了分析,最后将双平面骨科机器人应用于小腿骨折髓内钉临床手术实例,验证了这种结构模型在骨科临床手术中应用的可行性,为并联机器人在骨科中的应用提供了一种新的设计和分析方法.     

机器人辅助医疗技术的新进展

机器人辅助医疗技术的研究近年来成为国际机器人领域前沿研究热点之一。在阐述国内外机器人辅助医疗技术发展状况的基础上，对机器人辅助医疗技术的关键技术进行了详尽的分析，并指出了今后的发展方向。     

机器人辅助远程手术的研究

介绍了一套自行开发的机器人辅助远程手术平台系统。在阐述平台系统的总体结构基础上，对于医疗图像的压缩和传输、机器人命令传输协议的设计、远程图像的实时传输和播放这三个关键技术进行了探讨。手术平台系统已成功地进行了临床应用。     

用于骨科手术的六自由度全自动医用C形臂

在自动化的骨科手术中,为控制手术机器人的运动轨迹,需要知道病人断骨处的位置和姿态信息,但现在医院中并没有类似的设备。为解决这个问题,提出了一种全自动医用C形臂系统,该系统具有六个自由度,由伺服电机精确定位,通过计算机控制,系统可实现患者断骨处的多角度自动连续拍摄,所得到X射线图像经图像处理后,在图像坐标系中提取出断骨的位置和姿态信息,再经坐标变换将其转换到机器人坐标系中,由机器人自动完成接骨手术。这个系统既为自动化手术和远程手术提供了一个新的技术手段,又可保护医护人员免受大剂量X射线的伤害。     

基于逻辑坐标的多视图尺寸冗余性判别

本文将视图的结点统一到与视图数无关的逻辑坐标，通过增加虚拟尺寸、对称尺寸的虚拟分解及逻辑坐标与尺寸关系的映射，有效地解决了多视图尺寸的冗余性判别问题。     

基于透视图像的股骨颈手术导航系统研究

针对股骨颈复位微创手术复位精度低,手术失败率高的问题,在研究C臂透视成像的基础上,基于MicronTracker双目视觉传感器研制了一种新型视觉导航系统.建立了系统数学模型,在Matlab中对模型进行了仿真,采用蒙特卡罗法对误差来源进行了分析,根据系统误差分析结果提出了误差控制策略.针对股骨生理解剖结构提出了股骨颈空心钉手术规划方法,同时系统给出了手术环境的视频信息,实时监控双目视觉传感器跟踪状况.通过相关的临床实验,验证了该手术导航系统的可行性.     

利用测量网络的冗余性进行测量故障分析

阐述工厂生产实际存在的测量网络冗余性,重点讨论利用该冗余性对测量数据进行仪表故障分析,提高测量数据质量。并通过一个仿真实例验证故障分析的可行性和有效性。     

基于原型的AD辅助机器人视觉形象特征研究

目的 为满足老年阿尔茨海默病(Alzheimer disease,AD)患者在居家条件下的认知刺激训练和日常护理需求,从原型理论角度探讨AD辅助机器人的视觉形象特征并进行设计实践。方法 根据原型的选择原则,确定原型样本并构建典型任务情景;通过意象词汇收集和添加关键帧截取动作参数的方式,分别获取原型的静态特征与动态特征;构建AD辅助机器人视觉形象特征变量层级,将原型特征映射至AD辅助机器人;根据映射结果对AD辅助机器人视觉形象进行创新设计。结论 基于原型理论和视觉形象特征层级,提出了构建AD辅助机器人视觉形象特征的设计方法,运用感性意象和特征变量的映射关系进行设计实践并得到验证,为实现老年AD患者居家养老的辅助机器人设计提供了有效参考和新方向。     

The safety of electrically assisted bicycles compared to classic bicycles

Use of electrically assisted bicycles with a maximum speed of 25 km/h is rapidly increasing. This growth has been particularly rapid in the Netherlands, yet very little research has been conducted to assess the road safety implications. This case–control study compares the likelihood of crashes for which treatment at an emergency department is needed and injury consequences for electric bicycles to classic bicycles in the Netherlands among users of 16 years and older. Data were gathered through a survey of victims treated at emergency departments. Additionally, a survey of cyclists without any known crash experience, drawn from a panel of the Dutch population acted as a control sample. Logistic regression analysis is used to compare the risk of crashes with electric and classical bicycles requiring treatment at an emergency department. Among the victims treated at an emergency department we compared those being hospitalized to those being send home after the treatment at the emergency department to compare the injury consequences between electric and classical bicycle victims. The results suggest that, after controlling for age, gender and amount of bicycle use, electric bicycle users are more likely to be involved in a crash that requires treatment at an emergency department due to a crash. Crashes with electric bicycles are about equally severe as crashes with classic bicycles. We advise further research to develop policies to minimize the risk and maximize the health benefits for users of electric bicycles.     

A qualitative assessment methodology for road safety policy strategies

This paper proposes a qualitative assessment methodology that is comprised of a cluster analysis and an autoregression analysis that assess the effects of various road safety strategies implemented in Hong Kong over the last 10 years. The cluster analysis is first used to group over a hundred road safety projects and programs into a smaller set of meaningful road safety policy strategy clusters. These strategies, together with the trend factor, seasonal pattern, car crashworthiness and meteorological data are then used in the autoregression analysis to relate to the fatality and casualty rates of drivers, passengers, motorcyclists, and pedestrians. This method allows the evaluation of the overall effects of the road safety strategies, and the effects and relative significance of each individual strategy. The evaluation method is described, and the main findings of the study are discussed.     

两足步行椅机器人的稳定性控制

对两足步行椅机器人的人在环中的控制系统的稳定性控制进行了初步研究,对这种系统的特殊性进行了分析。运用零力矩点（ZMP）的稳定判据方法研究了步行椅机器人行走过程中乘客移动对系统稳定性的影响,对影响系统稳定性的乘客摆动角、角速度及角加速度参数进行了仿真实验和分析,在此基础上研究了机器人对乘客的不稳定因素的补偿性控制并进行了仿真实验。实验结果表明,在实时控制中增加对乘客的位姿控制,可以在尽量减小步态调整幅度的同时很好地保证系统的稳定性。     

IoT-based networking for humanoid robots

Abstract

In this paper, a new network communication approach, named real-time network (RTNET), is designed and implemented for humanoid robots. The proposed five network objects – alarm, condition, message, mail, and file are used to represent the task and priority of the communication data. Compared to the existing protocols, the network scheduling mechanism of RTNET arranges, more efficiently, the priority and flow control of the five network communication objects to meet real-time requirements for the limited bandwidth of the local area network. RTNET can be further integrated with other protocols, such as EtherCAT or controller area networks (CAN Bus) for local control systems, e.g. robot arms, to improve the communication mechanism. The RTNET can also be used over Ethernet to connect each subsystem and to exchange information among those systems. Also, an Internet of things (IoT) network structure based on RTNET is proposed in this paper. The information of each subsystems is collected through RTNET and users can access all components in the IoT network. In this paper, the concept of RTNET is presented and RTNET has been implemented on a National Taiwan University (NTU) humanoid robot control system with CAN Bus.     

Analytical modelling of suction cups used for window-cleaning robots

This paper presents a new analytical modelling of suction cups used for window-cleaning robots. The modelling can be used when the force is parallel to the base surface of the suction cup. The basic idea of this analytical modelling is that the active area of suction cup will decrease as the air pressure decreases in the suction cup. The analytical modelling is based on the theory of elasticity. The results indicated that the suction force should be calculated by means of multiplying the air pressure by the active area of the suction cup rather than the bottom area that is commonly used in traditional methods, and that the friction between the suction cup and the surface of window glass could also be calculated. Finally, the results obtained by the analytical modelling were verified and compared with those calculated by the traditional method.     

基于智能体的仿人机器人分层控制系统

提出了基于智能体的仿人机器人分层控制思想,构建了由主控层、通信层和执行层三部分构成的仿人机器人分层控制系统.机器人执行层分为多个独立的智能体,每个智能体具有控制器、必要的传感器和关节驱动器,机器人的伺服控制由这些智能体实现.这样整个系统能够充分发挥智能体的反应性、自治性、预动性和社会性等特性,不仅可以直接处理原始传感器数据,而且可以单独或通过多个智能体之间的协调直接对机器人的一些异常情况进行处理,如机器人遇到障碍物、机器人连杆臂碰撞等,可以提高仿人机器人的稳定性和实时性.实验结果表明,相比传统的分布式控制系统,采用基于智能体的分层控制系统可以提高机器人的稳定性和实时性.     

自重构模块化机器人的自修复算法

设计了一种三维网格型、同构式新型自重构模块化机器人 M-cubes 系统,提出了一种基于故障模块位置的自重构模块化机器人的分布式自修复方法.此方法适用于网格型自重构机器人,能够实现对任意位置的故障模块的自修复,有效地解决故障模块处于机器人结构内部时自修复过程运算复杂的棘手问题,优化自修复过程中的运动路径.最后对模块的自修复任务进行了仿真,验证了该方法的可行性和有效性.     

一种新型的动物机器人遥控训练系统

设计了一种用于训练动物机器人的新型无损试验平台.该平台可用于分析外部电刺激与动物运动行为之间的关系,为进一步研究动物行为的可控性、动物机器人训练的可行性提供了一种便捷的试验平台和试验手段,同时也为生物医学、人工智能和认知科学的研究提供了新的研究思路.该试验平台主要包括两部分,即动物所背负的基于单片机控制的无线遥控多功能电刺激器和基于数字摄像机的动物运动行为分析测控系统.用此平台对家兔和新西兰兔进行了体表刺激,对成年雄性SD大鼠进行了开颅MFB区刺激试验,验证了本系统的有效性和稳定性.试验证明本系统可以精确、实时地用于动物行为试验,具有很好的抗干扰性.     

Examining the relative effectiveness of different message framing strategies for child passenger safety: Recommendations for increased comprehension and compliance

Background

Age-appropriate child restraints and rear seating dramatically reduce injury in vehicle crashes. Yet parents and caregivers struggle to comply with child passenger safety (CPS) recommendations, and frequently make mistakes when choosing and installing restraints. The purpose of this research was to evaluate various methods of framing CPS recommendations, and to examine the relative effectiveness on parents’ knowledge, attitudes, and behavioral intentions related to best practices and proper use of child restraints. Emphasis framing is a persuasion technique that involves placing focus on specific aspects of the content in order to encourage or discourage certain interpretations of the content.

Method

A 5 (flyer group) X 2 (time) randomized experiment was conducted in which 300 parent participants answered a pre-survey, viewed one of four flyer versions or a no-education control version, and completed a post-survey. Surveys measured CPS knowledge, attitudes, perceptions of efficacy and risk, and behavioral intentions. The four flyers compared in this study all communicated the same CPS recommendations, but several versions were tested which each employed a different emphasis frame: (1) recommendations organized by the natural progression of seat types; (2) recommendations which focused on avoiding premature graduation; (3) recommendations which explained the risk-reduction rationale behind the information given; or (4) recommendations which were organized by age. In a fifth no-education (control) condition, participants viewed marketing materials.

Results

Analyses of covariance and pairwise comparisons indicated the risk-reduction rationale flyer outperformed other flyers for many subscales, and significantly differed from no-education control for the most subscales, including restraint selection, back seat knowledge, rear-facing knowledge and attitudes, total efficacy, overall attitudes, and stated intentions.

Conclusions

This research provides insight for increasing caregiver understanding and compliance with CPS information. Recommendations for the field include communicating the rationale behind the information given, using behavior-based directives in headers, avoiding age-based headers, and incorporating back-seat positioning directives throughout.