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微型机器人足球大赛中,保证和提高机器人之间的通信能力是一项关键技术问题。通过无线通信方式,借助外部主计算机或工作站处理传感器信息成为一种可行方案。本文以微型轮式机器人为试验平台,研究微型机器人的无线通信实现问题。 相似文献
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微型机器人是指尺度在毫米及其以下(几百纳米到几毫米)的一类机器人,是机器人研究领域的一个重要分支.低强度电磁场无线操控的微型机器人,可以在狭小的空间运动,完成复杂的作业任务,在微操作、靶向药物输送和体内传感标记等生物医学研究中有着广泛的应用前景.经历几十年的发展,研究人员在机器人的结构设计、微纳制作和伺服控制方面贡献了许多重要理论和实践成果.本文旨在介绍自动化方法在磁性微型机器人中的应用,主要包含运动建模、闭环控制和路径规划方面的研究内容,并讨论磁性软体微型机器人在建模与运动控制方面存在的挑战.最后,提出磁性微型机器人在控制与规划方面的研究方向. 相似文献
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本文首先论述了微型管道机器人的发展背景及与传统管内机器人的区别,然后对几种典型常规小管径管道机器人和国外几种典型微驱动式管内微型机器人工作原理对比分析,指出了目前管内微型机器人研究中所面临的主要问题,并对实现微管内机器人实用化的关键技术及研究发展方向进行了探讨． 相似文献
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微型机器人视觉系统的实现 总被引：1，自引：0，他引：1
利用Ф2mm电磁型微马达作为执行器设计制作了一外形尺寸为 5mm× 6mm的微型机器人小车 ,附设了粗细两级CCD摄像头来实现机器人视觉。为了满足机器人实时控制的要求 ,采用简单实用的机器人运动参数粗略提取方法 ,实现了机器人当前位置、运动速度和方向以及运动加速度等参数的实时提取。当机器人到达目的地来实现微器件精密定位时 ,采用亚像元定位的方法来实现微操作端位置参数的精确提取。模板匹配技术在微型机器人系统中的灵活运用解决了系统参数提取的实时性问题 ,实现了机器人视觉 相似文献
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针对目前主动式胶囊机器人存在的安全性和有效性问题,提出了一种基于伸缩和平移机构的腿式胶囊机器人.其中,伸缩机构采用微型连杆结构,平移结构采用丝杠-螺母结构.在空间位置、速度和输出力等约束条件下,对这两套驱动机构进行建模和分析,实现尺寸参数和电动机工作参数的优化.经过优化,伸展速度的范围为16.8 mm/s~34.2 mm/s,伸展力的范围为2.45 N~0.44 N,伸展效率的范围为92.8%~34.0%;而平移速度、平移推力和平移效率则基本保持恒定,分别为50 mm/min、4.20 N和50%.胶囊机器人驱动单元的长度和外径分别为33 mm和16 mm.最后,在离体猪结肠内测试该腿式胶囊平移机构机器人的性能,结果表明它可实现有效、安全的伸缩与平移运动,其平均速度可达25 mm/min. 相似文献
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在网络飞速发展的今天,计算机病毒已成为当今在计算机以及计算机网络中流行最广泛、最活跃、最具破坏性的特制程序。因此,防毒、杀毒已成为计算机使用者必不可少的技能。 相似文献
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Journal of Computer Science and Technology - First discovered in Wuhan, China, SARS-CoV-2 is a highly pathogenic novel coronavirus, which rapidly spread globally and became a pandemic with no... 相似文献
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Mathematical models describing SARS-CoV-2 dynamics and the corresponding immune responses in patients with COVID-19 can be critical to evaluate possible clinical outcomes of antiviral treatments. In this work, based on the concept of virus spreadability in the host, antiviral effectiveness thresholds are determined to establish whether or not a treatment will be able to clear the infection. In addition, the virus dynamic in the host – including the time-to-peak and the final monotonically decreasing behavior – is characterized as a function of the time to treatment initiation. Simulation results, based on nine patient data, show the potential clinical benefits of a treatment classification according to patient critical parameters. This study is aimed at paving the way for the different antivirals being developed to tackle SARS-CoV-2. 相似文献
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Since the late 2019, the COVID-19 pandemic has been spread all around the world. The pandemic is a critical challenge to the health and safety of the general public, the medical staff and the medical systems worldwide. It has been globally proposed to utilise robots during the pandemic, to improve the treatment of patients and leverage the load of the medical system. However, there is still a lack of detailed and systematic review of the robotic research for the pandemic, from the technologies’ perspective. Thus a thorough literature survey is conducted in this research and more than 280 publications have been reviewed, with the focus on robotics during the pandemic. The main contribution of this literature survey is to answer two research questions, i.e. 1) what the main research contributions are to combat the pandemic from the robotic technologies’ perspective, and 2) what the promising supporting technologies are needed during and after the pandemic to help and guide future robotics research. The current achievements of robotic technologies are reviewed and discussed in different categories, followed by the identification of the representative work’s technology readiness level. The future research trends and essential technologies are then highlighted, including artificial intelligence, 5 G, big data, wireless sensor network, and human-robot collaboration. 相似文献
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Mohamed Amine Ferrag Lei Shu Kim-Kwang Raymond Choo 《IEEE/CAA Journal of Automatica Sinica》2021,8(9):1477-1499
The speed and pace of the transmission of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2; also referred to as novel Coronavirus 2019 and COVID-19) have resulted in a global pandemic, with significant health, financial, political, and other implications. There have been various attempts to manage COVID-19 and other pandemics using technologies such as Internet of Things (IoT) and 5G/6G communications. However, we also need to ensure that IoT devices used to facilitate COVID-19 monitoring and treatment (e.g., medical IoT devices) are secured, as the compromise of such devices can have significant consequences (e.g., life-threatening risks to COVID-19 patients). Hence, in this paper we comprehensively survey existing IoT-related solutions, potential security and privacy risks and their requirements. For example, we classify existing security and privacy solutions into five categories, namely: authentication and access control solutions, key management and cryptography solutions, blockchain-based solutions, intrusion detection systems, and privacy-preserving solutions. In each category, we identify the associated challenges. We also identify a number of recommendations to inform future research. 相似文献
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为了减少温室效应,对于煤气化过程中CO_2的减排与零排放技术的研究成为必要。本文建立了全面的煤气化反应器的数值模型,对以CaO作为吸收剂的原位脱碳的流化床煤气化反应器进行了数值模拟。模拟以简化结构的二维反应器为求解域,应用标准k-ε模型描述气相湍动,EDC模型描述反应器中湍流与反应的偶合,EDC模型将详细的化学动力学融入到湍流混合中。讨论了反应器中温度、气速、压力及气体产物的分布。 相似文献
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While many efforts are currently devoted to vaccines development and administration, social distancing measures, including severe restrictions such as lockdowns, remain fundamental tools to contain the spread of COVID-19. A crucial point for any government is to understand, on the basis of the epidemic curve, the right temporal instant to set up a lockdown and then to remove it. Different strategies are being adopted with distinct shades of intensity. USA and Europe tend to introduce restrictions of considerable temporal length. They vary in time: a severe lockdown may be reached and then gradually relaxed. An interesting alternative is the Australian model where short and sharp responses have repeatedly tackled the virus and allowed people a return to near normalcy. After a few positive cases are detected, a lockdown is immediately set. In this paper we show that the Australian model can be generalized and given a rigorous mathematical analysis, casting strategies of the type short-term pain for collective gain in the context of sliding-mode control, an important branch of nonlinear control theory. This allows us to gain important insights regarding how to implement short-term lockdowns, obtaining a better understanding of their merits and possible limitations. Effects of vaccines administration in improving the control law’s effectiveness are also illustrated. Our model predicts the duration of the severe lockdown to be set to maintain e.g. the number of people in intensive care under a certain threshold. After tuning our strategy exploiting data collected in Italy, it turns out that COVID-19 epidemic could be e.g. controlled by alternating one or two weeks of complete lockdown with one or two months of freedom, respectively. Control strategies of this kind, where the lockdown’s duration is well circumscribed, could be important also to alleviate coronavirus impact on economy. 相似文献
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为提高医院防治新型冠状病毒的信息化应急能力,提出基于信息系统的应急处理办法.依托计算机技术、互联网技术、5G技术快速构建线上应急诊疗专区,搭建门急诊分流限流管理平台,开展新冠患者远程会诊.实现慢病、特病、专病患者线上问诊、在线续方、药品配送到家的全流程应用,搭建了机构之间新冠患者远程会诊服务,调整了门诊放号算法,降低了线下就医人群交叉感染率.通过信息系统的应急响应措施,实现医院从线上到线下的疫情应急防治全覆盖,依托信息化手段采用分流、截流、导流快速助力疫情防控,增强了新型冠状病毒的防治效果. 相似文献
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Mohammed Baz Sabita Khatri Abdullah Baz Hosam Alhakami Alka Agrawal Raees Ahmad Khan 《计算机系统科学与工程》2022,40(2):691-702
The rapid emergence of novel virus named SARS-CoV2 and unchecked dissemination of this virus around the world ever since its outbreak in 2020, provide critical research criteria to assess the vulnerabilities of our current health system. The paper addresses our preparedness for the management of such acute health emergencies and the need to enhance awareness, about public health and healthcare mechanisms. In view of this unprecedented health crisis, distributed ledger and AI technology can be seen as one of the promising alternatives for fighting against such epidemics at the early stages, and with the higher efficacy. At the implementation level, blockchain integration, early detection and avoidance of an outbreak, identity protection and safety, and a secure drug supply chain can be realized. At the opposite end of the continuum, artificial intelligence methods are used to detect corona effects until they become too serious, avoiding costly drug processing. The paper explores the application of blockchain and artificial intelligence in order to fight with COVID-19 epidemic scenarios. This paper analyzes all possible newly emerging cases that are employing these two technologies for combating a pandemic like COVID-19 along with major challenges which cover all technological and motivational factors. This paper has also discusses the potential challenges and whether further production is required to establish a health monitoring system. 相似文献