Dynamic Modeling and Hydrodynamic Performance of Biomimetic Underwater Robot Locomotion

We developed a dynamic model of a Nitinol artificial muscle activated biomimetic robot. The robot was reverse engineered from the American lobster and built in the Biomimetic Underwater Robot Program at Northeastern University. It is intended for autonomous remote-sensing operations in shallow waters. An experimentally based Nitinol artificial muscle model was integrated into the robot dynamic model. The hydrodynamic characteristics of the robot were determined experimentally. The muscle control signals were generated by utilizing a readily available biomimetic control architecture. The effects of the timing parameters were investigated. Simulations indicate that the developed robot is able to locomote with high stability. It can walk against constant currents and surge.     

一种支持自适应程序设计的移动机器人中间件

机器人控制中间件是软件中间件设计研究领域的一个热点.为了开发一种支持自适应程序设计的移动机器人中间件平台,首先提出这种中间件平台需要满足的设计要求:跨底层硬件平台、保证服务质量以及具备一定的自适应能力.从Java虚拟机的移植、服务质量表现形式的选择、自适应机制及SCC(Sensor/Compute/Control)设计结构的应用4个方面来阐述此中间件平台的设计思路和开发过程.最后,通过真实实验的数据对比,说明此中间件可为移动机器人程序的有效开发提供服务质量保证.     

基于软件人架构的机器人设计与实现

以无人变电站移动巡检机器人为应用对象,运用"软件人"理论方法开展基于"软件人"架构的机器人系统设计:一方面,利用虚拟"软件人"为实体机器人建立软件模型,充分发挥"软件人"的拟人特性,构建"软件人"和机器人协同交互、融合共生的平行系统,通过"软件人"和机器人平行进化的智能算法实现"软件人"和机器人在线、实时、自动平行进化,在运行过程中不断提高机器人的性能;另一方面,利用"软件人"运行平台的高处理能力完成在机器人嵌入式系统中无法完成的一些智能算法,实现对实体机器人的实时作业并行、在线、实时地仿真。     

机器人路径规划研究

机器人路径规划是在有障碍物的工作空间中寻求一条安全无障的最优路径,是当前机器人研究领域的热点问题,是实现机器人自主导航和完成复杂任务的关键技术之一。在对智能路径规划方法研究的基础上,提出了基于人工免疫算法的机器人路径规划,并对免疫算法进行了详细设计。仿真结果表明,人工免疫算法可以很好地规划出恰当的路径,收敛速度快,规划效果好,较好地验证了所提出方法的正确性和有效性。     

Accountable system design architecture for embodied AI: a focus on physical human support robots

Although the development of robot-based support systems for elderly people has become more popular, it is difficult for humans to understand the actions, plans, and behavior of autonomous robots and the reasons behind them, particularly when the robots include learning algorithms. Learning-based autonomous systems which are called AI are treated as an inherently untrustworthy ‘black box,’ because machine learning or deep learning algorithms are difficult for humans to understand. Robot systems such as assistive robots, which work closely with humans, however, should be trusted. Systems should therefore achieve accountability for all stakeholders. However, most research in this field has focused on particular systems and situations, and no general design architecture exists. In this study, we propose a new design method, focused on accountability and transparency, for learning-based robot systems. Describing the entire system is a necessary first step, and transcribing the described system for each stakeholder based on several principles is effective for achieving accountability. The method improves transparency for systems, including learning algorithms. A standing assistive robot is used as an example of the entire system to clarify which system parts require greater transparency. This study adopted the Systems Modeling Language (SysML) to describe the system and the described system is used for the information representation. Information should be represented considering the relationships between stakeholders, information, and the system interface. Because of their complexity, it is difficult for humans to understand the complete set of information available in robot systems. Systems should therefore present only the information required, depending on the situation. The stakeholder–interface relationship is also important because it is more beneficial for professionals to view information relevant to their specialized field, which would be difficult for others to understand. By contrast, the interface should be intuitive for general users. Visualization and sound are very useful means of transmitting information, with advantages and disadvantages for different circumstances. These relationships are important for achieving accountability. Finally, we show an example of implementation with a developed support system. It is confirmed that accountable systems can be designed based on the proposed design architecture.     

一种动态未知环境中自主机器人的导航方法

提出一种动态未知环境中机器人自主导航方法,利用少量的人类辅助避免了繁琐的地图描述．该方法分两个阶段：用户引导阶段和自主导航阶段．在用户引导阶段,利用多种传感器信息融合生成局部环境的粗略的极坐标地图,利用它可以得到全局地图,还给出了消除传感器数据误差的方法;在自主导航阶段,利用引导阶段得到的地图在动态环境中进行运动,并给出了运动控制的约束条件以及动态避障的方法．机器人利用该方法可以处理突发的障碍物,还能对路径进行优化,实验结果证明了其有效性．     

全自主机器人足球系统的研究综述

综述了全自主机器人足球系统的历史和研究现状 .对机器人足球系统的协作系统体系结构、机器学习、路径规划、实时通信、视觉和多传感器融合等技术进行了较为详细的分析 ,并且对各种研究方法的优势与不足进行了比较 .     

自主移动机器人混合式体系结构的设计与实现

针对以往自主移动机器人体系结构在实时处理方面的不足,提出了一种基于多智能体的混合式体系结构,统一规划了机器人系统的软硬件结构,在该体系结构中设计并实现了协调Agent和推理Agent两种智能体,针对紧急事件进行了更实时的Agent实现,有效的提高的自主移动机器人在突发事件时的实时性,提出了使用多样化的信息组织形式,增强了系统的自适应能力和易扩展性。本文的实验结果表明在紧急状态下,系统的反应时间有效缩短,增加了系统的智能性和实时性。     

Motion Control of Caster-Type Passive Mobile Robot with Servo Brakes

In this paper, we introduce a passive mobile robot called prototype Caster-Type Passive Robot Porter (C-PRP), which is developed on the basis of a concept of passive robotics. This mobile robot consists of two casters with servo brakes and one passive rigid wheel. Prototype C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. We derive the feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. This paper especially focuses on a fundamental motion control algorithm based on the feasible braking force/moment. We realize the path tracking function and the collision avoidance function as examples by applying the proposed algorithm to prototype C-PRP. These functions are implemented to prototype C-PRP actually, and experimental results confirm its validity.     

基于行为的自主微小移动机器人智能体系结构研究

该文提出了一种模拟人类学习与进化过程的机器人智能体系结构,微小机器人利用设计人员事先设计的机器人基本行为,根据实际环境和具体任务要求,采用增强学习方式,通过群体行为进化,自主创建满足任务要求和适应环境的具体动作。克服了设计人员在采用基于符号的传统人工智能方法时,由于对外部环境和任务的认识不足而造成的局限性,使机器人的行为动作更适合环境和任务要求。     

基于ROS的智能工业机器人系统开发平台

目前,工业机器人对于机器视觉、自主路径规划等智能化功能需求日益增长.然而在传统工业机器人系统中添加智能化功能模块时需要修改大量的源码,浪费了人力和成本.本文提出的基于ROS的易扩展机器人系统开发平台,能为开发者开发智能工业机器人系统提供了方便.本平台分为服务器端和机器人端.将机器人端作为一级节点,与安装ROS的PC服务器端进行通信.机器人一级节点由二级功能节点与功能模块组成.根据此平台开发实现的JPB06六自由度工业机器人系统具有机器视觉、自主定位、语音控制等智能化功能,可以满足工业机器人对于智能化和实时控制的需求.     

一种新的机器人模型及其控制算法

机器人模型通常写为H(q)q+C(q,q)q+G(q)=τ,其中可适当定义矩阵C(q,q)使 得H-2C是反对称阵,这一性质对机器人控制设计十分有用.目前文献中认为这样的C是 唯一确定的.本文采用数学力学工具Spatial Notation推导出一种新形式的机器人模型,证 明了上述C并非唯一确定的.文中还以Slotine,Li的著名自适应控制方案为例说明,若用 本文的新模型替换传统模型,将会设计出实时计算量少得多的控制算法.     

脑基本机能联合区理论在智能机器人体系结构中的应用

文章剖析了A.P.Лурия提出的脑的三个基本机能联合区理论,基于该理论提出了智能机器人神经心理体系结构模型,并拓展了Rao和Georgeff的BDI逻辑,用于机器人的心理(心智)机制描述,基于CADCON的水下机器人三维仿真结果表明了该体系结构的可行性和有效性。     

自主飞行机器人导航系统设计

自主飞行机器人系统是以微型直升机模型为载体的复杂系统。在该系统中导航系统采集各传感器数据得到机器人当前飞行姿态、空间位置以及相应的监控信息,控制模块依此监控信息按照给定策略计算并发出控制信号,实现飞行机器人的自主控制。本文对自主飞行机器人导航系统设计及功能实现做出了详细阐述。首先,给出了本自主飞行机器人的系统构造;其次,给出了导航系统的硬件组成部分以及各部分所完成的功能任务;最后阐述了导航系统的功能实现,包括飞行姿态和空间位置的获取。     

Johnny: An Autonomous Service Robot for Domestic Environments

In this article we describe the architecture, algorithms and real-world benchmarks performed by Johnny Jackanapes, an autonomous service robot for domestic environments. Johnny serves as a research and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domestic service robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in the RoboCup@Home competition where Johnnys outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.     

A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight

To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However, less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.      

基于嵌入式的移动机器人导航算法研究

针对移动机器人视觉导航中路径识别和路径跟踪问题,采用S3C2440嵌入式处理器处理摄像头传感器采集的路径环境信息,实现移动机器人在有引导路径的情况下自主导航。首先,用小波分析的方法进行图像增强和滤波,数学形态学反复开关滤波去除路面上的杂质,其次,针对单路径和交叉引导路径分别采用基于阈值化和形态学方法提取中心点,最后,加权最小二乘法计算导航参数。实验结果表明,该导航算法具有较好的实时性和准确的控制精度,能够满足机器人视觉导航的需要。     

Design and Implementation of Fuzzy Parallel-Parking Control for a Car-Type Mobile Robot

The theme of this paper is to design and implement a car-type mobile robot (CTMR) that possesses autonomous parallel-parking capability. At first, we introduce the hardware architecture of the CTMR, which consists the robot mechanism, microcomputer part, electronic driver, and sensor. Two fuzzy parallel-parking controls (FPPC), the backward and forward parallel parking, are provided to maneuver the steering angle of the CTMR. Computer simulations are used to illustrate the effectiveness of the developed FPPC schemes. For real-time implementations, we utilize two FPPC methods that we proposed in simulation to back-drive or head-in the CTMR to the parking lot. Both simulation results and real-time experiments demonstrate the feasibility and effectiveness of the proposed intelligent parallel-parking control system.     

小型仿人机器人主控层软件系统框架设计

主控层软件是仿人机器人重要组成部分,主控层软件设计编写的优劣直接影响到仿人机器人的工作性能.在借鉴国内机器人主控层软件构架设计经验的基础上,针对仿人机器人控制系统的特点,在混合构架的设计思想基础上,采用分层模式设计仿人机器人主控层软件系统框架.该框架由三部分组成:陈述层,业务层和数据层,其中业务层作为仿人机器人软件系统的核心,采用模块化设计,使用消息作为各个模块通信协调机制,多线程多进程作为并发执行的机制,此框架具有良好的扩充性和可重用性等优点.最后在此框架基础上设计的一个具体主控层系统软件实例,在MIH-Ⅰ仿人机器人上稳定运行,证明了该框架的有效性.     

足球机器人系统结构与关键技术研究

对当前各种足球机器人做了归类,并对其组成原理、系统结构以及关键技术进行分析,以使推动相关研究工作的开展。