Human-centred design methods: Developing scenarios for robot assisted play informed by user panels and field trials

This article describes the user-centred development of play scenarios for robot assisted play, as part of the multidisciplinary IROMEC¹ project that develops a novel robotic toy for children with special needs. The project investigates how robotic toys can become social mediators, encouraging children with special needs to discover a range of play styles, from solitary to collaborative play (with peers, carers/teachers, parents, etc.). This article explains the developmental process of constructing relevant play scenarios for children with different special needs. Results are presented from consultation with panel of experts (therapists, teachers, parents) who advised on the play needs for the various target user groups and who helped investigate how robotic toys could be used as a play tool to assist in the children’s development. Examples from experimental investigations are provided which have informed the development of scenarios throughout the design process. We conclude by pointing out the potential benefit of this work to a variety of research projects and applications involving human–robot interactions.     

ROBOMOSP

This paper describes the design and development of the modeling and simulation environment for the robotic manipulators named ROBOMOSP (Robotics Modeling and Simulation Platform), which addresses important limitations of existing software for this purpose, under a highly parametric interface ideal for academics and research. The ROBOMOSP software platform adds novel characteristics and functions that are not found in other commercial and noncommercial robot modeling and simulation packages available today, including solution to the multibody dynamics problem using automatic calculation of the mass properties of robot multibodies, offline programming using a standard language, an API interface to allow experimentation with new algorithms, and support for remote/distributed use of the platform via socket communications. ROBOMOSP is ideal for training robotic operators, as a research aid, and for studying the mathematical and physical foundations of robotic manipulators, thanks to its ability to permit the expression of models that closely simulate the behavior of real systems within a feature-packed user-friendly interface     

S-IDE: A tool framework for optimizing deployment architecture of High Level Architecture based simulation systems

One of the important problems in High Level Architecture (HLA) based distributed simulation systems is the allocation of the different simulation modules to the available physical resources. Usually, the deployment of the simulation modules to the physical resources can be done in many different ways, and each deployment alternative will have a different impact on the performance. Although different algorithmic solutions have been provided to optimize the allocation with respect to the performance, the problem has not been explicitly tackled from an architecture design perspective. Moreover, for optimizing the deployment of the simulation system, tool support is largely missing. In this paper we propose a method for automatically deriving deployment alternatives for HLA based distributed simulation systems. The method extends the IEEE Recommended Practice for High Level Architecture Federation Development and Execution Process by providing an approach for optimizing the allocation at the design level. The method is realized by the tool framework, S-IDE (Simulation-IDE) that we have developed to provide an integrated development environment for deriving a feasible deployment alternative based on the simulation system and the available physical resources at the design phase. The method and the tool support have been validated using a case study for the development of a traffic simulation system.     

Coordination specification for CIRSSE robotic platform system using Petri net transducers

A formal model based on Petri net transducers has been developed to specify the coordination and communication among the various task units in the CIRSSE platform system for robotic construction in space stations. The specification guarantees a mechanism of coherent control and communication for the effective cooperation among the different task units, and outlines the major steps toward the integration of the robotic platform system. The model is based on a coordination structure consisting of one dispatcher and three coordinators representing, respectively, the motion, vision, and gripper units of the platform system. The coordination structure insures some desired process properties for the system, such as boundedness, liveness, and reversibility, and easier translation from the formal specifications to the program codes based on Petri net transducer models. The model also assists with the system development in many ways, including (i) reducing the number of errors introduced while converting specifications to codes; (ii) assisting the developers in program implementation and verification (iii) allowing quicker adaptation to changed specifications; and (iv) allowing easier testing of the results for specification modifications. Therefore, it provides a useful tool for the design, simulation, performance evaluation, and implementation verification of the CIRSSE robotic platform system.     

Speaky for robots: the development of vocal interfaces for robotic applications

The currently available speech technologies on mobile devices achieve effective performance in terms of both reliability and the language they are able to capture. The availability of performant speech recognition engines may also support the deployment of vocal interfaces in consumer robots. However, the design and implementation of such interfaces still requires significant work. The language processing chain and the domain knowledge must be built for the specific features of the robotic platform, the deployment environment and the tasks to be performed. Hence, such interfaces are currently built in a completely ad hoc way. In this paper, we present a design methodology together with a support tool aiming to streamline and improve the implementation of dedicated vocal interfaces for robots. This work was developed within an experimental project called Speaky for Robots. We extend the existing vocal interface development framework to target robotic applications. The proposed solution is built using a bottom-up approach by refining the language processing chain through the development of vocal interfaces for different robotic platforms and domains. The proposed approach is validated both in experiments involving several research prototypes and in tests involving end-users.     

Knowledge intensive Petri net framework for concurrent intelligent design of automatic assembly systems

The integration of design and planning of flexible assembly system has been recognized as a tool for achieving efficient assembly in a production environment that demands assembly with a high degree of flexibility. This paper proposes a concurrent intelligent approach and framework for the design of robotic flexible assembly systems. The principle of the proposed approach is based on the knowledge Petri net formalisms, incorporating Petri nets with more general problem-solving strategies in AI using knowledge-based system techniques. The complex assembly systems are modeled and analyzed by adopting a formal representation of the system dynamic behaviors through knowledge Petri net modeling from the specifications and the analysis of those models. A template is first defined for a knowledge Petri net model, and then the models for assembly system individuals are established in the form of instances of the template. The design of assembly systems is implemented through a knowledge Petri net-based function–behavior–structure model. The research results show that the proposed knowledge Petri net approach is applicable for design, simulation, analysis and evaluation, and even layout optimization of the flexible assembly system in an integrated intelligent environment. The integration of assembly design and planning process can help reduce the development time of assembly systems.     

Dynamics modeling of robotic manipulators using an artificial neural network

Dynamics modeling is important for the design, analysis, simulation, and control of robotic and other computer-controlled mechanical systems. The complete dynamic modeling of such systems involves the computationally intensive solution of a set of non-linear, coupled differential equations. Artificial neural networks are well suited for this application due to their ability to represent complex functions and, potentially, to operate in real time. The application of an artificial neural network to dynamics modeling of robotic systems is investigated. The Cerebellar Model Arithmetic Computer (CMAC) is employed. A hybrid implementation of CMAC is proposed to allow use of the model for either simulation or control of robotic manipulators. The success of the simulated results and the accuracy of the generated outputs after a few training cycles demonstrate great promise for further development of the method and its implementation in control systems. © 1994 John Wiley & Sons, Inc.     

集群机器人系统特性评价研究综述

集群机器人系统是群体智能的一个重要应用研究领域, 也是机器人系统未来发展的重要方向之一. 集群机器人系统特性评价是一个极具挑战性的关键技术与理论问题, 对于集群机器人系统的研究与发展具有重要意义. 首先, 给出了对集群机器人系统基本概念的理解, 并且从多种不同角度作出了分类. 其次, 梳理了多个关键的集群机器人系统期望特性; 在此基础上, 分别从评价标准、评价指标体系和评价方法三方面对已有集群机器人系统特性评价研究成果进行了比较全面的评述. 最后, 分析总结了当前集群机器人系统特性评价研究工作的不足, 并对未来发展方向进行了展望.     

倾听脑神经细胞声音的机器人——面向脑科学研究的机器人化膜片钳系统

首先,根据操作对象的升级和操作方式改进过程对机器人化膜片钳的发展历程进行综述。进而,聚焦当前人类脑科学研究亟需的、面向清醒非人灵长类动物脑科学研究的机器人化膜片钳系统,对该系统在操作环境显示、操作工具与目标定位、操作工具的运动控制、测量信号的处理和操作对象固定5个方面存在的挑战及其潜在解决方法分别进行讨论分析。最后,在总结当前工作的基础上对今后面向脑科学研究的机器人化膜片钳的发展方向进行展望。     

一种三维力反馈训练仿真控制系统设计

针对空间站舱外任务需要研究人员通过遥操作控制平台对空间站机械臂遥操作来完成,而空间站机械臂研制成本高,无法实现现场调试,直接投入使用风险性高,系统安全性与可靠性无法保障的缺陷与不足,设计了一种面向空间站机械臂的遥操作力反馈训练的仿真控制系统.重点阐述了该系统的工作原理以及系统硬件和软件设计思路.该系统的力反馈手柄具有3个自由度,充分模拟操作空间;力反馈手柄末端位置信息和力反馈信息,由微控制器STM32系列单片机与PC实现数据传输.实验结果验证了该系统面向空间站虚拟机械臂的力反馈控制仿真功能、系统硬件和软件的可靠性,为空间站机械臂的虚拟仿真提供了一种可行方案.     

A real-time,high fidelity dynamic simulation platform for hexapod robots on soft terrain

Dynamic simulation is an important aspect of legged robotic research, which is essential for its design and control. However, the dynamics of the interaction between a soft terrain and a deformable leg (e.g., a spring) is hardly taken into account. In this paper, a high-fidelity, faster-than-real-time simulation system for hexapod robots has been developed based on Vortex. Foot-terrain interaction mechanics and flexible mechanical system are taken into account in order to improve the simulation precision. A general foot-terrain interaction model is presented based on terramechanics. Pseudo-rigid-body method is used to simulate the flexibility of the robot. A speed test shows that the simulation system is capable of real-time or faster simulation. The simulation system's fidelity was validated using two hexapod robots, which is found to be greater than 90%.     

基于CORBA技术的机器人模块化设计的研究进展

随着机器人应用领域的日益普及其功能的不断完善,机器人自身结构和控制也变得越来越复杂.传统的设计和开发方法已经逐渐显示出了制约机器人的应用和发展,为此,研究者们寻求机器人模块化和组件化设计新方法,本文将从介绍以CORBA为代表的中间件在机器人领域的研究状况为切入点,综述了基于CORBA中间件的机器人模块化设计技术,并指出了通过该技术将各种软硬件的异构因素封装在统一的功能组件中,解决模块化设计的瓶颈问题.最后展望和分析了模块化、分布式的机器人组件的发展趋势.     

面向血管疾病诊断及预测分析的血流动力学模拟综述

目的血流动力学模拟方法对于揭示动脉瘤、动脉粥样硬化斑块等血管疾病的形成、发展和破裂的病理形成机制、诊断及术后评估具有重要研究意义,已经成为血管疾病诊断与预测分析临床应用与研究领域的一个热点方向。方法根据血流动力学模拟过程中模拟的血流的特征尺度的不同,本文采用宏观尺度血流动力学模拟和多尺度血流动力学模拟的两种分类方法进行综述。结果总结了不同特征尺度模拟情况下的血流动力学模拟与分析方法的国内外研究现状、主要研究方法和关键技术,并阐述了其中存在的研究难点,展望了血流动力学模拟未来的研究发展方向。结论随着当前血管疾病患者人数的日益增长,结合基于图像信息的血管建模技术和人体生理真实性血流信息的多尺度血流动力学模拟方法的研究将成为该领域一个新的研究热点,对于提高我国血管疾病治疗水平具有重要研究意义。     

飞机飞行控制系统仿真平台建设

飞行控制系统仿真平台作为现代飞机设计中的重要工具,适用于飞控系统研制的全阶段,是飞控系统研究与开发的重要设施。在分析飞控系统仿真平台建设的必要性、基本要求以及适用范围的基础上,给出了一种通用型半物理仿真平台的建设方案,最后指出了建设中需要把握的关键技术。     

服务机器人云平台服务质量指标体系综述

服务机器人的诞生丰富了人们的生活,并且随着大数据、云计算等技术的迅速发展,服务机器人连接云平台并从中调取算法服务已经能够实现,云服务机器人已然成为服务机器人的重点研究方向之一,而服务机器人云平台作为云服务机器人的云端服务平台有着重要的作用,需要对服务机器人云平台服务质量进行全面地评估,使服务机器人云平台能够和云服务机器人更好地结合。对服务机器人云平台服务质量指标体系进行综述,分别从软件QOS指标、网络QOS指标、服务机器人QOS指标三方面展开研究,并对三方面指标内容进行总结分析,得出一种服务机器人云平台服务质量指标体系,通过该体系能够对目前的服务机器人云平台以及相关云服务机器人的服务质量进行较为全面地评估,对该体系的未来发展进行展望。     

Design evaluation and modification of mechanical systems in virtual environments

Design is one of the most important stages in the manufacturing cycle and influences all the subsequent stages of product development. In the context of today’s iterative design methodology, the modification of any design is a process involving many evaluations and improvements to the solutions chosen in earlier stages. For this purpose, in the most recent decade, 3D computer simulations have become common tools used within industry. Whilst virtual reality (VR) technology is seen as the interaction technology of the future, much of the current research in this area is carried out to explore the potential benefits and added value brought by the integration of this into standard software technologies currently used at various stages in manufacturing life cycle. A lot of attention has been given to exploring the usability and benefits of interactive VR for assembly planning, knowledge elicitation and design and simulation. However, little research has focussed on the analytical aspects of the design process, for example in the use of VR as an interface for simulation software in finite element methods and multi-body systems. This paper introduces research focussing on applications of virtual environments (VEs) for interactive design evaluation and modification adapted and used with standard simulation software. The use of such interactive visualisation offers the engineer more realistic real-time representations of the design and advanced facilities to interact with the model during the design process. While design evaluation is based mainly on visualisation; design modification requires interactive changes of the model during the simulation, and the interfaces described here highlights such applications. In this work, two software prototypes have been developed using VR technology. First, a software tool called design evaluation in virtual environments is presented together with an application in civil engineering to illustrate the mode of operation and added value of the use of an interactive visualisation environment. Linking the simulation software with the VE provides real time bi-directional communication of graphical information which can be successfully achieved even within the limits of current computer technology. The tool includes a suite of software modules and a user interface to facilitate the link between the simulation results and the VE. The second tool facilitates the design modification in virtual environments system by providing real time dynamic simulation. Two dynamic approaches are investigated in order to study the real time simulation issues in the context of design modification and system performance: the classic approach based on rigid interconnected bodies, and a new and novel approach developed by the authors based on particles dynamics. Both implementations have been tested and compared on a mechanism application under the same computing conditions. The research applications presented demonstrate the practicality, flexibility and versatility of the visualisation in virtual environment in design evaluation and modification. However, the computer efficiency whilst carrying out real time dynamic simulation is limiting the range of applications to models of moderate size; however, this is an improvement on previous similar applications.     

Operator visual attention allocation prediction in a robotic arm teleoperation interface

In digital interactive interfaces with high visual workloads, it is important for operators to allocate their limited attentional resources appropriately to ensure efficient information collection. The salience, effort, expectancy, value (SEEV) model, which combines top-down and bottom-up attention mechanisms for predicting attention allocation, has been validated in research areas such as piloting, driving, and surgical operations. However, the validity of the SEEV model in the field of robotic arm teleoperation has not yet been thoroughly studied. The primary purpose of this study was to confirm the feasibility of the SEEV model for operator visual attention allocation prediction in a robotic arm teleoperation scenario. The improved ITTI algorithm, distance-measuring tool, Delphi method, and lowest ordinal algorithm were adopted to qualify the four factors of the SEEV model, which also contributed to salience and expectancy quantification methods. Accordingly, an attention allocation prediction model in a robotic arm teleoperation scene was constructed. To verify the validity of the prediction model, 20 participants were recruited to control the robotic arm using V-REP simulation software, and their fixation durations were recorded using an eye tracker as an attention allocation indicator. Participants controlled the robotic arm according to the experimental requirements and operational tasks, such as grasping and placing the target. The results demonstrated that the theoretical data based on the SEEV prediction model are significantly related to the proportion of fixation durations. The experiment verifies the suitability of the SEEV prediction model, and it is anticipated to be utilized in the optimization of interactive interfaces for robotic arm teleoperation.     

Simulation as a Tool for Optimizing Automated Laboratory Equipment and Processes?

In the design of complex automated manufacturing equipment simulation technology has increasingly developed into an essential planning tool which is highly used in the field of semiconductor industry. In the field of laboratory technology a similar trend towards automated systems or automated sequencing of systems can be found. This results in the question if the use of simulation can help detecting optimization potentials in the design of laboratory equipment as well as in laboratory processes. By means of a case study out of the field of clean production the elaborated results help to show the benefits of simulation as a planning tool.With the help of simulation a material flow- and throughput optimized equipment design and therefore required equipment control strategies were ascertained in several iterative runs. The system installation, being in its development stage, was represented realistically in a detailed simulation model. The performance of the system in operation was visualized and then analyzed. Thus, bottlenecks could be localized easily and the equipment design and dimensioning could be reviewed.With the selective simulative examination of different optimization approaches the equipment manufacturer was provided with important data for economical- and investment decisions. The use of simulation technology provides a high planning reliability and helps to avoid planning mistakes already in the stage of system development.This advantages could also be used in future developments in the field of laboratory automation.     

两栖机器人结构设计及运动学建模

两栖仿生机器人的研究是当前新兴的一个热点,它是军用机器人研究的一个重要分支。提出一种两栖仿生机器人的设计思路,确定了一些关键参数,如电机、游动机构等。并对两栖机器人仿鱼游动的运动学进行建模,最终通过实体仿真验证方案的可行性。     

STEP-NC based high-level machining simulations integrated with CAD/CAPP/CAM

With the development of manufacturing,numerical control(NC) machining simulation has become a modern tool to obtain safe and reliable machining operations.Although some research and commercial software about NC machining simulations is available,most of them is oriented for G&M code.It is a low-level data model for computer numerical control(CNC),which has inherent drawbacks such as incomplete data and lack of accuracy.These limitations hinder the development of a real simulation system.Whereas,standard for the exchange of product data-compliant numerical control(STEP-NC) is a new and high-level data model for CNC.It provides rich information for CNC machine tools,which creates the condition for an informative and real simulation.Therefore,this paper proposes STEP-NC based high-level NC machining simulations solution integrated with computer-aided design/computeraided process planning/computer-aided manufacturing(CAD/CAPP/CAM).It turned out that the research provides a better informed simulation environment and promotes the development of modern manufacturing.