四足机器人溜蹄步态动步行的研究

本文应用角速度补偿法实现了四足机器人溜蹄步态的动步行。该四足机器人是本研究室刚刚研制成功的，具有十二个自由度，关节采用滑块摆杆机构，由带有轴角编码器的伺服电机驱动，身体和脚上装有传感器，步行由计算机进行控制。     

教学型双足步行机器人的结构及其控制电路设计

教学型双足机器人的研究制作是桌上型的重量很轻的作实验用的小型双足步行机器人。研究舵机的驱动控制方法、框架的设计以及制作能通过伺服电机控制运动的一种经济型的双足步行机器人。用单片机与CPLD控制伺服电机,通过预先给定机器人各个部位的运动轨迹,运算确定好各关节的旋转角度及控制系统的控制算法,以实现机器人的实际行走过程。     

动态步行双足机器人THR-I的设计与实现

为了既能验证动态步行的理论结果,又能满足经济性的要求,本文设计并实现了一种基于总线型伺服电机的平面无脚双足机器人THR-I．首先介绍了该机器人的系统构成,包括机械结构部分和控制系统部分;在建立步行动力学方程时,考虑了中心约束系统的耦合影响．然后,利用虚拟约束原理,设计了步行约束,并成功实现了步行周期为0     

FANUC公司新的伺服电机装配厂

ＦＡＮＵＣ公司原来的伺服电机装配厂是１９８２年建造的，伺服电机是该公司的当家产品。该厂自开工生产以来，已经走过了 １８个年头。刚开始，工厂月产量定为１．５万台，但是，由于不断推行机器人化，使月产量逐渐上升，最终达到了２．５万台／月。 该厂生产的主要电机类型有：机床用的进给轴伺服电机和主轴电机、通用工业机械用的伺服电机和ＦＡＮＵＣ机器人及自动装置用的伺服电机。ＦＡＮＵＣ公司所有这些电机通常都称为伺服电机。 对伺服电机的需求量在日益增加，为了满足这种要求，公司于１９９７年建成了一家新的伺服电机装配厂，…     

双龙图形编辑软件的使用

双龙电子的图形编辑软件控制伺服电机智能机器人（实体智能机器人及虚拟智能机器人），可用SL-DIY02-4与SL-DIY02-3组成机器人硬件主机板，作为积木式机器人学习控制、创新、开发应用。另一种用SL-DIYD2-9板，作为伺服电机机器人专用控制板，SL-DIY02-9板最多可接32路伺服电机，作为比赛创新作品应用。     

双龙图形编辑软件的使用

双龙电子的图形编辑软件控制伺服电机智能机器人(实体智能机器人及虚拟智能机器人)，一种可用SL-DIY02-4与SL-DIY02-3组成机器人硬件主机板，作为积木式机器人学习控制、创新和开发应用；另一种用SL-DIY02-9板作为伺服电机机器人专用控制板，SL-DIY02-9板最多可接32路伺服电机，作为比赛创新作品应用。     

日本拟人型两足步行机器人研发状况及我见

本文概括地介绍了日本拟人型两足步行机器人的研发状况，五个主要研发小组的成果 和特点，简述了步行机器人研究涉及的八项关键技术．指出智能机器人玩具市场是服务机器 人的一个值得大力开拓的方向．提出了对我国拟人型步行机器人发展战略的建议．     

国内外两足步行机器人研究的历史、现状及发展趋势

本文共分6个部分,详细介绍了研究两足步行机器人的原因和目的,两足步行机器人的特点及其应用前景,国内外两足步行机器人研究的历史、现状及发展趋势.     

丰田公司最新推出新型辅助护理和医疗机器人

日本丰田公司近日宣布，最新推出用于辅助护理和医疗的4款新型机器人，分别是“自立步行辅助机器人”、“步行练习辅助机器人”、“平衡练习辅助机器人”及“移乘护理辅助机器人”。     

机器人装置中交流伺服电机控制技术的研究

在机器人等精密机电装置中广泛使用交流伺服电机，通常采用单片机对交流伺服电机实施控制，由于交流伺服电机转速很高，对控制器提出苛刻的要求，如选用的单片机及其控制方案不当，会抑制交流伺服电机性能的发挥，为此，本文以AT89C52单片机为例，提出多种行之有效对交流伺服电机实施控制的技术方案，供相关工程技术人员参考。     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

基于QTE的蒙古文显示机制研究与实现

蒙古语言是中国蒙古族使用的通用语言,由于蒙古文区别于其他文字的书写方式和其自身变形机制等特点,在很多通用的文字处理引擎中都不被支持。在嵌入式产品开发与应用领域中Linux加QTE已经成为流行方式。该文给出了一种在QTE环境上实现基于标准Unicode的蒙古文点阵显示和变形算法, 并自定义了支持蒙古文的QTE组件,扩展了QTE功能,为在Linux加QTE方式的嵌入式体系结构中处理蒙古文提供了一种解决方法。