软体仿蛙游动机器人关节式气动致动器研制

为实现仿蛙游动机器人的微小型化,增强其环境适应能力,结合软体材料的优势特点和青蛙划动推进的游动方式,提出了一种关节式气动软体致动器,该致动器在满足软体仿蛙机器人游动过程中的运动性能和力学性能的同时,使得其肢体结构更加紧凑、轻量．利用Yeoh本构模型和虚功原理,结合关节式气动软体致动器的几何参数,建立了致动器的形变分析模型．进而,在致动器总体尺寸受约束的情况下,以一定弯曲角度下致动器输出恢复力矩最大为目标,确定了致动器的具体结构参数．融合3D打印、模塑成型等加工工艺方法,加工制备了关节式气动软体致动器,并通过对比分析,确定了采用纤维线限制致动器径向凸起效应时纤维线的绕线形式和绕线密度．最后经过实验测试分析,该致动器质量约7.5 g,可实现由180°弯曲状态至伸直状态的形态变化,并且在弯曲角度一定时通过调整充入气压的大小可以匹配一定范围内不同大小的负载力矩,从而验证了针对软体仿蛙游动机器人设计的关节式气动软体致动器的可行性．     

基于ADAMS的双足机器人拟人行走动态仿真

在双足机器人HEUBR_1的设计中,下肢采用了一种新的串并混联的仿人结构,并在足部增加了足趾关节.为验证该仿人结构设计的合理性及拟人步态规划的可行性,在ADAMS虚拟环境中建立了双足机器人HEUSR_1的仿真模型.通过拟人步态规划生成了运动仿真数据,在ADAMS虚拟环境中实现了具有足趾运动的拟人稳定行走,经仿真分析,获得了双足机器人HEUBR_1拟人行走步态下的运动学和动力学特性,仿真结果表明:双足机器人HEUBR_1的串并混联的仿人结构设计能够满足行走要求,且拟人步态规划方法可行,有足趾运动的拟人行走具有运动平稳、能耗低、足底冲击力小的特点.稳定行走的仿真步态数据可为下一步双足机器人HEUBR_1样机行走实验提供参考数据.     

一种仿生水下机器人的设计与动力学分析

设计了一种基于波动长鳍推进的仿生水下机器人, 两侧长鳍对称安装于机器人本体两侧. 两侧长鳍分别由十个舵机驱动, 并按照余弦函数波动. 设计了实时控制器, 通过调整鳍条的振动频率和幅值达到控制长鳍运动的目的. 加速度信息和角速度信息由一个惯性测量单元采集. 为获取机器人游动性能与振动频率以及振动幅值之间的关系, 本文给出了长鳍波动运动的运动学分析和动力学分析. 本文通过将长鳍分割成若干小单元并单独计算作用于每个小单元上的作用力, 再计算所有小单元作用力在一个波动周期内的合力的方法, 获得了整个长鳍产生的平均推力. 通过前进游动和旋转游动实验, 验证了机构设计、运动学分析和动力学分析的有效性, 最后讨论了游动性能与波动参数之间的关系.     

风帆雪橇极地漫游机器人的行驶机理研究

提出了一种基于风帆和雪橇的新型极地漫游机器人结构模型,通过风帆的气动力学性能和雪橇的雪地力学特性分析,建立风帆雪橇极地漫游机器人的行驶力学模型,分析机器人的行驶机理.通过进一步的仿真,对机器人的最低行驶条件、航速及行驶范围进行了分析.在理论研究和仿真分析的基础上,进行机器人相关参数设计,研制风帆雪橇极地漫游机器人原理样机.最后通过样机的雪地综合实验,验证了理论研究和仿真分析的结果.     

仿人机器人轻型高刚性手臂设计及运动学分析

重点研究了7自由度轻型高刚性作业型仿人机器人手臂的机构设计和运动学分析方法.首先使用动力学仿真、有限元分析与实验测试相结合的方法,设计了仿人机器人手臂,该机械臂结构紧凑、质量轻、刚度高.同时,提出结合查询数据库和逆运动学计算去模仿人类手臂姿态,从而获得逆运动学最优解的方法.该方法不仅解决了冗余自由度带来的逆运动学多解问...     

基于ADAMS的并联机器人运动学和动力学仿真

应用机械系统动力学仿真分析软件ADAMS,建立了Stewart型并联机构的虚拟样机模型,包括对并联机器人各部件的简化方法、在ADAMS中的模型描述及仿真过程控制,并利用该虚拟样机模型对并联机器人进行了运动学和动力学分析。为并联机器人系统的设计、制造和模拟运动作业提供了理论依据和主要参数。实现了在计算机上通过使用CAE仿真软件朱对并联机器人的运动和动力性能进行分析,为并联机器人的设计提供了一套有效的分析方法。     

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。     

气动肌肉四足机器人建模与滑模控制

设计了2个拮抗式气动肌肉关节串联的2自由度腿部机构,基于三元素气动肌肉模型,建立单腿拉格朗日动力学模型.构建了系统状态空间,设计了基于干扰上界的滑模控制(SMC)律.搭建了仿真和实验测试平台.分别采用比例-积分-微分(PID)控制、滑模控制对髋关节和膝关节位置跟踪进行仿真和实验.实验结果表明,与PID控制相比,在SMC控制下髋关节误差降低26.2%,膝关节误差降低25.1%,SMC控制的位置跟踪精度要优于PID控制.在自主研发的四足机器人样机平台上进行测试,在SMC控制下可实现四足机器人的小跑步态.     

工业码垛机器人运动学仿真

码垛机器人的运动学分析是实现码垛控制的前提和基础.针对码垛机器人的结构特点,运用空间几何方法对码垛机器人的运动学特性进行理论分析,建立驱动关节与末端执行器的映射关系.利用INVENTOR和ADAMS软件建立了码垛机器人参数化虚拟样机模型,进行运动学仿真.同时,对码垛机器人码垛轨迹仿真优化.实验结果证明,新型工业码垛机器人具有良好的运动学特性,符合现代码垛作业的要求.新提出的机器人仿真分析方法,对进一步提高码垛机器人技术的设计水平,具有促进和借鉴作用.     

仿海蟹机器人浮游步态动力学建模与运动控制

为实现足桨耦合推进仿海蟹机器人在未知海流扰动作用下对目标点的跟踪控制,对仿海蟹机器人浮游步态的动力学和运动控制进行研究.综合考虑重力、浮力、游泳足拍动产生的推力以及水动力的影响,建立了仿海蟹机器人水下复杂环境的动力学模型.在此基础上,设计了一种基于指数趋近律的滑模变结构控制器,将游泳足上下拍翼运动和摇翼运动的相位差作为被控量,对机器人的转艏角速率进行控制.通过李亚普诺夫直接法,证明该系统可实现全局渐近稳定.最后进行了单一目标点和多目标点跟踪运动仿真和实验,结果表明:该方法可以使机器人具有良好的目标点跟踪能力,并对系统动力学参数不确定性及外界扰动具有较高鲁棒性.     

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。     

How do children do mathematics with LOGO?

Abstract  This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development.