Design and analysis of turnover platform for welding robot北大核心CSCD

A turnover platform for welding robot was designed for the application of welding robot with lower accuracy requirement, which was of low cost and higher position accuracy. In this turnover platform, the pneumatic motor was used as the power output, and the indexing mechanism with high accuracy was the transmission system with high transmitting ratio based on worm and wheel. The position information was acquired by using the photoelectric encoder, and the turnover motion with high accuracy was realized through the closed-loop controller. Simulation results showed that the maximum speed of the welding platform approached 14 r/min, and the platform could meet the requirements of most welding products. Such a turnover platform can offer the application program of the welding robot with low cost for the middle and low level products, and reduce the cost of welding robot and improve welding productivity.     

ITER极向场线圈销轴表面硬化工艺研发

ITER极向场线圈(PF)磁体支撑销轴承载极向场线圈和部分真空室的质量,因使用环境非常恶劣,所以对其表面硬度及耐磨性能有很高的需求。按照ITER极向场线圈销轴的设计要求,研发了两种表面硬化处理方式,包括无界面N离子注入361LN强化处理以及采用在不锈钢表面堆焊一层马氏体不锈钢ER414L的方式分别不同程度地增加基底材料的表面硬度以及耐磨性能,可以满足小尺寸及超大型部件的表面硬化设计需求。     

Optimization of A-TIG process parameters using response surface methodology

In the present work, the influence of process parameters such as welding current (I), welding speed (S), and flux coating density (F) on different aspects of weld bead geometry for example depth of penetration (DOP), bead width (BW), depth to width ratio (D/W), and weld fusion zone area (WA) were investigated by using the central composite design (CCD). 9–12% Cr ferritic stainless steel (FSS) plates were welded using A-TIG welding. It was observed that all input variables have a direct influence on the DOP, BW, and D/W. However, flux coating density has no significant effect on WA. Mathematical models were generated from the obtained responses to predict the weld bead geometry. An optimized DOP, BW, D/W, and WA of 6.95?mm, 8.76?mm, 0.80, and 41.99?mm², respectively, were predicted at the welding current of 213.78 A, the welding speed of 96.22?mm/min, and the flux coating density of 1.99?mg/cm². Conformity test was done to check the practicability of the developed models. The conformity test results were in good agreement with the predicted values. Arc constriction and reversal in Marangoni convection were considered as major mechanisms for the deep and narrow weld bead during A-TIG welding.     

一种新型的加固计算机箱设计

介绍了一种新型加固计算机机箱,其独特的双层箱体结构,使它适合在各种复杂恶劣的环境条件下使用。通过设计实践,阐述了该箱体的结构特点和密封、隔振缓冲、电磁兼容等方面的具体解决方法,特别是箱体成型和综合热设计等关键技术。经环境试验和工程实际应用的检验,证明其具有较好的综合防护性能。     

Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

大型喷浆机器人的工作空间分析

对机器人工作空间的求解方法进行对比研究。针对大型喷浆机器人的具体特点 ,使用蒙特卡洛法分析其工作空间 ,取得了良好的效果。     

Path-planning and navigation of a mobile robot as discrete optimization problems

There is huge diversity among navigation and path-planning problems in the real world because of the enormous number and great variety of assumptions about the environments, constraints, and tasks imposed on a robot. To deal with this diversity, we propose a new solution to the path-planning and navigation of a mobile robot. In our approach, we formulated the following two problems at each time-step as discrete optimization problems: (1) estimation of a robot's location, and (2) action decision. For the first problem, we minimize an objective function that includes a data term, a constraint term, and a prediction term. This approach is an approximation of Markov localization. For the second problem, we define and minimize another objective function that includes a goal term, a smoothness term, and a collision term. Simulation results show the effectiveness of our approach. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000     

A distributed control scheme for multiple robotic vehicles to make group formations

This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized, which we have succeeded in proving mathematically only in the cases where the attractions between the robots are symmetrical. Each robotic vehicle especially has a two-dimensional control input referred to as a “formation vector” and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations.     

Vehicle Teleoperation Interfaces

Despite advances in autonomy, there will always be a need for human involvement in vehicle teleoperation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In this paper, we provide an overview of vehicle teleoperation and present a summary of interfaces currently in use.     

Supervisory control of multiple robots in dynamic tasking environments

A military targeting environment was simulated to examine the effects of an intelligent route-planning agent RoboLeader, which could support dynamic robot re-tasking based on battlefield developments, on the performance of robotics operators. We manipulated the level of assistance (LOAs) provided by RoboLeader as well as the presence of a visualisation tool that provided feedback to the participants on their primary task (target encapsulation) performance. Results showed that the participants' primary task benefited from RoboLeader on all LOAs conditions compared to manual performance; however, visualisation had little effect. Frequent video gamers demonstrated significantly better situation awareness of the mission environment than did infrequent gamers. Those participants with higher spatial ability performed better on a secondary target detection task than did those with lower spatial ability. Finally, participants' workload assessments were significantly lower when they were assisted by RoboLeader than when they performed the target entrapment task manually. Practitioner Summary: This study demonstrated the utility of an intelligent agent for enhancing robotics operators' supervisory control performance as well as reducing their workload during a complex urban scenario involving moving targets. The results furthered the understanding of the interplay among level-of-autonomy, multitasking performance and individual differences in military tasking environments.