Analysis of rider and single-track-vehicle system; its application to computer-controlled bicycles

Single-track-vehicles are dynamically more unstable and more complicated than automobiles, so that a rider must play a more important role in a man-machine system. The purpose of this paper is to analyze the balancing and tracking stabilities of this rider-cycle system, in order to design an automatically balancing and tracking robot bicycle which is expected to be used in a laboratory for researching good handling performance. A dynamical model of it is presented as a feedback control system with two inputs, handlebar steering and rider upper body leaning. The experimental bicycle is controled by a robotical rider which is realized by a microcomputer. According to a lane change experiment, the cycle runs successfully, and the results of dynamical responses are verified by the theoretical analysis.     

基于人工生命算法的并联机器人最优轨迹规划

基于机器人直纹面概念和人工生命算法,提出一种并联机器人位姿轨迹最优规划方法.应用计算几何中的三维直纹面生成原理,对机器人末端执行器的位置和姿态进行统一描述.考虑到机器人姿态直纹面面积及其变化率能够反映和评价机器人的运动学和动力学性能,通过求解等效角位移矢量在空间的运动轨迹形成的三维直纹曲面面积及其变化率,并将其作为泛函的泛函极值,同时考虑运动时机器人的灵活度,建立机器人位置和姿态轨迹优化的数学模型.采用人工生命优化算法对代表并联机器人位姿轨迹的高阶参数化空间曲线的参数进行优选,通过优化轨迹直纹曲面面积及其变化率和机器人的灵巧度,使并联机器人具有良好的运动学和动力学性能.最后以一三自由度球面并联机器人轨迹规划实例,验证所提出方法的可行性.     

无根欠驱动冗余机器人动力耦合特性研究

无根多刚体系统和欠驱动冗余机器人系统实质上都属二阶非完整动力系统,其位姿空间约束方程不能满足控制要求,一般基于动力学方程对系统进行控制,即通过关节间动力耦合作用约束被动关节运动,因此此类机器人可控性分析的重点在于系统耦合运动特性研究。基于动力学虚设机构法及非完整系统微分变分原理,建立了无根欠驱动冗余机器人的动力学模型;针对虚设关节、主、被动关节进行动力学模型解耦,推导出了系统的二阶非完整约束方程及被动关节的加速度表达式;在此基础上,通过定义表征被动关节耦合运动的性能指标,针对不同位置主动关节输入参数对被动关节可控性的影响进行了仿真分析,得到了提高无根欠驱动冗余机器人可控性的有益结论,为实际欠驱动冗余机器人输入控制提供了参考。     

Modular Autonomous Electrical Power Supply Systems Examples of Several Stand Alone Systems

A modular system for the supply of remote electrical consumers was developed, which makes possible a variable integration of wind energy and photovoltaic plants in connection with a diesel engine and a battery storage. The wind energy converters, equipped with asynchronous generators, and a fast pitch control, work parallel with a synchronous generator. The generator is driven by a diesel engine by means of an overrunning clutch, or started by a small DC-motor. If the diesel is off, or the starting process by the DC-motor is finished, the synchronous generator works as a rotating phase-shifter and takes over voltage control and supply of reactive power.

The speed versus power control of the wind energy converters does not only make possible an optimized parallel operation with the diesel-generator unit, but also directly takes over frequency control when operated singly without diesel engine. The location of the wind energy plants does not depend on the site of the diesel engine, because control cables are not necessary. To avoid too frequent starting of the diesel, a storage battery is installed. The report describes the electrical and control technical design on principle, as well as the experience with the following, already built plants:

-Coupling of two wind energy plants for the supply of water irrigation pumps.

-Combination of two WECs with a short-time battery storage and a diesel-set.

-Combination of two WECs with a photovoltaic generator and a battery storage.     

Automated robotic programming for products with changes

To achieve mass customization, a manufacturing system needs to accomplish a variety of manufacturing processes of different products for the same product family. One of the critical issues is to develop an automatic program for process planning, so that the required product variations can be tackled appropriately in the same manufacturing system. In the current paper, robotic motion planning for automatic coating process is investigated, the state of the art in this area is reviewed and a new methodology is proposed for path generation, trajectory planning and integrated system simulation.     

Social and collaborative aspects of interaction with a service robot

To an increasing extent, robots are being designed to become a part of the lives of ordinary people. This calls for new models of the interaction between humans and robots, taking advantage of human social and communicative skills. Furthermore, human–robot relationships must be understood in the context of use of robots, and based on empirical studies of humans and robots in real settings. This paper discusses social aspects of interaction with a service robot, departing from our experiences of designing a fetch-and-carry robot for motion-impaired users in an office environment. We present the motivations behind the design of the Cero robot, especially its communication paradigm. Finally, we discuss experiences from a recent usage study, and research issues emerging from this work. A conclusion is that addressing only the primary user in service robotics is unsatisfactory, and that the focus should be on the setting, activities and social interactions of the group of people where the robot is to be used.     

Modelling the motion of a sensor attached to a walking person

This paper describes an implemented system to measure and track the motion of a sensor which is attached to a person or walking robot. The complex gait motion undergone by a structure-measuring sensor during walking introduces significant uncertainty into the measurements it takes. By measuring and tracking the sensor’s motion, more meaningful information can be obtained from the measurements, and predictions can be made about the future observed position of important objects in the world. The use of motion measuring devices is discussed and compared to the possible estimation of motion by the structural sensor itself. Analysis of walker motion is performed through the use of Gabor wavelets and the Extended Kalman Filter. The method tracks and predicts motions reliably while the walker walks in a straight path or turns corners. Particular attention is focussed on the case where the structural sensor is computer vision, and the benefit that a motion model can provide with it.     

雅致逸人 善宜长存——新疆伊犁察布查尔锡伯族民居建筑剖析

锡伯族的传统民居仅在察布查尔锡伯自治县有较为完整的保留,具有原始的纯正风格,然至今尚无相关的研究。通过从村镇形成及庭院布局、外部形态、内部空间等方面对锡伯族民居进行剖析,总结出其鲜明的形制特点,对发扬该民族建筑文化具有重要意义。     

移动消毒防疫机器人设计与导航实现

基于新冠疫情之下消毒防疫的需求,设计一款具有减振缓冲移动底盘的消毒防疫机器人。集成紫外线和喷雾消毒功能的消毒模块可自动升降,以满足不同高度区域的消毒需求。移动底盘可完成地图构建和自主导航,消毒模块可以满足消毒彻底、不留死角和较高位置消毒的需求。分析并建立移动消毒防疫机器人速度运动模型;搭建仿真环境,得到仿真环境地图,并在该环境下进行自主导航实现。结果表明：所设计的导航系统安全、可靠,可以实现室内空间消毒的绿色化和自动化。