基于STM32单片机的下肢康复机器人控制系统设计

康复机器人是一种多学科交叉产生的典型的机械仿生设备,综合利用多门学科理论,结合计算机控制系统实现对机体进行自主控制,达到康复的目的。     

基于EEG的康复机器人脑-计算机接口技术研究

脑-计算机接口(brain-computer interface,BCI)是一种新型的人机接口方式,是康复机器人关键技术之一。介绍了基于脑电信号EEG的康复机器人BCI技术,论述BCI系统结构、工作原理以及关键技术。设计了基于事件相关电位P300虚拟矩阵,通过在头皮上放置电极,采集诱发脑电信号,经放大、滤波后,依据独立分量分析(ICA)原理,应用FastICA算法对特征信号进行了提取。从仿真结果可以看出,提取信号能较好地逼近期望信号。通过判断运动或意识的类型与特征信号之间的关系,从而识别出不同的用户意图,为帮助病人建立一种新的通信、交流方式以及康复治疗等方面提供了依据。     

暗流涌动—发展中的机器人

２０世纪５０年代，工业机器人为解决单调、重复的体力劳动和提高产品质量而诞生。从那以后，机器人作为生产自动化的典型代表，在制造业领域获得了巨大成功。人们逐步发现，在高温、有毒等工人不宜久留的工作环境中，机器人可以发挥其独特优势。工业机器人创造新价值工业机器人的大量应用，促进了机器人产业的发展。在国外，工业机器人技术日趋成熟，已经成为一种标准设备被工业界广泛应用。ABB、FANUC、Motoman、KUKA等国际知名的机器人公司已经成为其所在地区的支柱性产业。目前，日本实际装配的工业机器人总量占世界总量的一半，…     

六自由度并联机器人在金属切削机床中的应用

本文编译了并联机器人在金属切削机床中的应用,详细叙述了该新型机床的性能特点、试验分析及应用前景,因此可供并联机器人研究设计人员在开发与应用时参考。     

IA BEIJING 2013:演绎全球自动化新科技

工业机器人的制造及应用水平代表着一个国家的制造水平,中国万名产业工人拥有的机器人数已经由15台上升为21台。IA BEIJING 2013将展示各种规格的六轴机器人、码垛机器人、焊接机器人、搬运机器人以及视觉、传感、3D成像、RFID等应用于机器人的产品和技术。展商与参展观众将一起深入探讨国内外机器人新产品及智能化生产与应用解决方案,帮助更多的中国企业提高柔性生产效率。ABB、发那科、库卡、史陶比尔、韩国现代重工、沈阳新松、广州数控、安徽埃夫特等众多国内外知名企业均参与其中。     

基于ADAMS的四足机器人运动仿真研究

作为工业机器人的一个主要研究分支,多足机器人具有很强的环境适应性和运动灵活性,正在日益受到重视。应用三维建模软件UG建立了四足机器人的模型,导入到虚拟样机分析软件ADAMS中生成虚拟样机模型,并对四足机器人进行了步态规划,利用MATLAB计算得到机器人关节运动轨迹,导入到ADAMS中,模拟了机器人的实际运动状态,得到其爬行轨迹。利用虚拟样机进行仿真为多足机器人步态规划的研究提供了一种良好的试验方法。     

法国机器人工业一瞥

法国，欧洲的重要工业化国家，其机器人工业近几年发展很快，加上原有工业基础较好，机器人的制造以及机器人在汽车工业中的应用都出现了根本性的进步。在个别项目上，甚至超过了日本，例如在汽车装配中，法国人已完成了用机器人装配主表盘和前后玻璃等较难动作，但是从机器人工业的整体看，较日本还相差甚远，还有很长的路要走。法国在机器人研究中，有一套较具规模的研究系统，主要是由政府研究机构和高校组成，企业特别是大企业投入较少。法国人的研究侧重于基础理论的研究，并取得了一定成绩，例如法国自主开发的机器人编辑语言——…     

关于工业机器人运动学中建立坐标转换矩阵的讨论

工业机器人的各种执行机构通常都属于空间机构 ,在进行工业机器人设计时 ,首先要建立工业机器人中各执行部件与手部在空间的相对位置关系。分析空间机构的相对位置关系 ,就是研究运动机构在空间坐标系中的旋转和平移 ,建立工业机器人执行机构在空间的相对位置关系的数据模型。文中介绍了工业机器人中各机构空间坐标系的形式、建立和转换 ,并对转换矩阵的建立与分析进行了初步探讨。     

一种新型3-PRP并联机器人的运动学分析与仿真

针对传统三自由度并联机器人结构分析困难的问题,通过对传统并联机器人结构与性能的分析,提出一种新型3-PRP并联机器人。为有效地降低机器人结构分析的难度,采用直线模组构成2个对称移动副,配合1个转动副,代替传统三自由度并联机器人的3个转动副,并根据该新型机器人的结构特点,建立了运动学模型;应用空间解析几何和向量代数法,推导出机器人的运动学正解与逆解方程;应用MATLAB仿真软件编程验证运动学正解与逆解的正确性,确立机器人的工作空间。仿真结果表明,该机器人具有工作空间大、运动学模型精度高、制造成本低等特点,具有广泛的工业应用前景。     

人类决策的“羊群行为”效应

面对大雪给交通带来的压力，中外城市似乎都把融雪剂当成了主力，但也不尽然，日本研究人员就研发了除雪机器人来代替人扫雪。     

What pupils can learn from working with robotic direct manipulation environments

This study investigates what pupils aged 10–12 can learn from working with robots, assuming that understanding robotics is a sign of technological literacy. We conducted cognitive and conceptual analysis to develop a frame of reference for determining pupils’ understanding of robotics. Four perspectives were distinguished with increasing sophistication; “psychological”, “technological”, “function”, and “controlled system”. Using Lego® Mindstorms® NXT robots, as an example of a Direct Manipulation Environment, we developed and conducted a lesson plan to investigate pupils’ reasoning patterns. There is ample evidence that pupils have little difficulty in understanding that robots are man-made technological and functional artifacts. Pupils’ understanding of the controlled system concept, more specifically the complex sense-reason-act loop that is characteristic of robotics, can be fostered by means of problem solving tasks. The results are discussed with respect to pupils’ developing technological literacy and the possibilities for teaching and learning in primary education.     

The paradigm of utilizing robots in the teaching process: a comparative study

This paper discusses a comparative study of the effects of using a humanoid robot for introducing students to personal robotics. Even if a humanoid robot is one of the more complicated types of robots, comprehension was not an issue. The study highlighted the importance of using real hardware for teaching such complex subjects as opposed to relatively cheap simulation environments. While the field of robotics is still in its infancy it benefits from a “wow” effect that can be utilized to positively influence the education of new specialists in this field. This comparative study, done at the Polytechnic University of Bucharest, highlights the educational benefits of this idea. Two groups of students took part on a completely volunteer basis in an “introduction to personal robotics” workshop. While one group only worked with simulators on computers, the other group was also given access to real robots in addition to the simulators. This allowed them to test their programs on a real platform and tweak them to compensate for differences between the virtual world and the real world. This second group had consistently and considerably better results than the first group.     

Design and evaluation of a DIY construction system for educational robot kits

Building a robot from scratch in an educational context can be a challenging prospect. While a multitude of projects exist that simplify the electronics and software aspects of a robot, the same cannot be said for construction systems for robotics. In this paper, we present our efforts to create a low-cost do-it-yourself construction system for small robots. We have created three different construction systems (laser-cut screw connectors, printed friction-fit connectors, and printed hybrid connectors) using small aluminium T-slot extrusions, based on prior work done by Industrial Design college students. Eighty-six secondary school students and 35 teachers tested these three systems during a five-day robotics contest where they had to build firefighting robots. Follow-up questionnaires and an expert evaluation were used to measure the usability, affective appraisal and functionality of the three systems in order to determine which system should serve as a basis for further design iterations. Overall, a clear preference was shown for the hybrid system, which relies on its interlocking shape as well as on a screw connection to create robot frames that are both quick to construct and very rigid once assembled. We believe our work represents a solid first step toward an inexpensive, “hackable” construction system for educational robotics.     

Knowledge,firm boundaries,and innovation: Mitigating the incumbent's curse during radical technological change

We explore the relationship between a firm's organization and its ability to face a radical technological change. We suggest that, during such a change, the presence of both in‐house upstream knowledge and downstream market linkages, within a firm's boundary, has its advantages. We test our predictions in the context of the robotics industry where manufacturers of mechanically controlled “brawny” robots, which were valued mainly for their payload capacity, faced the advent of electrically controlled “brainy” robots that emphasized accuracy and repeatability. We find that “preadapted” firms—the ones with prior relevant technological knowledge and with access to internal users of “brainy” robots—were the innovation leaders in the emerging new technology but were laggards in the old technology. Copyright © 2014 John Wiley & Sons, Ltd.     

隧道修复工程中垂直冻土帷幕应力场有限元分析

本文首先简要介绍了在煤矿建设中广泛应用的冻结法的应用范围,然后以上海市轨道交通4号线隧道修复工程中山南路段垂直冻结为例,在试验数据的基础上计算参数,建立有限元模型,对其应力场进行分析研究。研究过程中参数的选取、边界条件的处理、模型的建立、问题的求解及结果处理为隧道修复工程及类似工程提供了有益参考。     

应用PPP模式促进汶川地震灾区恢复重建

汶川大地震后损失巨大，灾后恢复重建工作需要巨额的资金投入，需要多渠道的融资。这为民营资本的进入提供了机遇，使得PPP模式在灾后恢复重建中大有用武之地。探索有针对性的PPP模式，积极应对应用过程中可能会出现的问题，对促进灾后恢复重建工作，解决资金缺口问题有现实意义和可操作性。     

COVID-19, economic crises and digitalisation: How algorithmic management became an alternative to automation

The COVID-19 crisis witnessed a major rise in investment in software for the digital organisation and rationalisation of work, while investment in robotics is continuously lagging behind expectations. This article argues that we can understand this development as the continuation of the rise of algorithmic management as a technological fix for profitability crises. Thus, in the face of falling wage rates and a structural overaccumulation of capital since the 1970s, algorithmic management has become an alternative to automation. The article reconstructs the history of algorithmic management in connection to economic crises. This allows for periodisation of the rise of algorithmic management from 'computer-integrated manufacturing' to remote work in four waves. In times of crisis, algorithmic management functions as a substitute for investment in 'tangible capital' such as robots. Structural economic forces thus interact with labour conflicts at the company level, shaping the rise of algorithmic management.     

县城电网建设改造中要注意的四个问题

为了更好地落实县城电网建设改造工作,最大限度地提高县城电网的建设和改造质量,作者根据前两期的农村电网建设改造情况和县城城区的供用电特性,从四个方面提出了县城电网改造建设中应该注意和需要改进的问题。     

Robotics in the early childhood classroom: learning outcomes from an 8-week robotics curriculum in pre-kindergarten through second grade

In recent years there has been an increasing focus on the missing “T” of technology and “E” of engineering in early childhood STEM (science, technology, engineering, mathematics) curricula. Robotics offers a playful and tangible way for children to engage with both T and E concepts during their foundational early childhood years. This study looks at N = 60 children in pre-kindergarten through second grade who completed an 8-week robotics curriculum in their classrooms using the KIWI robotics kit combined with a tangible programming language. Children were assessed on their knowledge of foundational robotics and programming concepts upon completion of the curriculum. Results show that beginning in pre-kindergarten, children were able to master basic robotics and programming skills, while the older children were able to master increasingly complex concepts using the same robotics kit in the same amount of time. Implications for developmentally appropriate design of technology, as well as structure and pace of robotics curricula for young children are addressed.