火星无人机实验台发展综述及构想

火星地表崎岖、环境复杂,火星无人机由于其具有高机动性和灵活性,为火星探测提供了一种新的工作模式,是未来深空探测的重要范式。本文对比了火星与地球相关地表环境参数的差异,分析了火星无人机需要克服的困难和主要用途,阐明了火星无人机实验台的重要性;详细介绍了国内外研究机构研发火星无人机实验台的技术特点与功能优劣,总结了实验台需要具备的模拟火星环境和测量相关参数。在此基础上,提出了构建火星无人机实验台设想,给出了总体设计思想和思路,并对火星无人机气动力学实验平台的应用前景进行了展望。

奴役的工具抑或解放的力量——与ChatGPT讨论人与智能机器共同未来的思想实验

这是一个“人与人工智能系统共同探讨学术问题”的实验。讨论的焦点是人工智能与人类的关系。在与ChatGPT的对谈中,讨论到了人工智能研究领域的一些热点事件和热点议题,包括人与人工智能的关系危机焦虑、人工智能是否具有创造性、人工智能能否产生智慧、人工智能是否可以模拟人类的情感以及人与智能机器能否实现和平相处、协同进化等问题。通过这个实验,读者对ChatGPT是否具备智能等可以作出比较直观的判断,并有望从中发现人工智能研究的一些新课题。

基于模拟仿真的飞行中的人为因素实验教学平台建设与应用

飞行中的人为因素是民航系统的重要组成部分,是保障飞行安全的关键。飞行中的人为因素作为提高飞行员技术能力和非技术能力的核心课程越来越受到重视。该文在高性能飞行训练器的基础上,融合无线传感技术、模拟飞行评分系统等设备,提出基于模拟仿真的飞行中的人为因素实验教学平台建设方案。该实验教学平台的建设作为课堂教学的延伸和补充,主要由多维信息交互教学实验、人机工效教学实验以及认知工效教学实验3部分组成。基于模拟仿真的飞行中的人为因素实验教学平台兼顾飞行技术专业特色,更新传统的飞行中的人为因素课堂教学模式,形成数字化、智能化、系统化和精细化的教学体系,解决目前飞行中的人为因素教学过程中理论与实践脱节问题,促进教师教学方法与模式的改进,增强学生学习的积极性与独立思考的能力,为进一步提高教学质量与培养高素质飞行学员具有重要意义。

基于B/S结构的人机对抗决策实验系统的研发与应用

基于B/S结构的人机对抗决策实验系统的研制成功,集学术性、理论性、综合性、实践性和趣味性于一体,使学生在很短的时间内,就能不受时间、地域限制,基于网络平台对现代企业经营决策活动过程进行实践性的尝试,提高运用基本理论知识分析、解决实际问题的能力。实验系统将先进的计算机网络技术与现代企业经营决策原理完美地结合,理论联系实际,创建出一套现代管理决策人才培养新模式,为加速培养我国现代管理决策人才作出了积极的贡献。

基于人机交互仿真实验的起重违规作业影响因素分析

违规作业是起重机械事故高发的重要原因,但限于危险性、经济性等诸多因素,很难在工地现场搭建专门深入研究起重违规作业的真实环境。基于人机交互仿真实验,探究起重违规作业的影响因素。首先收集19项潜在的起重违规作业影响因素,通过人机交互仿真实验,记录不同影响因素下的起重违规作业情况;然后基于独立样本t检验、方差分析、秩和检验、回归分析等方法,综合探究起重违规作业的有效影响因素。结果表明:起重违规作业强影响因素有音乐种类、疲劳程度、工作难度、BMI和风速;中等影响因素有性别、尿意和实验时长;而手套佩戴、睡眠质量、外界天气、起重机种类、温度和噪音等对起重违规作业并无显著的影响。

多模态人机数据驱动的值机体验服务设计

针对民航服务流程冗杂、体验不佳的问题,围绕值机体验,提出一种多模态人机数据驱动的服务设计方法。基于实地调研对民航体验的全流程进行了初探,对值机体验的起止节点进行了界定,对相关服务触点进行了梳理。依据服务触点设计脚本任务,组织实施人机交互实验,提出基于多模态人机数据的服务设计层次分析框架及评判体系。在脚本任务层,构建“眼动—心率变异性—行为”数据的综合评估模型,以快速判断设计的合理性。在触点层,进一步整合分析相关人机数据,挖掘用户需求,识别待改进的服务触点,进行精细化设计。以南京禄口机场为对象进行了实例研究,结果表明该方法可有效应用于民航值机体验服务的设计优化。

基于工程教育专业认证OBE理念的安全人机工程实验室建设研究与实施——以青岛理工大学为例

在工程教育专业认证背景下,高校实验室是开展科学研究、进行学生培养的重要场所。以青岛理工大学安全人机工程实验室建设为例,以学生为主体,对标面向专业认证的安全人机工程课程的知识目标、能力目标、素质目标进行实验体系建设,分享运行管理实践经验,让专业实验室在培养学生综合能力和保障学生身心健康方面发挥应有的作用。

基于FAHP的建筑工人安全行为能力基础实验测评

在分析建筑工人安全行为能力要求的基础上,基于安全人机基础实验构建其安全行为能力层次结构模型,包括7个安全行为技能指标和3个安全素质指标要素,并运用模糊层次分析法(FAHP)得出此10项指标的权重值。以安全人机实验数据为基础,对各项指标要素进行量化打分,并结合其权重计算个体安全行为能力得分,进行等级划分。结果发现:同时满足安全行为能力总得分≥8分、安全行为技能得分≥5分、安全素质指标得分≥3分的能够满足较高工作岗位要求的个体有13名;此13名中有8名能够满足更高工作岗位的要求(其分项安全行为能力得分均≥8分)。接着使用IBM SPSS Statistics 22进行独立样本t检验,结果发现:经历过安全专业知识培训和安全人机实践的高年级学生的安全行为技能指标和安全素质指标得分、以及安全行为能力总得分均显著高于没经历过安全专业知识培训和安全人机实践的低年级学生(p<0.05,均值差值>0)。文中提供的安全行为能力测评方法可以为建筑工人的选拔、分工、培训提供参考。

VB平台下的虚拟实验软件开发研究

论述了基于VB平台实现的一种虚拟实验软件开发技术。从虚拟实验软件的目的和功能要求出发,设计了虚拟实验软件的架构。介绍了利用Visio绘制虚拟实验场景技术,阐述了虚拟实验软件中人机交互功能的实现方法。

一种测量无人机重心和转动惯量的方法

为了提高小型无人机飞行控制系统的开发效率和控制精度,介绍了一种无人机重心和转动惯量的实验测量方法。这种测量方法基于投影法测量无人机的重心位置,并使用复摆装置测量无人机的转动惯量。对使用这种测量方法获得的测量数据进行对比分析,结果表明,该方法简单可靠,成本低,且精度能够满足小型无人机飞行控制系统的设计需求。

基于人机工效的瞄准机手轮安装方式优化设计

为提升车载炮瞄准机作战效能,优化其手轮安装方式。运用人机仿真实验方法,构建P 5、P 50、P 95的数字化炮手依次操作3组不同安装方式手轮时的模型。针对炮手操作手轮行为姿势动态仿真,以可达域、下背部分析、快速上肢分析3项指标评价手轮安装方式对操作时人机工效的影响。结合灰色关联方法对评价数据计算处理,仿真结果显示第2组样本综合评价结果相对最优。提出手轮优化设计中应优先考虑采用2个手轮的轴线夹角为30°,高低机手轮轴线与火炮耳轴夹角为60°的安装方式;相比较于轴线夹角90°、高低机手轮轴线与火炮耳轴平行的安装方式,下背部受力降低约30.02%,快速上肢评价等级降低约8.39%;相比较于2个手轮轴线重合且均与火炮耳轴平行的安装方式,下背部受力降低约15.59%,快速上肢评价等级降低约3.68%。

下肢外骨骼助力机器人动力学建模及实验研究

下肢外骨骼助力机器人存在人-机关节是否匹配、主动关节设计是否满足人体关节运动的驱动力要求等问题。为解决上述问题,基于所设计的电液伺服驱动下肢外骨骼助力机器人,将其简化为七连杆结构,并结合步态平衡理论,采用牛顿-欧拉法构建了其摆动相与支撑相瞬时动力学模型。然后,将不同步态相位下人体运动时的角度数据、速度数据及机器人结构参数代入牛顿-欧拉动力学迭代方程,求得机器人各关节的理论驱动力矩。最后,开展ADAMS(automatic dynamic analysis of mechanical systems,机械系统动力学自动分析)仿真实验和人机协同助行实验,通过对机器人各关节的驱动力矩峰值进行比较,验证了所构建动力学迭代方程的正确性和有效性。结果表明,通过采用牛顿-欧拉法来求解下肢外骨骼助力机器人关节的驱动力矩,可为其结构优化与控制策略制定提供重要的理论支撑。

室内环境对办公建筑人员工作效率的影响探究

室内环境因素的变化和相互作用对办公建筑人员的整体感受和工作效率起着至关重要的作用。从影响办公建筑人员工作效率的众多因素着手,采用主观问卷调查探讨办公建筑人员对室内环境的整体感受,并选取温度和光照强度两个关键因素,以此引入方差分析判断二者对工作效率的影响以及二者之间的交互作用和作用机理。研究结果表明:(1)温度和光照强度等物理环境对工作效率有着不可忽视的影响,光照强度对于工作效率的影响远低于温度。(2)温度维持在16℃-22℃,既满足室内工作者喜好又会在一定程度上提升工作效率。(3)在光照强度上,被试喜好的范围是300lx-800lx,而实验数据是200lx-600lx,有一定差异,但不明显,在工作生活中,可以将300lx-600lx作为最佳照度区间。

Cultivated land information extraction in UAV imagery based on deep convolutional neural network and transfer learning

The development of precision agriculture demands high accuracy and efficiency of cultivated land information extraction. As a new means of monitoring the ground in recent years, unmanned aerial vehicle （UAV） low-height remote sensing technique, which is flexible, efficient with low cost and with high resolution, is widely applied to investing various resources. Based on this, a novel extraction method for cultivated land information based on Deep Convolutional Neural Network and Transfer Learning （DTCLE） was proposed. First, linear features （roads and ridges etc.） were excluded based on Deep Convolutional Neural Network （DCNN）. Next, feature extraction method learned from DCNN was used to cultivated land information extraction by introducing transfer learning mechanism. Last, cultivated land information extraction results were completed by the DTCLE and eCognifion for cultivated land information extraction （ECLE）. The location of the Pengzhou County and Guanghan County, Sichuan Province were selected for the experimental purpose. The experimental results showed that the overall precision for the experimental image 1, 2 and 3 （of extracting cultivated land） with the DTCLE method was 91.7%, 88.1% and 88.2% respectively, and the overall precision of ECLE is 9o.7%, 90.5% and 87.0%, respectively. Accuracy of DTCLE was equivalent to that of ECLE, and also outperformed ECLE in terms of integrity and continuity.

Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.

Study on Individual Distance of the Non-Japanese for the Small Mobile Robot

This study seeks to establish techniques of architecture planning for living robots and human together. This experiment is elemental step to search relations between a small mobile robot and human. This experiment is ＂How can a small mobile robot approach to individuals distances of foreigners （non-Japanese） up to the point where foreigners （non-Japanese） do not feel like approaching any more＂. It focuses on a small mobile robot and identifies distances at which the robot can approach to individuals, particularly adult foreign male. This paper clarifies how the individual distances change by the robot＇s speed and angle of approach varies.

基于AUV垂直面运动控制的状态增减多模型切换

自主水下机器人(autonomous underwater vehicle,AUV)系统垂直面运动具有强耦合性、非线性等特点导致AUV系统垂直面难以精确控制,且其纵倾角需控制在某一阈值内,以保证系统安全。根据以上控制要求与AUV垂直面运动模型特点,提出将其解耦为深度控制子模型与纵倾角控制子模型,构建AUV系统垂直面运动控制模型集,根据模型集所含两子模型特点,提出了状态变量增减的多模型切换的概念。基于切换系统稳定判据——共同Lyapunov函数法,提出了变加权多模型切换策略,实现了切换过程的稳定性,避免了切换过程的抖动问题。多次湖泊试验证明,加权多模型切换策略避免了由于期望深度变化而造成的执行机构饱和、深度和纵倾角超调量过大等问题,且改善了AUV系统深度运动的静动态控制品质。

Estimation of an Object＇s Physical Parameter by Force Sensors of a Dual-arm Robot

We are developing a nursing-care robot for physical care tasks. The concept of this robot is to promote the cared persons by the robot to activate their own motion ability as long as possible. This may lead to the improvement of the cared person＇s movement volition and movement abilities. In order to realize safe and human friendly robot care tasks, full body manipulation is an important technology, for which it is necessary to estimate the subject＇s center of gravity from the contact positions and forces with the robot＇s two arms. In this paper, we estimate the center of gravity of object based on the contact point and the contact force estimated by force sensor on both robot arms. The position of gravity center is important to realize care tasks stably. We performed experiments and simulations for the single point contact and dual points contact cases using a cylindrical object. As a result, it is found that although some errors were recognized in the experiments compared with the simulations, the relations between the contact positions and such errors were observed. Such experimental error mainly comes from the difference of shape between the real robot and the model of the robot in simulation.

Design of Calibration Experiments for Identification of Manipulator Elastostatic Parameters

The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.

Development of a Haptic Interface with Proximity Sensors and Vibration Motors

As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable. To achieve such a function, we developed a master-slave manipulator system in which the slave manipulator surface is covered with many proximity sensors. Additionally, we developed a haptic device that feeds back proximity sense information to the operator using small vibration motors. We attached the haptic device to the arm of the operator and vibrated the vibration motor corresponding to the sensor. Thereby, the operator was able to ascertain the position of an object near the manipulator, and to make the robot maneuver to avoid it before collision. To confirm the system usefulness, we equipped subjects with the developed proximity sense presentation device and performed a detection-position-specific experiment and an obstacle avoidance experiment in a narrow space. As results of the detection position specific experiment on five subjects, four subjects reported the detection position correctly. The remaining one person failed because of his particular arm shape. Operation experiments conducted in a narrow space showed that all subjects＇ work was successful when given feedback of proximity sense information. Nobody was successful without proximity sense information. Results of these two experiments demonstrate that this proposed system is useful for obstacle avoidance of a master-slave manipulator system.