期刊文献+
共找到19篇文章
< 1 >
每页显示 20 50 100
小学信息科技认知学徒制教学实践探究——以《机器人传动》教学为例
1
作者 王燕 《中国信息技术教育》 2024年第1期67-69,共3页
本文探索了面向小学信息科技课程的认知学徒制教学策略,包括问题导入、专家示范、搭脚手架、形成实践共同体、教师辅助探究、学生合作反思等,并在《机器人传动》一课中进行了教学实践,提升了学生的信息素养、创造性思维、合作学习等高... 本文探索了面向小学信息科技课程的认知学徒制教学策略,包括问题导入、专家示范、搭脚手架、形成实践共同体、教师辅助探究、学生合作反思等,并在《机器人传动》一课中进行了教学实践,提升了学生的信息素养、创造性思维、合作学习等高阶认知能力。 展开更多
关键词 认知学徒制 小学信息科技课程 机器人传动
下载PDF
一种多姿态便携式履带机器人的机械传动设计 被引量:3
2
作者 隆文革 王艾伦 《机械传动》 CSCD 北大核心 2007年第6期52-53,56,共3页
提出了一种新型4自由度便携式履带机器人传动设计方案。机器人具有良好的机动性,在越障、跨沟、攀爬方面具有明显优势。介绍了机器人的结构特点及其运动功能实现,并对机器人的传动结构布局、传动实现等内容进行详细阐述。
关键词 便携式 履带机器人 机器人传动设计
下载PDF
钢丝绳传动机器人运动学的回路分析方法 被引量:3
3
作者 桑宏强 许丽萍 +2 位作者 贠今天 金国光 常丽敏 《机械科学与技术》 CSCD 北大核心 2016年第7期1011-1017,共7页
研究分析了一类2N条钢丝绳驱动N个自由度机器人的运动学,其运动学分析可通过推导除去钢丝绳后的开环链机器人关节角位移与末端执行器之间的运动学模型和关节角位移与电机转子角位移之间的运动学模型两个步骤完成。在运动学分析的基础上... 研究分析了一类2N条钢丝绳驱动N个自由度机器人的运动学,其运动学分析可通过推导除去钢丝绳后的开环链机器人关节角位移与末端执行器之间的运动学模型和关节角位移与电机转子角位移之间的运动学模型两个步骤完成。在运动学分析的基础上,提出了用回路矩阵和等效半径矩阵描述钢丝绳传动机器人运动学的回路分析方法。根据钢丝绳传动原理,通过观察法可直接列写回路矩阵和电机驱动空间等效半径矩阵,从而得到电机转子角位移与关节角位移之间的映射关系模型,解耦了由于钢丝绳传动导致机器人关节之间的运动耦合。实现了电机驱动空间、关节空间和笛卡尔空间之间完整的运动学映射,加快和简化了钢丝绳传动机器人运动学的建模和分析过程。最后,以Utah/MIT手指为例进行了运动学分析,比较Matlab运算和Solidworks Motion仿真的末端运动轨迹,验证了回路分析方法的正确性。 展开更多
关键词 钢丝绳传动机器人 运动学 回路矩阵 等效半径矩阵 回路分析方法
下载PDF
滤波减速器传动机器人的自适应RBF反演法控制
4
作者 罗绍华 王家序 +1 位作者 李俊阳 石珍 《重庆大学学报(自然科学版)》 EI CAS CSCD 北大核心 2014年第5期13-21,共9页
针对具有参数未知、外界扰动、强耦合、非线性和多变量的滤波减速器传动机器人,建立系统数学模型,并对其进行自适应RBF神经网络反演法控制。利用自适应RBF在线逼近系统模型中的未知非线性项,设计基于自适应RBF神经网络的反演法控制器,... 针对具有参数未知、外界扰动、强耦合、非线性和多变量的滤波减速器传动机器人,建立系统数学模型,并对其进行自适应RBF神经网络反演法控制。利用自适应RBF在线逼近系统模型中的未知非线性项,设计基于自适应RBF神经网络的反演法控制器,同时结合Lyapunov稳定性分析方法论证闭环系统的收敛性。所提控制方法有效地抑制诸如参数未知、外界扰动等对滤波减速器传动机器人的性能影响。仿真分析表明,所提出自适应RBF神经网络反演控制器实现了滤波减速器传动机器人的高性能位置跟踪控制,并具有很好的控制精度和鲁棒性。 展开更多
关键词 滤波减速器传动机器人 反演法 自适应技术 RB F神经网络 位置跟踪
下载PDF
Multi-sensor systems and information processing of mobile robot in uncertain environments
5
作者 乔凤斌 杨汝清 《Journal of Southeast University(English Edition)》 EI CAS 2004年第3期341-345,共5页
The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sens... The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles. 展开更多
关键词 mobile robot behavior-based reactive control architecture neural network
下载PDF
Global optimal path planning for mobile robot based onimproved Dijkstra algorithm and ant system algorithm 被引量:20
6
作者 谭冠政 贺欢 Aaron Sloman 《Journal of Central South University of Technology》 EI 2006年第1期80-86,共7页
A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK ... A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning. 展开更多
关键词 mobile robot global optimal path planning improved Dijkstra algorithm ant system algorithm MAKLINK graph free MAKLINK line
下载PDF
Neural network and genetic algorithm based global path planning in a static environment 被引量:2
7
作者 杜歆 陈华华 顾伟康 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2005年第6期549-554,共6页
Mobile robot global path planning in a static environment is an important problem. The paper proposes a method of global path planning based on neural network and genetic algorithm. We constructed the neural network m... Mobile robot global path planning in a static environment is an important problem. The paper proposes a method of global path planning based on neural network and genetic algorithm. We constructed the neural network model of environmental information in the workspace for a robot and used this model to establish the relationship between a collision avoidance path and the output of the model. Then the two-dimensional coding for the path via-points was converted to one-dimensional one and the fitness of both the collision avoidance path and the shortest distance are integrated into a fitness function. The simulation results showed that the proposed method is correct and effective. 展开更多
关键词 Mobile robot Neural network Genetic algorithm Global path planning Fitness function
下载PDF
A Novel Bio-mimetic Wireless Micro Robot for Endoscope 被引量:1
8
作者 叶东东 颜国正 +1 位作者 王坤东 马官营 《Journal of Donghua University(English Edition)》 EI CAS 2008年第3期286-290,共5页
A novel bio-mimetic wireless micro robot for endoscope is developed. Its autonomous manner is earthworm-like and driven by linear actuators based on DC motor. It is different from the conventional micro robot endoscop... A novel bio-mimetic wireless micro robot for endoscope is developed. Its autonomous manner is earthworm-like and driven by linear actuators based on DC motor. It is different from the conventional micro robot endoscope that wireless module is used for conanunicating and power transfer. The fabricated micro robot system is detailedly described, including structure, micro robot locomotion principle, communication control module and wireless power transfer module. The experimental results show that the driving force of the linear actuator can reach to 2. S5 N and supplying power is up to 480 mW DC power for receiving coil in the proposed system, which all fulfill the need of the micro robot system. The micro robot can creep reliably in the large intestine of pig and other contact environments. 展开更多
关键词 micro robot ENDOSCOPE INTESTINE linear actuator wireless power transfer
下载PDF
HIT anthropomorphic robotic hand and finger motion control 被引量:3
9
作者 高晓辉 史士才 +4 位作者 赵大威 姜力 王智洋 蔡鹤皋 刘宏 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2006年第1期48-53,共6页
Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexter... Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot. 展开更多
关键词 anthropomorphic robotic hand under-actuated force sensor
下载PDF
A practical self-localization scheme for mobile robots using sonar sensors 被引量:2
10
作者 贺锋 《High Technology Letters》 EI CAS 2009年第1期13-19,共7页
A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism prop... A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples' weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem. 展开更多
关键词 mobile robots Monte Carlo localization kidnapped problem SONAR
下载PDF
Design and implementation of information acquisition system architecture for multi-sensor robots
11
作者 陈国良 Huang Xinhan Wang Min 《High Technology Letters》 EI CAS 2007年第4期350-355,共6页
A multi-layer controller architecture based on digital signal processor (DSP) and on-chip MCU was proposed for multi-sensor information acquisition system; it consisted of a data acquisition unit and a data fusion u... A multi-layer controller architecture based on digital signal processor (DSP) and on-chip MCU was proposed for multi-sensor information acquisition system; it consisted of a data acquisition unit and a data fusion unit, and used a host controller to connect the two units into an integrated system. Compared with architectures of traditional acquisition system, this architecture had good openness and good adaptability of algorithms in hardware. To validate its feasibility, a small-scale prototype was cleverly designed, which adopted ADμCS12, TMS320F206 and 89C51 as controllers, and had 16-channel ADC and 12- channel DAC with high accuracy of 12-bit. The interfaces between different controllers were introduced in detail. Some basic parameters of the prototype were presented by board-level tests and by comparison with other two systems. The prototype was employed to provide on-line state measurement, parameter estimation and decision-making for trajectory tracking of wheeled mobile robot. Experimental results show that the prototype achieves the goals of data acquisition, fusion and control perfectly. 展开更多
关键词 information acquisition system architecture MULTI-SENSOR mobile robot
下载PDF
Investigation on mobile robot navigation based on Kinect sensor
12
作者 ZOU Yong-wei WU Bin 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2018年第1期25-31,共7页
Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers stud... Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method. 展开更多
关键词 Kinect sensor mobile robot autonomous navigation simultaneous localization and mapping(SLAM) Turtlebot
下载PDF
iRobot Create Used in Education
13
作者 Martin Dekan Frantisek Duchon Ladislav Jurisica Anton Vitko Andrej Babinec 《Journal of Mechanics Engineering and Automation》 2013年第4期197-202,共6页
There are many robotic platforms usable in the educational process. In the introduction, some of the educational platforms are presented. The main body of this paper deals with educational robotic platform iRobot Crea... There are many robotic platforms usable in the educational process. In the introduction, some of the educational platforms are presented. The main body of this paper deals with educational robotic platform iRobot Create. In this paper, main parts of this platform are described, such as mechanics, sensors and actuators. The software equipment with communication protocol of this platform is also described. The results of the analysis of this platform show its rich possibilities in its use in educational process such as mechanics, electronics and algorithms used in robotics. 展开更多
关键词 Mobile robot educational platform iRobot Create
下载PDF
Researches On The Robot Obstacle Avoidance Based On Fuzzy Control
14
作者 Jin Yao 《International Journal of Technology Management》 2014年第7期62-63,共2页
With the continuous development of modem sensor technology, coupled with the integration of artificial intelligence and a variety of emerging computer technology, it makes robots more intelligent and diverse.So the ab... With the continuous development of modem sensor technology, coupled with the integration of artificial intelligence and a variety of emerging computer technology, it makes robots more intelligent and diverse.So the ability of the robot to complete the task is also valued and widely used.In this paper, the whole covered area of the local path planning uses a fuzzy control algorithm,which uses the robustness and an action of perception based on the biological behavior of the fuzzy control algorithm combined with itself.For obstacle avoidance system of mobile robots,we put forward the avoidance strategy of fully contacting the obstacles.And we have conducted a deep study about the theory and implementation methods. 展开更多
关键词 Mobile robot full area coverage path planning obstacle avoidance
下载PDF
Face Detection Technology Based on Robot Vision
15
作者 Guxiong Li 《International Journal of Technology Management》 2015年第9期43-45,共3页
One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper pr... One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper proposed a method using face detection to predict the data of image sensor. The experimental results show that, the proposed algorithm is practical and reliable, and good outcome have been achieved in the application of instruction robot. 展开更多
关键词 face detection gray integral skin color model robot vision
下载PDF
Optimised Pattern Recognition for Robotic Weldment Geometry Measuring
16
作者 Guido Hoffmeier Maria Plyusnina +1 位作者 Bernd Kuhlenkoetter Jobst Bickendorf 《Journal of Mechanics Engineering and Automation》 2012年第11期688-693,共6页
Today, automated robot welding of components with low tolerances in series production is state-of-the-art. But turning to small batch production particularly of parts with high tolerances, engineering and construction... Today, automated robot welding of components with low tolerances in series production is state-of-the-art. But turning to small batch production particularly of parts with high tolerances, engineering and construction of automated solutions is just at the beginning of providing economic efficiency. While weld seam tracking is well established for the described problem, geometric recognition of weldments is not yet solved satisfactorily. This paper will present an optimisation approach of a laser sensor guided and programmed robot welding system which was developed within the project ROPROF at the TU Dortmund. With this development, a working prototype of a robot weld system was built by a steel construction company as well as additional demonstration software showing the potential and transferability of adjusted geometric location of weldments for industrial applications. 展开更多
关键词 Geometry measuring welding process control welding start point search seam finding error correction.
下载PDF
Design and Analysis of the Power Drive Module for Ultrahigh Vacuum Wafer-Transfer Robot
17
作者 H.C. Chen S.M. Huang 《Journal of Energy and Power Engineering》 2010年第6期55-59,共5页
To meet stringent requirements in vacuum and cleanness for semiconductor manufacturing, a new power drive module for Selective Compliant Assembly Robot Arm (SCARA) type robot has been developed for wafer-transfer. I... To meet stringent requirements in vacuum and cleanness for semiconductor manufacturing, a new power drive module for Selective Compliant Assembly Robot Arm (SCARA) type robot has been developed for wafer-transfer. In order to obtain complete hermetic volume for higher vacuum and prevent leakage of hazardous gases, feedthrough motions involving transfer between the vacuum and motors are achieved by the use of metal bellows and magnetic coupling. An analysis of the coaxial-type magnetic coupling by employing the technique of current sheet model is presented. This approach is proved to be a precise and easy method. The construction of power drive module shows its advantage in maintaining ultrahigh vacuum and also enhances the efficiency for transporting the wafer, as compared with conventional design. 展开更多
关键词 Power drive ROBOT ultrahigh vacuum magnetic coupling.
下载PDF
Flexible PDMS-based triboelectric nanogenerator for instantaneous force sensing and human joint movement monitoring 被引量:21
18
作者 Junbin Yu Xiaojuan Hou +5 位作者 Min Cui Shuzheng Shi Jian He Yawei Sun Chao Wang Xiujian Chou 《Science China Materials》 SCIE EI CSCD 2019年第10期1423-1432,共10页
Flexible wearable sensors with excellent electric response and self-powered capability have become an appealing hotspot for personal healthcare and human-machine interfaces.Here,based on triboelectric nanogenerator(TE... Flexible wearable sensors with excellent electric response and self-powered capability have become an appealing hotspot for personal healthcare and human-machine interfaces.Here,based on triboelectric nanogenerator(TENG),a flexible self-powered tactile sensor composed of micro-frustum-arrays-structured polydimethylsiloxane(PDMS)film/copper(Cu)electrodes,and poly(vinylidenefluoride-trifluoroethylene)(P(VDF-TrFE))nanofibers has been demonstrated.The TENG-based self-powered tactile sensor can generate electrical signals through the contact-separation process of two triboelectric layers under external mechanical stimuli.Due to the uniform and controllable micro-frustum-arrays structure fabricated by micro-electro-mechanical system(MEMS)process and the P(VDF-TrFE)nanofibers fabricated by electrostatic spinning,the flexible PDMS-based sensor presents high sensitivity of 2.97 V kPa^-1,stability of 40,000 cycles(no significant decay),response time of 60 ms at 1 Hz,low detection pressure of a water drop(~4 Pa,35 mg)and good linearity of 0.99231 in low pressure region.Since the PDMS film presents ultra-flexibility and excellent-biocompatibility,the sensor can be comfortably attached on human body.Furthermore,the tactile sensor can recognize various types of human body movements by the corresponding electrical signals.Therefore,the as-prepared TENGs are potential on the prospects of gesture detection,health assessment,human-machine interfaces and so on. 展开更多
关键词 SELF-POWERED triboelectric nanogenerator wearable sensor MEMS process personal healthcare
原文传递
Smartphones for sensing 被引量:4
19
作者 Fenghua Li Yu Bao +2 位作者 Dandan Wang Wei Wang Li Niu 《Science Bulletin》 SCIE EI CAS CSCD 2016年第3期190-201,共12页
Simple, portable analytical devices are entering our daily lives for personal care, clinical analysis, allergen detection in food, and environmental monitoring. Smart- phones, as the most popular state-of-art mobile d... Simple, portable analytical devices are entering our daily lives for personal care, clinical analysis, allergen detection in food, and environmental monitoring. Smart- phones, as the most popular state-of-art mobile device, have remarkable potential for sensing applications. A growing set of physical-co-chemical sensors have been embedded; these include accelerometers, microphones, cameras, gyroscopes, and GPS units to access and perform data analysis. In this review, we discuss recent work focusing on smartphone sensing including representative electromag- netic, audio frequency, optical, and electrochemical sen- sors. The development of these capabilities will lead to more compact, lightweight, cost-effective, flexible, and durable devices in terms of their performances. 展开更多
关键词 Chemical sensing Mobile phone DEVICES Analytical chemistry
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部