The study of robot animals based on brain-computer interface （BCI） technology is an important field in robots and neuroscience at present. In this paper, the development status at home and abroad of the motion contr...The study of robot animals based on brain-computer interface （BCI） technology is an important field in robots and neuroscience at present. In this paper, the development status at home and abroad of the motion control of robot based on BCI and principle of robot animals are introduced, then a new animals＇ behavior control method by photostimulation is presented. At last, the application prospect is provided.展开更多
How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model mus...How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.展开更多
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
Robot animation has played an important role in the development of Japanese animation.Robot animation,as a major pillar of Japanese animation industry,has triggered several changes in Japanese animation industry,succe...Robot animation has played an important role in the development of Japanese animation.Robot animation,as a major pillar of Japanese animation industry,has triggered several changes in Japanese animation industry,successfully guided the dual route of localization and globalization of Japanese animation,and promoted the arrival of the golden age of Japanese animation.In order to reveal the ideological characteristics of robotic animation and the reasons leading the development trend of animation,this paper adopts the historical method,centering on Astro Boy,Mazinger Z and Space Warship Yamato,which are the nodes of animation history,to make a longitudinal investigation and analysis of the initial period of Japanese robot animation.Through this kind of investigation,we can not only make up for the deficiency of the systematic thought research theory of robot animation,but also sort out the development of robotic animation as a whole,and solve the problem of the ideological origin of robotic animation.At the same time,we can also provide a new research perspective for the history of animation communication between China and Japan,which is of great significance to strengthen the communication of animation and cultural exchange between China and Japan.展开更多
Considered as a top priority of industrial devel- opment, Industry 4.0 （or Industrie 4.0 as the German ver- sion） has being highlighted as the pursuit of both academy and practice in companies. In this paper, based ...Considered as a top priority of industrial devel- opment, Industry 4.0 （or Industrie 4.0 as the German ver- sion） has being highlighted as the pursuit of both academy and practice in companies. In this paper, based on the review of state of art and also the state of practice in dif- ferent countries, shortcomings have been revealed as the lacking of applicable framework for the implementation of Industrie 4.0. Therefore, in order to shed some light on the knowledge of the details, a reference architecture is developed, where four perspectives namely manufacturing process, devices, software and engineering have been highlighted. Moreover, with a view on the importance of Cyber-Physical systems, the structure of Cyber-Physical System are established for the in-depth analysis. Further cases with the usage of Cyber-Physical System are also arranged, which attempts to provide some implications to match the theoretical findings together with the experience of companies. In general, results of this paper could be useful for the extending on the theoretical understanding of Industrie 4.0. Additionally, applied framework and proto- types based on the usage of Cyber-Physical Systems are also potential to help companies to design the layout of sensor nets, to achieve coordination and controlling of smart machines, to realize synchronous production with systematic structure, and to extend the usage of information and communication technologies to the maintenance scheduling.展开更多
Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sens...Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sense obstacles only in 2D plane.In contrast,by using 3D range sensor,it is possible to detect ground and aerial obstacles that 2D range sensor cannot sense.In this paper,we present a 3D obstacle detection method that will help overcome the limitations of 2D range sensor with regard to obstacle detection.The indoor environment typically consists of a flat floor.The position of the floor can be determined by estimating the plane using the least squares method.Having determined the position of the floor,the points of obstacles can be known by rejecting the points of the floor.In the experimental section,we show the results of this approach using a Kinect sensor.展开更多
This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. H...This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.展开更多
This paper introduces Robots Monitoring System on the Basis of Kingview.By using the device driver, Kingview acquires real-time data from on-site hardware device,whose results will be shown on the host computer’s scr...This paper introduces Robots Monitoring System on the Basis of Kingview.By using the device driver, Kingview acquires real-time data from on-site hardware device,whose results will be shown on the host computer’s screen in the way of animation.Meanwhile,according to configuration requirements and order of operators, Kingview will make Robots run by designed action and produce forms of the on-site data.This system is good at automatically controlling and managing of Robots.展开更多
Study was carried out in rabbits to determine whether 3,4’,5-trihydroxystibene-3-β-nono-D-glucoside(PD)has wasodilative action using volumetric method.The result showed PD(1.71 mol/L)caused a right shift of the cumu...Study was carried out in rabbits to determine whether 3,4’,5-trihydroxystibene-3-β-nono-D-glucoside(PD)has wasodilative action using volumetric method.The result showed PD(1.71 mol/L)caused a right shift of the cumulative concentration-reponse curve of uorepinephfine(NE)and lowered the maximal response of rabbit’s pulmonary arteries.It implies that PD couldinhibit the vasoconstfictive effect of NE in a noncompetitive manner.PD dilated the pulmonaryarteries(4.09 and 5.12mmol/L)and the carotid(5.12mmol/L)of rabbits.This PD-induced relax-ation of puhnonary artenes was weakened by propranolol(87.8μmol/L).展开更多
Robots have primarily been developed for warfare, yet they also serve peaceful purposes. Their use in ecology is in its infancy, but they may soon become essential tools in a broad variety of ecological sub-discipline...Robots have primarily been developed for warfare, yet they also serve peaceful purposes. Their use in ecology is in its infancy, but they may soon become essential tools in a broad variety of ecological sub-disciplines. Autonomous robots, in particular drones sent to previously inaccessible areas, have revolutionized data acquisition, not only for abiotic parameters, but also for recording the behavior of undisturbed animals and collecting biological material. Robots will also play an essential role in population ecology, as they will allow for automatic census of individuals through image processing, or via detection of animals marked electronically. These new technologies will enable automated experimentation for increasingly large sample sizes, both in the laboratory and in the field. Finally, interactive robots and cyborgs are becoming major players in modern studies of animal behavior. Such rapid progress nonetheless raises ethical, environmental, and security issues.展开更多
Herbicide tolerant plants such as Roundup-Ready soybean contain residues of glyphosate herbicide. These residues are considered safe and previous animal-feeding-studies have failed to find negative effects related to ...Herbicide tolerant plants such as Roundup-Ready soybean contain residues of glyphosate herbicide. These residues are considered safe and previous animal-feeding-studies have failed to find negative effects related to such chemical residues. The present study tests 8 experimental soy- meal diets as feed in groups (each containing 20 individuals) of test-animals (D. magna). The diets have different levels of glyphosate residues and we show that animal growth, reproductive maturity and number of offspring are correlated with these chemicals. The tested soybeans are from ordinary agriculture in Iowa USA and the residues are below the regulatory limits. Despite this, clear negative effects are seen in life-long feeding. The work enhances the need for including analysis of herbicide residues in future assessment of GMO.展开更多
基金supported by the National Natural Science Foundation of China under Grant No. 30870655 and 30570474.
文摘The study of robot animals based on brain-computer interface （BCI） technology is an important field in robots and neuroscience at present. In this paper, the development status at home and abroad of the motion control of robot based on BCI and principle of robot animals are introduced, then a new animals＇ behavior control method by photostimulation is presented. At last, the application prospect is provided.
文摘How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
文摘Robot animation has played an important role in the development of Japanese animation.Robot animation,as a major pillar of Japanese animation industry,has triggered several changes in Japanese animation industry,successfully guided the dual route of localization and globalization of Japanese animation,and promoted the arrival of the golden age of Japanese animation.In order to reveal the ideological characteristics of robotic animation and the reasons leading the development trend of animation,this paper adopts the historical method,centering on Astro Boy,Mazinger Z and Space Warship Yamato,which are the nodes of animation history,to make a longitudinal investigation and analysis of the initial period of Japanese robot animation.Through this kind of investigation,we can not only make up for the deficiency of the systematic thought research theory of robot animation,but also sort out the development of robotic animation as a whole,and solve the problem of the ideological origin of robotic animation.At the same time,we can also provide a new research perspective for the history of animation communication between China and Japan,which is of great significance to strengthen the communication of animation and cultural exchange between China and Japan.
文摘Considered as a top priority of industrial devel- opment, Industry 4.0 （or Industrie 4.0 as the German ver- sion） has being highlighted as the pursuit of both academy and practice in companies. In this paper, based on the review of state of art and also the state of practice in dif- ferent countries, shortcomings have been revealed as the lacking of applicable framework for the implementation of Industrie 4.0. Therefore, in order to shed some light on the knowledge of the details, a reference architecture is developed, where four perspectives namely manufacturing process, devices, software and engineering have been highlighted. Moreover, with a view on the importance of Cyber-Physical systems, the structure of Cyber-Physical System are established for the in-depth analysis. Further cases with the usage of Cyber-Physical System are also arranged, which attempts to provide some implications to match the theoretical findings together with the experience of companies. In general, results of this paper could be useful for the extending on the theoretical understanding of Industrie 4.0. Additionally, applied framework and proto- types based on the usage of Cyber-Physical Systems are also potential to help companies to design the layout of sensor nets, to achieve coordination and controlling of smart machines, to realize synchronous production with systematic structure, and to extend the usage of information and communication technologies to the maintenance scheduling.
基金The MKE(Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program(NIPA-2013-H0301-13-2006)supervised by the NIPA(National IT Industry Promotion Agency)The National Research Foundation of Korea(NRF)grant funded by the Korea government(MEST)(2013-029812)The MKE(Ministry of Knowledge Economy),Korea,under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA(NIPA-2013-H1502-13-1001)
文摘Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sense obstacles only in 2D plane.In contrast,by using 3D range sensor,it is possible to detect ground and aerial obstacles that 2D range sensor cannot sense.In this paper,we present a 3D obstacle detection method that will help overcome the limitations of 2D range sensor with regard to obstacle detection.The indoor environment typically consists of a flat floor.The position of the floor can be determined by estimating the plane using the least squares method.Having determined the position of the floor,the points of obstacles can be known by rejecting the points of the floor.In the experimental section,we show the results of this approach using a Kinect sensor.
基金supported by the National Natural Science Foundation of China (11072122)
文摘This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.
文摘This paper introduces Robots Monitoring System on the Basis of Kingview.By using the device driver, Kingview acquires real-time data from on-site hardware device,whose results will be shown on the host computer’s screen in the way of animation.Meanwhile,according to configuration requirements and order of operators, Kingview will make Robots run by designed action and produce forms of the on-site data.This system is good at automatically controlling and managing of Robots.
基金This project was supprted by the Natonal Natural Science Foundation of China No 3880738
文摘Study was carried out in rabbits to determine whether 3,4’,5-trihydroxystibene-3-β-nono-D-glucoside(PD)has wasodilative action using volumetric method.The result showed PD(1.71 mol/L)caused a right shift of the cumulative concentration-reponse curve of uorepinephfine(NE)and lowered the maximal response of rabbit’s pulmonary arteries.It implies that PD couldinhibit the vasoconstfictive effect of NE in a noncompetitive manner.PD dilated the pulmonaryarteries(4.09 and 5.12mmol/L)and the carotid(5.12mmol/L)of rabbits.This PD-induced relax-ation of puhnonary artenes was weakened by propranolol(87.8μmol/L).
基金funded by CNRS and by the French Polar Institute IPEV(Grants 137 to YLM,333 to TB and 388 to DG).
文摘Robots have primarily been developed for warfare, yet they also serve peaceful purposes. Their use in ecology is in its infancy, but they may soon become essential tools in a broad variety of ecological sub-disciplines. Autonomous robots, in particular drones sent to previously inaccessible areas, have revolutionized data acquisition, not only for abiotic parameters, but also for recording the behavior of undisturbed animals and collecting biological material. Robots will also play an essential role in population ecology, as they will allow for automatic census of individuals through image processing, or via detection of animals marked electronically. These new technologies will enable automated experimentation for increasingly large sample sizes, both in the laboratory and in the field. Finally, interactive robots and cyborgs are becoming major players in modern studies of animal behavior. Such rapid progress nonetheless raises ethical, environmental, and security issues.
文摘Herbicide tolerant plants such as Roundup-Ready soybean contain residues of glyphosate herbicide. These residues are considered safe and previous animal-feeding-studies have failed to find negative effects related to such chemical residues. The present study tests 8 experimental soy- meal diets as feed in groups (each containing 20 individuals) of test-animals (D. magna). The diets have different levels of glyphosate residues and we show that animal growth, reproductive maturity and number of offspring are correlated with these chemicals. The tested soybeans are from ordinary agriculture in Iowa USA and the residues are below the regulatory limits. Despite this, clear negative effects are seen in life-long feeding. The work enhances the need for including analysis of herbicide residues in future assessment of GMO.
