SUNDER:Self-organized grouping and entrapping method for swarms in multitarget environments

For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory networks(GRNs)that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots.This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms(SUNDER-GRN)to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information.A hierarchical self-organized grouping method(HSG)is proposed to structure subswarms in a distributed way.In addition,a modified distributed controller,with a relative coordinate system that is established to relieve the need for global information,is leveraged to facilitate subswarms entrapment toward different targets,thus improving the global multi-target entrapping performance.The results demonstrate the superiority of SUNDERGRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible.

Influence of Data Clouds Fusion From 3D RealTime Vision System on Robotic Group Dead Reckoning in Unknown Terrain

This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefits of the original real-time technical vision system(TVS)based on a dynamic triangulation principle.The method uses TVS output data with fuzzy logic rules processing for resolution stabilization.Based on previous researches,the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group.According to the comparative analysis of approximation methods,in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory.The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.

Quantum Algorithm of Imperfect KB Self-organization. Pt II: Robotic Control with Remote Knowledge Base Exchange

The technology of knowledge base remote design of the smart fuzzy con­trollers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission and commu­nication the knowledge base using remote connection to the control object considered.Transmission and communication of the fuzzy controller’s knowledge bases implemented through the remote connection with the control object in the online mode apply the Bluetooth or WiFi technologies.Remote transmission of knowledge bases allows designing many different built-in intelligent controllers to implement a variety of control strategies under conditions of uncertainty and risk.As examples,two different models of robots described(mobile manipulator and(“cart-pole”system)inverted pendulum).A comparison of the control quality between fuzzy controllers and quantum fuzzy controller in various control modes is presented.The ability to connect and work with a physical model of control object without using than mathematical model demonstrated.The implemented technol­ogy of knowledge base design sharing in a swarm of intelligent robots with quantum controllers.It allows to achieve the goal of control and to gain additional knowledge by creating a new quantum hidden information source based on the synergetic effect of combining knowledge.Develop­ment and implementation of intelligent robust controller’s prototype for the intelligent quantum control system of mega-science project NICA(at the first stage for the cooling system of superconducted magnets)is discussed.The results of the experiments demonstrate the possibility of the ensured achievement of the control goal of a group of robots using soft/quantum computing technologies in the design of knowledge bases of smart fuzzy controllers in quantum intelligent control systems.The developed software toolkit allows to design and setup complex ill-defined and weakly formal­ized technical systems on line.

无人化仓库下异构机器人混合任务分配研究

在具有若干个障碍区的码头无人化仓库中,为解决异构机器人系统对混合任务的有效分配问题,文中提出一种模糊聚类融合的扩展一致性束算法。在采用模糊聚类划分任务子区域和利用时间窗设置混合任务执行顺序的基础上,提出机器人分组资源配置策略,以任务分配收益最大、运行时间最短为目标,建立异构机器人系统任务分配的数学模型,通过扩展一致性束算法,在各个子区域内完成任务分配。结果表明:扩展一致性束算法缩短了任务分配时间,得到各子区域内机器人的执行任务序列并且每架机器人所分配到的任务数保持均衡。

基于RG法的空区群矿柱临界破坏条件研究

采空区群的稳定性对矿山的安全生产有重大影响,针对矿山采空区赋存形态,建立了对采空区群RG一维和二维模型,考虑应力重分布对系统稳定性的影响,将采空区群系统失稳破坏的复杂问题转换为了单元破坏失稳概率与临界失稳概率之间比较的问题,并给出了矿山采空区群一维和二维状态下的临界失稳概率,运用该方法对七角井铁矿采空区I和采空区II进行了计算验证,计算结果显示与实际情况较为符合,说明该方法对评价矿山采空区稳定性有一定的实用性。

酒店机器人包容性服务定位与社会阶层的交互作用对顾客公民行为的影响

基于共情理论,探讨酒店机器人包容性服务定位和社会阶层的交互作用对顾客公民行为的影响机制及边界条件。通过3个情境实验,研究发现:对于低社会阶层,相比非包容性服务定位,机器人包容性服务定位更能促进其顾客公民行为;对于高社会阶层,机器人包容性服务定位和非包容性服务定位对顾客公民行为的影响不存在显著差异。机器人包容性服务定位与社会阶层的交互作用对顾客公民行为产生影响,顾客情感共情在其中起到中介作用,其他群体导向存在显著调节作用。若个体的其他群体导向较高,则高社会阶层消费者面对机器人包容性服务定位时,其顾客公民行为会显著增加。

书证融通在课程体系构建中的实施与探索

为贯彻落实1+X证书制度实施书证融通课程改革,沈阳职业技术学院工业机器人技术专业对接辽宁省学分银行和职业技能等级证书评价组织,在省内率先完成了书证融通实施与考核,有效打通了学分银行对接1+X证书制度试点的“最后一公里”,为电气自动化技术专业群提供了可复制、可推广的书证融通经验,并取得了实践性成果。

B型液压硫化机技术介绍

简要介绍了B型液压硫化机研制背景、工艺参数、技术参数、主要结构、检测标准等,其优点是硫化子午线轮胎提高产品质量,降低能源消耗,实现自动化、机械化,产品的性价比最优等。

关于消防机器人编组应用的实践

随着科技进步,消防机器人技术得到快速发展,并在全球范围内诸多救援行动中发挥重要作用。在此背景下,以某地消防机器人救援大队为例,从性能测试、战斗组织等多个维度开展实践探索,提出“模块化出动、体系化作战”的策略。通过将消防机器人进行最小作战单元、消防救援站和支队级作战编成,灵活地组合运用,显著提升了其实战效能。

双高建设背景下的“工业机器人应用系统集成”课程实践教学研究

“双高”教育计划的提出为全国职业教育发展提供了战略性指导方针和要求。本研究在“双高”建设背景下,根据高职院校工业机器人技术专业岗位能力要求及人才培养目标,结合专业特色,对“工业机器人应用系统集成”课程进行改革,并积极对接工业机器人集成工程师岗位职业能力标准,以工作过程为导向,从行业应用角度将本课程项目任务模块化,以理虚实一体化的教学理念,形成探中学、用中学的教学模式,以提高教育教学质量。

Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame.As the properties associated with topology and performance,finite motion and instantaneous motion of the robot play key roles in the procedure.On the purpose of providing a fundamental preparation for integrated modeling and design,this paper carries out a review on the existing unified mathematic frameworks for motion description and computation,involving matrix Lie group and Lie algebra,dual quaternion and pure dual quaternion,finite screw and instantaneous screw.Besides the application in robotics,the review of the work from these mathematicians concentrates on the description,composition and intersection operations of the finite and instantaneous motions,especially on the exponential-differential maps which connect the two sides.Furthermore,an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development.The presented review offers insightful investigation to the motion description and computation,and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.

Renormalization group methods for a Mathieu equation with delayed feedback

This paper presents the application of the renormalization group （RG） methods to the delayed differential equation. By analyzing the Mathieu equation with time delay feedback, we get the amplitude and phase equations, and then obtain the approximate solutions by solving the corresponding RG equations. It shows that the approximate solutions obtained from the RG method are superior to those from the conventionally perturbation methods.

攀爬机器人动力学建模与分析

针对一种攀爬机器人越障过程中动力学特性与真空模块力系平衡问题,建立了一种基于李群李代数与旋量理论在越障运动过程中攀爬机器人动力学特性分析方法。通过指数积空间的形式推导得到了空间速度雅可比矩阵进而减少因微分求导而产生的奇点,基于李群李代数与旋量理论通过拉格朗日方程建立了物理意义明确、计算复杂度低的动力学方程,建立了真空模块的力学模型,求解得到直角面越障过程中真空模块的最佳吸附力,并应用coppeliasim仿真求解出机器人关节驱动力矩,验证了李群李代数与旋量理论建模的正确性及动力学模型的有效性,通过吸附实验验证了真空模块吸附能力。

茄科蔬菜多株同步自动嫁接机设计与试验

以茄科蔬菜穴盘苗为作业对象,开展了多株蔬菜同步自动嫁接技术及关键机构研究。提出了基于劈接法的茄科蔬菜六株同步自动嫁接机的整机结构方案,该机可连续实现穴盘苗自动进给、砧穗木的切削与插接、嫁接夹的定向排序与持送上夹等功能。重点设计了嫁接机的砧木平切机构、砧木劈切机构、穗木推切机构、砧木与穗木插接机构、振动排序供夹装置及持送上夹机构等关键机构,确定了各机构的主要结构参数。以辣椒苗为嫁接对象,开展了六株同步嫁接机切削质量正交试验,试验结果表明,提高对苗株的夹持精度和切削速度及较小的茎秆纤维硬度有利于提高切削质量。当切削速度为1.5 m/s时,嫁接期辣椒苗样机性能验证试验结果表明,砧穗木切削合格率98.6%、嫁接合格率97.1%、嫁接成活率96.2%、嫁接效率720株/h,达到了设计要求。

高职院校工业机器人技术专业群实施“1+X”证书制度探究

随着国家经济结构调整和产业转型升级,产业的集群化发展日趋明显。在此背景下,要求高职院校要培养“一人多岗、一岗多能”的技术技能复合型人才,“1+X”证书制度试点工作应运而生。然而,在实际运行中,一个专业即使实力再强也很难提供多个系统的“X”证书培训,以适应产业集群发展对技术技能人才素质和能力提出的新要求。与一个专业相比,专业群能更好地适应社会产业发展对技术技能人才的能力需求,从专业群与产业协同发展的角度开展“1+X”证书制度试点工作,提高人才培养的适应性和针对性。本文依托广东省高水平专业群建设和广州市教育科学规划项目,从“群”与“X”的有机结合、以“课证融通”促进专业群的模块化课程体系构建、建立具有“弹性的”学分银行制度等从几方面探索高职院校高水平专业群实施“1+X”证书制度试点工作的途径,以期寻求“1+X”证书制度试点工作的有效样本。

“机器人+”背景下工业机器人技术创新发展方向

就《“机器人+”应用行动实施方案》的提出,探讨工业机器人的总体发展趋势及其在传统领域和新兴行业的应用与现状,介绍工业机器人技术今后一段时间在协作共融、群智控制技术等方面创新发展的方向和思路。

工业机器人技术高水平专业群组群逻辑研究

《中国制造2025》战略对我国制造业提出新挑战,随着新一代信息技术与制造技术的深度融合,装备制造产业发展带来的复合创新型技术技能人才需求,使得组建高水平专业群协同育人成为必然趋势。文章针对汽车制造与3C行业复合、创新型技术技能人才为主线,遵循产业学科视域的组群逻辑,以工业机器人技术专业为主体,电气自动化技术和机械制造与自动化技术专业为两翼,汽车制造与试验技术为应用打造高水平专业群,提出“全流程产业链一岗位群一培养目标一课程群一专业群”的一套合理的一体两翼一应用的复合创新型人才培养专业群组群逻辑方案。

一种面向群组机器人搜索任务的改进粒子群算法

针对群组机器人搜索时难以得到全部全局信息的问题,提出邻域粒子对粒子群优化(particle swarm optimization,PSO)算法进行改进。对于机器人组群中的粒子,设定了机器人的速度限制,根据任务的解决程度,可以弹性改变机器人粒子的前进速度。为实现在实际环境中使用PSO算法,将粒子的拓扑空间替换为搜索空间,使得群组机器人可以应用改进后的PSO算法完成既定的搜索任务。设计了一套含有8个指标的算法评价体系,通过100次的3种不同类型搜索任务求解,对比不同的算法和指标,实验结果证明了提出的PSO算法在群组机器人搜索任务中的适用性和有效性。

盾构切桩穿越建筑群时房屋倾斜影响分析

地铁盾构切桩穿越建筑群会导致房屋发生不均匀沉降,借助TS30测量机器人对深圳地铁9号线某小区的9号楼~13号楼群进行实时动态监测。监测结果表明:左、右线先后穿越9号楼的过程,叠加应力可减小房屋长边的倾斜值,最大斜率仅-0.24×10^(-3)mm/m,但未改变短边的倾斜方向;房屋长边“V”型构造产生的附加拉力会引起外墙竖向裂缝;左线穿越10号、11号楼和右线穿越13号、12号楼的过程,房屋长边的倾斜值大于对边和临边,穿越过程短边的倾斜方向发生逆转;斜率变化集中在刀盘进入房屋至盾尾离开期间,并滞后出现最大斜率,且监测边距离盾构中心越远,滞后现象越明显;盾构快速推进切桩导致长边斜率快速增大,地面同步注浆会减小房屋倾斜,达到房屋纠偏的目的。