基于克隆思维进化算法的机器人足球协作策略

针对足球机器人比赛系统的实时性要求,采用了一种克隆思维进化算法对足球机器人比赛系统的高层策略系统进行优化。克隆思维进化算法集免疫机制与进化机制于一体,在发挥思维进化算法优势的基础上增加了克隆(复制)、克隆重组、克隆变异和克隆选择等算子,既保持了种群的多样性,又提高了算法的收敛速度。足球比赛场上的瞬时信息作为抗原,待选策略作为抗体,二者均采用二进制编码方式。用克隆思维进化算法对抗体群进行优化,实验结果表明,采用该算法能快速找到最佳策略,简化了足球机器人决策系统,提高了决策效率。     

建筑工程自动喷水灭火系统施工与使用中存在的问题与改进的建议

自动喷水灭火系统作为一种智能型的灭火工具，已广泛应用到各种类型的建筑工程，为保护人身及财产安全起到了相当重要的作用。指出了近年来在安装有自动喷水灭火系统的建筑工程验收工作中遇到的一些实际问题，对照现行的国家消防技术规范，提出了一些改进的建议。     

高速并联机械手抓放操作时间最优轨迹规划

提出了一种两平动自由度高速并联机械手——Diamond机构的时间最优轨迹规划方法．首先分析得到3次样条规律的操作空间轨迹误差与关节空间插扑节点间距的4次方成正比，然后确定出典型抓放操作轨迹各段的最大插补间距并获得抓放轨迹上一组最少轨迹点序列，有效提高了计算效率。 在此基础上，以关节速度、加速度和其变化率，以及关节驱动转矩为约束条件，以抓放时间最短为目标，采用复合型优化法计算出电池分选操作的最大和最小单程运行时间分别为0．21S和0．13S，平均分选速度超过100次／min。该方法已成功应用于由4台Diamond机械手构成的高性能锂离子电池分选系统。     

Influence of long-period pesticide force on genetic polymorphism of wolf spider Pardosa pseudoannulata (Lycosidae: Araneae)

Wolf spiders are predators in large quantities in the fields. How wolf spiders keep their dominant species status under long-period pesticide force? To answer this question, eight geographical populations of Pardosa pseudoannulata were used as materials to test the influence of geographical habitats on their genomic DNA polymorphism. The RAPD pattern showed polymorphic variations among and within different populations. Total 84 bands amplified by 10 random primers, of which 62 (73.81%) are polymorphic, were generated from 55 individuals of eight geographical populations. Meanwhile, Shannon’s index (Ho= 0.5177) showed a rich genetic diversity of P. pseudoannulata, and most of the genetic variation (64.24%) was found within populations. Multiple regression analysis suggested that it is the climatic variation (such as annual average temperature etc.) that results in adaptive eco-geographic differentiation, and it is the long-period pesticide force that speeds up the genetic differentiation of P. pseudoannulata which changed the genetic diversity of the population.     

Structure and kinematic analysis of a novel 2-DOF translational parallel robot

This paper addresses the analysis of a novel parallel robot with 2 translational degrees of freedom (DOFs). The robot can position a rigid body in a plane with constant orientation. The kinematic structure of the robot is first described in detail. Some kinematic problems, such as the inverse and forward kinematics, velocity, and singularity are then analyzed. The working and assembly modes are discussed. Since it is the most important index to design a robot, the workspace of the robot is studied systematically in this paper. Based on the analysis of reachable workspace and singularity, a kind of workspace concept characterizing the region that the end-effector of the robot can reach in practice is defined. The results of this paper will be very useful for the design and application of the robot.     

Exoskeleton arm with force feedback for robot bilateral teleoperation

A novel 6 degrees of freedom (DOFs) wearable exoskeleton arm,ZJUESA,based on man-machine system is present- ed.It can be used in robot bilateral teleoperation as master arm with force-feedback.With introducing the revolute-prismatic-spherical (RPS) parallel mechanism and planetary gear mechanism,it is designed based on the anatomy of human upper-limb.With the sensors on this external mechanical structure,the human operator motion is detected and converted to the slave robot control command.Additionally the pneumatic system on it generates a force feedback by using hybrid fuzzy control.As a result,the human operator may have a feeling of doing the work directly.     

基于坐标变换的具有可操舵轮的移动机器人运动学建模

为了提高移动机器人的灵活性和机动性,人们提出了最大限度地利用普通常规轮的运动自由度来实现移动机器人的平面自由运动。当移动机器人具有n(n≥2)个可操舵驱动轮时,它可以实现平面上的自由运动,即它具有3个自由度。针对轮式移动机器人的运动学建模问题,基于坐标变换法,提出了一种解决具有可操舵轮的移动机器人运动学建模的通用方法,建立了在满足理想运动约束条件下的运动学模型,并以具有2个可操舵驱动轮的3自由度移动机器人为例,给出了运动学仿真结果。     

Design of trotting controller for the position-controlled quadruped robot

This work presents a controller designed for position-controlled quadrupedal dynamic locomo-tion, aiming at simple and robust trotting control .The controller takes the torso attitude angles and velocities into planning foot trajectories .Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced .Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model .Furthermore , it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional mo-tions.Finally, results of robust trotting in various speeds , path tracking and push recovery in simu-lation are reported , and results of trotting on real quadruped robots will be studied .     

同构阵列式自重构机器人的设计和变形策略

设计了一种同构、阵列式自重构模块机器人,其特点为结构紧凑、运动灵活.每一个模块可以单独地与其他模块相互分离或连接,通过与其他模块合作改变自身的连接.讨论了如何描述机器人的位形,并提出了一种建立在评价函数和邻接矩阵基础上的变形运动方法.该方法有效地降低了系统的计算量,减少了运动步数.利用Java 3D验证了所提出运动算法的可行性和合理性.     

面向自主机器人的实时彩色视觉系统

设计开发了一种新型的机器人实时彩色视觉系统，以及基于颜色的实时分割和识别软件系统，采用即插即用型的USB接口数字摄像头，简化了系统的使用和维护，首先把输入的彩色图像从RGB空间转换到YIQ颜色空间，提取出和颜色有关的IQ平面的信息；然后根据目标颜色在IQ平面里分割图像，再对图像进行游程编码，并从游程编码中提取出有效的图像信息；最后通过TCP／IP接口将视觉信息发送给机器人控制系统，为了抑制光强变化的影响，采用了一种阈值学习方法，实验结果表明，整套系统具有很高的实时性和较好的识别效果。