Name: the modular design and production of an intelligent robot based on a closed-loop control strategy
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作者希望对 Mr. 高耀洁在执行本文所报道的实验方面的帮助表示感谢。这项工作得到了中国国家自然科学基金 (No. 61673117) 的部分支持。

1. 机器的构造 <ol> <li> 按图示装配机箱, 使用适当的紧固件确保机械部件的安全。( 图 1 ) 
	注意: 底盘, 包括底板, 马达, 轮子等, 是机器人的主要组成部分, 负责其运动。因此, 在装配过程中, 保持支架平直. </li>
	<li> 锡导线引线和正负电极。焊料两个导线通向电机的两端, 将红色引线连接到正极, 黑色引出负极. </li>
	<li> 装配轴套、马达和车轮。
	<ol> <li> 将马达连接到轴套, 并用螺钉将其固定. </li>
		<li> 将轴套插入轮毂中心. </li>
		<li> 将已完成的结构安装到机箱上. </li>
	</ol> </li> <li> 在机箱中心钻两个直径为3毫米的孔, 以允许安装马达驱动模块。将马达连接到马达驱动模块. </li>
	<li> 从机箱的左右边缘钻一个1厘米的孔, 以便安装底部的红外线传感器托架. </li>
	<li> 将两个紧固件安装到机箱两侧的中心. 
	注意: 为确保红外线传感器正常运行, 请确保连接件与机箱垂直. </li>
	<li> 钻孔, 直径18毫米, 通过两个结构元件安装传感器。( 图 2A ) </li>
	<li> 将马达驱动器安装到机箱底部。( 图 2B )安装一个红外传感器, 分别指向机箱的四方向。( 图 2C ) </li>
	<li> 以对称的方向安装转向器。由于舵机操作所产生的大扭矩, 确保螺栓安装在提供牢固和防渗接头的方式上. </li>
	<li> 在计算机中心安装四红外线传感器. </li>
	<li> 将 14.8 V 电源置于机器中心, 并将单片机单元 (MCU) 粘贴到电池组上. </li>
	<li> 将四量程传感器粘贴到机器的上部。将每个传感器和地面之间的角度调整到60和 #176;, 以确保相对于工作台的检测精度. </li>
	<li> 安装双轴倾斜传感器, 用于检测计算机无法到达工作区域中的目标时的情况. </li>
	<li> 使用螺丝刀将机械手连接到机器的前面。( 图 3 ) </li>
</ol> 2。调试转向引擎和驱动程序模块 <ol> <li> 双击打开调试软件 (例如, 机器人伺服 Terminal2010)。使用通用串行总线 (USB) 转换电缆将计算机连接到调试板。( 图 4 ) </li>
	<li> 将转向引擎和 #39 的波特率设置为9600位/秒, 速率限制为 521 rad/分钟, 角度限制为300和 #176; 工作接口中的电压限制为9.6 伏. </li>
	<li> 设置机器人转向装置的工作方式 #34; 转向引擎模式. #34; </li>
	<li> 应用异步半双工通信作为控制器和转向引擎之间的连接。这样, 控制器就可以从单一的通用异步收发器 (UART) 接口控制255以上的转向引擎。( 图 5 ) 
	警告: 最多可能有6台转向引擎连接到一根导线。太多的转向引擎将导致过热和大电压下降, 导致异常行为, 如复位和异常数据通信等 ( 图 6 ) </li> <li> 应用异步半双工通信作为控制器和马达驱动模块之间的连接。( 图 7 ) </li>
	<li> 设置两个驱动模块和四转向引擎的 ID 号。ID3 和 ID4 为将来的更新目的保留为空白。( 图 8 ) 
	注: ID1: 向左驱动模块;ID2: 向右驱动模块;ID5: 左前转向引擎;ID6: 右转向引擎;ID7: 左后方转向引擎;ID8: right-rear 转向引擎. </li>
	<li> 将转向引擎一个接一个地层叠, 并将级联连接到控制器. </li>
	<li> 将传感器连接到各自的控制器接口。应该注意的是, 连接器带有三角形标记的传感器是地面 (地线). 
	注: AD1: 前红外光电传感器在下侧;AD2: 右下侧红外光电传感器;AD3: 背面红外光电传感器AD4: 左红外线传感器在下侧;AD5: 前红外距离测量传感器;AD6: 右红外线测距传感器;AD7: 后红外测量传感器;AD8: 左红外线测距传感器;AD9: 左前摔红外光电传感器;AD10: 右摔红外光电传感器;AD11: right-rear 摔红外光电传感器;AD12: 左后方摔红外光电传感器. </li>
</ol> 3。调试传感器 <ol> <li> 旋转红外传感器尾部的调节旋钮以调整传感器的检测范围。当机器人处于工作台中心位置时, 前四红外传感器的逻辑电平为1。当机器移动到工作台的边缘时, 对应端的红外线传感器的逻辑电平将为0。( 图 9A ) 
	注意: 通过分析红外传感器的逻辑电平, 机器人可以确定其在工作台中的位置。例如, 如果左侧和前端传感器的逻辑级别为 0, 则该机器人必须位于工作表的左上角区域. </li>
	<li> 将距离传感器的测量值与其基线值进行比较以进行校准。( 图 9B ) 
	注意: 距离传感器是模拟传感器。随着距离的变化, 传感器和 #39 的信号强度反馈和相应的测量值也会有所不同。测量值将通过数字传感器中继到主机, 以便机器人能够识别周围环境的变化. </li>
	<li> 调试倾角传感器。
	<ol> <li> 水平放置倾斜角度传感器并记录其测量值. </li>
		<li> 将传感器倾斜到两个不同的方向, 并记录其测量值。如果测量值在误差范围内, 则可以将传感器视为正常操作. </li>
	</ol> </li> </ol> 4。控制方案 <ol> <li> 基于直流电机电压平衡方程、磁链方程和转矩平衡方程, 构造直流电机的仿真模型。
	<ol> <li> 建立由 <img alt="Equation 1" src="/files/ftp_upload/56422/56422eq1.jpg"/> 所给出的电压平衡方程, 其中 u d 是直接轴电压, u q 是正交轴电压。 R d 和 r q 分别表示直接轴电阻和正交轴电阻。<img alt="Equation 2" src="/files/ftp_upload/56422/56422eq2.jpg"/>, <img alt="Equation 3" src="/files/ftp_upload/56422/56422eq3.jpg"/>, <img alt="Equation 4" src="/files/ftp_upload/56422/56422eq4.jpg"/>, <img alt="Equation 5" src="/files/ftp_upload/56422/56422eq5.jpg"/>, 表示直接轴电流、直轴电流、直轴通量和正交轴通量. </li>
		<li> 建立磁链方程由 它 = "等式 6" src = "/文件/ftp_upload/56422/56422eq6. jpg"/>> where <img alt="Equation 7" src="/files/ftp_upload/56422/56422eq7.jpg"/> 和 <img alt="Equation 8" src="/files/ftp_upload/56422/56422eq8.jpg"/> 表示系数分别为直轴自感和正交轴自感。<img alt="Equation 9" src="/files/ftp_upload/56422/56422eq9.jpg"/> and <img alt="Equation 10" src="/files/ftp_upload/56422/56422eq10.jpg"/> 是互感系数。<img alt="Equation 11" src="/files/ftp_upload/56422/56422eq11.jpg"/>, <img alt="Equation 12" src="/files/ftp_upload/56422/56422eq12.jpg"/> 表示电磁转矩和负载扭矩. </li>
		<li> 建立计算的扭矩平衡方程式 <img alt="Equation 13" src="/files/ftp_upload/56422/56422eq13.jpg"/>. </li>
		<li> 建立直流电机仿真模型。( 图 10 ) </li>
	</ol> </li> <li> 对直流电机应用双闭环控制。利用速度调节器的输出作为电流调节器的输入来调节电机和 #39 的扭矩和电流. 
	注: 当前调节系统结构示意图。( 图 11 ) 
	PI 电流调节器的传递函数显示为 <img alt="Equation 14" src="/files/ftp_upload/56422/56422eq14.jpg"/>, 其中 <img alt="Equation 15" src="/files/ftp_upload/56422/56422eq15.jpg"/> 的比例系数当前调节器和 <img alt="Equation 16" src="/files/ftp_upload/56422/56422eq16.jpg"/> 是当前调节器的提前期常数。它可以通过尺度系数 <img alt="Equation 17" src="/files/ftp_upload/56422/56422eq17.jpg"/>, 和积分系数 <img alt="Equation 18" src="/files/ftp_upload/56422/56422eq18.jpg"/> 得到。
	<ol> <li> 应用直流电机的双闭环控制。( 图 12 ) </li>
	</ol> </li> <li> 应用 DC 马达的四象限运动控制。( 图 13 )
	<ol> <li> 利用 H 桥驱动电路, 通过调制金属氧化物-半导体场效应晶体管 (MOSFET) 的开关来实现直流电机的四象限运动。( 图 14 ) 
		注: 当 Q1 和 Q4 开启时, 电机处于正向电状态和第一象限运行状态。当 Q3 和 Q4 开启时, 电机处于能量制动状态和第二象限运行状态。当 Q2 和 Q3 开启时, 电机处于反向电状态和第三象限运动状态。当 Q1 和 Q2 打开时, 马达处于反向能量制动状态和第四象限运动状态. </li>
	</ol> </li> <li> 应用脉宽调制 (PWM) 来调节直流电机的速度。在直流电机电源的电压基本保持不变的情况下, 对电机电枢施加的直流电压脉冲宽度 (占空比) 进行控制, 从而调节平均值和转速输入电机的电枢电压. </li>
</ol> 5。编写程序 <ol> <li> 使用 USB 下载行将由 KEIL5 生成的二进制文件导入到控制器中. </li>
	<li> 选择要执行的程序. </li>
</ol> 6。应用程序方案 <ol> <li> 应用颜色识别对工厂中的货物进行分类。( 图 15 )
	<ol> <li> 使用光学摄像机来收集图像, 并使用已弹起的 two-dimensional 阵列的编号验证扫描的颜色. </li>
		<li> 用机械臂抬起对象. </li>
		<li> 使用机器人的摄像头和驱动马达发出命令将对象传送到指定的位置 </li>
	</ol> </li> <li> 快速搜索以清除指定区域。( 图 16 )
	<ol> <li> 使用机器人上的四光学传感器来检测周围障碍物的位置. </li>
		<li> 命令舵机在指定区域内提起机械铲和清除障碍物. </li>
		<li> 使用遗传算法确定最有效的搜索路径. </li>
	</ol> </li> <li> 使用自我防止从工作台中掉下来将工人与机器工作区分开, 并确保工人的安全。
	<ol> <li> 根据识别工作台和地面的四上部光学传感器之间的高度差异来修改信号. </li>
		<li> 分析可变信号以确定工作台边缘的位置. </li>
		<li> 命令计算机避免工作台的边缘. </li>
	</ol>
	</li>
</ol>

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作者没有什么可透露的。

本文设计了一种可以自主构建的智能机器人。通过将多个软件程序与硬件集成, 实现了所提出的智能搜索算法和自主识别。在协议中, 我们介绍了配置硬件和调试智能机器人的基本方法, 它可以帮助用户设计适合自己机器人的机械结构。然而, 在实际运行过程中, 必须注意结构的稳定性、工作范围、自由度和空间利用率, 以确保这些参数符合要求。合理的机械结构保证了机器人的高精度、高灵活性和?...

机器人是复杂的, 智能机器, 结合了一些学科的知识, 包括机械, 电子学, 控制, 计算机, 传感器和人工智能1,2。机器人在工作场所, 特别是在工业生产中, 越来越多地帮助甚至取代人类, 这是由于机器人在执行重复或危险任务时所拥有的优势。在目前的研究中, 智能机器人协议的设计是基于闭环控制策略, 特别是基于遗传算法的路径规划。此外, 功能模块已被严格划分为3,4, 为未来的优化工作打下了坚实的基础, 使机器人具有很强的升级能力。
机器人平台的模块化实现主要基于以下方法: 电机控制模块的多维组合控制策略5,6, 基于遗传算法的智能探测在优化算法模块中。
我们采用双闭环控制的直流电机和四象限电机操作在电机控制模块。双闭环速度控制意味着速度调节器的输出作为电流调节器的输入, 允许它控制电机的电流和扭矩。该系统的优点是可以根据给定速度和实际转速的不同, 对电机的转矩进行 real-time 控制。当给定的和实际的速度之间的差异是相对较大的, 电机的扭矩增加和速度的变化更快地驱动电机的速度向给定的价值尽快, 这使得快速调速7,8,9. 反之, 当速度相对接近给定值时, 它可以自动减小电机的转矩, 以避免速度过快, 允许速度相对快速地实现给定的值, 没有错误6,10. 由于电流回路的等效时间常数相对较小, 四象限电机11、12可以更快地响应, 以抑制系统受干扰的影响。外部干扰。这使得它能够提高系统的稳定性和抗干扰能力。
基于 MATLAB 的仿真运行结果, 我们选择了具有最高效率的遗传智能优化算法。遗传算法是一种基于遗传学中自然选择理论的随机并行搜索算法。它构成了在没有任何初始信息的情况下找到全局最优解的有效方法。它将问题的解决方案视为一个群体, 从而通过连续选择、交叉、变异和其他遗传操作来提高解决方案的质量。在智能机器人的路径规划方面, 由于初始信息不足、环境复杂、非线性等原因, 造成了很高的难度。遗传算法在求解非线性问题时具有全局优化能力、较强的适应性和鲁棒性, 能够较好地解决路径规划问题;对这个问题没有具体的限制;计算过程简单;并且对于搜索空间没有特殊要求13,14。

<table><tbody><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>L1-1</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>L2-1</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>L3-1</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>L4-1</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>L5-1</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>L5-2</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>U3A</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>U3B</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>U3C</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>U3F</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>U3G</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>U3H</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>U3J</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>I3</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>I5</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>I7</td><td></td></tr><tr><td>structural parts</td><td>UPTECMONYH HAR</td><td>CGJ</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LM1</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LM2</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LM3</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LM4</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LX1</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LX2</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LX3</td><td></td></tr><tr><td>link component</td><td>UPTECMONYH HAR</td><td>LX4</td><td></td></tr><tr><td>Steering gear structure component</td><td>UPTECMONYH HAR</td><td>KD</td><td></td></tr><tr><td>Steering gear structure component</td><td>UPTECMONYH HAR</td><td>DP</td><td></td></tr><tr><td>Infrared sensor</td><td>UPTECMONYH HAR</td><td>E18-B0</td><td>Digital sensor</td></tr><tr><td>Infrared&amp;nbsp;Range&amp;nbsp;Finder</td><td>SHARP</td><td>GP2D12</td><td></td></tr><tr><td>Gray level sensor</td><td>SHARP</td><td>GP2Y0A02YK0F</td><td></td></tr><tr><td>proMOTION&amp;nbsp;CDS</td><td>SHARP</td><td>CDS&amp;nbsp;5516</td><td>The robot steering gear</td></tr><tr><td>motor drive module</td><td>Risym</td><td>HG7881</td><td></td></tr><tr><td>solder wire</td><td>ELECALL</td><td>63A</td><td></td></tr><tr><td>terminal</td><td>Bright wire</td><td>5264</td><td></td></tr><tr><td>motor</td><td>BX motor</td><td>60JX</td><td></td></tr><tr><td>camera</td><td>Logitech</td><td>C270</td><td></td></tr><tr><td>Drilling machine</td><td>XIN XIANG</td><td>16MM</td><td>Please be careful</td></tr><tr><td>Soldering station</td><td>YIHUA</td><td>8786D</td><td>Be&amp;nbsp;careful&amp;nbsp;to&amp;nbsp;be&amp;nbsp;burn</td></tr><tr><td>screwdriver</td><td>EXPLOIT</td><td>043003</td><td></td></tr><tr><td>Tweezers</td><td>R`DEER</td><td>RST-12</td><td></td></tr></tbody></table>

the modular design and production of an intelligent robot based on a closed-loop control strategy

智能机器人是新一代机器人的一部分, 能够感知周围环境, 规划自己的行动, 最终达到目标。近年来, 对机器人的依赖在日常生活和工业中增加了。本文所提出的协议描述了一个具有智能搜索算法和自主识别功能的搬运机器人的设计与制作。
首先, 对各种工作模块进行机械装配, 完成工作平台的搭建和机械手的安装。然后, 我们设计了一个闭环控制系统和一个四象限电机控制策略, 借助于调试软件, 以及设置转向齿轮的识别 (ID), 波特率和其他工作参数, 以确保机器人达到期望的动态性能和低能耗。然后, 对传感器进行调试, 实现多传感器融合, 准确获取环境信息。最后, 我们实现了相应的算法, 能够识别机器人在给定应用中的功能的成功。
这种方法的优点是它的可靠性和灵活性, 因为用户可以开发各种硬件建设程序, 并利用全面的调试器来实施智能控制策略。这样, 用户就可以根据自己的需要来设置个性化需求, 从而提高效率和鲁棒性。

在双闭环运动控制程序图中, 紫色代表给定的速度信号, 黄色表示控制系统输出的值。图 17清楚地表明双闭环控制系统比开环系统更有效。双闭环系统输出的实际超调量相对较小, 系统的动态性能较好。(图 17)
图 18显示了在不同波长的反射光的影响下机器人的颜...

Watch this Scientific Journal Video about The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy at JoVE.com

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

我们提出了一个关于模块化设计和生产智能机器人的协议, 以帮助科技人员设计基于个人需求和个性化设计的具有特殊生产任务的智能机器人。

基于闭环控制策略的智能机器人模块化设计与制作

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach ...

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SCIENTISTS IN ACTION

11.5K 次观看.  Chinese Academy of Sciences. 我们提出了一个关于模块化设计和生产智能机器人的协议, 以帮助科技人员设计基于个人需求和个性化设计的具有特殊生产任务的智能机器人。

视频: The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces

The non-stationary nature and variability of neuronal signals is a fundamental problem in brain-machine interfacing. We developed a brain-machine interface to assess the robustness of different control-laws applied to a closed-loop image stabilization task. Taking advantage of the well-characterized fly visuomotor pathway we record the electrical activity from an identified, motion-sensitive neuron, H1, to control the yaw rotation of a two-wheeled robot. The robot is equipped with 2 high-speed video cameras providing visual motion input to a fly placed in front of 2 CRT computer monitors. The activity of the H1 neuron indicates the direction and relative speed of the robot's rotation. The neural activity is filtered and fed back into the steering system of the robot by means of proportional and proportional/adaptive control. Our goal is to test and optimize the performance of various control laws under closed-loop conditions for a broader application also in other brain machine interfaces.

We use a closed-loop fly-machine interface to investigate general principles in neuronal control.

研究脑机接口的闭环性能的实验平台

The non-stationary nature and variability of neuronal signals is a fundamental problem in brain-machine interfacing. We developed a brain-machine ...

科研

神经科学

Designing and Implementing Nervous System Simulations on LEGO Robots

We present a method to use the commercially available LEGO Mindstorms NXT robotics platform to test systems level neuroscience hypotheses. The first step of the method is to develop a nervous system simulation of specific reflexive behaviors of an appropriate model organism; here we use the American Lobster. Exteroceptive reflexes mediated by decussating (crossing) neural connections can explain an animal's taxis towards or away from a stimulus as described by Braitenberg and are particularly well suited for investigation using the NXT platform.1 The nervous system simulation is programmed using LabVIEW software on the LEGO Mindstorms platform. Once the nervous system is tuned properly, behavioral experiments are run on the robot and on the animal under identical environmental conditions. By controlling the sensory milieu experienced by the specimens, differences in behavioral outputs can be observed. These differences may point to specific deficiencies in the nervous system model and serve to inform the iteration of the model for the particular behavior under study. This method allows for the experimental manipulation of electronic nervous systems and serves as a way to explore neuroscience hypotheses specifically regarding the neurophysiological basis of simple innate reflexive behaviors. The LEGO Mindstorms NXT kit provides an affordable and efficient platform on which to test preliminary biomimetic robot control schemes. The approach is also well suited for the high school classroom to serve as the foundation for a hands-on inquiry-based biorobotics curriculum.

An approach to neural network modeling on the LEGO Mindstorms robotics platform is presented. The method provides a simulation tool for invertebrate neuroscience research in both the research lab and the classroom. This technique enables the investigation of biomimetic robot control principles.

LEGO机器人神经系统仿真设计和实现

We present a method to use the commercially available LEGO Mindstorms NXT robotics platform to test systems level neuroscience hypotheses. The first step ...

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in unstructured environments. At the same time, new procedures and techniques have been developed to reduce the invasiveness of surgical operations. Minimally Invasive Surgery (MIS) has been successfully employed for abdominal interventions, however standard MIS procedures are mainly based on rigid or semi-rigid tools that limit the dexterity of the clinician. This paper presents a soft and high dexterous manipulator for MIS. The manipulator was inspired by the biological capabilities of the octopus arm, and is designed with a modular approach. Each module presents the same functional characteristics, thus achieving high dexterity and versatility when more modules are integrated. The paper details the design, fabrication process and the materials necessary for the development of a single unit, which is fabricated by casting silicone inside specific molds. The result consists in an elastomeric cylinder including three flexible pneumatic actuators that enable elongation and omni-directional bending of the unit. An external braided sheath improves the motion of the module. In the center of each module a granular jamming-based mechanism varies the stiffness of the structure during the tasks. Tests demonstrate that the module is able to bend up to 120&#176; and to elongate up to 66% of the initial length. The module generates a maximum force of 47 N, and its stiffness can increase up to 36%.

This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.

设计和弹性股软模块化机器人微创手术制造

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in ...

生物工程

Robotic Sensing and Stimuli Provision for Guided Plant Growth

Robot systems are actively researched for manipulation of natural plants, typically restricted to agricultural automation activities such as harvest, irrigation, and mechanical weed control. Extending this research, we introduce here a novel methodology to manipulate the directional growth of plants via their natural mechanisms for signaling and hormone distribution. An effective methodology of robotic stimuli provision can open up possibilities for new experimentation with later developmental phases in plants, or for new biotechnology applications such as shaping plants for green walls. Interaction with plants presents several robotic challenges, including short-range sensing of small and variable plant organs, and the controlled actuation of plant responses that are impacted by the environment in addition to the provided stimuli. In order to steer plant growth, we develop a group of immobile robots with sensors to detect the proximity of growing tips, and with diodes to provide light stimuli that actuate phototropism. The robots are tested with the climbing common bean, Phaseolus vulgaris, in experiments having durations up to five weeks in a controlled environment. With robots sequentially emitting blue light-peak emission at wavelength 465 nm-plant growth is successfully steered through successive binary decisions along mechanical supports to reach target positions. Growth patterns are tested in a setup up to 180 cm in height, with plant stems grown up to roughly 250 cm in cumulative length over a period of approximately seven weeks. The robots coordinate themselves and operate fully autonomously. They detect approaching plant tips by infrared proximity sensors and communicate via radio to switch between blue light stimuli and dormant status, as required. Overall, the obtained results support the effectiveness of combining robot and plant experiment methodologies, for the study of potentially complex interactions between natural and engineered autonomous systems.

Distributed robot nodes provide sequences of blue light stimuli to steer the growth trajectories of climbing plants. By activating natural phototropism, the robots guide the plants through binary left-right decisions, growing them into predefined patterns that by contrast are not possible when the robots are dormant.

机器人传感和刺激为引导植物生长提供

Robot systems are actively researched for manipulation of natural plants, typically restricted to agricultural automation activities such as harvest, ...

工程学

Operation of the Collaborative Composite Manufacturing (CCM) System

The automated tape placement and the automated fiber placement (AFP) machines provide a safer working environment and reduce the labor intensity of workers than the traditional manual fiber placement does. Thus, the production accuracy, repeatability and efficiency of composite manufacturing are significantly improved. However, the current AFP systems can only produce the composite components with large open surface or simple revolution parts, which cannot meet the growing interest in small complex or closed structures from industry.
In this research, by employing a 1-degree of freedom (DoF) rotational stage, a 6-RSS parallel robot, and a 6-DoF serial robot, the dexterity of the AFP system can be significantly improved for manufacturing complex composite parts. The rotational stage mounted on the parallel robot is utilized to hold the mandrel and the serial robot carries the placement head to mimic two human hands that have enough dexterity to lay the fiber to the mandrel with complex contour.
Although the CCM system increases the flexibility of composite manufacturing, it is quite time-consuming or even impossible to generate the feasible off-line path, which ensures uniform lay-up of subsequent fibers considering the constraints like singularities, collisions between the fiber placement head and mandrel, smooth fiber direction change and keeping the fiber placement head along the norm of the part&#39;s surface, etc. Moreover, due to the existing positioning error of the robots, the on-line path correction is needed. Therefore, the on-line pose correction algorithm is proposed to correct the paths of both parallel and serial robots, and to keep the relative path between the two robots unchanged through the visual feedback when the constraint or singularity problems in the off-line path planning occur. The experimental results demonstrate the designed CCM system can fulfill the movement needed for manufacturing a composite structure with Y-shape.

Operation of the Collaborative Composite Manufacturing CCM System

A collaborative composite manufacturing system is developed for robotic lay-up of composite laminates using the prepreg tape. The proposed system allows the production of composite laminates with high levels of geometrical complexity. The issues in the path planning, coordination of the robots and control are addressed in the proposed method.

协同复合制造 （CCM） 系统的操作

The automated tape placement and the automated fiber placement (AFP) machines provide a safer working environment and reduce the labor intensity of ...

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84&#176;. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (&#62; 70&#176;), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

This protocol provides a detailed list of steps to be performed for the manufacturing, control and evaluation of the climbing performance of a gecko-inspired soft robot.

壁虎灵感软机器人的制造、控制和性能评估

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

We developed a real-time mirror robot system for functional recovery of hemiplegic arms using automatic control technology, conducted a clinical study on healthy subjects, and determined tasks through feedback from rehabilitation doctors. This simple mirror robot can be applied effectively to occupational therapy in stroke patients with a hemiplegic arm.

机器人镜治疗系统偏瘫武器功能恢复

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is ...

Interactive and Visualized Online Experimentation System for Engineering Education and Research

Experimentation is crucial in engineering education. This work explores visualized experiments in online laboratories for teaching and learning and also research. Interactive and visualizing features, including theory-guided algorithm implementation, web-based algorithm design, customizable monitoring interface, and three-dimensional (3-D) virtual test rigs are discussed. To illustrate the features and functionalities of the proposed laboratories, three examples, including the first-order system exploration using a circuit-based system with electrical elements, web-based control algorithm design for virtual and remote experimentation, are provided. Using user-designed control algorithms, not only can simulations be conducted, but real-time experiments can also be conducted once the designed control algorithms have been compiled into executable control algorithms. The proposed online laboratory also provides a customizable monitoring interface, with which users can customize their user interface using provided widgets such as the textbox, chart, 3-D, and camera widget. Teachers can use the system for online demonstration in the classroom, students for after-class experimentation, and researchers to verify control strategies.

This work describes an online experimentation system that provides visualized experiments, including the visualization of theories, concepts, and formulas, visualizing the experimental process with three-dimensional (3-D) virtual test rigs, and visualizing the control and monitoring system using widgets such as charts and cameras.

工程教育研究互动可视化在线实验系统

Experimentation is crucial in engineering education. This work explores visualized experiments in online laboratories for teaching and learning and also ...

Closed-loop Neuro-robotic Experiments to Test Computational Properties of Neuronal Networks

Information coding in the Central Nervous System (CNS) remains unexplored. There is mounting evidence that, even at a very low level, the representation of a given stimulus might be dependent on context and history. If this is actually the case, bi-directional interactions between the brain (or if need be a reduced model of it) and sensory-motor system can shed a light on how encoding and decoding of information is performed. Here an experimental system is introduced and described in which the activity of a neuronal element (i.e., a network of neurons extracted from embryonic mammalian hippocampi) is given context and used to control the movement of an artificial agent, while environmental information is fed back to the culture as a sequence of electrical stimuli. This architecture allows a quick selection of diverse encoding, decoding, and learning algorithms to test different hypotheses on the computational properties of neuronal networks.

In this paper, an experimental framework to perform closed-loop experiments is presented, in which information processing (i.e., coding and decoding) and learning of neuronal assemblies are studied during the continuous interaction with a robotic body.

闭环神经机器人实验来检验神经网络的计算性能

Information coding in the Central Nervous System (CNS) remains unexplored. There is mounting evidence that, even at a very low level, the representation ...

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor sources is an essential task for organism survival. Insects are well-studied organisms with regard to odor tracking, and their behavioral strategies have been applied to mobile robots for evaluation. This "bottom-up" approach is a fundamental way to develop biomimetic robots; however, the biological analyses and the modeling of behavioral mechanisms are still ongoing. Therefore, it is still unknown how such a biological system actually works as the controller of a robotic platform. To answer this question, we have developed an insect-controlled robot in which a male adult silkmoth (Bombyx mori) drives a robot car in response to odor stimuli; this can be regarded as a prototype of a future insect-mimetic robot. In the cockpit of the robot, a tethered silkmoth walked on an air-supported ball and an optical sensor measured the ball rotations. These rotations were translated into the movement of the two-wheeled robot. The advantage of this "hybrid" approach is that experimenters can manipulate any parameter of the robot, which enables the evaluation of the odor-tracking capability of insects and provides useful suggestions for robotic odor-tracking. Furthermore, these manipulations are non-invasive ways to alter the sensory-motor relationship of a pilot insect and will be a useful technique for understanding adaptive behaviors.

The capability to localize an odor source is necessary for insect survival and is expected to be applicable to artificial odor-tracking. The insect-controlled robot is driven by an actual silkmoth and enables us to evaluate the odor-tracking capability of insects through a robotic platform.

昆虫控制的机器人:移动机器人平台来评估昆虫的气味跟踪能力

Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor ...

基于闭环控制策略的智能机器人模块化设计与制作

摘要

探索更多视频

此视频中的章节

研究脑机接口的闭环性能的实验平台

LEGO机器人神经系统仿真设计和实现

设计和弹性股软模块化机器人微创手术制造

机器人传感和刺激为引导植物生长提供

协同复合制造（CCM）系统的操作

壁虎灵感软机器人的制造、控制和性能评估

机器人镜治疗系统偏瘫武器功能恢复

工程教育研究互动可视化在线实验系统

闭环神经机器人实验来检验神经网络的计算性能

昆虫控制的机器人:移动机器人平台来评估昆虫的气味跟踪能力

基于闭环控制策略的智能机器人模块化设计与制作

摘要

探索更多视频

此视频中的章节

研究脑机接口的闭环性能的实验平台

LEGO机器人神经系统仿真设计和实现

设计和弹性股软模块化机器人微创手术制造

机器人传感和刺激为引导植物生长提供

协同复合制造 （CCM） 系统的操作

壁虎灵感软机器人的制造、控制和性能评估

机器人镜治疗系统偏瘫武器功能恢复

工程教育研究互动可视化在线实验系统

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