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简介：重点词汇1.papern.纸;纸张paper表示"纸;纸张"时,是不可数名词。apieceofpaper一张纸拓展(1)paper可作定语,如:papermoney纸币。(2)paper意为"试卷;论文"时,是可数名词。Pleasehandoutthepapers.请分发试卷。2.pollutev.污染Diditpollutetheenvironment?它对环境有污染吗?拓展(1)pollutionn.污染;污染物air/noisepollution空气/噪音污染

简介：重点知识园地重点单词1.papern.纸;纸张paper表示'纸;纸张'时,是不可数名词。apieceofpaper一张纸拓展(1)paper可作定语,如:papermoney纸币。(2)paper意为'试卷;论文'时,是可数名词。Pleasehandoutthepapers.请分发试卷。2.pollutev.污染Diditpollutetheenvironment?它对环境有污染吗?

简介：这个单元的语法项目是助动词will+动词原形表示一般将来时，我们还将围绕这个内容学习讨论关于未来生活的话题。在学习一般将来时态的同时，我们还要注意区别它与一般过去时和一般现在时的用法。

简介：重点词汇1.papern.纸;纸张pape袁示'纸;纸张'时,是不可数名词。apieceofpaper一张纸拓展(1)paper可作定语,如:papermoney纸币。(2)paper意为'试卷;论文'时,是可数名词。Pleasehandoutthepapers.请分发试卷。2.pollutev.污染Diditpollutetheenvironment?它对环境有污染吗?拓展(1)pollution月.污染;污染物air/noisepollution空气/噪音污染(2)pollutedadj.被污染的pollutedwater被污染了的水3.buildv.建筑;建造

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简介：Inaerialrobots’visualnavigation,itisessentialyetverydiffculttodetecttheattitudeandpositionoftherobotsoperatedinrealtime.Byintroducinganewparametricmodel,theproblemcanbereducedfromalmostunmanageabletobepartlysolved,thoughnotfully,aspertherequirement.Inthisparametricapproach,amulti-scaleleastsquaremethodisformulatedfirst.Bypropagatingaswellasimprovingtheparametersdownfromlayertolayeroftheimagepyramid,anewglobalfeaturelinecanthenbedetectedtoparameterizetheattitudeoftherobots.Furthermore,thisapproachpavesthewayforsegmentingtheimageintodistinctparts,whichcanberealizedbydeployingaBayesianclassifieronthepicturecelllevel.ComparisonwiththeHoughtransformbasedmethodintermsofrobustnessandprecisionshowsthatthismulti-scaleleastsquarealgorithmisconsiderablymorerobusttonoises.Somediscussionsarealsogiven.

简介：Inthispaper,thescrewtransformationsarediscussedindetailandtheirmatricesaregiven.BasedonLagrangianequations,anewmethodformodellingthedy-namicbehaviorofrobotsispresented.Thederivationissimple,andtheconfigurationofthemodelisconcise.Allthecoefficientsarecalculatedinsimplerecursiveway,whichcanbeeasilyprogrammedincomputation.Themethodpresentedcanalsobeusedinthedy-namicandthekinematicstudyofspatialmechanisms.

简介：TheconceptofIntelligentMechanicalDesign(IMD)ispresentedtoshowhowamechanicalstructurecanbedesignedtoaffectrobotcontrollability,simplificationandtaskperformance.Exploringthisconceptproduceslandmarksintheterritoryofmechanicalrobotdesignintheformofsevendesignprinciples.Thedesignprinciples,whichwecalltheMecha-TelligencePrinciples(MTP),provideguidanceonhowtodesignmechanicsforautonomousmobilerobots.Theseprinciplesguideustoasktherightquestionswheninvestigatingissuesconcerningself-controllable,reliable,feasible,andcompatiblemechanicsforautonomousmobilerobots.ToshowhowMTPcanbeappliedinthedesignprocessweproposeanovelmethodology,namedasMecha-TelligenceMethodology(MTM).Mechanicaldesignbytheproposedmethodologyisbasedonpreferenceclassificationoftherobotspecificationdescribedbyinteractionoftherobotwithitsenvironmentandthephysicalparametersoftherobotmechatronics.Afterdefiningnewterms,weinvestigatethefeasibilityoftheproposedmethodologytothemechanicaldesignofanautonomousmobilesewerinspectionrobot.Inthisindustrialprojectweshowhowapassive-activeintelligentmovingmechanismcanbedesignedusingtheMTMandemployedinthefield.

简介：拐弯处步法是为类人动物机器人的一个基本运动。这篇论文为类人动物转弯论述一个方法，即钟拐弯处。钟拐弯处的目的是在一个静止的点改变机器人方向。计划的钟拐弯处由四步组成：脚关节轨道产生，新潮的轨道产生，膝轨道产生，和反的kinematics计算。我们的建议方法与12DOF(自由的度)基于典型类人动物结构。钟拐弯处计划的最后的输出是12条引用轨道，它被用来与12DOF控制一个类人动物机器人。ZMP(零个时刻点)作为稳定性标准被使用计划。模拟实验被进行验证我们的建议钟拐弯处方法的有效性。关键词类人动物机器人-拐弯处步法-ZMP-钟拐弯处这个工作被中国(号码60174018)的国家自然科学基础支持。唐哲在湖南省出生了，中国，在1977。他当前是在Nanyang工艺的大学的聪明的系统中心的一个研究家伙。他在清华大学从计算机科技的系收到了学士和博士度，北京中国。他的研究兴趣包括类人动物机器人，聪明的控制。孙增琪在江苏省出生了，中国，在1943。他从自动控制的系收到了学士度，清华大学在1966，并且在从Chalmers工业大学设计的控制的博士度，Gothenburg，瑞典，在1981。他当前是在计算机科学系和技术的一个教授，清华大学。他在控制系统，计算机控制理论，聪明的控制，和机器人学的电脑辅助的设计上是超过200篇论文和八本书的作者或合作者。他的当前的研究兴趣包括聪明的控制，机器人学，模糊系统，神经网络，和进化计算。刘洪波在山东省出生了，中国，在1978。他当前是在在中国北京的清华大学的计算机科技的系的一个博士候选人。他的研究兴趣包括因特网数据采矿和聪明的系统。MengJoo嗯分别地在1985和1988从新加坡的国家大学在电力工程收到了他的学士和硕士学位并且在从澳大利亚的公�

简介：Inthispaper,aformationcontrolalgorithmandanobstacleavoidancecontrolalgorithmformobilerobotsaredevelopedbasedonarelativemotionsensorysystemsuchasapan/tiltcameravisionsystem,withouttheneedforglobalsensingandcommunicationbetweenrobots.Thisisachievedbyemployingthevelocityvariation,insteadofactualvelocities,asthecontrolinputs.Simulationandexperimentalresultshavedemonstratedtheeffectivenessoftheproposedcontrolmethods.

简介：PlasmodiumofPhysarumpolycephalumisanidealbiologicalsubstrateforimplementingconcurrentandparallelcom-putation,includingcombinatorialgeometryandoptimizationongraphs.ThescopingexperimentsonPhysarumcomputinginconditionsofminimalfriction,onthewatersurfacewereperformed.ThelaboratoryandcomputerexperimentalresultsshowthatplasmodiumofPhysarumiscapableofcomputingabasicspanningtreeandmanipulatingoflight-weightobjects.Wespeculatethatourresultspavethepathwaystowardsthedesignandimplementationofamorphousbiologicalrobots.

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简介：Navigationsystembasedontheanimalbehaviorhasreceivedagrowingattentioninthepastfewyears.Thenavigationsystemsusingartificialpheromonearestillfewsofar.Forthisreason,thispaperpresentsourresearchthataimtoimplementautonomousnavigationwithartificialpheromonesystem.Byintroducingartificialpheromonesystemcomposedofdatacarriersandautonomousrobots,theroboticsystemcreatesapotentialfieldtonavigatetheirgroup.Wehavedevelopedapheromonedensitymodeltorealizethefunctionofpheromoneswiththehelpofdatacarriers.Weintendtoshowtheeffectivenessoftheproposedsystembyperformingsimulationsandrealizationusingmodifiedmobilerobot.Thepheromonepotentialfieldsystemcanbeusedfornavigationofautonomousrobots.

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简介：在这篇论文，为在开发中的一个类人动物机器人的一个复合两足动物运动算法被介绍。这篇论文在二主要部分被组织。在第一部分，它主要为类人动物集中于结构的设计。在第二部分，复合两足动物运动算法基于参考书运动和参考零时刻点(ZMP)被介绍。这个新奇算法包括上面的身体运动和机器人的重心(轮牙)的轨道的计算。首先，从环境的骚乱被上面的身体的赔偿运动消除；然后基于在象在ZMP和轮牙之间的关系一样的参考书ZMP和真实ZMP之间的错误，轮牙错误被计算，因此导致轮牙轨道。然后，机器人的运动收敛到它的参考书运动，产生稳定的两足动物走。因为上面的身体运动和轮牙的轨道的计算两个都取决于参考书运动，他们能在平行工作，因此对机器人的倒塌提供两倍保险。最后，算法被模拟实验的不同类型验证。

简介：Robotlocomotionisanactiveresearcharea.Inthispaperwefocusonthelocomotionofquadrupedrobots.Aneffectivewalkinggaitofquadrupedrobotsismainlyconcernedwithtwokeyaspects,namelyspeedandstability.Thelargesearchspaceofpotentialparametersettingsforlegjointsmeansthathandtuningisnotfeasibleingeneral.Asaresultwalkingparametersaretypicallydeterminedusingmachinelearningtechniques.Amajorshortcomingofusingmachinelearningtechniquesisthesignificantwearandtearofrobotssincemanyparametercombinationsneedtobeevaluatedbeforeanoptimalsolutionisfound.Thispaperproposesadirectwalkinggaitlearningapproach,whichisspecificallydesignedtoreducewearandtearofrobotmotors,jointsandotherhardware.Inessenceweprovideaneffectivelearningmechanismthatleadstoasolutioninafasterconvergencetimethanpreviousalgorithms.Theresultsdemonstratethatthenewlearningalgorithmobtainsafasterconver-gencetothebestsolutionsinashortrun.Thisapproachissignificantinobtainingfasterwalkinggaitswhichwillbeusefulforawiderangeofapplicationswherespeedandstabilityareimportant.Futureworkwillextendourmethodssothatthefasterconvergencealgorithmcanbeappliedtoatwoleggedhumanoidandleadtolesswearandtearwhilststilldevelopingafastandstablegait.

简介：Thispaperpresentsacentralpatterngenerator（CPG）andvestibularreflexcombinedcontrolstrategyforaquadrupedrobot.Anoscillatornetworkandaknee-to-hipmappingfunctionarepresentedtorealizetherhythmicmotionforthequadrupedrobot.Atwo-phaseparametertuningmethodisdesignedtoadjusttheparametersofoscillatornetwork.First,basedonthenumericalsimulation,theinfluencesoftheparametersontheoutputsignalsareanalyzed,thenthegeneticalgorithm（GA）isusedtoevolvethephaserelationshipsoftheoscillatorstorealizethebasicanimal-likewalkingpattern.Moreover,theanimal＇svestibularreflexmechanismismimickedtorealizetheadaptivewalkingofthequadrupedrobotonaslopeterrain.Coupledwiththesensoryfeedbackinformation,therobotcanwalkupanddowntheslopesmoothly.Thepresentedbio-inspiredcontrolmethodisvalidatedthroughsimulationsandexperimentswithAIBO.UnderthecontrolofthepresentedCPGandvestibularreflexcombinedcontrolmethod,AIBOcancopewithslipping,fallingdownandwalkonaslopesuccessfully,whichdemonstratestheeffectivenessoftheproposedwalkingcontrolmethod.

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