柔性温度压力仿生皮肤的模块化设计与实现

为实现电子仿生皮肤的模块化设计,以石墨烯纳米片制备薄膜温敏传感器,同时,以炭黑/硅橡胶复合材料为弹性电介质、有机硅导电银胶为柔性上极板设计电容式力敏传感器,在此基础上,以聚酰亚胺为柔性基体,提出一种可用作智能机器人仿生皮肤的全柔性温度/压力触觉传感器,并设计成具有可拼接特点的模块化阵列结构.介绍柔性温度/压力触觉传感器的结构设计、检测机理以及信号采集与处理系统.通过温度、压力及温度/压力复合感知实验表明,该柔性温度/压力复合式触觉传感阵列及信号提取系统可实现触觉感知功能,为可穿戴式人工皮肤的研究提供了一种设计方案.     

电容式柔性触觉传感器设计

为了实现对机器人指端触觉压力的检测,设计了一种电容式柔性触觉传感器,以PORON聚氨酯材料作为电容式触觉传感器电极间的弹性绝缘介质,导电膜在空间上呈垂直分布,分别交叉粘贴于 PORON聚氨酯材料上、下表面构成电容式触觉传感器的上、下电极,一起组成柔性电容传感单元,该触觉传感器制备工艺简单,材料成本低廉。测试结果表明,该触觉传感器及其信号采集与处理系统能够检测0~ 20Ｎ的触觉压力,曲线拟合最大误差为 6.44％,重复性误差为6.29％,能够实现触觉压力的检测,为在机器人指端实现触觉压力的检测提供一种参考。     

基于导电橡胶的一种新型类皮肤触觉传感器阵列的研究

本文设计了一种基于导电橡胶的类皮肤柔性触觉传感器阵列,传感器阵列采用交叉排列的两层节点的框架结构,用注射成型(LIMS)的方法进行导电橡胶的整体浇注,通过测量外力作用下导电橡胶的阻值变化,求解出加载在柔性传感器表面上的三维力位置和大小。该设计突破了当前基于盔甲的柔性触觉传感器的设计思路,具有优良力学特性、柔韧性好、抗干扰能力强、在传感器表面可以连续点测量的特性。实验仿真结果表明,在理想导电橡胶的条件下,设计的柔性触觉传感器阵列测量三维力有较高的分辨率和精度,可以满足当前用于作机器人皮肤的需要。     

一种新型机器人三维力柔性触觉传感器的设计

基于柔性力敏导电橡胶材料,设计了一种能测量三维力的新型机器人柔性触觉传感器。研究了力敏导电橡胶材料的压阻效应,阐述了触觉传感器的设计思想,分别进行了触觉传感器单元设计和阵列结构设计和研究。获得了计算三维力的数学模型,并通过实验进行了三维力的验证。结果表明,设计的机器人三维力柔性触觉传感器具有设计简单,造价低廉,柔顺性好等优点,而且布置成阵列结构可用于医疗、体育、机器人等领域中检测三维力信息。     

一种柔性三维力触觉传感器阵列的实现方法

介绍了一种可安装在曲面上,对三维力进行检测的柔性三维力触觉传感器阵列的实现方法.首先采用MEMS技术制备三维力触觉传感器阵列,再将多个三维力触觉传感器单元分别通过倒装焊技术集成在已加工好的柔性电路板基底上,实现了传感器与信号处理电路的互连和传感器阵列(4×4)的柔性化.采用信号选通的多路信号采集方法简化了传感器阵列的信号处理电路.测试结果表明,柔性触觉传感器阵列可弯曲变形90°以上,检测三维力的分辨率达到0.1 N.     

电容式触觉阵列传感器原理与设计

触觉是构成智能机器人的核心技术--感觉技术的重要组成部分.电容式触觉传感器在智能机器人的设计中具有很高的实用价值.本文论述了电容式触觉阵列传感器的测量原理,给出了该传感器及其变送电路的设计,讨论了数据采集系统的结构.     

基于FBG的机器人柔性触觉传感器

为了满足机器人与外界环境、对象发生接触及交互作用时的触觉感知需求,提出了一种基于光纤布拉格光栅（FBG）的柔性触觉传感器．该传感器采用3×3 FBG阵列作为柔性传感元件,聚二甲基硅氧烷（PDMS）材料构成双层柔性基体．介绍了传感器的传感原理并采用有限元方法对其弹性体进行力学仿真分析,基于标定实验平台完成该传感器的静态标定实验．传感器的空间分辨率为25mm,在10mm×10mm载荷施加单元下,对力的感知范围为0～7N,且传感器具有较好的线性度和灵敏度,重复性和一致性良好,力灵敏度为0.16nm/N．实验结果和分析研究都证明了柔性触觉传感器的可行性．该传感器与人体皮肤触感及结构极为相似,且布线简单、抗干扰能力强．     

银纳米线柔性压阻式触觉传感器的研究

触觉传感器是智能机器人感知外界环境和与人交互的关键环节。多种物理测量和高延展性使触觉传感器得到更广泛的应用。本文介绍了一种制造工艺简单、成本低廉的柔性触觉传感器。根据电阻的变化,可以检测温度和接触压力。设计了一种由PDMS膜、纸基银纳米线和PDMS膜组成的三明治结构。制备纸基银纳米线阵列,并在阵列末端用导电银膏引出铜线。整个传感器的尺寸为3cmx3cm。在实验过程中,测量了施加压力和改变表面温度时阵列交点处的电阻。结果表明,该传感器的压力检测灵敏度为2.8?/N,温度检测灵敏度为0.18?/oC。该传感器的结构和制备工艺简单可行,在机器人电子皮肤中具有广阔的应用前景。     

一种新型三维力柔性阵列触觉传感器研究

研究了一种基于压敏导电橡胶的新型三维力柔性阵列触觉传感器,突破了目前触觉传感器不能兼有柔韧性和检测三维力的局限性,实现了真正类皮肤.该传感器利用了压敏橡胶的压敏特性,通过检测橡胶的电阻变化来分析受力信息.介绍了该传感器的基本结构,分析了其工作原理,给出了导电橡胶受力时的有限元分析结果,并对传感器进行了初步的仿真研究,结果表明该传感器能够实现检测三维力信息,为三维力柔性阵列触觉传感器的设计研究提供了新思路.     

用于脉搏波检测的背接触式触觉传感阵列单元

触觉传感器在脉搏波测量、仿生机器人等领域有重要应用。该方案制作背接触式传感器,并通过转移工艺实现芯片加工和圆片级芯片尺寸封装一体化,用组装工艺低成本实现大面积柔性触觉阵列,采用模块化设计,正压力与剪切力传感单元的尺寸和布线相同,制作可组装的标准单元,在传感器转移工艺中,采用无电极化学腐蚀自停止工艺,提高成品率。传感单元尺寸仅为300μｍ×300μｍ,与人类触觉传感的极限可比拟,灵敏度为2mV/10kPa,量程为150kPa,已用于研制新型脉诊仪的柔性传感阵列?实现了脉搏波的实时测量。     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

煤矿井下安全监控分站的设计及其仿真实现

为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

View-based model-driven architecture for enhancing maintainability of data access services

In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times.     

A pragmatic multi-method investigation of discrepant technological events: Coping,attributions, and ‘accidental’ learning

Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice.