2000年世界机器人统计数据

本文将介绍联合国欧洲经济委员会 (UN/ECE)及国际机器人联合会 (IFR)有关世界机器人发展的最新统计数据◆2000年世界工业机器人 (包括日本 )市场年销售量为98 ,700台 ,比1999年增加了25 %◆2000年世界 (除日本 )多用途机器人年销售量为51,700台 ,比1999年增加了20 %◆2000年销售额达到5.7亿美元 ,比1999年增加了14%     

便携式机器人控制器的研究与设计

便携式机器人体积小,重量轻,携带方便,可以在狭小空间内作用,与普通焊机器人相比,具有独特的优点,本首先介绍了便携式机器人本体结构,其次介绍了该控制器的硬件结构,最后介绍了控制器软件的设计。     

试论煤矿机器人的研究与开发

本文从我国发展工业机器人的政策和我国煤炭工业的现状发展趋势出发，论述了我国研究和开发煤矿机器人的必要性与可行性，以及把煤矿机器人作为发展我国工业机器人的重点之一的战略决策的合理性；并在调研和实践的基础上，就煤矿机器人应具备的特点及如何研究和开发煤矿机器人等问题提出了自己的意见和建议。     

CS—1双臂工业机器人及其控制

一种用于高温、有毒环境下代替人工操作的ＣＳ－１双臂机器人已研制成功，成为铍铜合金生产自动线的主要组成部分、本文分了其机构结构及几何参数，对其运动学参数及轨迹规划作了分析，研究了其动力学特性及控制策略，对其先进的交流伺服驱动装置及分级计算机控制系统，颇具特色的机器人语言也作了论述，最后总结了调式运行结果。     

救死扶伤的机器人医生

闪闪发光的解剖刀划开了一名士兵的腹部,随后一颗子弹被夹了出来,缝上伤口,护士小心翼翼地将伤员推走……以上这一幕你也许以为发生在某家大医院的手术室里,然而事实却恰恰相反.你也许会大惑不解:这一系列过程完全是手术室里的程序,怎么会有错呢?     

服务机器人

在工业机器人问世30年后的今天,它已被世人看作是一种生产工具。在制造、装配领域以及最近在服务行业,机器人的应用取得了明显的进展,从而使科幻小说中的下述古老梦想比过去任何时候都更有可能加以实现,那就是: 让自主机器人作为“人的助手”,用以提高人们的生活质量。图1示出了工业机器人与服务机器人可能发展趋势的比较。     

机器人的抓具

本文概略地介绍限几种柔性较大的机器人人的主要类型及工作原理，并对机器人抓具的发展趋势作了预测。     

团结奋斗努力实现中国机器人产业化

一、中国机器人的发展历程 ８０年代中期,技术革命的第三次浪潮冲击着全世界,在这个浪潮中,机器人技术起着先锋作用,工业机器人总数每年以３０％以上的速度在增长,推动汽车工业形成全球规模的产业。在智能机器人的研究开发方面,美国国防部提出了自主地面车（ＡＬＶ）计划。欧洲尤里卡计划提出了自主机器人计划。日本通产省组织开展了在极限环境下作业的机器人计划。当时,我国机器人的研究和开发尚处于起步阶段,研究和应用的水平都较低。 鉴于上述国内外形势,我国将工业机器人和水下机器人的研究和开发列入了国家七五科技攻关计划,…     

机器人系统的操作能力与树型可重构的机器人研究

本文从机器人关节力矩和末端夹力的受限情况出发，提出了一个操作能力的概念，研究了单机器人和多机器人系统的操作能力，以此为依据，进一步讨论了作者提出的树型可重构机器人，这种机器人可以通过变化自身结构来改变其操作能力，以适应任务的变化，通过一个仿真实例说明了这种树型可重构机器人的有效性。     

日本振兴工业机器人的政策

1971年(昭和46年)3月31日日本政府公布了“机电法”.规定了工业机器人制造业的应用对象行业和种类,初步奠定了产业基础,为日本机器人的振兴创造了条件.     

A Probabilistic Analysis of Multiple-drug Testing Procedures in Sports Doping Control

Athletes engaged in competition, particularly those involved in international competitions such as the Olympics, are increasingly being tested for a greater variety of banned substances; it is not unusual for tests to be conducted for 100 drugs and another 400 as metabolites. Previous studies related to the accuracy of drug testing processes have failed to properly consider the effects of testing for more than one drug. In order to identify appropriate indicators for the multiple-drug case, probability theory and accuracy concepts applicable to testing for multiple drugs are developed and applied to illustrative data. The probability that a drug-free individual will test positive for drug use is shown to be much higher than indicated by previous studies, and it is shown that an increase in the number of drugs tested for yields an approximately proportionate increase in the probability that a positive test result is erroneous. Therefore, while testing for one drug may result in a comfortably low rate of false accusations of drug use, testing for multiple drugs may well result in an unacceptably high rate. Finally, a set of empirical measures is suggested for use in cases of tests for multiple drugs; the measures will provide for comparability among laboratory proficiency studies.     

Rapid Communication. Exposure assessment of biomechanical stress in repetitive manual work using frequency-weighted filters

A quantitative exposure assessment strategy for physical stress associated with repetitive manual tasks is proposed using continuous biomechanical data measured directly from electrogoniometers or force sensors. This paper describes an efficient method for reducing large quantities of biomechanical data into a quantifiable metric that accounts for recognized musculoskeletal exposure factors, including repetitiveness, postural or forceful exertion stress, and duration. A frequency domain approach is used for averaging elemental data recorded for repetitive cycles. Parameters for frequency-weighted filters are developed using psychophysical data for equivalent discomfort levels resulting from repetitive movements of different amplitudes and frequencies. These filters enable continuous biomechanical data to be filtered and integrated, resulting in a single quantity corresponding to psychophysical response characteristics for repetitive motion stress. It is anticipated that a similar approach may be used for epidemiological response characteristics. Applications of this theory may make it possible for assessing exposure to physical stress in a manner analogous to the way in which sound level meters are used for measuring exposure to acoustic noise. Repetitive wrist flexion and localized discomfort was used for demonstrating the feasibility of this approach. Suitable data reduction techniques are necessary for evaluating work methods, job designs, and for conducting large scale detailed epidemiological investigations of cumulative trauma disorder risk factors. Frequency-weighted filters based on human response to physical stress at different frequencies can greatly simplify exposure analysis and ultimately may make it possible for quantitative exposure limits to be established.     

Discrete estimators of characteristics for periodically correlated time series

Results of an investigation of the characteristic estimator properties for periodically correlated time series obtained on the basis of finite data length are given. The formulae for the bias and variance of the estimators for mean and covariance function Fourier coefficients are found. The conditions for the choice of sampling interval value, for which aliasing effects do not appear, are obtained. The interpolation formulae for the mean and covariance function estimates are derived. The dependencies of the statistical characteristics of the estimators on sampling interval and sample size for modulated signals are analyzed.     

Efficient Development of Lexical Language Resources and their Representation

Statistical approaches in speech technology, whether used for statistical language models, trees, hidden Markov models or neural networks, represent the driving forces for the creation of language resources (LR), e.g., text corpora, pronunciation and morphology lexicons, and speech databases. This paper presents a system architecture for the rapid construction of morphologic and phonetic lexicons, two of the most important written language resources for the development of ASR (automatic speech recognition) and TTS (text-to-speech) systems. The presented architecture is modular and is particularly suitable for the development of written language resources for inflectional languages. In this paper an implementation is presented for the Slovenian language. The integrated graphic user interface focuses on the morphological and phonetic aspects of language and allows experts to produce good performances during analysis. In multilingual TTS systems, many extensive external written language resources are used, especially in the text processing part. It is very important, therefore, that representation of these resources is time and space efficient. It is also very important that language resources for new languages can be easily incorporated into the system, without modifying the common algorithms developed for multiple languages. In this regard the use of large external language resources (e.g., morphology and phonetic lexicons) represent an important problem because of the required space and slow look-up time. This paper presents a method and its results for compiling large lexicons, using examples for compiling German phonetic and morphology lexicons (CISLEX), and Slovenian phonetic (SIflex) and morphology (SImlex) lexicons, into corresponding finite-state transducers (FSTs). The German lexicons consisted of about 300,000 words, SIflex consisted of about 60,000 and SImlex of about 600,000 words (where 40,000 words were used for representation using finite-state transducers). Representation of large lexicons using finite-state transducers is mainly motivated by considerations of space and time efficiency. A great reduction in size and optimal access time was achieved for all lexicons. The starting size for the German phonetic lexicon was 12.53 MB and 18.49 MB for the morphology lexicon. The starting size for the Slovenian phonetic lexicon was 1.8 MB and 1.4 MB for the morphology lexicon. The final size of the corresponding FSTs was 2.78 MB for the German phonetic lexicon, 6.33 MB for the German morphology lexicon, 253 KB for SIflex and 662 KB for the SImlex lexicon. The achieved look-up time is optimal, since it only depends on the length of the input word and not on the size of the lexicon. Integration of lexicons for new languages into the multilingual TTS system is easy when using such representations and does not require any changes in the algorithms used for such lexicons.     

Characterization of reconfigurable Stewart platform for contour generation

The limited treatment available for Stewart platform characteristics leads to the lack of an efficient methodology for determining the optimum geometry for different tasks. In this paper, an effort is made to characterize the parameters for developing a reconfigurable Stewart platform for the contour generation application. A solution is provided through the formulation of dimensionless parameters in combination with a study on the generic parameters like configuration. The variable geometry approach for the reconfiguration of Stewart platform has been adopted for four different platforms, and a generic approach is formulated after studying different parameters. A stiffness model developed for contour generation application is used in tandem with this generic approach to identify the trajectory with maximum stiffness for complex contours. The proposed methodology provides a holistic approach to develop a complete set of design tool to choose the optimum geometry for any new reconfigurable Stewart platform to be developed.     

Compact disc standards: an introductory overview

The success of the compact disc (CD) as a storage medium for digital audio has, over the last ten years, resulted in a number of initiatives to use the CD for other applications as well, e.g., as read-only memory for computers, as a storage medium for audio-visual material for multimedia applications, and as a storage medium for photographs. Each of these applications poses additional requirements on how the corresponding information is stored and retrieved, resulting in a range of different CD standards. The functional specifications of these standards are each given a specific color for ease of reference: the Red Book for CD-DA, the Yellow Book for CD-ROM, the Green Book for CD-I, etc. This paper aims at giving an overview of the various CD standards by explaining what is specified in each of the colored books and by indicating how they relate to one another.     

Joint organisational and technical development of CIM-systems: An extension of the classic scandinavian approach

In Scandinavia theories and methods for cooperative design tools for the computer supported craftsman have been the topics for intensive research for several years. This paper widens the discussion by taking in the question of CIM and the reshaping of the division of labour, work organisation and manufacturing processes. The paper argues for an evaluation of methods and tools developed for very different aspects of integrated manufacturing.     

一种分布动态网络安全系统框架

网络是人类社会全新的活动空间。这个活动空间必须符合人类社会活动的规则。信息安全是其中最重要的问题。安全问题不是某个使用网络部门的事,而是需要全社会合力解决的问题。本文从入侵检测信息的标准化入手,提出了一个分布动态网络安全系统框架结构。探讨了分布动态网络安全系统框架的层次结构、通讯方式和协议,通过分布动态网络安全系统框架解决攻击源定位、攻击响应及重要应用系统的防护等问题。     

Estimating the Attraction Domain for the Boost Inverter

This work presents an approach for estimating the domain of attraction for polynomial systems with state and control‐signal constraints, including saturation. In many problems, it is possible to derive global stability properties for such systems, neglecting constraints. Consideration of the constraints usually makes the problem much more complicated. In this paper, the stability analysis performed for the unconstrained case is used for the problem as a whole. For application of the method, there are powerful computational tools that can be employed in cases of polynomial systems. The technique is not only valid for the analysis of equilibrium points, but also for other attractors, such as limit cycles. As examples, the domain of attraction for given control laws is estimated for both a nonlinear DC‐DC boost converter and for a boost inverter.     

非合作航天器自主相对导航研究综述

非合作航天器自主相对导航作为与非合作航天器实现空间交会对接过程中的关键技术,是在轨服务技术的重点发展方向之一,其研究具有重要的理论价值与工程意义.针对在轨服务任务对于自主相对精确导航的需求,本文对发展非合作航天器自主相对导航技术的必要性进行了阐述.首先总结了非合作航天器自主相对导航技术的内涵与研究现状;随后分析梳理了非合作航天器自主相对导航过程涉及到的光学敏感器、位姿测量、导航滤波器以及地面实验等关键技术.最后根据研究现状和关键技术的分析指出了非合作航天器自主相对导航目前存在的主要问题并给出后续发展的建议.