共查询到20条相似文献,搜索用时 296 毫秒
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报道了一种基于痛苦表情识别的智能医疗监护系统。该系统除了包含现有的自助按铃以及生理数据监控以外,首次将痛苦表情识别引入了医疗监护系统,增加了一种利用摄像头识别被监护者表情,通过面部特征点变化(皱眉时,眉间距变化)判断其是否需要医护人员帮助的新型监护方式,从而实现手动按钮-自助报警、生理数据-自动报警、表情识别-智能报警这3种报警方式于一体的智能监护系统。测试结果表明,该系统能准确识别被监护者表情变化并立即发出报警信号,解决了被监护者痛苦时的急切的监护需求,甚至还因及时预警从而增加了抢救时间,为患者提供了多重安全防护。 相似文献
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本文介绍了一种新型的下围棋的娱乐机器人系统的驱动模块的软硬件设计。该驱动模块以AT89C51单片机为核心,通过串口通讯接收上位机指令,控制机器人执行机构的动作,成功实现了落提子功能。 相似文献
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提出了一种基于AVR单片机Atmega8为核心控制器的比赛机器人控制系统,通过比赛机器人的特征分析,阐述了构成控制系统所需的主控单元、电机驱动单元、传感检测单元及LCD显示单元,其中详细分析了以MCBL3006S为核心的伺服电机驱动单元,以及关系比赛机器人基本功能实现的循线传感系统及避障传感系统,并给出部分程序.最后通过实践表明,该控制系统开放性好、结构简单、编程容易、智能并高效. 相似文献
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仿肌肉驱动器及其在仿生机器人中的应用 总被引:1,自引:1,他引:0
仿肌肉驱动器是模拟动物肌肉工作原理的新型驱动装置,因其和动物肌肉相似的特点,得到了广泛的应用.对国内外仿肌肉驱动器的研究和开发,从制作材料和机械装置、结构仿生、控制仿生和在不同类型运动仿生机器人中的应用等方面进行总结和概述,并提出仿肌肉驱动器未来的发展趋势. 相似文献
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实现了一个基于运动控制芯片TMS320F28335的管道机器人控制系统,该开放式运动控制系统以PC机+DSP运动控制器为核心,通过RS-485串行通信完成两者之间的通信,较好地实现了机器人的实时控制和图像采集。介绍了机器人机械系统结构、控制系统硬件组成和软件设计。 相似文献
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Kiyoshi Ohishi Masanori Ohnishi Toshimasa Miyazaki 《Electrical Engineering in Japan》1997,118(4):58-69
This paper proposes a simple and robust robot motion control method using a robust velocity controller. The robust velocity controller is based on H∞ control theory, and is called H∞ velocity controller. The H∞ velocity controller based motion control method is completely equivalent to the robust acceleration control method using the H∞ acceleration controller, but it has simpler structure. Therefore, the proposed system can realize a fine robot motion control easily. To confirm the validity of the proposed method, this paper realizes the hybrid control of position and force for a multijoint robot manipulator. Further, the simple realization of hybrid control is proposed considering the attitude of the robot manipulator. This system achieves hybrid control of position and force of the robot manipulator while maintaining a perpendicular attitude to the target environment. The experimental results in this paper show that the proposed system has the desired force and position response to the target environment. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (4): 58–69, 1997 相似文献
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Takashi Yasuno Takuya Kamano Takayuki Suzuki Kazuo Uemura Hironobu Harada Yu Kataoka 《Electrical Engineering in Japan》2000,131(2):30-39
This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operator's behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operator's control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 30–39, 2000 相似文献
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唐矫燕 《上海电机学院学报》2014,(1):15-20
智能两足辅助行走机器人,可以辅助残疾人在复杂环境中进行仿人行走.介绍了该机器人的机构和控制系统硬件,在机器人系统的步态特性基础上建立了人机一体的运动模型.运用零力矩点(ZMP)理论规划了机器人的行走步态,提出了局部步态调整与人体主动补偿运动相结合的实时步态稳定性控制策略.通过仿真实验对该控制策略进行了验证和分析. 相似文献
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针对变电站室内巡检机器人在复杂场景下运动系统误差大导致巡检点位覆盖范围窄的问题,提出一种柔索驱动巡检机器人系统方案。综合考虑变电站巡检路线特点,从伺服驱动系统、运动控制系统和机器视觉系统三个方面进行了巡检机器人的系统硬件设计,并从运动控制软件和视觉系统软件进行了系统软件设计。同时建立柔性承载机构的运动学模型,采用该模型进行了水平和垂直定点巡检轨迹仿真。经南方电网某66 kV变电站示范应用表明,所设计的柔索驱动巡检机器人水平与垂直运动误差可控制在0.03 mm内,有效提高了运动系统精度,在变电站室内巡检中应用前景广阔。 相似文献
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Yasutaka Fujimoto Taichi Imai Atsuo Kawamura Yosuke Asano 《IEEJ Transactions on Electrical and Electronic Engineering》2009,4(2):218-230
This paper introduces biped robot adaptation to human living environment from viewpoints of battery operation time extension and environmental recognition. These issues are important when robots actually work at home. First, in order to extend battery operation time, we propose energy-saving bipedal locomotion gait. The problem is formulated as an optimal control problem, which is conventionally hard to solve when a target system is complicated. In this paper, partial derivatives appeared in optimal control problem are implicitly represented by using automatic differentiation technique. This approach enables complicated optimal control problem solvable. In combination with receding horizon control, its computation cost is also reduced. Second, we introduce the biped walk tracking based on the camera image mounted on the walking robot, and the visual servoing by the posture change for the purpose of the target image tracking in the camera frame. We propose a new control law to track the rotated target object using the characteristic of the walking, which considered the interference between translational motion and rotational motion. The decoupling is realized by simulations and experiments. As a result, the walking robot tracked the translated and rotated target object without a practical issue. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc. 相似文献
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前列腺癌是男性泌尿系统最常见的恶性肿瘤,经会阴前列腺癌放射性粒子植入对于器官局限的早期低危前列腺癌是安全有效的治疗手段。传统的粒子植入手术是由医生手动完成的,由于手工操作的不确定性很难保证粒子植入的定位精度。提出采用机器人实现粒子植入手术,利用机器人的位姿精确控制能力解决手工操作不确定性导致的定位精度低的问题。进行了悬臂式粒子植入机器人的设计,由于悬臂结构产生的重力矩在工作时对机器人的运动稳定性产生影响,在对力平衡机构分析的基础上,在大小臂的回转关节处设计了十字交叉双弹簧平衡机构来平衡悬臂产生的重力矩,建立了悬臂式前列腺粒子植入机器人重力矩平衡的数学模型。利用Solidworks/Motion模块对引入十字交叉双弹簧平衡机构的悬臂式前列腺粒子植入机器人进行了运动仿真。基于悬臂式前列腺粒子植入机器人实验系统,分别进行了末端水平负载1 kg、竖直负载1 kg和水平竖直复合负载各1 kg情况下的平衡实验,实验和仿真结果表明悬臂式前列腺粒子植入机器人达到了设计时的预期目标,实现了重力矩的平衡。 相似文献