智能餐厅服务机器人的设计

本设计是关于一款智能餐厅服务机器人,采用AGV磁导航传感器对餐厅内铺设的磁带进行检测并精准定位顾客所在餐桌,按照顾客要求及老板的指令将所需物品送到指定位置,并且可以通过cc2541蓝牙模块实现顾客一键传呼点菜等功能。     

餐厅服务机器人控制系统设计与实现

通过对餐厅服务机器人控制系统需求进行分析,提出了以微控制器MSP430F5438为核心的餐厅服务机器人控制系统总体设计方案。该方案采用模块化方法完成了控制系统硬件电路设计,主要包括：主控模块、电源及管理模块、运动控制模块、无线通信模块、导航定位模块、安全避障模块和人机交互模块等。介绍了控制系统软件的总体流程,完成了控制系统嵌入式软件的设计。实验结果表明,所设计的控制系统应用于餐厅服务机器人可以实现送餐的功能,控制效果良好,实用性强,具有显著的推广应用价值。     

液下搅拌机器人的超声波导航定位研究

针对研究在水煤浆环境下工作的机器人,提出了采用超声波进行导航定位的方法;详细介绍了该定位系统的硬件布置方案、定位数学模型,并在水煤浆介质中做了超声波传播实验。     

智能水下机器人的人工神经网络运动引导研究

本文描述了利用人工神经网络对智能水下机器人进行运动引导的研究。采用层间互相结合的前向网,含有运动规则层次及优先权规则层次。利用线性节点及阈值节点进行模式分类,将输入空间的精确变量转换为输出模糊空间的变量。系统仿真达到了预期的结果。     

超声波目标定位与跟踪系统在机器人中的应用

机器人目标定位是实现自主导航的关键问题之一。借助超声波测距原理,采用三边测量法,设计了一个超声波定位系统。该系统通过分析处理多个传感器的信息,得到目标物体的方位数据,并配合相应的控制系统和执行机构,实现机器人对单个目标物体的跟踪。同时为了修正声速,在系统中加入了温度补偿电路。     

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。     

面向儿童教育机器人的行为引导设计研究

针对市场上教育机器人引导和反馈形式不符合儿童认知,且不满足儿童的个性化需求等问题,文章通过设置实验模拟家庭场景,采集了儿童与教育机器人交互行为的多角度视频,并对儿童父母进行了半结构化访谈;通过对儿童与教育机器人交互行为的任务分析,得到儿童教育机器人在行为引导层面的痛点,进一步挖掘出痛点产生的原因,并以此为机会点从显性和隐性两个方面总结了儿童教育机器人在行为引导层面的设计原则,为实现儿童教育机器人更加高效、顺畅的整体性用户体验提供了指导性意见。     

济南首家机器人餐厅试营业

近日,济南一家专门从事机器人研发的企业开始经营一家机器人餐厅。这家餐厅供应的是自助火锅,可以容纳近百人就餐,目前有6台机器人提供服务。据说,在结束试营业之后,这家餐厅将有更多的机器人陆续亮相。     

采用磁传感器的餐厅服务机器人导引控制方法

针对餐厅环境复杂、定位精度低等问题,提出了一种以磁传感器为核心的餐厅服务机器人导引控制方法。该方法通过安装在机器人底盘的磁传感器感知铺设在地面下的磁条,使得机器人能够平滑、准确地沿着磁条运动,在运动的过程中,结合地标模块感知到的地标信息,获取精准的位置信息和工作状态。最后将该方法应用于一种实际餐厅服务机器人,实现了机器人在餐厅内的精准定位与导航。实验结果表明,本文所提方法性能可靠、成本较低、实用性较强,具有较广阔的应用前景。     

Applied ontologies and standards for service robots

Service robotics is an emerging application area for human-centered technologies. The rise of household and personal assistance robots forecasts a human–robot collaborative society. One of the robotics community’s major task is to streamline development trends, work on the harmonization of taxonomies and ontologies, along with the standardization of terms, interfaces and technologies. It is important to keep the scientific progress and public understanding synchronous, through efficient outreach and education. These efforts support the collaboration among research groups, and lead to widely accepted standards, beneficial for both manufacturers and users. This article describes the necessity of developing robotics ontologies and standards focusing on the past and current research efforts. In addition, the paper proposes a roadmap for service robotics ontology development. The IEEE Robotics & Automation Society is sponsoring the working group Ontologies for Robotics and Automation. The efforts of the Working group are presented here, aiming to connect the cutting edge technology with the users of these services—the general public.     

移动导游服务平台的设计与实现

针对游客日益增加的对深度导游体验的需求,以及现有电子导游工具租金高、局限于某一景点的不足,提出一种新的基于移动互联网的电子导游服务的设计思想.随着3G网络的发展完善和智能手机的普及,手机终端逐渐成为人们便携的多媒体信息接收工具;同时服务器云端提供海量导游信息的存储和制作,形成云端—终端的服务模式,为游客提供丰富便捷的导游信息.系统实现了便捷的资源管理、导游信息制作、终端适配及多媒体信息发布等功能;结合短信、彩信、二维码等方式,手机终端可以访问景点的图文、音视频解说、路线提示、景点推荐及公共设施定位等导游服务.通过向公园、展会等潜在客户进行系统推广和演示,对此种服务模式和达到的效果较为认可.     

基于改进遗传算法的餐厅服务机器人路径规划

针对遗传算法（GA）易产生早熟现象和收敛速度慢的问题,提出了一种基于传统遗传算法（TGA）的改进遗传算法——HLGA,用于实际餐厅服务机器人的路径规划。首先,通过基于编辑距离的相似度方法对拟随机序列产生的初始种群进行优化;其次,采用自适应算法的改进交叉概率和变异概率调整公式,对选择操作后的个体进行交叉、变异操作;最后,计算具有安全性评价因子函数的个体适应度值,进一步对比、迭代得到全局最优解。理论分析和Matlab仿真表明,与TGA和基于个体相似度改进的自适应遗传算法（ISAGA）相比,HLGA的运行时间分别缩短了6.92 s和1.79 s,且规划的实际路径更具有安全性和平滑性。实验结果表明HLGA在实际应用中能有效提高路径规划质量,同时缩小搜索空间、减少规划时间。     

A hardware intelligent processing accelerator for domestic service robots

ABSTRACT

We present a method for implementing hardware intelligent processing accelerator on domestic service robots. These domestic service robots support human life; therefore, they are required to recognize environments using intelligent processing. Moreover, the intelligent processing requires large computational resources. Therefore, standard personal computers (PCs) with robot middleware on the robots do not have enough resources for this intelligent processing. We propose a ‘connective object for middleware to an accelerator (COMTA),’ which is a system that integrates hardware intelligent processing accelerators and robot middleware. Herein, by constructing dedicated architecture digital circuits, field-programmable gate arrays (FPGAs) accelerate intelligent processing. In addition, the system can configure and access applications on hardware accelerators via a robot middleware space; consequently, robotic engineers do not require the knowledge of FPGAs. We conducted an experiment on the proposed system by utilizing a human-following application with image processing, which is commonly applied in the robots. Experimental results demonstrated that the proposed system can be automatically constructed from a single-configuration file on the robot middleware and can execute the application 5.2 times more efficiently than an ordinary PC.     

A survey of socially interactive robots

This paper reviews “socially interactive robots”: robots for which social human–robot interaction is important. We begin by discussing the context for socially interactive robots, emphasizing the relationship to other research fields and the different forms of “social robots”. We then present a taxonomy of design methods and system components used to build socially interactive robots. Finally, we describe the impact of these robots on humans and discuss open issues. An expanded version of this paper, which contains a survey and taxonomy of current applications, is available as a technical report [T. Fong, I. Nourbakhsh, K. Dautenhahn, A survey of socially interactive robots: concepts, design and applications, Technical Report No. CMU-RI-TR-02-29, Robotics Institute, Carnegie Mellon University, 2002].     

室内移动机器人超声传感器导航网络分布研究

对于室内广域移动机器人,超声波传感器网络是能够保证给定导航准确度的一种有效方法。合理的超声波传感器网络分布是实现超声波网络导航的重要条件。论述了超声波网络合理分布的原则,据此提出并分析了获得合理超声波传感器网络分布的四个步骤,仿真试验结果验证了它的有效性。     

Real-time control architecture using Xenomai for intelligent service robots in USN environments

This paper describes the implementation of a dual-kernel software architecture, based on standard Linux and real-time embedded Linux, for real-time control of service robots in ubiquitous sensor network environments. Mobile robots are used in active service for the assisted living of elderly people, monitoring their mental and physiological data with wireless sensor nodes. The data collected from sensor nodes are routed back to a sink node through multi-hop communication. The moving sink node installed on the main controller of the robot collects data and transmits it to the main controller. To be able to handle emergency situations, the robot needs to satisfy real-time requirements when processing the data collected, and invoking tasks to execute. This paper realizes a multi-hop sensor network and proposes real-time software architecture based on Xenomai. The real-time tasks were implemented, with priority, to rapidly respond to urgent sensor data. In order to validate the deterministic response of the proposed system, the performance measurements for the delay in handling the sensed data transmission and the trajectory control with a feedback loop were evaluated on the non real-time standard Linux.     

Design of service robots

According to the International Federation of Robotics (IFR), "a service robot is a robot which operates semi or fully autonomously to perform services useful to the well being of human and equipment, excluding manufacturing operations" [1]. These devices are typically complex systems requiring the input of knowledge from numerous disciplines. The authors have been using different software engineering techniques for the last 15 years, integrating new paradigms in the service robot development process as they emerged. This has made it possible to achieve rapid development of applications and subsequent maintenance. During the early years (1993?1998), our effortswere directed at the development of software for various kinds of teleoperated robots to performmaintenance tasks in nuclear power plants [2]; during a second phase (1999?2006),we built applications for ship-hull cleaning robots [3]. All this time, we have been applying all the possibilities of software engineering, from the use of paradigms for structured and object-based programming in early developments to the adoption of the current model-driven approach [model-driven engineering (MDE)] [4].