The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

移动机器人路径规划方法研究

移动机器人技术研究中的一个重要领域是路径规划技术，它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状指出了各种方法的优点与不足，最后对移动机器人路径规划技术的发展趋势进行了展望。     

可移动机器人的运动学模型与控制原理

本文首先对可移动机器人的运动学进行了分析，建立了运动学模型与控制结构图，然后采用时域分析法对此系统进行了校正，最后通过对此系统的仿真与时测实验，对各校正环节的参数进行了整定。     

地震勘探技术在焉耆盆地勘探开发中的合理应用探讨

地震勘探技术应用可以分为以二维地震研究构造为主的地震勘探初级阶段、以地震地层学为主的地震勘探中级阶段、以三维地震油藏静态描述为主的地震勘探高级阶段、以地震储层研究为主的开发地震妆级阶段和以四维地震进行油藏监测为主的开发地震高级阶段。针对5个不同阶段的地质条件和地质任务，选择使用合理的地震勘探技术是有效提高勘探开发效益的重要途径。焉耆盆地的勘探开发体现了以地震勘探为主的思路，在勘探开发过程中重视了针对不同勘探开发阶段和不同的地质 地震技术，因此，在早期勘探开发中取得了很好的经济效益。     

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

打捆机器人自动控制系统

介绍了莱钢中小型轧钢生产线打捆机器人自动控制系统的硬件配置、软件结构及其主要控制功能，并对打捆定位和打捆过程作了详细说明。     

基于Matlab的教学型机器人空间运动轨迹仿真

根据教学型机器人的实际结构特点，利用Matlab中SimMechanics工具箱建立了运动学仿真模型。并进行机器人关节空间和直角坐标系下的运动仿真。仿真结果表明利用仿真模型可以准确、有效地得到机器人的运动参数和运动轨迹，为机器人分析设计提供了可靠依据。     

国外工具磨床发展现状

本文综述了近睥来国外工具磨床技术的发展现状，介绍了由CNC技术带来的几种新的磨削方法，分析了当代工具磨床典型产品的技术水平。