Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a...
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Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.
The long-term goal of artificial intelligence （AI） is to make machines learn and think like human beings. Due to the high levels of uncertainty and vulnerability in human life and the open-ended nature of problems t...
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The long-term goal of artificial intelligence （AI） is to make machines learn and think like human beings. Due to the high levels of uncertainty and vulnerability in human life and the open-ended nature of problems that humans are facing, no matter how intelligent machines are, they are unable to completely replace humans. Therefore, it is necessary to introduce human cognitive capabilities or human-like cognitive models into AI systems to develop a new form of AI, that is, hybrid-augmented intelligence. This form of AI or machine intelligence is a feasible and important developing model. Hybrid-augmented intelligence can be divided into two basic models： one is human-in-the-loop augmented intelligence with human-computer collaboration, and the other is cognitive computing based augmented intelligence, in which a cognitive model is embedded in the machine learning system. This survey describes a basic framework for human-computer collaborative hybrid-augmented intelligence, and the basic elements of hybrid-augmented intelligence based on cognitive computing. These elements include intuitive reasoning, causal models, evolution of memory and knowledge, especially the role and basic principles of intuitive reasoning for complex problem solving, and the cognitive learning framework for visual scene understanding based on memory and reasoning. Several typical applications of hybrid-augmented intelligence in related fields are given.
In this paper, we propose and investigate a new Euler-precision 3-node g-proportional finite difference formula [also named Zhang finite difference (ZFD) formula 3NgPFD-G], which achieves an error pattern of O(g), whe...
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Ordinary differential equations (ODEs) are commonly used in physical system and automation researches, describing the relationship among variables. Hence there are practical significances to discuss and to research th...
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The space telescope stands for the highest level of a nation's aerospace industry, with its manufacturing and launch remaining a worldwide conundrum. The concept of modularized space telescope is proposed herein, ...
The space telescope stands for the highest level of a nation's aerospace industry, with its manufacturing and launch remaining a worldwide conundrum. The concept of modularized space telescope is proposed herein, the main structure of the sub-mirror module is designed briefly and the assembly scheme of the main telescope is also provided. Besides, the kinematic equation and working conditions of the space robotic arm used for assembly are given, with the cubic B-spline curves formulating the joint space trajectory. Then, with minimizing the moving time as the objective of optimization, displacement, speed and acceleration as the constraint conditions, a mathematical model for time-optimal trajectory planning is established and the genetic algorithm is used to work out solutions. The emulation result shows that the joint space trajectory of the robotic arm obtained on the premise that all the restraint conditions are met can minimize the robotic arm's moving time.
As a kind of one-dimensional nanostructure, silicon nanowires have a very wide range of applications in photovoltaic devices, electrical devices, and biosensors. The morphology control of nanowire arrays greatly affec...
As a kind of one-dimensional nanostructure, silicon nanowires have a very wide range of applications in photovoltaic devices, electrical devices, and biosensors. The morphology control of nanowire arrays greatly affects the performance of nanowire arrays. In this paper, we introduce the light-assisted MACE method to prepare nanowire arrays. Through a large number of experiments, the effects of different light intensities and light wavelengths on the morphology of the formed silicon nanowire arrays are analyzed. At the same time, the degree of aggregation of nanowires is taken as the characterization parameter of the morphological characteristics, the change rule of clustering density and the change rule of the etching rate under different illumination power and wavelength conditions are qualitatively analyzed. Finally, we make a preliminary exploration and analysis of the reasons for this appearance.
In order to improve the measurement precision of the laser displacement ***,the cause of the error caused by the measured surface features is analyzed from the measurement principle of laser ***,according to the resul...
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In order to improve the measurement precision of the laser displacement ***,the cause of the error caused by the measured surface features is analyzed from the measurement principle of laser ***,according to the result of error analysis,the Kalman filter algorithm is applied to the sensor data to carry out error ***,the experiments were carried out with LS-100 CP laser displacement sensor and *** experimental results show that the Kalman filter algorithm in the application of laser triangula tion measurement is feasible,effective and have a good practical value.
In this paper, a new robust position controller is proposed for Series Elastic Actuators (SEAs) by using Sliding Mode control (SMC) and a second order Disturbance Observer (DOb). The latter estimates not only disturba...
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New intelligent era calls for new learners and thus urgently needs a series of artificial intelligence. As a good educational platform for teaching artificial intelligence, smart cars have aroused concern and practice...
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ISBN:
(纸本)9781538644539
New intelligent era calls for new learners and thus urgently needs a series of artificial intelligence. As a good educational platform for teaching artificial intelligence, smart cars have aroused concern and practices of all parties. However, at present, most courses and training pay more attention to basic knowledge and technology of smart cars, seldom to training based on artificial intelligence curriculum system and comprehensive competency integrating science, technology, art and management. Therefore, based on concept of iSTREAM (intelligence for Science, Technology, robotics, Engineering, Art, and Management) and Raspberry intelligent vehicle teaching platform, this paper introduced a smart car-themed artificial intelligence courses including basic courses, specialized courses, specialized technical courses and elective courses. This course can guide learners to develop smart cars based on visual cognition, in-depth learning, VR and 3D printing integrated artistic creativity. It combines disciplines such as science, technology, art, games and management to upgrade a single knowledge and technology course into a comprehensive competency course that integrates knowledge, skills, emotion and management. Practice in Beijing NO.13 and NO.101 High School shows that this course allows students to experience scientific research process, learn artificial intelligence related knowledge and skills, understand scientific way of thinking and scientific research methods, stimulate learners' responsibility and scientific passion, and cultivate leadership skills through self-learning and partly project management.
Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotio...
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Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.
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