机器人

It takes a cylindrical NdFeB multipole permanent magnet composed of several neighboring tegular magnets magnetized anisotropically along radial direction as exterior actuator, and a magnet with the same structure embedded inside the robot body as the inner actuator. The robot screws forward inside pipe under the action between spiral rib on the exterior surface of robot body and fluid dynamic pressure when robot rotates by magnetic torque, which is generated by magneto-mechanical coupling from rotating exterior actuator to inner one.

它以相邻径向异向磁化瓦状多磁极圆筒形NdFeB永磁体为外驱动器，以机器人内嵌同结构的NdFeB永磁体为内驱动器，外驱动器旋转时产生旋转磁场，通过磁机耦合作用于内嵌驱动器形成机器人驱动力矩，在本体外表面螺纹与流体动压力的作用下，实现机器人在管道内的在线旋进。

Technical committees: Leonard Vong, Brian Thomas, Johannes Klotz, Saeed Atef Saeed,Note: Changes from 2006 rules are highlighted in red.

如果机器人自己翻身倒地，将被视为损坏的机器人并移离赛场；如因与另一个机器人碰撞导致翻身倒地，由裁判扶正并继续

Cavitations in foreign hydraulic turbines appear in clear water condition, so its destructive extent is not far more serious than in Yellow River hi our country. Stronger stiffness and more agility are required for Special-purpose robot for hydraulic turbine repair used in our country. Foreign robot for hydraulic turbine repair could not satisfy our working require, so we develop special-purpose robot system that is used to polish and weld repair cavitate flow path surfaces of hydraulic turbines on all location.

国外水电站的水轮机汽蚀是在清水条件下产生的，其破坏程度远不及我国黄河等水域严重，用于我国水轮机修复工作的专用机器人，要求有更强的刚度和更大的灵活性，国外水轮机修复机器人满足不了我国水轮机修复工作的要求，因此我们开发了用于在机坑内对水轮机空蚀磨损破坏表面进行修复的&水轮机修复专用机器人&。

So, the study in this dissertation focuses on some key points in theuncertainty treatment of mobile robot localization as follows: Combined with the multiple proprioceptive and exteroceptive sensors ofmobile robot MORCS-1, aimed at the drift error of fiber optic gyro as theproprioceptive sensor, the neural network using genetic algorithm as optimaltool is proposed to accomplish the modeling and calibration for temperaturedrift of fiber optic gyro, which can reduce the drift error to the standard outputat constant temperature; and aimed at the noisy disturbance of ranging datafrom the exteroceptive sensor laser scanner, a dynamic adaptive filter isintroduced through the analysis of neighboring ranging data in time and spatialcorrelation to realize the real-time and dynamic filter, which can validly filter the noisy disturbance to meet the requirement of the accurately real-timeobstacle detection in mobile robot navigation.

总结全文，在移动机器人定位的不确定性处理研究中，提出了一些具有一定创新性的方法：结合自行研制的移动机器人MORCS-1系统的多种内外部定位传感器，针对内部本体感受传感器光纤陀螺仪的漂移误差，提出采用基于遗传算法优化的神经网络来对光纤陀螺仪的温漂建模及校准，能够将其温漂变化控制在恒温条件下标准测试输出附近；针对外部环境感知传感器激光雷达测距数据中包含的噪声干扰，考虑移动机器人导航中激光雷达测距数据的时空关联性，提出采用动态自适应滤波技术进行预处理，从而可以有效滤除噪声干扰满足导航中障碍实时精确检测的要求。

The Kafkaesque account takes place in a dystopian future where runaway robots—so sophisticated they can pass all too readily as humans—have to be hunted down and "retired" before they can wreak havoc on what little is left of human society.

这个卡夫卡式的寓言故事发生在一个反乌托邦的未来世界，机器人越来越复杂，甚至开始有了人的感情，为了避免这些机器人对人类社会造成威胁，人类展开了对这些机器人的追捕和强制&退休&。

Fifthly, by adopt new matrix coordinate system means, found a tricycle WMR"s kinematic model, especially the investigation in the kinematically modeling of steered wheel and non-steered wheel. At the same time, the dynamic modeling of robot"s playing football motion, consummate mobile robots system.

第五，采用新型的矩阵坐标系方法，建立了三轮式机器人的动力学模型，尤其是在导向轮和非导向轮的动力学建模方面进行了深入的研究；同时，对机器人踢足球的运动进行动态建模，进一步完善了移动机器人体系。

In the paper, a generalized error model for the robots is set up by using DH coordinates. Moreover, a new analytical technique called"analysis on the error prominency factors for the robot pose error"is proposed. Numerically, the error prominency factor can express the extent of influence on the pose error of the end effector resulted form every DH parameter error within the whole working space of the robot.

在这一研究过程中，除了建立了用DH坐标描述的机器人末端位姿误差和轨迹误差的通用模型之外，还提出了一种新的机器人位姿误差分析技术——机器人位姿误差的显著性分析法。

The stated robot has head , the body back and connected A of similar people , B dual tactics composes in reply A , B two feet: The stated robot is to link the job being in progress on job being composed of with the pole of equal rank linking the enough wheel of B in axis of rotation surface wiping glass's; Think that the electric motor drive an axis of rotation to wipe the glass job with pulling when moving the translatory pole job , wiping since enough motion of robot A leads to A hand , B hand device fixation gushes liquid the motion being in progress.

所述的机器人具有类似人的头、躯背及连接的A、B两手和A、B两足：所述的机器人是连接在旋转轴与连接B足轮的平行支杆组成的工作面上进行擦玻璃工作的；当电机带动旋转轴与拉动平移杆工作时，由于机器人A足的运动导致A手、B手装置的固定喷液擦进行运动擦玻璃工作。

In addition, because the trajectory error of the end effector is increasing when the joints are motivated by untuned joint signals, a tuning method of joints is proposed to reduce the trajectory error. The effectiveness of this method is proved in the experiment.

另外，为解决实验中发现的机器人末端轨迹误差较大的问题，根据实验特点设计了机器人关节角输入补偿策略，提高了实验中机器人末端轨迹的跟踪精度。

If the robot collides with another robot, the move iscomplete if you are heading toward the other robot.

当你的机器人撞到其它的机器人时，如果你是头部撞到其它的机器人时动作也就完成。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。