3489 四履帶搜救機(jī)器人機(jī)械結(jié)構(gòu)設(shè)計(jì)—擺臂設(shè)計(jì),履帶,搜救,機(jī)器人,機(jī)械,結(jié)構(gòu)設(shè)計(jì),設(shè)計(jì) 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)1英語(yǔ)文獻(xiàn)翻譯Simulation and control of distributed robot search teams1.Robot introductionSeveral thousand years ago the humanity longed for that makes one kind of elephant person's same machine, in order to extricates the humanity from the arduous work. If the ancient Greece poet Homeros lengthy narrative poem "Yiliyate" god of lame sea time of Si Tesi smelting, uses the gold casting to have a beautiful intelligent maidservant; Greek mythology "Lu Elder brother Discovery ship" bronze giant Tailuosi (Taloas); Judea in fable's soil giant and so on, these beautiful myth times were driving the people must certainly become the beautiful myth the reality, as early as started before two millenniums to present the automatic wooden figurine and some simple mechanical figurines. to the modern times, in after a robot word's appearance and the world the first industry robot comes out, the different function's robot also one after another appears, and enlivened in the different domain, from the space to the underground, developed from the industry broadly to the agriculture, the forest, the herd, the fishing, even entered the common family. Robot's many type, broad application, affects the depth, is we are unexpected. Divides from robot's use, may divide into two broad headings:? ground military robotThe ground robot is mainly refers to the intelligence or the remote 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)2control wheeled and the track-laying vehicle. The ground military robot may divide into the independent vehicles and half independent vehicles. The independent vehicles depend upon the own intelligent autonomous navigation, the avoidance obstacle, the independence complete each kind of combat mission; Half independent vehicles may exercise independently under person's surveillance, when encounters the difficulty the operators may carry on the remote control intervention.? unmanned aerial vehicleIs called the airborne robot's unmanned aerial vehicle is in the military robot develops the quickest family, the first autopilot has been published since 1913, unmanned aerial vehicle's fundamental type has achieved 300 many kinds, at present the unmanned aerial vehicle which sells in the world market has 40 many kinds. The US participated in nearly the world all important wars. Is advanced as a result of its science and technology, the national strength is strong, thus 80 for many years, the world unmanned aerial vehicle's development basically has been prompts forward by the line. The US studies one of unmanned aerial vehicle earliest countries, regardless of today looking from technical level or unmanned aerial vehicle's type and quantity, the US occupies the world leader. the comprehensive survey unmanned aerial vehicle develops the history, may say that the modern warfare is the power which the unmanned aerial vehicle develops, the high technology and new technology development is the foundation which it progresses unceasingly. 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)3? underwater robotThe underwater robot divides into some person of robots and nobody robot two broad headings:Some person of submersibles mobile nimble, is advantageous for the processing complex question, holds the post the life will possibly have the danger, moreover the price will be expensive. The unmanned submersible is the underwater robot which the people said that “Shinao” is one kind. It is suitable for the long time, the wide range inspection duty, in the recent 20 years, the underwater robot had the very big development, they both may military and be possible civil. Further develops along with the human to the sea, in the 21st century they will certainly to have a more widespread application. According to the unmanned submersible and the water surface support equipment (depot ship or platform) contact method's difference, the underwater robot may divide into two broad headings: One kind has the cable underwater robot, in the custom is called as it controls remotely the submersibles, is called ROV; Another kind does not have the cable underwater robot, in the submersibles custom is called as it the autonomous submersibles, is called AUV. Has the cable robot is the remote control type, divides into towed, (seabed) according to its mode of motion the mobile and the float (from navigation) the formula three kinds. Does not have the cable underwater robot only to be able to be autonomous -like, at present also only then the observation float type one mode of motion, but its prospect is bright.? spatial robot 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)4The spatial robot is one kind of low end light teleoperator, may in the planet atmospheric environment the guidance and the flight. Therefore, it must overcome many difficulties, for example it must be able, in changes unceasingly in three dimensional environment movement and autonomous navigation; Cannot pause nearly; Must be able real-time to determine it in the spatial position and the condition; Must be able to carry on the control primarily to the American its vertical movement; Must forecast and plan the way for its star border flight. ? industry robot The industry robot is refers to the industry the application one kind can carry on the automatic control, to be possible to duplicate programs, multi-purpose, the multi-degrees-of-freedom, the multipurpose operation machine, can transport the material, the work piece or manages the tool, with completes each kind of work. And this kind of operation machine may fix in a place, may also on the reciprocal motion car.? service robotThe service robot is in a robot family's young member, so far still did not have a strict definition, the different country to serves robot's understanding also to have certain difference. Serves robot's application scope to be very broad, is mainly engaged in work and so on maintenance, maintenance, repair, transportation, clean, security, rescue, guardianship. The German production technology and Institute 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)5of Automation manager executed Dr. Lafute for to serve the robot to give this kind of definition: Serves the robot is the shifter which one kind may program freely, it should have three motive axles at least, may partially or the completely automatic completes the services. Here services refer to are not the servicing activities which is engaged in for the industrial production goods, but refers to the services which the manner and the unit complete. ? entertainment robotThe entertainment robot take watches, the entertainment for the human as a goal, has robot's exterior characteristic, may look like the human, some kind of animal, looks like in the fairy tale or the science fiction character likely and so on. Simultaneously has robot's function, may walk or complete the movement, may have the verbal skill, will sing, has certain sensation ability.? kind of person robotMay see from other category's robot, the majority robots do not look like the human, some do not even have a person's appearance, this point to cause many robot amateurs to be greatly disappointed. Perhaps you will ask, for system class person robot? Such robot will be easier to let the human accept. Actually, develops the outward appearance and the function and person's same robot is the desire which the scientists long for even in dreams, is also the goal which they pursue unremittingly. 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)6However, develops the performance outstanding kind of person robot, its biggest difficulty is both feet erectness walks. Because the robot and person's study way is dissimilar. A baby wants to study first walks, then studies runs; But the robot must study first runs, then studies walks. That is the robot study runs easier.? agricultural robotBecause the mechanization, the automaticity are quite backward, “the surface faces upwards toward the loess back, did not have time throughout the year” has become our country farmer's symbol. But recent years agricultural robot's being published, hopefully changed traditional the work way. In the agricultural robot's aspect, Japan resides in head at present the various countries.2.present situation and domestic and foreign trend of developmentThe overseas robot domain development has the following several tendencies in recent years:(1) the industry robot performance enhances (high velocity, high accuracy, redundant reliability, to be advantageous for operation and service) unceasingly, but the single plane price drops unceasingly, the average single plane price drops to 97 year 65,000 US dollar from 91 year 103,000 US dollar.(2) the mechanism to the modulation, may the restructuring development. For example in joint module servo electrical machinery, speed reducer, examination system Trinity body; By the joint module, the connecting rod module use the reorganization way structure robot 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)7complete machine; Overseas had the modular assembly robot product to ask the city (3) the industry robot control system to develops based on the PC machine open-type controller direction, is advantageous for the standardization, the network; The component integration rate enhances, the control cubicle date sees exquisitely, and uses the modular structure; Enhanced system's reliability greatly, easy operational and the maintainability.(4) in robot's sensor function is day by day important, besides uses sensors and so on traditional position, speed, acceleration, the assembly, welded the robot also to apply the vision, the strength to think and so on sensors, but the teleoperator used the vision, the sound sensation, the strength sleep, the sense of touch and so on multi-sensor's fusion technologies to carry on the environment modelling and the policy-making control; The multi-sensor fusion disposition technology had the mature application in the production system. (5) virtual reality technology in robot's function from the simulation, the preview has developed to uses in the process control, if causes the teleoperator operator to produce places oneself operates the robot in the far-end job environment feeling. (6) present age teleoperator system's development characteristic pursues the entire autonomous system, but devotes to the operator and robot's man-machine interaction control, namely the remote control adds the partial independent system constitution complete monitoring remote control system, causes the intelligent robot to go out the laboratory to enter the practical stage. The US launches on Mars 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)8“Sojourner” the robot is this kind of system success application most famous example. (7) machine hominization machinery starts to emerge. Has developed “the hypothesized axis engine bed” since 94 year US, this kind of new installment has become one of international research hot spots, explores in abundance develops its practical application the domain.3.The Introduction of Simulation and control of distributed robotIt was not long ago when the images and public perception of robots were limited to the extreme visions created by science fiction writers and the entertainment industry. However, today it is not uncommon to read an interesting article about recent advances in robotics, watch a robot search the surface of Mars on the nightly news, or even possibly encounter one in the work place . As robots make such inroads into our daily lives, it becomes increasingly apparent how they can benefit society. Nowhere is this more evident than in situations where one or more robots could replace humans in a dangerous situation. One area of study, which has recently piqued the interest of the robotics community, is the use of robots in search and rescue operations. Search and rescue operations require a massive effort by rescuers in very dangerous environments. Collapsed and unstable buildings, leaking gas lines, and fire are only a few of the things that pose a threat to the lives of human rescue teams. The ability to deploy autonomous robots, as opposed to humans into this type of 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)9environment to search for survivors provides immeasurable benefits.The potential for using robots in place of humans requires addressing questions such as:(1) What type of robot can move effectively in an unknown and dynamic environment?(2) How many robots should be used to emciently cover the most area in a search operation?(3) How should the robot be controlled?Robotics is an extremely broad field encompassing a variety of applications and research interests. From the robots used on factory assembly lines to those conducting Mars exploration or NASA , there are seemingly endless possibilities relating to the visions and uses of robotics. The definition of the word robot is itself dependent upon both who is defining it and its intended context. For our purposes ，an intelligent robot is defined as: "A machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposive manner" 。Most researchers agree that the methods used for controlling autonomous robots can be divided into three general categories: deliberative, reactive, and hybrid systems. The deliberative approach is a strategy where intelligent tasks can be implemented by a reasoning process operating on an internal model of the world. This approach dominated the artificial intelligence community for years resulting in the development of a standard architecture by the US Government in the 1980s, which reflected the deliberative model. Rodney Brooks. 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)10Director of the Massachusetts Institute of Technology's Artificial Intelligence Laboratory, refers to deliberative architectures as a sense-model-plan-act (SMPA) framework .The robotics community began to take interest in reactive systems in the mid 1980s, as many of the shortcomings of deliberative control for mobile robots became apparent. Specifically, deliberative autonomous systems displayed a number of deficiencies such as brittleness, inflexibility, and slow response times when operating in complex and dynamic environments. Speed of response was a key weakness for deliberative systems. Maja Mataric of the University of Southern California suggests that the primary division "between reactive and deliberative strategies can be drawn based on the type and amount of computation performed at run-time." Reactive architectures and behavior-based architectures are most often considered identical. However, extremes exist regarding how basic or how complex a system can become while still being classified as reactive or behavior-based. Mataric contends that there is a fundamental difference between reactive and behavior-based systems . She suggests that though behavior- based systems contain properties or even components of a purely reactive system, their computation need not be as limited. In this way, behavior-based systems can store various forms of state and can implement different representations. Furthermore, she suggests that behaviors are more time-extended than the reflexive actions of a reactive system.As interest in reactive systems grew, researchers inevitably 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)11attempted to mimic biological systems using machinery and computational systems for the purposes of accomplishing a desired task. Arkin describes how neuroscience "provides a basis for understanding and modeling the underlying circuitry of biological behavior." He points out that a number of psychological schools of thought have inspired robotics researchers over the years. In particular, the study of behaviorism has secured a solid foundation within robotics. This method of study is based upon observation only in which everything is considered in terms of stimulus and response.Recently, this study of biological behavior has extended into the world of multi-agent systems. Sociobiological behaviors have been studied and emulated using groups of mobile robots. Arvin Agah of the University of Kansas examined individual and collective robot learning using a Tropism System Cognitive Architecture based on the likes and dislikes of the robot agents.Some of the work in this area has relied upon observations of ant and bee colonies and their ability to carry out global tasks using the limited local information of individual agents within the system.Within the last decade. researchers have begun to focus on robotic systems consisting of multiple robots, either homogeneous or heterogeneous, to accomplish one or more tasks. Some of the advantages of using distributed robotics consist of robustness, flexibility, distributed nature, and more simplified robots. 4. Simulator implementation 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)124. 1. The worldAt the beginning of every simulation, the specified floorplan is 'drawn' into the 300 x 300 array. A1l walls and trip wires are first placed in the array. Next, the robots are positioned over the existing array. In most cases, robots are placed over array elements containing zero values. However, if a trip wire first occupies the position, the robot value inserted into the array element is between six and eight indicating that the space contained a trip wire .4.2. Robot sensingThe method used for robot sensing is similar to that applied to collision detection. Sensing is accomplished by checking the values of the environment array in eight directions around the center of a robot. With every unit of time that passes, the simulator checks array elements within a specified range for every 45o　about the robot's center starting at the angle of forward direction. For instance. if the sensing range is 50 units, the simulator checks every array element between radius + I and 50 units along the lines 0o, 45o, 90o, 135o, 180o, 225o， 270o. and 315o 0f the robot's center (if the forward direction happened to be 0o).Sensing begins at the element radius+ 1 from the center of a robot and continues down the sensing line until a robot or wall is detected or the end of the sensing range is reached. If an entity is detected，the distance to the entity and the associated entity value are placed into an array for the sensed data .Once an entity is detected or the end of the 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)13sense range is reached. The robot senses along the line of the next sensor. This continues until all sensing lines have been checked. Once complete, the sensed data array represents the robot's sensed world, which can then be mapped to a specific rule to determine a robot's action.4.3. Matching rulesA robot's action is selected after matching its sensed data array to a specific rule in its rule set. This mapping is analogous to playing the classic children's game. The sensed data can be thought of as a player's guess as to where their opponent's ships lie. These guesses are then placed over the opponent's playing field and hits are scored. This is done for every rule in the rule set. The rule that takes the most hits is determined to be a match. Rule scores are maintained in a separate scoring array.For each distance and entity entry in the sensed data array , the matching function determines if:The distance falls with the range specified by the distance values for the associated sensor inthe rule.The entity value in the sensed data array matches the entity value in the rule.If the above criteria are met, the rule score is increased by one; otherwise, the rule score decreases by one. The following example illustrates initial scoring:. The Front sensor of the sensed data shows a distance of 20 and entity value of four。 河南理工大學(xué)萬(wàn)方科技學(xué)院本科畢業(yè)設(shè)計(jì)14. The Front distance values for Rule X are 10 and 30 and the entity value is four.. The rule score for Rule X is increased by one because 20 is between 10 and 30 and the entity values match.4. 4 Bias and instinctsIn case a rule receives th