One of the most common problems of autonomous mobile robots is object avoidance in a dynamically changing environment. The effectiveness of algorithms responsible for trajectory planing is largely dependent on the correct sensory input. It is necessary to equip a mobile robot with the proper sensors to allow a correct functioning in unknown terrain. With the high degree of complexity standard point distance sensors are insufficient for high speed movement. The recent development of compact laser range finders allowed the minimization of robot dimensions. Hokuyo UTM-30LX is an example of such a sensor. For a precise understanding of the measurements, a characterization of a sensor is needed. This paper is summarizes the parameters of Hokuyo UTM-30LX laser range finder, in particular: drift effect, influence of target distance, surface brightness, color and material, and the sensor orientation. The parameters measured prove that the Hokuyo UTM-30LX can be used in a mobile robot system for complex object detection and avoidance.

关键词：光机电；机器人；自在移动；激光测距

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To enhance plate quality of cold rolling strip steel, a method based on Ant Colony Optimization with Quantum Action (ACO-QA) is developed. In this method, each ant position is represented by a group of quantum bits, and a new quantum rotation gates are designed to update the position of the ant. In order to makes full efficiency, a pretreatment using fuzzy method is firstly adapted before resolving the mathematical model with ACO-QA. This method overcomes the shortcoming of ACO, which is easy to fall into local optimums and has a slow convergence rate in continuous space.

关键词：钢铁；缺陷识别；冷轧；量子算法；蚁群优化算法

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This chapter presents a detailed, step-by-step demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. These lessons start with a simple development of capturing image frames from a running video and then gradually proceeds to more complex tasks of incorporating image processing capabilities e.g. filtering techniques, contrast enhancement, adaptive thresholding etc. Then the lessons demonstrate how to extract path for the robot from such images and how a rule-based approach can be utilized to determine left and right wheel speed settings of a differential drive system.

关键词：光机电；机器人；视觉移动；算法实现

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This paper proposes the control interface of a robotic wheelchair for sufferers from rheumatism. The proposed interface adopts electromyogram(EMG)signals as input signals for command generation based on functionally different effective muscle(FEM)theory. Sufferers from rheumatism can move not his joints but muscles. Therefore, EMG signals have a potential to become the helpful tool. In addition, FEM theory represents the relation between the direction of the output force at the end effector such as a wrist(or an ankle)and muscles of limbs. Thus, the proposed interface can realize the intuitive operation. Experimental results evaluate the utility of the proposed control interface.

关键词：光机电；机器人；运动控制；肌电图信号；有限元理论

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This paper describes the optimization of an Integrator control block within the proposed navigation control system for a mobile robot. The control blocks that the integrator will combine are two Fuzzy Inference Systems (FIS) in charge of tracking and reaction respectively. The integrator block is call Weighted Fussy Inference System (WFIS), and assigns weights to the responses on each behavior block, to combine them into a single response.

关键词：光机电；机器人；移动导航；模糊集成

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An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

关键词：光机电；机器人；博弈框架；任务规划

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关键词：钢铁;射流冲击冷却;膜状沸腾；CFD；VOF；热传系数

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This chapter discusses how a vision based robot navigation scheme can be developed, in a two-layered architecture, in collaboration with IR sensors. The algorithm employs a subgoal based scheme where the attempt is made to follow the shortest path to reach the final goal and also simultaneously achieve the desired obstacle avoidance. The algorithm operates in an iterative fashion with the objective of creating the next subgoal and navigating upto this point in a single iteration such that the final goal is reached in minimum number of iterations, as far as practicable.

关键词：光机电；机器人；视觉使用；移动导航

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This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.

关键词：光机电；机器人；模糊跟踪控制；范式优化

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This paper proposed a hierarchical architecture of steel house materials. The proposed architecture will include the detailed information of the components. For this, we made description about steel house design method and material change task ontology. Especially AFM is composited with total four steps. Using the method, the solution process of possible problems occurred in a steel house can be converted to an otology. Also we made category about composite patterns of steel house materials.

关键词：钢铁；钢房；材料；3D；AFM

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