This paper summarizes the progress that has been made in the development of the Fission Power System Technology Demonstration Unit (TDU). The reactor simulator core and Annular Linear Induction Pump have been fabricated and assembled into a test loop at the NASA Marshall Space Flight Center. A 12 kWe Power Conversion Unit (PCU) is being developed consisting of two 6 kWe free-piston Stirling engines. The two 6 kWe engines have been fabricated by Sunpower Inc. and are currently being tested separately prior to integration into the PCU. The Facility Cooling System (FCS) used to reject convertor waste heat has been assembled and tested at the NASA Glenn Research Center (GRC). The structural elements, including a Buildup Assembly Platform (BAP) and Upper Truss Structure (UTS) have been fabricated, and will be used to test cold-end components in thermal vacuum prior to TDU testing. Once all components have been fully tested at the subsystem level, they will be assembled into an end-to-end system and tested in thermal vacuum at NASA GRC.

关键词：电力系统；现状

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Voltage stability analysis and control become increasingly important as the systems are being operated closer to their stability limits including voltage stability limits. This is due to the fact that there is lack of network investments and there are large amounts of power transactions across regions for economical reasons in electricity market environments. It has been recognized that a number of the system blackouts including the recent blackouts that happened in North America and Europe are related to voltage instabilities of the systems.

关键词：电力系统；电力设备；稳态

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Unmanned ground and air vehicles (UGVs and UAVs) embody a critical capability of future U.S. Army systems and will be used for force projection and as force multipliers. They are expected to operate in a semiautonomous fashion, in which an operator will lay out a mission plan for the vehicle to execute with little or no operator interaction; the operator s function will be to monitor the progress of the unmanned systems. If the situational demands exceed the capabilities of the vehicle, the operator will need to intervene to complete the mission by either changing the mission plan or by assuming direct control of the vehicle by teleoperation until the vehicle can resume semiautonomous operation.

关键词：机器人；控制系统；任务；遥控车

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It will be discussed whether a theory specific for human-robot and human-agent interaction is needed or whether theories from human-human interactions can be adapted. First, theories from human-human interaction will be presented. Then, empirical evidence from human-robot- and human-agent interaction is presented. Research suggests that, from the perspective of the user, interaction with an artificial entity is similar to interaction with fellow humans. Explanations for this treatment of agents/robots in a social way (such as the ethopoeia approach, Nass& Moon, 2000) assume that due to our social nature humans will use their interaction routines also when confronted with artificial entities. Based on this it will be discussed whether theories from human-human-interaction will be a helpful framework also for human-agent/robot interaction, whether amendments will be beneficial or whether, alternatively, a totally new approach is needed.

关键词：机器人；人机代理；人机交互；互动

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A test plan to measure the amount of time a small robot remains powered and functional using two standard Li-Ion batteries, under a variety of operating conditions.

关键词：机器人；蓄电池；测试方法；锂离子电池

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Flight control of micro aerial vehicles (MAVs) is challenging due to the size of small-scale robotics platforms, which places size, weight, and power limitations on onboard sensors, as well as restricts the data processing algorithms that can be implemented on the platforms. We focus on computing optic flow in order to control a MAV using small vision chips as opposed to a complex camera system in order to cut down on the size and weight of the sensors as well as the processing power needed. We propose using an externally produced vision sensor by Centeye, ArduEye, to develop an algorithm for computing optic flow, from existing algorithms tailored to the sensor, to be used to control a quadrotor. Such efforts will benefit the various MAV research thrusts by providing a successful optic flow sensor and data processing algorithm that can be applied to the flight control of other robotic platforms.

关键词：用视觉传感器；光流；微型飞行器；飞行控制

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Robot path planning is about finding a collision free motion from one position to another. Efficient algorithms for solving problems of this type have important applications in areas such as: industrial robotics, computer animation, drug design, and automated surveillance. In this paper, a modified A~* algorithm is used for optimizing the path. Different from the approaches that only choose the shortest routes, this method estimates the energy consumption and chooses the most energy efficient routes. As mobile robots are powered by batteries, their energy is limited. Therefore, how to minimize energy consumption is an important problem. The basic idea is to minimize unnecessary stops and turns for mobile robots that cause acceleration and deceleration and consumes significant energy. Simulation results are presented on various environments with different levels of complexity depending on the density of the obstacles. The effectiveness of the proposed approach is evaluated in terms of number of movement steps, path length, energy consumption, number of turns and time. The experimental results show that our approach can provide effective path by reducing the number of turns compared to A~*, thus saving energy. All paths generated were optimal in terms of length and smoothness.

关键词：机器人；路径规划；移动机器人；A~ *算法；能源消耗

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In this chapter, three types of Gorilla Robots developed as the Multi-Locomotion Robot were described. Gorilla Robot was designed to be able to perform biped locomotion, quadruped locomotion, and brachiation etc. The hardware configuration of each Gorilla Robot and control system architecture were presented. In the subsequent chapters, Gorilla Robot is employed in some experiments.

关键词：机器人；硬件；复杂移动

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A talking and singing robot which adaptively learns the vocalization skill by an auditory feedback learning is being developed. The fundamental frequency and the spectrum envelope determine the principal characteristics of a sound. The former is the characteristics of a source sound generated by a vibrating object, and the latter is operated by the work of the resonance effects. In vocalization, the vibration of vocal cords generates a source sound, and then the sound wave is led to a vocal tract, which works as a resonance filter to determine the spectrum envelope. The paper describes the construction of vocal cords and a vocal tract for the realization of a talking and singing robot, together with the control algorithm for the acquisition of singing performance by mimicking human vocalization and singing voices. Generated voices were evaluated by listening experiments.

关键词：机器人；性能模仿；说话唱歌

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Recent years have witnessed the development and proliferation of wireless sensor networks (WSNs), attributed to the technological advances of microelectrome-chanical systems (MEMS) and wireless communications. A WSN is composed of a number of sensor nodes, which are distributed in a specific area to perform certain sensing tasks. A typical sensor node is a low-cost battery-powered device equipped with one or more sensors, a processor, memory, and a short-range wireless transceiver. A variety of sensors, including thermal, optical, magnetic, acoustic, and visual sensors, are used to monitor different properties of the environment. The processor and memory enable the sensor node to perform simple data processing and storing operations. The transceiver makes the sensor node capable of wireless communications, which is critical for WSNs. With many WSNs located in difficult-to-access areas, users usually cannot collect the data in sensor nodes directly. In this case, sensors nodes can transmit the data through the wireless channel to the user or the data sink either directly or by relaying through multiple sensor nodes. Due to the same geographical difficulty, the batteries, as the power supply of the sensor nodes, are difficult to recharge or replace, restricting nodes' energy budget. Therefore, energy efficiency is the primary design concern in many WSNs.

关键词：无线传传感器；网络；压缩

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