This is a non-technical personal view paper describing how I arrived to the field of fuzzy sets and systems, getting around on the roads opened by Professor Zadeh. Then it is followed by some comments on fuzziness and on the future. The first time I heard of fuzzy sets was during a seminar of Arnold Kaufmann (later on I also read an interview of L.A. Zadeh, called "Les ensembles Flous - un concept precis", in l'lnformatique, 1970) while he was presenting Zadeh's theory and his own research. He was carrying with him the manuscript of his first book on the subject.

关键词：机器人；蝴蝶；模糊集

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This paper presents a climbing robot, with wheeled locomotion and adhesion through permanent magnets. This machine was developed to be used in the inspection of several types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, ship hulls, etc., in order to, for instance, detect weaknesses due to corrosion. In this article are presented the main aspects taken into consideration for its design, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture and the Human-Machine Interface (HMI) for its control. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets to assure the machine adhesion to the surfaces when crossing slightly irregular and curved surfaces with a large radius.

关键词：机器人 磁轮式

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Generally speaking, a robot can physically interact with the environment by the sequential execution of two actions: that of achieving a suitable contact configuration, and the subsequent motion required by the task.

关键词：机器人；环境；交互

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Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to explore the capabilities of a low-cost haptic device, a force/torque sensor and a commercially available industrial robot, both together for haptic-based robot teleoperation purposes. A ballistic approach is implemented to make the mapping between the motion produced on the haptic device by the operator and the resulting robot motion. Inspired by some studies in the field of robot haptics, the robot and haptic device are connected by a virtual spring, which allows the operator to feel the sensation of pull and push the robot at the same time that teleoperates it. Results related to the process of robot 

关键词：机器人；遥控；交互

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This chapter discusses how real-life interfacing of external peripherals with a ready-made mobile robot can be successfully achieved. Such a system is hoped to be useful for those research scenarios where, many-a-time, because of the fund constraints, a complete robot system cannot be procured with all its accessories and sensor systems. This chapter discusses how such interfacing can be achieved for the KOALA robot using serial communication in interrupt driven mode.

关键词：机器人；移动；外围设备

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Switchgears are a combination of several components such as circuit breakers, lightning arrestors, current transformers, protection panels, and disconnectors. They are used to effectively control and distribute electric power across industrial premises in order to protect electrical circuits and equipment from unregulated power spikes. Switchgears are classified as low voltage, medium voltage, and high voltage on the basis of load-bearing capacity. Furthermore, switchgears are classified as air-insulated switchgears, gas-insulated switchgears, oil-insulated switchgears, and vacuum-insulated switchgears on the basis of material used.

关键词：开关设备；控制；分配电能；保护电路；设备；不稳定；电源尖峰

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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：机器人；优化模式；自主；控制器

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This thesis presents the development and evaluation of a distributed agent based system using reputation based trust and game theoretic techniques to improve the defense of the future smart grid from cyber-attack and equipment malfunctions. Future smart grid capabilities promise to leverage network technologies to revolutionize the production, transmission, distribution and consumption of electrical power. However, the internet like communication also increase the power grid's vulnerability to cyber-attack. This thesis uses simulation linking power systems with communication networks to demonstrate the benefits of a Distributed Decision Making Communication Enable Special Protection System (SPS) using reputation based trust and game theory to protect the power grid from malicious and non-malicious malfunctions. The simulations show that a distributed approach to SPS load shedding successfully maintains power grid stability after an electrical disturbance while using reputation based trust to defend the load shedding from cyber-attack and equipment malfunction. Additional simulations demonstrate the application of game theory to defend the SPS load shedding process when available resources prevent the monitoring and defense of every part of the power grid. The demonstrated capability increases the resiliency of the power grid by preventing uncontrolled blackouts through detection and mitigation of attacks, improving the system's reliability.

关键词：智能电网；智能电网防御；博弈论

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Due to the uniquely harsh lunar surface environment, terrestrial test activities may not adequately represent abrasive wear by lunar dust likely to be experienced in mechanical systems used in lunar exploration. Testing to identify potential moving mechanism problems has recently begun within the NASA Engineering and Safety Center Mechanical Systems Lunar Dust Assessment activity in coordination with the Exploration Technology and Development Program Dust Management Project, and these complimentary efforts will be described. Specific concerns about differences between simulant and lunar dust, and procedures for mechanical component testing with lunar simulant will be considered. In preparing for long term operations within a dusty lunar environment, the three fundamental approaches to keeping mechanical equipment functioning are dust avoidance, dust removal, and dust tolerance, with some combination of the three likely to be found in most engineering designs. Methods to exclude dust from contact with mechanical components would constitute mitigation by dust avoidance, so testing seals for dust exclusion efficacy as a function of particle size provides useful information for mechanism design. Dust of particle size less than a micron is not well documented for impact on lunar mechanical components. Therefore, creating a standardized lunar dust simulant in the particulate size range of ca. 0.1 to 1.0 micrometer is useful for testing effects on mechanical components such as bearings, gears, seals, bushings, and other moving mechanical assemblies. Approaching actual wear testing of mechanical components, it is beneficial to first establish relative wear rates caused by dust on commonly used mechanical component materials. The wear mode due to dust within mechanical components, such as abrasion caused by dust in grease(s), needs to be considered, as well as the effects of vacuum, lunar thermal cycle, and electrostatics on wear rate.

关键词：机械基础件；机械组件；月球表面

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The engine electronic control is one of the most promising approaches for the satisfaction of emission and fuel economy constraints. A concise survey of the sensors currently used and foreseen to be used in the short term is presented. These components are mainly suitable for actual open-loop control strategies, the open issue in this area being a satisfactory trade-off between cost, reliability, and precision. The needs of automotive industry for sensors aimed at advanced closed-loop control strategies, is outlined.

关键词：电子控制；发动机；传感器

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