文献翻译-英汉互译智能机器人

英汉互译一英文IntelligentRobotsIndustrialrobotshavebeendevelopedtoperformawidevarietyofmanufacturingtasks,suchasmachineloading/unloading,welding,painting,assembling.However,mostindustrialrobotshaveverylimitedsensingability.Forexample,iftheassemblypartsarenotpresentedtotherobotinaprecise,repetitivefashion,therobotsimplycannotperformitsjobs,becauseitcannotfindthepartandpickitup.Ifaninvadingobjecthappenstoentertheworkspaceofarobot,therobotmaycollidewithit,resultingindamagetoboth,becausetherobotcannotseeitasanobstacle.Inotherwords,existingrobotsarefarformbeingintelligent,andtheycannothear,see,andfeel(force,shape,texture,temperature,weight,distanceandspeedofobjectsinitsornearby).Anentirelynewphaseinroboticapplicationshasbeenopenedwiththedevelopmentof“intelligentrobots”.Anintelligentrobotsisbasicallyonethatmustbecapableofsensingitssurroundingsandpossessintelligenceenoughtorespondtoachangingenvironmentinmustthesamewayaswedo.Suchanabilityrequiresthedirectapplicationofsensoryperceptionandartificialintelligence.Muchofresearchinroboticshasbeenandisstillconcernedwithhowtoequiprobotswithvisualsensors-eyesandtactilesensors-the“fingers”.Artificialintelligencewillenabletherobottorespondtoandadapttochangesinitstasksandinitsenvironment,andtoreasonandmakedecisionsinreactiontothosechanges.Inthelightoftheserequirements,anintelligentrobotmaybedescribedasonethatisequippedwithvariouskindsofsensors,possessessophisticatedsignalprocessingcapabilitiesandintelligenceformakingdecisions,inadditiontogeneralmobility.Oneimportantcapabilitythathumansdemonstratewhenperformingintelligenttasksisreceivingsensoryinformationfromtheirsurroundings.Humansensesprovidearichvarietyofsensoryinputsthatarecriticaltomanyoftheactivitiesperformed.Muchefforthasbeenmadetosimulatesimilarsensoryabilitiesforintelligentrobots,amongthem,visionisthemostimportantsenseasitisestimatedthatupto80%ofsensoryinformationisreceivedbyvision.Visioncanbebestowedonroboticsystemsbyusingimagingsensorsinvariousways.Forimprovingaccuracyofperformances,itcanhelppreciselyadjusttherobothandbymeansofopticalfeedbackcontrolusingvisualsensors.Determiningthelocation,orientation,andrecognitionofthepartstobepickedupisanotherimportantapplication.Forexampleandweldthem.Regardlessoftheapplication,thevisionsystemmustcontainanilluminationsource,animagerysensor,animagerydigitizerandasystemcontrolcomputer.Ifambientlightingservesasilluminationsource,theimagingprocessispassive.Thistypeofimagingiscommoninmilitaryapplicationssincethepositionoftheviewerisbeyondthecontroloftheviewer.Butinindustrialapplications,controlledilluminationoractiveimagingcanbeusedasfreelyaspossible.Theimagingsensorofarobotvisionsystemisdefinedasanelectroopticaldevicethatconvertsanopticalimagetoavideosignal.TheimagesensorisusuallyeitheraTV-cameraorasolid-statesensorydevice,forinstance,change-coupleddevices(CCD).Thelatterdeviceoffersgreatersensitivity,longenduranceandlightweight,andisthuswelcomewhencomparedwiththeTV-camera.Thecamerasystemcontainsnotonlythecameradetectorbutalso,andveryimportantly,alenssystem.Thelensdeterminesthefieldofview,thedepthoffocus,andotheropticalfactorsthedirectlyaffectthequalityoftheimagedetectedbythecamera.Noveltechniques,suchasafish-eyelensusedtoobtaina360-degreefieldofviewwithouttheneedoffocusadjustment,haverecentlybeeninvestigatedandprovedveryuseful;inmobilerobots.EitherTV-camerasorCCDsproduceanimagebygeneratingananaloguevalueoneverypixel,proportionaltoitslightintensity.Toenableadigitalcomputertoworkwithanalogue,ananalogue-to-digital(A/D)converterisneededtotransferanalogueintodigitaldatethenstoredintherandomassessmemory(RAM)installedinthecomputer.Thecomputeranalyzesthedateandextractssuchimageryinformationasedges,regions,boundaries,colorsandtexturesoftheobjectsintheimage.Finally,thecomputerinterpretsorunderstandswhattheimagerepresentsintermsofknowledgeaboutthesceneandgivestherobotasymbolicdescriptionofitsenvironment.Nexttovisioninimportanceistactilesensingortouching.Imaginetheblindcandodelicatejobsrelyingonhis/hersensitivetactile!Abindrobotcanbeextremelyeffectiveinperforminganassemblytaskusingonlyasenseoftouch.Touchisofparticularimportanceforprovidingfeedbacknecessarytogripdelicateobjectsfirmlywithoutcausingdamagetothem.Tosimulatetactileinhumanhands,acompletetactile-sensingsystemmustperformthreefundamentalsensingoperations:(1)jointforcesensingwhichsensestheforceappliedtotherobotshand,wristandarmjoints;(2)touchsensingwhichsensesthepressureappliedtovariouspointsonthehandssurfaceorthegripperssurface;(3)slipsensingwhichsensesanymovementoftheobjectwhileitisbeinggrasped.Thejointforcesareusuallysensedusingvariousstraingaugesarrangedintherobotwristassembly.Astraingaugeisaforce-sensingelementwhoseresistancechangesinproportiontotheamountofforceappliedtotheelement.Thesimplestapplicationoftouchsensorisagripperthatisequippedwithanarrayofminiaturemicroswitches.Thistypeofsensorcanonlydeterminethepresenceorabsenceofanobjectataparticularpointoranarrayofpointoftherobothand.Amoreadvancedtypeoftouchsensoruserarraysofpressure-sensitivepiezoelectricmaterial(conductiverubber,conductivefoam,etc.).Thismaterialconductselectricalcurrentwhenstressed.Thisarrangementallowsthesensortoperceivechangesinforceandforceandpressurewithintherobothand.Thesizeofmatricesoftactilesensorsrangesfrom88to80802-Darrays.Sincetheforceateachpointcanbedetermined,theforcesonitssurfacecanbemappedandtheshapesofobjectsgraspedintherobothandcanbedeterminedrespectively.TheforcedatacanbeusedtodisplayonaTV-likescreentheshapeoftheobjectandthedistributionofforceonitssurface.Slipsensingisrequiredforarobottocreatetheoptimumofgraspingforceappliedtoandelicate,fragileobject.Thisabilitypreventsdamagetotheobjectandallowstheobjecttobepickedupwithoutthedangerofbeingdropped.Themethodusedtodetectslipisbasedonsensinganyvibrationoranymovementbetweentheobjectandthegripper,nomatterbowsubtleitmaybe.Thegrippingforceisincreasedstepbystepuntiltheobjecthasbeenfirmlygraspedandnomoreslipoccurs.Theintegrationoftactilesensingandvisionsensingcandramaticallyenhanceadaptiveroboticassemblytask.Anexampleofthistypeofsensorswouldbeavisionsensorusedtolocateandidentifyobjectsandpositionoftherobotitself,combinedwithatactilesensorusedtodetectthedistributionofforceandpressure,determinetorque,weight,centerofmassandcomplianceofthematerialithandles.Thishand-eyecoordinationforgeneral-purposemanipulationwouldbeextremelypowerfulintheindustrialworld.Anotherimportantsensingforarobotisrange,ordepthinformation.Therangedataarenecessaryforrobottocreateits3-dimensionalspatialinformationwhenitcarriesoutreal-worldnavigation.Suchinformationisrequiredwhethertherobotisstationaryandnavigatingitsgripperormobileandnavigatingitsbody.Forexample,consideranindustrialbinpickingoperationwhereasensingrobotcanlocateobjectsofinterestinthebin,eventhoughitdoesnotknowexactlywheretheyare.Thesequenceofoperationsforsucharobotmightgosomethinglikethese:(1)Scanthepartsinthebinandlocatetheobjectofinterestinthree-dimensionalapace.(2)Determinetherelativepositionandorientationoftheobject.(3)Moveitsgripperand/oritsbodytotheobjectlocation.(4)Positionandorientthegripperaccordingtotheobjectspositionandorientation.(5)Pickuptheobject.(6)Placetheobjectattherequiredlocation.Thefirststepandthesecondstepinthissequencedeterminethedistanceandorientation二中文智能机器人工业机器人已经被发展执行各式各样的制造业的任务,像是载入/卸货，焊接，油漆和装配机器。然而,大多数的智能机器人只有有限制的感知能力。例如，如果组合零配件不被精密的重复的样式呈现给机器人,机器人是不能执行它的工作的，因为它不能找到零件而且拾起它。如果一个侵略物件碰巧进入机器人的工作空间,机器人可能和它产生冲突,造成两者的损坏,因为机器人不能视它为一个阻挡物。换句话说，现有的机器人离智能还有很远的距离，而且他们不能听,看和感觉(目标或附近的物件的力，形状，材质，温度，重量，距离和速度)智能机器人发展中的一个全新的机器人的应用程序已经开发使用。一个智能机器人基本上能够测知它的环境而且持有足够的智能就像我们做的一样去适应环境的改变。如此能力需要直接的人工智能应用程序。机器人学的许多研究仍关心如何用视觉的感应器设备和触觉的感应器设备-手指.人工智能将会使机器人在它的任务和环境中能够做出回应、适应环境的改变,推理和做出对那些变化的决断。鉴于这些需求，一个智能机器人可以这样被描述为一个装备各种不同类型的感应器,持有复杂信号处理能力和智能判断力,除此之外还有灵活性。当它们从外部环境中接受感官信息执行智能任务时，人们论证了一个重要的能力。人类的感觉提供一个丰富的知觉输入去判断许多进程。很多的努力是为智能机器人模拟相似的知觉能力,在它们之中，当它被估计达到80%的感觉信息被视觉收到的时候，视觉是最重要的感觉。视觉藉由以各种不同的方式使用成像感应器能在机器人系统上被应用。为改良性能的精确度，它能通过视觉的感应器的光学反馈控制精确的调整机器人手。决定零配件的位置，定向和辨识整体是另外的重要应用。例如焊接它们。不管应用程序，视觉系统一定要含有一个照度来源，一个成像感应器，一个成像数字转换器和一个系统控制用计算机。如果环境光来源于照度来源,成像工艺是消极的。成像的这一个型态通常是在军事的应用程序中而超过检视器的控制。但是在工业的应用中，受照度或活跃的图像约束可能尽可能的自由。机器人视觉系统的成像感应器被定义为一个光电转换器件变换光学图像转换成一个视频信号。图像感应器通常是电视摄影机或一个固态传感装置,例如,电压耦合元件。后者装置与电视摄影机相比有大的灵敏度，长的持久性和轻的重量，而因此受到欢迎。照相机系统不只是含有照相机传感器,聚焦系统也非常重要。镜头的透镜决定视野、焦点深度和其他的光学因数直接影响照相机图像质量。新的技术如鱼眼镜头在不需要镜头调整情况下就可以获得360度的视野,最近已经被研究出而且被证明在移动的机器人中是非常有用的。摄像机或电压耦合元件都是通过每个像素上的变化的模拟值产生图像,与光强度成正比。为了使数传计算机能够处理模拟量,模数转换器(A/D)得将模拟信号转换成数字信号，然后保存在计算机的随机存储器（RAM）。计算机分析数据和摘要，例如图像对象的边缘，区域，交界，颜色和材质信息。最后，计算机解释或理解图像代表什么是根据关于景物的信息和机器人对它的环境的象征性描述。仅次于视觉的是触觉感知或触摸。想像一下盲人能做细致的工作完全仰赖他/她的敏感触觉!一个盲的机器人能够极其有效的履行工作仅仅是依赖于触觉。触觉在没有对它们损坏的情况下对提供特殊重要的反馈必须精巧而稳定的把握。模拟触觉掌握在人类的手中，一个完全触觉感知系统必须执行三个基本感知运算：（1）感觉联合的连接被应用到机器人的手，手腕