摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的最新研究结果已经发表。根据新闻通讯社记者从沈阳发回的新闻报道,研究表明:“芳香烃通常指含苯环的化合物。通过取代苯环上的氢原子可以形成许多类型的同系物。”本研究的资金支持单位包括国家重点研发项目、中国科学院跨学科创新团队、中国自然科学基金(NSFC)。我们的新闻编辑从中国科学院的研究中得到一句话：摘要:提出了一种基于芳香烃的模块化机器人(AHIMR)。该机器人可以根据不同的任务要求重新组装成不同的构型。设计了一种基于视觉的AHIMR对接系统。该系统主要包括两个阶段:远程制导阶段和精确对接阶段。在远程制导阶段,利用光照自适应目标识别算法识别目标模块。在精确对接阶段，主动模块采用透视N点法计算与目标模块的相对位姿，动态调整目标模块对接姿态，并采用卡尔曼滤波器减小目标遮挡和抖动干扰。通过多次仿真实验验证了对接系统的可行性，模块对接精度控制在0.01m以内，满足了AHIMR重构任务的要求。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics have been published. According to news reporting originating from Shenyang, People's Republic of China, by NewsRx correspondents, research stated, "Aromatic hydroca rbons generally refer to compounds containing benzene rings. Many types of isome rs can be formed by replacing hydrogen atoms on the benzene ring." Financial supporters for this research include National Key R&D Pro gram of China, CAS Interdisciplinary Innovation Team, National Natural Science F oundation of China (NSFC). Our news editors obtained a quote from the research from the Chinese Academy of Sciences, "In this paper, an aromatic-hydrocarbon-inspired modular robot (AHIMR) is proposed. The robot can be reassembled into different configurations suitabl e for various task requirements. A vision-based docking system is designed for t he AHIMR. The system primarily consists of two stages: a remote guidance stage a nd a precise docking stage. During the remote guidance stage, an object module i s identified using an illumination adaptive target recognition algorithm, and th en the active module moves to the docking area through communication with ZigBee . In the precise docking stage, the active module calculates the relative pose w ith the object module using a perspective-n-point method and dynamically adjusts its posture to dock. In this process, a Kalman filter is used to reduce target occlusion and jitter interference. In addition, the docking system feasibility i s verified via several simulation experiments. The module docking accuracy is co ntrolled within 0.01 m, which meets the reconfiguration task requirements of the AHIMR."
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