外文翻译-简单结构管道检测机器人
双轮链平面管道检测机器人外文文献翻译、中英文翻译、外文翻译
双轮链平面管道检测机器人摘要介绍了一种新型的多传感器管道检测机器人，用于80-100mm管道的检测。
该机器人的特点是只需使用两个轮链即可实现驱动和转向功能。
与普遍采用的三轮链条管道机器人相比，新设计允许简单的机器人控制和方便的用户界面，特别是在T形分支。
作为另一个优点，这种机器人的平面形状允许在机器人的两侧安装额外的传感器。
介绍了系统的运动学和三种控制方式。
最后，通过实验验证了该机器人系统的性能。
关键词:管道机器人；系统；运动学I.绪论管道检测机器人的功能可以描述为驱动、转向、检测和检索。
而用于直径小于100mm管道检测的机器人，在设计紧凑的转向机构和安装磁探头、超声波探头等传感器检测裂纹、破裂、泄漏等方面存在特殊困难。
管道机器人机构在机器人技术领域有着悠久的发展历史，按其运动模式可分为几种基本形式。
它们有轮式、尺蠖式、腿式、螺旋式、履带式和被动式。
其中轮式管道检测机器人最为流行，[1]-[8]。
然而，它们不适合在垂直路径或在t分支操作。
近10年来，人们对差动驱动型机构[9]-[11]进行了较为深入的研究。
差动驱动类型通常有三个动力轮链。
通过独立控制每个链条的速度，机器人可以通过肘部和t型分支。
然而，当只使用一个机器人模块时，有时会在T支[9]处发生奇异运动。
为了解决这一问题，已经开发了几种方法，如主动转向关节机构[12-13]或两个机器人模块[9]协作。
然而，整个机器人系统的体积变得庞大。
使用三个动力轮链的另一个缺点是没有足够的空间在机器人体内安装更多的传感器，因为三个轮链占据了管道的大部分横截面积，特别是直径小于100mm的管道。
目前，机器人身体前只安装了一个摄像头。
T. Okad等[14-16]开发了平板式管道检测机器人。
然而，他们的设计是复杂的，并用于大型管道。
针对这些因素，我们提出了一种双动力轮链的管道检测机构。
两个轮链以180度的角度分开布置，所以可以在机器人身体的两侧附加传感器。
各轮采用两台电机控制;一种用于驾驶，另一种用于驾驶。
机器人结构论文中英文对照资料外文翻译文献
中英文对照资料外文翻译文献FEM Optimization for Robot StructureAbstractIn optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved.1）IntroductionIndustrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot.A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time.APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.Fig. 1 shows the main framework of a parallel robot with three bars. When the length of three bars are changed, conjunct end of three bars can follow a given track, where robot hand is installed. Core of top beam is triangle, owing to three bars used in the design, which is showed in Fig.2. Use of three bars makes top beam nonsymmetrical along the plane that is defined by two columns. According to a qualitative analysis from Fig.1, Stiffness values along z-axis are different at three joint locations on the top beam and stiffness at the location between bar 1 and top beam is lowest, which is confirmed by computing results of finite element, too. According to design goal, stiffness difference at three joint locations must he within a given tolerance. In consistent of stiffness will have influence on the motion accuracy of the manipulator under high load, so it is necessary to find the accurate location of top beam along x-axis.To the questions presented above, the general solution is to change the location of the top beam many times, compare the results and eventually find a proper position, The model will be modified according to the last calculating result each time. It is difficult to avoid mistakes if the iterative process is controlled manually and the iterative time is too long. The outer wall and inner rib shapes of the top beam will be changed after the model is modified. To find the appropriate location of top beam, the model needs to be modified repetitiously.Fig. 1 Solution of Original DesignThis paper gives an optimization solution to the position optimization question of the top beam by APDL language of ANSYS program. After the analysis model first founded, the optimization control program can be formed by means of modeling instruction in the log file. The later iterative optimization process can be finished by the optimization control program and do not need manual control. The time spent in modifying the model can be decreased to the ignorable extent. The efficiency of the optimization process is greatly improved.2）Construction of model for analysisThe structure shown in Fig. 1 consists of three parts: two columns, one beam and three driving bars. The columns and beam are joined by the bolts on the first horizontal rib located on top of the columns as shown in Fig.1. Because the driving bars are substituted by equivalentforces on the joint positions, their structure is ignored in the model.The core of the top beam is three joints and a hole with special purpose, which can not be changed. The other parts of the beam may be changed if needed. For the convenience of modeling, the core of the beam is formed into one component. In the process of optimization, only the core position of beam along x axis is changed, that is to say, shape of beam core is not changed. It should be noticed that, in the rest of beam, only shape is changed but the topology is not changed and which can automatically be performed by the control program.Fig.1, six bolts join the beam and two columns. The joint surface can not bear the pull stress in the non-bolt joint positions, in which it is better to set contact elements. When the model includes contact elements, nonlinear iterative calculation will be needed in the process of solution and the computing time will quickly increase. The trial computing result not including contact element shows that the outside of beam bears pulling stress and the inner of beam bears the press stress. Considering the primary analysis object is the joint position stiffness between the top beam and the three driving bars, contact elements may not used, hut constructs the geometry model of joint surface as Fig.2 showing. The upper surface and the undersurface share one key point in bolt-joint positions and the upper surface and the under surface separately possess own key points in no bolt positions. When meshed, one node will be created at shared key point, where columns and beam are joined, and two nodes will be created at non shared key point, where column and beam are separated. On right surface of left column and left surface of right column, according to trial computing result, the structure bears press stress. Therefore, the columns and beam will share all key points, not but at bolts. This can not only omit contact element but also show the characteristic of bolt joining. The joining between the bottoms of the columns and the base are treated as full constraint. Because the main aim of analysis is the stiffness of the top beam, it can be assumed that the joint positions hear the same as load between beam and the three driving bars. The structure is the thin wall cast and simulated by shell element . The thickness of the outside wall of the structure and the rib are not equal, so two groups of real constant should he set. For the convenience of modeling, the two columns are alsoset into another component. The components can create an assembly. In this way, the joint positions between the beam core and columns could he easily selected, in the modifying the model and modifying process can automatically be performed. Analysis model is showed Fig.1. Because model and load are symmetric, computing model is only half. So the total of elements is decreased to 8927 and the total of nodes is decreased to 4341. All elements are triangle.3.）Optimization solutionThe optimization process is essentially a computing and modifying process. The original design is used as initial condition of the iterative process. The ending condition of the process is that stiffness differences of the joint locations between three driving bars and top beam are less than given tolerance or iterative times exceed expected value. Considering the speciality of the question, it is foreseen that the location is existent where stiffness values are equal. If iterative is not convergent, the cause cannot be otherwise than inappropriate displacement increment or deficient iterative times. In order to make the iterative process convergent quickly and efficiently, this paper uses the bisection searching method changing step length to modify the top beam displacement. This method is a little complex but the requirement on the initial condition is relatively mild.The flow chart of optimization as follows:1. Read the beam model data in initial position from backup file;2. Modify the position of beam;3. Solve;4. Read the deform of nodes where beam and three bars are joined;5. Check whether the convergent conditions are satisfied, if not, then continue to modify the beam displacement and return to 3, otherwise, exit the iteration procedure.6. Save the results and then exit.The program's primary control codes and their function commentaries are given in it, of which the detailed modeling instructions are omitted. For the convenience of comparing with the control flow, the necessary notes are added.the flag of the batch file in ANSYSBATCH RESUME, robbak.db, 0read original data from the backupfile robbak,.db/PREP7 enter preprocessordelete the joint part between beam core and columnsmove the core of the beam by one :step lengthapply load and constraint on the geometry meshing thejoint position between beam core and columns FINISH exit the preprocessorISOLU enter solverSOLVE solveFINISH exit the solverPOST1 enter the postprocessor*GET ,front,NODE,2013,U,Z read the deformation of first joint node on beam*GET,back,NODE, 1441 ,U,Z read the deformation of second joint node on beam intoparameter hacklastdif-1 the absolute of initial difference between front and hacklast timeflag=- 1 the feasibility flag of the optimizationstep=0.05 the initial displacement from initial position to the currentposition*D0,1,1,10,1 the iteration procedure begin, the cycle variable is I andits value range is 1-10 and step length is 1dif=abs(front-back) the absolute of the difference between front and hack inthe current result*IF,dif,LE,l .OE-6,THEN check whether the absolute difference dif satisfies therequest or noflag=l yes, set flag equal to 1*EXIT exit the iterative calculation*ELSEIF,dif,GE,lastdif,THEN check whether the dif value becomes great or not flag=2yes, set flag 2 modify step length by bisection methodperform the next iterative calculation, use the lastposition as the current position and modified last steplength as the current step lengthELSE if the absolute of difference value is not less thanexpected value and become small gradually, continue tomove top beam read the initial condition from back upfile enter the preprocessorMEN, ,P51X, , , step,, , ,1 move the core of the beam by one step length modify thejoint positions between beam core and column applyload and constraint meshingFINISH exit preprocessorISOLU enter solverSOLVE solveFINISH exit the solver/POST1 exit the postprocessor*GET,front,NODE,201 3,U,Z read the deformation of first joint node to parameter front *GET,back,NODE, 144 1,U,Z read the deformation of second joint node to parameter back lastdif-dif update the value of last dif*ENDIF the end of the if-else*ENDDO the end of the DO cycleMost of the control program above is copied from log file, which is long. The total of lines is up to about 1000 lines. Many codes such as modeling and post-process codes are used repeatedly. To make the program construct clear, these instructions can he made into macros, which are called by main program. This can efficiently reduce the length of the main program. In addition, modeling instructions from log file includes lots of special instructions that are only used under graphic mode but useless under hatch mode. Deleting and modifying these instructions when under batch mode in ANSYS can reduce the length of the file, too.In the program above, the deformation at given position is read from node deformation. In meshing, in order to avoid generating had elements, triangle mesh is used. In optimization, the shape of joint position between columns and beam continually is changed. This makes total of elements different after meshing each time and then element numbering different, too. Data read from database according to node numbering might not he data to want. Therefore, beam core first needs to he meshed, then saved. When read next time, its numbering is the same as last time.Evaluating whether the final result is a feasible result or not needs to check the flag value. If only the flag value is I, the result is feasible, otherwise the most proper position is not found. The total displacement of top beam is saved in parameter step. If the result is feasible, the step value is the distance from initial position to the most proper position. The sum of iterative is saved in parameter 1. According to the final value of I, feasibility of analysis result and correctness of initial condition can he evaluated.4）Optimization resultsThe sum of iterative in optimization is seven, and it takes about 2 hour and 37 minutes to find optimal position. Fig.3 shows the deformation contour of the half-construct. In Fig.3, the deformations in three joints between beam and the three driving bars is the same as level, and the corresponding deformation range is between -0.133E-04 and -0.1 15E-O4m, the requirement of the same stiffness is reached. At this time, the position of beam core along x-axis as shown in Fig. 1 has moved -0.71E-01m compared with the original designed positionBecause the speed of computer reading instruction is much faster than modifying model manually, the time modifying model can be ignored. The time necessary foroptimization mostly depends on the time of solution. Compared with the optimization procedure manually modifying model, the efficiency is improved and mistake operating in modeling is avoided.5）ConclusionThe analyzing result reveals that the optimization method given in this paper is effective and reaches the expected goal. The first advantage of this method is that manual mistakes do not easily occur in optimization procedure. Secondly, it is pretty universal and the control codes given in this paper may he transplanted to use in similar structure optimization design without large modification. The disadvantage is that the topology structure of the optimization object can not be changed. The more the workload of modifying the model, the more the advantages of this method are shown. In addition, the topology optimization function provided in ANSYS is usedto solve the optimization problem that needs to change the topology structure.The better optimization results can he achieved if the method in this paper combined with it.中文译文：机器人机构优化设计有限元分析摘要机器人结构最优化设计，设计模型需要反复的修正和计算。
简单结构管道检测机器人(有出处)687--中英文翻译
中文翻译：简单结构管道检测机器人本文介绍了管道检测机器人的原始架构。
该机器人由包含两个万向节铰接部分。
一部分是沿管道平行移动的轴车轮盘，而另一部分则是被迫遵循与螺旋运动有关的轴线旋转的车轮倾斜管。
单台电动机被放置在两个机构之间产生的运动。
所有车轮安装在悬架上，以适应不断变化的曲线管道。
该机器人有其自己的电池和无线链路。
四种不同管径分别为的170，70和40毫米。
对于较小的直径，电池，无线电接收器，可放置在其他额外的机构中。
这种架构非常简单，其旋转运动可以被利用来进行擦洗或检验任务。
关键词：自主移动机器人，在管道检测，螺旋运动管道检测机器人已经被研究了很长一段时间，许多原来的运动观念被提出来解决在管道直径，曲线和能源供应变化中有关的许多技术困难。
虽然一个详尽的文献回顾是不可能的，根据有限的可用空间，几大类别，可确定几大类别：1对于小规模，许多项目遵循蚯蚓原则：中央部分组成轴向移动，而两端连接的设备具有阻隔管道。
这一概念已经提出气动版本（如[1]），但他们需要电力脐带。
对于较小的直径（10毫米或更小），根据尺蠖的原则，或根据惯性运动由锯齿波电压驱动[2]，或使用与微分摩擦系数振动鳍[3]，则采用压电驱动。
2对于各种中型管道，根据直径的适应性和转弯能力古典机电系统已提出各种涉及车轮和轨道运动学结构。
3对于大型管道，管道爬行走路也已提出[6]。
文中提出的四个移动机器人属于第二类，他们的管直径从40到170mm，该设计尝试使用单一驱动器减少机器的复杂性实现沿管的的流动性，即使我们的研究可看作一个独立努力地结果。
但此螺旋论似乎已经被研究过。
体系结构图1该机器人主要分为两部分，定子和转子，包括一个DC 连接，马达与减速机，万向节。
定子配备了一套轮子，有助于运动平行; 在这种情形下，定子约束沿着管轴，而转子的车轮只能沿着螺旋轨迹，该机器人之间的轴向速度和旋转速度的关系 αtg R w v ∙∙=其中R 为管道半径, a 是车轮倾斜角度。
机器人外文文献翻译、中英文翻译
外文资料robotThe industrial robot is a tool that is used in the manufacturing environment to increase productivity. It can be used to do routine and tedious assembly line jobs，or it can perform jobs that might be hazardous to the human worker . For example ，one of the first industrial robot was used to replace the nuclear fuel rods in nuclear power plants. A human doing this job might be exposed to harmful amounts of radiation. The industrial robot can also operate on the assembly line，putting together small components，such as placing electronic components on a printed circuit board. Thus，the human worker can be relieved of the routine operation of this tedious task. Robots can also be programmed to defuse bombs，to serve the handicapped，and to perform functions in numerous applications in our society.The robot can be thought of as a machine that will move an end-of-tool ，sensor ，and/or gripper to a preprogrammed location. When the robot arrives at this location，it will perform some sort of task .This task could be welding，sealing，machine loading ，machine unloading，or a host of assembly jobs. Generally，this work can be accomplished without the involvement of a human being，except for programming and for turning the system on and off.The basic terminology of robotic systems is introduced in the following:1. A robot is a reprogrammable ，multifunctional manipulator designed to move parts，material，tool，or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions，presented in the following paragraphs，that give acomplete picture of a robotic system.2. Preprogrammed locations are paths that the robot must follow to accomplish work，At some of these locations，the robot will stop and perform some operation ，such as assembly of parts，spray painting ，or welding .These preprogrammed locations are stored in the robot’s memory and are recalled later for continuousoperation.Furthermore，these preprogrammed locations，as well as other program data，can be changed later as the work requirements change.Thus，with regard to this programming feature，an industrial robot is very much like a computer ，where data can be stoned and later recalled and edited.3. The manipulator is the arm of the robot .It allows the robot to bend，reach，and twist.This movement is provided by the manipulator’s axes，also called the degrees of freedom of the robot .A robot can have from 3 to 16 axes.The term degrees of freedom will always relate to the number of axes found on a robot.4. The tooling and frippers are not part the robotic system itself;rather，they are attachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts，spot-weld ，paint，arc-weld，drill，deburr，and do a variety of tasks，depending on what is required of the robot.5. The robotic system can control the work cell of the operating robot.The work cell of the robot is the total environment in which the robot must perform itstask.Included within this cell may be the controller ，the robot manipulator ，a work table ，safety features，or a conveyor.All the equipment that is required in order for the robot to do its job is included in the work cell .In addition，signals from outside devices can communicate with the robot to tell the robot when it should parts，pick up parts，or unload parts to a conveyor.The robotic system has three basic components: the manipulator，the controller，and the power source.A.ManipulatorThe manipulator ，which does the physical work of the robotic system，consists of two sections:the mechanical section and the attached appendage.The manipulator also has a base to which the appendages are attached.Fig.1 illustrates the connectionof the base and the appendage of a robot.图1.Basic components of a robot’s manipulatorThe base of the manipulator is usually fixed to the floor of the work area. Sometimes，though，the base may be movable. In this case，the base is attached to either a rail or a track，allowing the manipulator to be moved from one location to anther.As mentioned previously ，the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be either a straight ，movable arm or a jointed arm. The jointed arm is also known as an articulated arm.The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base ，which，in turn，is secured to a mounting. This mounting ensures that the manipulator will in one location.At the end of the arm ，a wrist（see Fig 2）is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.图2.Elements of a work cell from the topThe manipulator’s axes allow it to perform work within a certain area. The area is called the work cell of the robot ，and its size corresponds to the size of the manipulator.（Fid2）illustrates the work cell of a typical assembly ro bot.As the robot’s physical size increases，the size of the work cell must also increase.The movement of the manipulator is controlled by actuator，or drive systems.The actuator，or drive systems，allows the various axes to move within the work cell. The drive system can use electric，hydraulic，or pneumatic power.The energy developed by the drive system is converted to mechanical power by various mechanical power systems.The drive systems are coupled through mechanical linkages.These linkages，in turn，drive the different axes of the robot.The mechanical linkages may be composed of chain，gear，and ball screws.B.ControllerThe controller in the robotic system is the heart of the operation .The controller stores preprogrammed information for later recall，controls peripheral devices，and communicates with computers within the plant for constant updates in production.The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hard-held teach pendant.This information is stored in the memory of the controller for later recall.The controller stores all program data for the robotic system.It can store several differentprograms，and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example，the controller has an input line that identifies when a machining operation is completed.When the machine cycle is completed，the input line turn on telling the controller to position the manipulator so that it can pick up the finished part.Then ，a new part is picked up by the manipulator and placed into the machine.Next，the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events.This type of controller operates with a very simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art eletronoics.That is，they are microprocessor-operated.these microprocessors are either 8-bit，16-bit，or 32-bit processors.this power allows the controller to be very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between the robot manipulator and the controller maintains a constant update of the end the operation of the system.The controller also controls any tooling placed on the end of the robot’s wrist.The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part a computer-assisted manufacturing （CAM）system.As the basic definition stated，the robot is a reprogrammable，multifunctional manipulator.Therefore，the controller must contain some of memory stage. The microprocessor-based systems operates in conjunction with solid-state devices.These memory devices may be magnetic bubbles，random-access memory，floppy disks，or magnetic tape.Each memory storage device stores program information fir or for editing.C.power supplyThe power supply is the unit that supplies power to the controller and the manipulator. The type of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power isused for driving the various axes of the manipulator. For example，if the robot manipulator is controlled by hydraulic or pneumatic drives，control signals are sent to these devices causing motion of the robot.For each robotic system，power is required to operate the manipulator .This power can be developed from either a hydraulic power source，a pneumatic power source，or an electric power source.There power sources are part of the total components of the robotic work cell.中文翻译机器人工业机器人是在生产环境中用以提高生产效率的工具，它能做常规乏味的装配线工作，或能做那些对于工人来说是危险的工作，例如，第一代工业机器人是用来在核电站中更换核燃料棒，如果人去做这项工作，将会遭受有害放射线的辐射。
翻译：管道检测机器人
译文600：管道检测机器人合力-PIPE家族包括四种不同类型的内检测机器人。
该机器人具有与铰接万向节两部分。
一个部分（定子）是由一组轮子移动平行于管子轴线的沿管子引导，而另一部分（转子）是被迫遵循一个螺旋运动由于倾斜的轮子绕的轴管。
单电机（带齿轮减速机内置）被放置在两个机构之间，以产生运动（没有直动式轮毂）。
所有的车轮都安装在一个悬挂以适应不断变化的管直径和曲线在管。
该机器人是自主的，并进行他们自己的电池和无线链路（带齿轮减速机内置）被放置在两个机构之间，以产生运动（没有直动式轮毂）。
所有的车轮都安装在一个悬挂以适应不断变化的管直径和曲线在管。
该机器人是自主的，并进行他们自己的电池和无线链路。
D-170是一个机器人170毫米管径与刚性地连接到设计用于小的曲率（半径大于600 mm）的管道马达（放置在定子）的轴线在转子上。
图1：D-170直升机管道机器人电影1：D-170侧视图电影2：D-170顶视图D-70/1是机器人的第一个原型70毫米管径设计为弯曲的管道（半径超过170毫米的）。
与背隙万向节放置在定子和转子之间。
图2：D-70/1 HELI-管道机器人电影：D-70在弯管Ð-70/2的第二架原型机具有同样用途为D-70/1的替代设计。
在这个体系结构中，马达，电池和无线链路被安装在转子上。
图3：D-2分之70合力管道机器人D-40是一个机器人40毫米管径与由两个万向节分离的三个机构的弯曲部分（曲率大于110毫米的半径）。
第一个由具有倾斜的轮子转子，第二个包括电动机和减速器，第三个是与轴向车轮，能源供应和电信定子。
图4：D-40直升机管道机器人电影1：D-40侧视图电影2：D-40近观原型的自治是约两个小时。
这种架构非常简单，将旋转运动可以被利用来进行或检验任务。
机器人外文翻译(中英文翻译)
机器人外文翻译(中英文翻译)机器人外文翻译(中英文翻译)With the rapid development of technology, the use of robots has become increasingly prevalent in various industries. Robots are now commonly employed to perform tasks that are dangerous, repetitive, or require a high level of precision. However, in order for robots to effectively communicate with humans and fulfill their intended functions, accurate translation between different languages is crucial. In this article, we will explore the importance of machine translation in enabling robots to perform translation tasks, as well as discuss current advancements and challenges in this field.1. IntroductionMachine translation refers to the use of computer algorithms to automatically translate text or speech from one language to another. The ultimate goal of machine translation is to produce translations that are as accurate and natural as those generated by human translators. In the context of robots, machine translation plays a vital role in allowing them to understand and respond to human commands, as well as facilitating communication between robots of different origins.2. Advancements in Machine TranslationThe field of machine translation has experienced significant advancements in recent years, thanks to breakthroughs in artificial intelligence and deep learning. These advancements have led to the development of neural machine translation (NMT) systems, which have greatly improved translation quality. NMT models operate by analyzinglarge amounts of bilingual data, allowing them to learn the syntactic and semantic structures of different languages. As a result, NMT systems are capable of providing more accurate translations compared to traditional rule-based or statistical machine translation approaches.3. Challenges in Machine Translation for RobotsAlthough the advancements in machine translation have greatly improved translation quality, there are still challenges that need to be addressed when applying machine translation to robots. One prominent challenge is the variability of language use, including slang, idioms, and cultural references. These nuances can pose difficulties for machine translation systems, as they often require a deep understanding of the context and cultural background. Researchers are currently working on developing techniques to enhance the ability of machine translation systems to handle such linguistic variations.Another challenge is the real-time requirement of translation in a robotic setting. Robots often need to process and translate information on the fly, and any delay in translation can affect the overall performance and efficiency of the robot. Optimizing translation speed without sacrificing translation quality is an ongoing challenge for researchers in the field.4. Applications of Robot TranslationThe ability for robots to translate languages opens up a wide range of applications in various industries. One application is in the field of customer service, where robots can assist customers in multiple languages, providing support and information. Another application is in healthcare settings, where robots can act as interpreters between healthcare professionals and patientswho may speak different languages. Moreover, in international business and diplomacy, robots equipped with translation capabilities can bridge language barriers and facilitate effective communication between parties.5. ConclusionIn conclusion, machine translation plays a crucial role in enabling robots to effectively communicate with humans and fulfill their intended functions. The advancements in neural machine translation have greatly improved translation quality, but challenges such as language variability and real-time translation requirements still exist. With continuous research and innovation, the future of machine translation for robots holds great potential in various industries, revolutionizing the way we communicate and interact with technology.。
CCTV管道检测机器人操作维护
CCTV管道检测机器人操作维护1. 简介CCTV（Close Circuit Television）管道检测机器人是一种专门用于检测管道的机器人。
它可以进入地下或难以到达的地方，检测管道是否存在损坏或堵塞情况，以及进行修复或清理。
本文将认真介绍该机器人的操作和维护。
2. 操作2.1 准备工作在操作CCTV管道检测机器人之前，需要进行一些准备工作。
首先，需要确认管道的类型和大小，以确定选择合适的机器人。
其次，需要检查全部设备是否处于正常工作状态，例如电源、信号线和人机界面等。
最后，需要进行安全防范措施，确保操作人员的安全。
2.2 操作步骤CCTV管道检测机器人的操作流程一般包括以下步骤：1.将机器人插入管道后，启动机器人并将其移动到待检测区域；2.打开机器人的摄像头和灯光，对管道进行拍照和录像；3.对管道进行数据采集，并记录到操作人员的手持设备中；4.如发觉管道问题，适时更改机器人工作模式，例如清理、修补或更换设备等；5.检测完后，将机器人从管道中取出并检查全部设备是否完好。
2.3 操作注意事项在CCTV管道检测机器人的操作过程中，需要注意以下事项：1.操作前需要进行充分的准备；2.操作人员需要严格依照操作步骤，并严格遵守安全规定；3.操作人员需要认真察看机器人的工作状态，并适时选择机器人的工作模式；4.全程记录数据，并适时处理检测出的问题。
3. 维护3.1 维护类型CCTV管道检测机器人的维护一般分为两种类型，一种是定期保养型维护，另一种是故障维护。
定期保养型维护：定期对机器人进行检查和保养，以确保机器人状态良好，工作稳定，操作安全牢靠。
故障维护：当机器人显现故障时，进行适时修理和更换设备，以确保机器人的正常工作。
3.2 维护工作CCTV管道检测机器人的维护工作一般包括以下内容：1.检查机器人的外观，确保机器人无严重损坏；2.检查机器人的电源，并确保电源可以正常供电；3.检查机器人的传感器和信号电线，确保传感器和信号电线的正常工作状态；4.检查机器人的工作模式，并更换损坏的设备；5.清理机器人的传感器和摄像头，以确保数据采集的质量。
外文翻译--机器人技术简介
Introduction to robotics technologyIn the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moon -- without radio communication -- might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence).Mechanical platforms -- the hardware baseA robot consists of two main parts: the robot body and some form of artificial intelligence (AI) system. Many different body parts can be called a robot. Articulated arms are used in welding and painting; gantry and conveyor systems move parts in factories; and giant robotic machines move earth deep inside mines. One of the most interesting aspects of robots in general is their behavior, which requires a form of intelligence. The simplest behavior of a robot is locomotion. Typically, wheels are used as the underlying mechanism to make a robot move from one point to the next. And some force such as electricity is required to make the wheels turn under command.MotorsA variety of electric motors provide power to robots, allowing them to move material, parts, tools, or specialized devices with variousprogrammed motions. The efficiency rating of a motor describes how much of the electricity consumed is converted to mechanical energy. Let's take a look at some of the mechanical devices that are currently being used in modern robotics technology.Driving mechanismsGears and chains:Gears and chains are mechanical platforms that provide a strong and accurate way to transmit rotary motion from one place to another, possibly changing it along the way. The speed change between two gears depends upon the number of teeth on each gear. When a powered gear goes through a full rotation, it pulls the chain by the number of teeth on that gear.Pulleys and belts:Pulleys and belts, two other types of mechanical platforms used in robots, work the same way as gears and chains. Pulleys are wheels with a groove around the edge, and belts are the rubber loops that fit in that groove.Gearboxes:A gearbox operates on the same principles as the gear and chain, without the chain. Gearboxes require closer tolerances, since instead of using a large loose chain to transfer force and adjust for misalignments, the gears mesh directly with each other. Examples of gearboxes can be found on the transmission in a car, the timing mechanism in a grandfather clock, and the paper-feed of your printer.Power suppliesPower supplies are generally provided by two types of battery. Primary batteries are used once and then discarded; secondary batteries operate from a (mostly) reversible chemical reaction and can be recharged several times. Primary batteries have higher density and a lower self-dischargerate. Secondary (rechargeable) batteries have less energy than primary batteries, but can be recharged up to a thousand times depending on their chemistry and environment. Typically the first use of a rechargeable battery gives 4 hours of continuous operation in an application or robot.SensorsRobots react according to a basic temporal measurement, requiring different kinds of sensors.In most systems a sense of time is built-in through the circuits and programming. For this to be productive in practice, a robot has to have perceptual hardware and software, which updates quickly. Regardless of sensor hardware or software, sensing and sensors can be thought of as interacting with external events (in other words, the outside world). The sensor measures some attribute of the world. The term transducer is often used interchangeably with sensor. A transducer is the mechanism, or element, of the sensor that transforms the energy associated with what is being measured into another form of energy. A sensor receives energy and transmits a signal to a display or computer. Sensors use transducers to change the input signal (sound, light, pressure, temperature, etc.) into an analog or digital form capable of being used by a robot.Microcontroller systemsMicrocontrollers (MCUs) are intelligent electronic devices used inside robots. They deliver functions similar to those performed by a microprocessor (central processing unit, or CPU) inside a personal computer. MCUs are slower and can address less memory than CPUs, but are designed for real-world control problems. One of the major differences between CPUs and MCUs is the number of external components needed tooperate them. MCUs can often run with zero external parts, and typically need only an external crystal or oscillator.Utilities and toolsROBOOP (A robotics object oriented package in C++):This package is an object-oriented toolbox in C++ for robotics simulation. Technical references and downloads are provided in the Resources.CORBA: A real-time communications and object request broker software package for embedding distributed software agents. Each independent piece of software registers itself and its capabilities to the ORB, by means of an IDL (Interface Definition Language). Visit their Web site (see Resources) for technical information, downloads, and documentation for CORBA.TANGO/TACO:This software might be useful for controlling a robotics system with multiple devices and tools. TANGO is an object oriented control system based on CORBA. Device servers can be written in C++ or Java. TACO is object oriented because it treats all(physical and logical) control points in a control system as objects in a distributed environment. All actions are implemented in classes. New classes can be constructed out of existing classes in a hierarchical manner, thereby ensuring a high level of software reuse. Classes can be written in C++, in C (using a methodology called Objects in C), in Python or in LabView (using the G programming language).ControllersTask Control Architecture: The Task Control Architecture (TCA) simplifies building task-level control systems for mobile robots. "Task-level" refers to the integration and coordination of perception, planning, andreal time control to achieve a given set of goals (tasks). TCA provides a general control framework, and is intended to control a wide variety of robots. TCA provides a high-level machine-independent method for passing messages between distributed machines (including between Lisp and C processes). TCA provides control functions, such as task decomposition, monitoring, and resource management, that are common to many mobile robot applications. The Resources section provides technical references and download information for Task Control Architecture.EMC (Enhanced Machine Controller): The EMC software is based on the NIST Real time Control System (RCS) methodology, and is programmed using the NIST RCS Library. The RCS Library eases the porting of controller code to a variety of UNIX and Microsoft platforms, providing a neutral application programming interface (API) to operating system resources such as shared memory, semaphores and timers. The EMC software is written in C and C++, and has been ported to the PC Linux, Windows NT, and Sun Solaris operating systems.Darwin2K: Darwin2K is a free, open source toolkit for robot simulation and automated design. It features numerous simulation capabilities and an evolutionary algorithm capable of automatically synthesizing and optimizing robot designs to meet task-specific performance objectives.LanguagesRoboML (Robotic Markup Language): RoboML is used for standardized representation of robotics-related data. It is designed to support communication language between human-robot interface agents, as well as between robot-hosted processes and between interface processes, and to provide a format for archived data used by human-robot interface agents.ROSSUM: A programming and simulation environment for mobile robots. The Rossum Project is an attempt to help collect, develop, and distribute software for robotics applications. The Rossum Project hopes to extend the same kind of collaboration to the development of robotic software.XRCL (Extensible Robot Control Language): XRCL (pronounced zircle) is a relatively simple, modern language and environment designed to allow robotics researchers to share ideas by sharing code. It is an open source project, protected by the GNU Copyleft.SummaryThe field of robotics has created a large class of robots with basic physical and navigational competencies. At the same time, society has begun to move towards incorporating robots into everyday life, from entertainment to health care. Moreover, robots could free a large number of people from hazardous situations, essentially allowing them to be used as replacements for human beings. Many of the applications being pursued by AI robotics researchers are already fulfilling that potential. In addition, robots can be used for more commonplace tasks such as janitorial work. Whereas robots were initially developed for dirty, dull, and dangerous applications, they are now being considered as personal assistants. Regardless of application, robots will require more rather than less intelligence, and will thereby have a significant impact on our society in the future as technology expands to new horizons.外文出处:Robotic technology / edited by A. Pugh./P. Peregrinus, c1993.附件1：外文资料翻译译文机器人技术简介在制造业领域，机器人的开发集中在执行制造过程的工程机器人手臂上。
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河南理工大学万方科技学院毕业设计外文翻译
本科毕业设计英语论文
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2011年6月10日
中文翻译：
简单结构管道检测机器人
本文介绍了管道检测机器人的原始架构。
该机器人由包含两个万向节铰接部分。
一部分是沿管道平行移动的轴车轮盘，而另一部分则是被迫遵循与螺旋运动有关的轴线旋转的车轮倾斜管。
单台电动机被放置在两个机构之间产生的运动。
所有车轮安装在悬架上，以适应不断变化的曲线管道。
该机器人有其自己的电池和无线链路。
四种不同管径分别为的170，70和40毫米。
对于较小的直径，电池，无线电接收器，可放置在其他额外的机构中。
这种架构非常简单，其旋转运动可以被利用来进行擦洗或检验任务。
关键词：自主移动机器人，在管道检测，螺旋运动
管道检测机器人已经被研究了很长一段时间，许多原来的运动观念被提出来解决在管道直径，曲线和能源供应变化中有关的许多技术困难。
虽然一个详尽的文献回顾是不可能的，根据有限的可用空间，几大类别，可确定几大类别：1对于小规模，许多项目遵循蚯蚓原则：中央部分组成轴向移动，而两端连接的设备具有阻隔管道。
这一概念已经提出气动版本（如[1]），
但他们需要电力脐带。
对于较小的直径（10毫米或更小），根据尺蠖的原则，或根据惯性运动由锯齿波电压驱动[2]，或使用与微分摩擦系数振动鳍[3]，则采用压电驱动。
2对于各种中型管道，根据直径的适应性和转弯能力古典机电系统已提出各种涉及车轮和轨道运动学结构。
3对于大型管道，管道爬行走路也已提出[6]。
文中提出的四个移动机器人属于第二类，他们的管直径从40到170mm，该设计尝试使用单一驱动器减少机器的复杂性实现沿管的的流动性，即使我们的研究可看作一个独立努力地结果。
但此螺旋论似乎已经被研究过。
体系结构
图1
该机器人主要分为两部分，定子和转子，包括一个DC 连接，马达与减速机，万向节。
定子配备了一套轮子，有助于运动平行; 在这种情形下，定子约束沿着管轴，而转子的车轮只能沿着螺旋轨迹，该
机器人之间的轴向速度和旋转速度的关系 αtg R w v ••=
其中R 为管道半径, a 是车轮倾斜角度。
定子和转子必须保证稳定性，以保证机器人之间的管道和足够的接触力，以适应管道直径的变化和障碍，并允许在弯曲的管道中行驶。
对于更大型的机器人（D -170），机器人是硬性连接到电机轴上来确保稳定性。
对于规模较小的直径，弯管需要更大程度的自由，需要两倍的数量的轮子。
图2
图3
直径70毫米以上的机器人提供了9个电池，分布在电机定子上。
试验表明，对于规模较小的直径，这个配置是不可能的。
第一个由转子组成，第二个包括电机和减速器，第三个是定子车轮与轴，能源供应和电信网络。
两个方案进行了70mm 直径的调查。
在第一个中，马达和电池安装在定子上，但却无法用在第二个方案中，如果机器人使用缆索电源。