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Definitionofabio-productionrobotBio-productionrobotisamachinesystem,withorwithoutamanipulator,isabletoworkinsomeareapeoplecannotreachandbearoroperatesometaskmoreefficiencythanhuman.Ithasitsowncontrolalgorithmandsensingsystemtomanageahumanintelligence.Whynecessary?1.Sometaskarenotsuitabletohumanbutrequirehumanintelligencetoperform.2.Theavailabilityoffarminglaborisdecreasingquicklyinrecentyears.3.Laborshortageresultintheincreasingofworkforcecost,makingaincreasingofthisrobotdemanding.4.Thedemandingofproductqualityandquantityhasbecomeanimportantfactorinbio-productionandeconomic.MainphysicalpropertiesofbiologicalobjectsBasicphysicalpropertiesareshape,size,mass,density,surfacetexture;Dynamicpropertiesarecuttingresistance,frictionalresistance,elasticityandviscostiry;Opticalpropertiesarereflectanceandtransmittance;Sonicpropertiesarevibrationpropertyandwavepropagation;Electricalpropertiesareelectricalresistance,capacitanceandstaticelectricalproperty.Featuresofbio-productionrobot1.Needstobeflexibleandversatileinhandlingobjects.2.Hastheintelligencetorecognizethesurroundingoftheobjects.3.Abletoworkinachangeable,unstructuredenvironments.4.Safetyassuranceisavailablewhenworkingwithhumanintandem.5.Easytooperatebyhumanandcosteffectiveinitsmonetaryinvestment.Differencebetweenbio-productionrobotandindustrialrobot.Industrialrobotisgoodathandlingobjectswithregularandstaticproperties,butbio-productionrobotisoftenrequiredtomanipulateobjectofvariousproperties.Thisimageshowsthatdesigningabio-productionrobotneedtoconsiderfieldsofsocialscience,biotechnologyhorticultureandengineering.Engineering…Socialscience…Biotechnologyhorticulture…ThenIneedtoillustrateeachpartofthisimagesandwouldbettertogiveouttheconnectionandinfluenceofthatfield.Componentsofbio-productionrobot(robotichandshouldbedevelopedbasedonasfollows)1.Manipulator:tocarryoutthetaskforthemachine2.End-effector:toplayasimilarroleofhumanhandattheendofmanipulator3.Sensors:todetecttheenvironmentsconditionsorobjects’properties4.Travelingdevice:setupanbiggeroperationspaceofthemanipulator5.Controldevice:tocontroltherobotcomponents6.Actuator:tosimulateorprovidepowerfortherobot.Advantagesofdigitalmachinevisionsystem.Humanvisionsystem:1.Recognizeandsynthesizeanimagescene2.Extremelyintelligentinimagerecognitionandinterpretationofscenesandobjectseveninaterribleenvironmentorwithincompleteinformationwiththehelpofincredibleintelligenceofbrain.3.Limitation:onlycanrecognizeinvisibleregion(400-700nm)andnotabletomakethefeaturequantification.Digitalmachinevisionsystems:1.Receivelightinawiderregion,evenoutofvisibleregion.2.Providequantifiedinformationofobject’sfeature.3.Suitableforrepetitivetasksinanstablecondition.Keycomponentsofit:1.Electroniccamera,toconvertimagewiththesamefunctionofhumaneyes.2.Imageacquisitionboard:actastheanaloganddigitalinterfaces.3.Computer:actashumanbrains.4.Lightingsystem:supplylight.5.Software:analyzetheinformationalreadycollected.Spectralreflectanceofonebio-production:Youneedtoillustratetheimagewithfollowingaspects:1.Youwouldbettertoconsiderbothxaxisandyaxistoanalyzethedifference2.Ifyouareaskedtoseparatetwoobjects,youwouldbettertofindoutthebiggestdifferenceintheirspectrumsanddescribeyoudecision.Encorder:Position-sensitivedevice(PSD)ThereflectlightfromanobjectisfocusbyalensandbecomeasmallimageonthesensitivesurfaceofthePSD.Thenwecanconfirmtheimages’positionconfirmedbytheelectricitydifferenceoftwoanodes.Andafteranalyzeandcalculatetheratiooftwocurrentintensities,wecanknowthedistanceoftheobject.CommontypesofphotoelectricsensorsCommonphotoelectricsensorconsistedbytwoelements,alightbeamtransmitterwithaLEDandareceivercomposedofaphotodiodeoraphototransistor.InThroughbeamtype,transmitterandreceiveraresetseparatelyandfacingeachother.Thissystemallowsthedetectionofanyobjectbreaktheopticalpath,suitableforlong-range,upto30m.Inreflextype,objectbreaktheopticalpathtoo,butthetransmitterandreceiveraresettogetherwithasamedirection.Thelightbeamwillreflectedbyareflectorsetindistance.Itissuitableformedium-rangeregionfrom0.1to10m.Indiffusetype,receiverdetectthelightdiffusedbythesurfaceofobject.Theobjectshouldclosethedetector.Andthedetectdistancerangesfrom5cmto2mandonlyforsomeobjectcapableinreflectsuchasglasses.typeDetectedobjectDetectionrangeThrough-beamtypeOpaqueandreflectiveobjects0~30mReflextypeObjectthatBreaksthereflectedbeam0.1~10mDiffusetypeObjectthatreflectsthelightbeamandisclosetoasensorunit5cm~2mEightsteptoanalyzeasystem[1]Defineasystemanditsobjective.[2]Identifythedescriptorsofthesystem.[3]Establishtherelationshipsamongthedescriptors.[4]Designatesystemperformanceindicators.[5]Developamodeltorepresentthesystem.[6]Verifyandvalidatethemodel[7]Performsimulationwiththemodel[8]Drawconclusionsaboutthesystem1.自由度和工作空间的计算（和平时作业类似）Firstweneedtocalculatetheoperationalspacefromtopviewandsideview,thenmultiplythemfinallywegottheoperationalspace.AlsothenormalizedvolumeindexVncanbecomputedbyVn=V/(4πL3/3)2.模糊控制的相关计算（与kondo教授资料上第58页题目类似）3.从5种机械手中取3种举例说明（见kondo资料上4-5页）4.表示颜色的几种方法（见kondo资料13-15页）MunsellRe