A Robotic TeleoperationSystem for Precise Robotic Manipulation by Human-Machine Interaction

Teleoperation is of great importance in the area of robotics， especially when people are unavailable in the robot workshop. It provides a way for people to control robots remotely using human intelligence. In this paper， a robotic teleoperation system for precise robotic manipulation is established. The data glove and the 7-degrees of freedom (DOFs) force feedback controller are used for the remote control interaction. The control system and the monitor system are designed for the remote precise manipulation. The monitor system contains an image acquisition system and a human-machine interaction module， and aims to simulate and detect the robot running state. Besides，a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations. The established robotic teleoperation systemis applied to a series of experiments， and high-precision results are obtained， showing the effectiveness of the physical system.     

水下航行体舵板张开特性研究与分析

在对流固耦合仿真计算方法分析的基础上,建立起水下航行体舵板张开过程的仿真计算模型,采用该模型 对舵板张开过程的角速度、载荷以及响应等变化规律进行了研究。在水下航行体发射试验中,对舵板张开角度、舵 板应变等参数进行了测试,对测试获取的数据与仿真结果进行了对比分析,研究表明二者一致性较好,能够为水下 航行体的水弹道分析和舵板的结构设计、材料选择等提供指导。