关键词： Improved BP neural network algorithm   Robotics kinematics inverse solution algorithm   Excitation function   Learning rate  

摘要： The rapid development of artificial intelligence technology makes Robotics more intelligent and flexible. In this context, the kinematics inverse algorithm of the Robotics has become the basis and key technology for the further development of the Robotics. The key point of the inverse algorithm of the Robotics is to coordinate the Robotics operation arm with the corresponding action actuator at the end to realize the space attitude control of the Robotics system, and to make a theoretical basis for the motion analysis of the later Robotics. However, the traditional form of Robotics kinematics inverse algorithm avoids a lot of iterative computational solution process, which increases the complexity of the whole algorithm. Therefore, based on the above situation, this paper proposes a Robotics inverse solution algorithm based on improved BP (back propagation) neural network. In this paper, in the application of the actual algorithm, aiming at the convergence problem of the traditional BP neural network algorithm, an improved BP neural network algorithm based on the excitation function is proposed. By selecting the adaptive processing function in each layer of the neural network, the selection is matched with it. The learning rate, thus improving the accuracy of the entire motion inverse algorithm. At the same time, in order to further reduce the calculation of joint quantification, this paper also creatively introduces the algorithm of plane division auxiliary dynamic model construction. The simulation results show that the inverse kinematics algorithm based on improved BP neural network proposed in this paper has obvious advantages in solving the kinematics inverse problem of six-degree-of-freedom Robotics compared with the traditional inverse solution algorithm.

摘要： As our global population ages, the demand for surgical treatment of spinal disorders in elderly patients has increased. The elderly population poses a unique challenge to spine surgeons due to multiple medical comorbidities and increased likelihood of complications. Robotics are being used for pedicle screw placement to enhance accuracy of placement and minimize surgical invasiveness. Although the use of robotics has not been studied specifically in elderly patients, this population may benefit significantly from the use of robotics as a minimally invasive technique to minimize blood loss, decrease operative time, and lessen postoperative pain—ultimately reducing complications. © 2020 Elsevier Inc.

关键词： Convolutional neural networks   Deep learning   LIDAR   Multi-dimensional processing   Recurrent neural networks   Relative navigation   Robotics  

摘要： This work proposes a new Light Detection and Ranging (LIDAR) based navigation architecture that is appropriate for uncooperative relative robotic space navigation applications. In contrast to current solutions that exploit 3D LIDAR data, our architecture suggests a Deep Recurrent Convolutional Neural Network (DRCNN) that exploits multi-projected imagery of the acquired 3D LIDAR data. Advantages of the proposed DRCNN are;an effective feature representation facilitated by the Convolutional Neural Network module within DRCNN, a robust modeling of the navigation dynamics due to the Recurrent Neural Network incorporated in the DRCNN, and a low processing time. Our trials evaluate several current state-of-the-art space navigation methods on various simulated but credible scenarios that involve a satellite model developed by Thales Alenia Space (France). Additionally, we evaluate real satellite LIDAR data acquired in our lab. Results demonstrate that the proposed architecture, although trained solely on simulated data, is highly adaptable and is more appealing compared to current algorithms on both simulated and real LIDAR data scenarios affording better odometry accuracy at lower computational requirements.

关键词： Robotics   Retroperitoneal lymph-node dissection (RPLND)   Pediatric  

摘要： The objective of this study is to determine recent trends in use of robotics and laparoscopy for pediatric retroperitoneal lymph-node dissection (RPLND) in pediatric and non-pediatric hospitals. We conducted a retrospective cohort study using data from 29 hospitals in the Pediatric Health Information System (PHIS), and data from 14 states in the State Inpatient Databases (SID), between 2008 and 2014. The study population was comprised of patients aged >= 10 years undergoing RPLND, with an inpatient diagnosis of testicular or paratesticular cancer, based on international classification of disease (ICD) codes. Robotic approach was identified by the presence of an ICD procedure code modifier. During the study period, a total of 90 RPLNDs were performed in pediatric hospitals (median patient age 16 years). Of these, 4 (4.4%) were performed robotically. A total of 3120 RPLNDs were performed in non-pediatric hospitals (median patient age: 32 years). Among these, 269 (8.6%) were performed robotically, with an increasing trend in the use of robotic RPLND (adjusted annual increase in probability of undergoing robotic vs. open procedure: 16%;95% CI 8-24). Undergoing robotic RPLND was associated with a reduction in postoperative length of stay of 3.5 days (95% CI 2.9, 4.1). Open surgical approaches comprise the vast majority of RPLNDs performed at pediatric hospitals. This is in contrast with trends in non-pediatric hospitals where robotic RPLND is being increasingly utilized. Future research is necessary to investigate this discrepancy in adopting minimally invasive techniques for RPLND in pediatric centers.

关键词： 21st century competencies   augmented reality   competition   learning motivation   robotics education  

摘要： Robotics education has received an increasing attention in recent years as a means to build students' motivation, team collaboration skills, and other valuable 21st century competencies. Yet there is a lack of experimental studies to investigate and identify strategies to facilitate robotics education. This study adopted a 2 x 2 quasi-experimental design to investigate two strategies: the incorporation of augmented reality (AR) and the introduction of competition in robotics activities. Students' robotics task performance, team collaboration processes, 21st century learning competencies and learning motivation were measured as dependent variables. The results indicated that AR significantly improved students' motivation, team processes, and 21st century competencies. Moreover, the effects of AR were more pronounced with the competition groups. Implications are drawn to provide guidelines on the use of AR and competition in robotics education.

摘要： "Special Issue on Humanoid Robotics – From Back-to-basics to Cutting-edge."Advanced Robotics, 34(21-22), p. 1337

关键词： actuators   graphene   hydrogels   soft robotics  

摘要： Hydrogels are biocompatible soft materials that resemble biological tissues more than any other material. However, the use of these systems in soft robotics has been limited to aqueous environments. In the work published to date, hydrogels have relied on external water to swell or shrink in response to stimuli and, therefore, to actuate macroscopically. In the work reported here, this limitation is overcome by synthesizing a novel type of electroactive hydrogels capable of actuating when a low electric field is applied, even outside water. The bending actuation of these materials is caused by the movement of solvated ions within the hydrogel, which generates a concentration gradient, making it possible to use them directly in ambient-air conditions. A mathematical model for this behavior is proposed. Issues like resistive heating and material drying are addressed by preparing graphene hybrid hydrogels and by using hygroscopic salts. Two applications are presented as a demonstration of the capabilities of these hydrogels: a soft gripper with two continuum actuators and a soft fingertip capable of changing its volume and stiffness. In addition, the possibility of fabrication by 3D printing technologies enhances the applicability of these promising materials, thus paving the way for innovative developments.

关键词： 智能机器人   机器人研究   机器人学   运行控制系统   智能制造   航空航天   家居生活   装备制造业  

摘要： 从改变装备制造业的互联工厂,到改善人们家居生活的智能机器人;从提升精确性和安全性的机器人手术,到航空公司的"神经中枢"遍布全球的智能运行控制系统;所有这一切,都将人类带入了一个崭新的机器人世界。今天要介绍的是上海大学特聘教授李育文博士,一位在机器人学及智能制造领域拥有十多年学术研究和工业研发经验的坚定守望者。

关键词： 船舶运动控制   航迹保持控制   间接式控制   机器人学   闭环增益成形算法   carrot following算法  

摘要： Carrot following是一种间接式航迹保持算法,它找到期望航向后只使用简单的比例控制,因此航迹保持控制效果较差,为了在保持原方法简洁性的同时改善船舶的航迹保持效果,本文通过引入闭环增益成形算法对其控制率做了改进。间接式航迹保持控制能够使相关成果简单迁移到航迹保持问题中。仿真结果表明:所提出的间接式控制方法能够实现船舶的航迹保持,仿真下的稳态误差小于5 m,而航向保持中的许多技巧在航迹保持中依然适用。本文所提方法简洁有效,具有推广价值。