关键词： Multi-agent models   Self-organisation   D   discoideum   Quorum sensing   Swarm robotics   Kilobots  

摘要： Collective behaviour in nature provides a source of inspiration to engineer artificial collective adaptive systems, due to their mechanisms favouring adaptation to environmental changes and enabling complex emergent behaviour to arise from a relatively simple behaviour of individual entities. As part of our ongoing research, we study the social amoeba Dictyostelium discoideum to derive agent-based models and mechanisms that we can then exploit in artificial systems, in particular in swarm robotics. In this paper, we present a selection of agent-based models of the aggregation phase of D. discoideum, their corresponding biological illustrations and how we used them as an inspiration for transposing this behaviour into swarms of Kilobots. We focus on the stream-breaking phenomenon occurring during the aggregation phase of the life cycle of D. discoideum. Results show that the breakup of aggregation streams depends on cell density, motility, motive force and the concentration of cAMP and CF. The breakup also comes with the appearance of late centres. Our computational results show similar behaviour to our biological experiments, using Ax2(ka) strain. For swarm robotics experiments, we focus on signalling and aggregation towards a centre.

关键词： 机器人学  

ISBN: (纸本)9787302556619

摘要： 本书主要是讨论机械手结构及其控制, 包括空间变换, 机械臂运动学, 静力学, 动力学, 路径规划, 以及机械手控制过程。本书尝试结合配套的机器人实验器材和实验指导书, 把机器人理论学习与实验过程密切联系起来, 从而使机器人的学习成为既有理论, 又有实践的互动过程。学习者将在充分的实验操作基础上, 快速理解和掌握有关机器人理论和技术。为了提高学习效率和激发学生学习兴趣, 本书将机械手基本原理与技术的学习过程建立在小机械手实体与虚拟软件一对一的基础上。

关键词： Human   infertility   robotic   transplantation   uterus  

摘要： Objective: To perform a stepwise development of the surgical method for robotics-assisted laparoscopy in donor hysterectomy for uterus transplantation (UTx), a unique treatment for absolute uterine-factor infertility. Design: Prospective observational study. Setting: University hospital. Patient(s): Eight donors, aged 38-62 years, underwent surgery for retrieval of the uterus and vasculature. Intervention(s): Robotics-assisted laparoscopy was performed in donors for 6-7 h with video recording. Conversion to laparotomy was performed for last parts of retrieval surgery. Main Outcome Measure(s): Description, evaluation, and timing of 12 specific surgical steps, as well as surgical outcomes and complications. Result(s): There was a progression during the course of eight surgeries. In the initial two cases, seven and six items were completed with robotics compared with all 12 items in the last three procedures. The passive surgical time decreased from similar to 20% in the first four cases to similar to 8% in the last three procedures. The estimated median (range) blood loss, total surgical time, and length of hospital stay were, respectively, 125 mL (100- 600), 11.25 h (10-13), and 5.5 days (5-6). Two reversible complications occurred: One patient acquired pressure alopecia, and one developed pyelonephritis. Conclusion(s): The study demonstrates a clear evolution of a strategy toward fully robotic donor surgery in UTx. This is likely to become the main approach in donor surgery of live UTx donors. ((C) 2020 by American Society for Reproductive Medicine.)

关键词： Automated Planning   Human-Robot Interaction   Social Assistive Robotics   knowledge representation  

摘要： Using Automated Planning for the high level control of robotic architectures is becoming very popular thanks mainly to its capability to define the tasks to perform in a declarative way. However, classical planning tasks, even in its basic standard Planning Domain Definition Language (PDDL) format, are still very hard to formalize for non expert engineers when the use case to model is complex. Human Robot Interaction (HRI) is one of those complex environments. This manuscript describes the rationale followed to design a planning model able to control social autonomous robots interacting with humans. It is the result of the authors' experience in modeling use cases for Social Assistive Robotics (SAR) in two areas related to healthcare: Comprehensive Geriatric Assessment (CGA) and non-contact rehabilitation therapies for patients with physical impairments. In this work a general definition of these two use cases in a unique planning domain is proposed, which favors the management and integration with the software robotic architecture, as well as the addition of new use cases. Results show that the model is able to capture all the relevant aspects of the Human-Robot interaction in those scenarios, allowing the robot to autonomously perform the tasks by using a standard planning-execution architecture.

关键词： Discrete-time nonlinear optimization   Robot manipulators   Continuous-time zeroing neural dynamics model   Explicit linear multi-step methods   Discrete-time zeroing neural dynamics models  

摘要： In this paper, discrete-time nonlinear optimization (DTNO) for tracking control of robot manipulators is investigated. By utilizing zeroing neural dynamics (ZND) method, a continuous-time ZND (CTZND) model is first proposed for solving the corresponding continuous-time nonlinear optimization (CTNO) problem. Afterwards, three different explicit linear multi-step methods (i.e., explicit linear 3-step, 2-step, and 1 step methods) are respectively presented and investigated. To solve such a DTNO problem, the explicit linear 3-step method is adopted to combine with the CTZND model, and hence a 3-step discrete-time ZND (DTZND) model is proposed. For comparison purposes, 2-step and 1-step DTZND models are also developed. Besides, theoretical analyses indicate the validity and superiority of the proposed 3-step DTZND model. Finally, the numerical experimental results based on a 2-joint robot manipulator and a PUMA560 robot manipulator further verify that the proposed 3-step DTZND model is much superior to the other two DTZND models. (c) 2020 Elsevier B.V. All rights reserved.

摘要： Background Scholars have analyzed the possibilities that robotics-centered learning programs offer, including opportunities for developing collaboratively and engaging in authentic STEM professional practice. This work adds a sociopolitical perspective, explicating a case of a newcomer to a robotics team that elucidates the nuances of in-the-moment social positioning and its enduring impact on youth's participation in afterschool STEM learning environments. Methods Through interaction analysis of three episodes and ethnographic perspectives, participants' contributions to social interaction are analyzed as chronotopes, or spacetime representations, to understand how Denisse's, a young Black and Latinx woman, role as the driver of the team's robot at competitions is collaboratively crafted, building on the feminist tradition of positioning theory. Findings My analysis shows that Denisse is both empowered, through co-production of future decision-making in practice, and disempowered, through the rejection of non-present spacetime storylines at the competition. Further, notions of expertise and ownership are brought to bear on interactions, together with racialized and gendered narratives across the negotiations of the role of the driver to limit Denisse's local social power. Contribution This story shares how representation is not enough for educational justice for minoritized youth and informs how STEM education communities must take on the task, together.

关键词： Agreement   spin   technology   clinical trials   robotics   virtual reality  

摘要： Background: Emerging technologies such as robotics and virtual reality (VR) are being trialled and implemented into physiotherapy practice. As emerging technologies compete for market share, trials on emerging technologies are at risk of spin. For consumers to make informed decisions about whether to use a new technology, trials should accurately portray the results. If spin is present, outcomes may not be comparable to the results reported when interventions are implemented clinically. Objectives: To determine the amount and type of spin in abstracts of physiotherapy clinical trials that use robotic or VR interventions. A secondary objective is to determine the agreement between raters, both experienced and inexperienced, using an existing 7-item checklist with updated item definitions. Methods: We will perform two meta-research reviews on a random set of 100 robotics (study 1) and 100 VR (study 2) trials, from any year, indexed in the PEDro database. Using the updated spin checklist, the abstract of each trial will be assessed in corroboration with full-text. The total spin score and proportion of studies with spin for each item will be reported. Agreement between experienced and inexperienced raters will be determined using kappa statistics. Rater confidence in rating each item will be collected. Discussion: We will identify if spin is present in robotics and VR literature and evaluate if the spin checklist can be confidently and consistently used by raters. We hope this research will facilitate best-practice reporting of research findings so emerging technologies will be implemented with realistic expectation of clinical outcome.

摘要： Place a drop of pond water under the microscope, and you will likely find an ocean of extraordinary and diverse single-celled organisms called ciliates. This remarkable group of single-celled organisms wield microtubules, active systems, electrical signaling, and chemical sensors to build intricate geometrical structures and perform complex behaviors that can appear indistinguishable from those of macroscopic animals. Advances in computer vision and machine learning are making it possible to completely digitize and track the dynamics of complex ciliates and mine these data for the hidden structure, patterns, and motifs that are responsible for their behaviors. By deconstructing the diversity of ciliate behaviors in the natural world, themes for organizing and controlling matter at the microscale are beginning to take hold, suggesting new modular approaches for the design of autonomous molecular machines that emulate nature's finest examples.

关键词： 机器视觉   机器人学   手语识别   人工智能技术   翻译器   海洋开发   MATLAB算法   先进理念  

摘要： 机器人学是将现代科技与传统机械相结合的学科,包括了机器人的设计、生产及运用等各方面的知识内容,传递出了人工智能的先进理念,是对各行业发展及人类社会进步有益的学科,也是当下备受各国重视的热门学科。在这一学科的建设方面,我国起步较晚,与其他国家也存在差异,但经过奋起直追,在相关领域也有了突破。时至今日,我国人工智能技术日臻完善,并得以顺利地将这一技术运用到了不同的行业之中,去解决人类各方面的难题,在海洋开发、危险工作等场景中,都可以见到机器人的身影。

关键词： SCARA机器人   动力学模型   运动学规划   联合仿真  

摘要： 因SCARA机器人具有高精度、高速度的优点,被广泛用于装配和搬运等场合,但是对于机器人电机和减速器的选择上存在一些困难,这就需要对机器人的动力学模型进行研究分析。首先通过MATLAB完成运动学规划,得到机器人各关节的运动关系曲线,然后在三维软件中绘制机器人的真实模型,并运用到ADAMS软件中,结合机器人各关节的运动曲线图完成动力学的仿真,获取各关节执行作业任务时的力矩曲线。通过软件联合仿真法的运用,可以模拟机器人的实际运动状况,又能明显缩短设计周期,为机器人电机和减速器的选择提供帮助。