关键词： dispensing   hospital   pharmacy   robot  

摘要： Objectives To explore factors influencing hospital pharmacy staff acceptance of a pharmacy robotic dispensing system during implementation and over time. Methods A single centred, prospective, longitudinal cohort quantitative study was conducted in an Australian tertiary public hospital using the Extended Technology Acceptance Model (ETAM). Staff were surveyed during the implementation of a pharmacy dispensing robot (May 2016) and again after working with the system for fifteen months (August 2017). Fishers exact test and correlation analysis of paired responses were used to identify significant factors influencing use of the system between the two time points. Key findings Sixty four respondents completed surveys during implementation (n=64) and 34-paired surveys were collected fifteen months later. Respondents were predominantly young, female with a tertiary qualification. Initial perceptions did not change over time, with the exception of reliability. Departmental leaders had greatest influence on technology acceptance during implementation and over time. Other key factors correlating with acceptance included: how useful the robot was perceived to be;ease of use and how relevant the robot was for an individual role. Higher levels of education had a negative association with usage during implementation and age was not a factor. Conclusion This study identified critical insights influencing staff acceptance of pharmacy robots that will help inform future implementation. The influence of pharmacy leaders emerged as key influence on technology acceptance. Leveraging on this influence a communication strategy prior to implementation should include information on useful functions and known benefits of the system customised for individual roles.

关键词： Robotics education   virtual laboratory   model predictive control   fuzzy control   MATLAB   two-wheeled inverted pendulum  

摘要： In this paper, a procedure for designing a MATLAB-based virtual robotics laboratory is described that provides a realistic three-dimensional animation for the robot's motion. The proposed laboratory allows students to obtain the linear model and stability condition of a robotic system, without getting involved in its mathematical modeling. The structure of a two-wheeled inverted pendulum robot has been used for demonstrating the laboratory's features. As part of this virtual experiment, design and evaluation of proportional-integral-derivative, model predictive control, and fuzzy controllers for maintaining the two-wheeled inverted pendulum's balance are considered. A set of graphical-user interfaces is designed for providing the interaction with the system. This virtual lab is readily extensible for other robotics structures and controllers, and its output data is promptly available for further analysis by other MATLAB toolboxes.

关键词： Robotic milling   Structural dynamics   Machine learning   Multi-fidelity information fusion  

摘要： Conventional industrial robots are increasingly used for milling applications of large workpieces due to their workspace and their low investment costs in comparison to conventional machine tools. However, static deflections and dynamic instabilities during the milling process limit the efficiency and productivity of such robot-based milling systems. Since the pose-dependent dynamic properties of the industrial robot structures are notoriously difficult to model analytically, machine learning methods are recently gaining more and more popularity to derive system models from experimental data. In this publication, a modeling concept based on a modern information fusion scheme, fusing simulation and experimental data, is proposed. This approach provides a precise model of the robot's pose-dependent structural dynamics and is validated for a one-dimensional variation of the robot pose. The results of two information fusion algorithms are compared with a conventional, data-driven approach and indicate a superior model accuracy regarding interpolation and extrapolation of the pose-dependent dynamics. The proposed approach enables decreasing the necessary amount of experimental data needed to assess the vibrational properties of the robot for a desired pose. Additionally, the concept is able to predict the robot dynamics at poses where experimental data is very costly to gather.

关键词： Artificial intelligence   Autonomous surgery   Machine learning   Robotic surgery   Surgical navigation  

摘要： Purpose The aim of the current narrative review was to summarize the available evidence in the literature on artificial intelligence (AI) methods that have been applied during robotic surgery. Methods A narrative review of the literature was performed on MEDLINE/Pubmed and Scopus database on the topics of artificial intelligence, autonomous surgery, machine learning, robotic surgery, and surgical navigation, focusing on articles published between January 2015 and June 2019. All available evidences were analyzed and summarized herein after an interactive peer-review process of the panel. Literature review The preliminary results of the implementation of AI in clinical setting are encouraging. By providing a readout of the full telemetry and a sophisticated viewing console, robot-assisted surgery can be used to study and refine the application of AI in surgical practice. Machine learning approaches strengthen the feedback regarding surgical skills acquisition, efficiency of the surgical process, surgical guidance and prediction of postoperative outcomes. Tension-sensors on the robotic arms and the integration of augmented reality methods can help enhance the surgical experience and monitor organ movements. Conclusions The use of AI in robotic surgery is expected to have a significant impact on future surgical training as well as enhance the surgical experience during a procedure. Both aim to realize precision surgery and thus to increase the quality of the surgical care. Implementation of AI in master-slave robotic surgery may allow for the careful, step-by-step consideration of autonomous robotic surgery.

关键词： Calibration   Robot sensing systems   Robot kinematics   Vision sensors   Cameras   Uncertainty   Central projection   error correction   hand-eye calibration   robot vision-guided system   stripe-laser  

摘要： The stripe-laser vision guidance technology has received more and more attention in industry and academia. The hand-eye calibration technology plays an important role in the applications of the stripe-laser vision-guided robotics. Most existing hand-eye calibration methods impose orthogonality constraints. However, the orthogonality in hand-eye relationship may not be true when the stripe-laser sensor has errors. This makes the final guiding error inevitable. In this article, an error correctable (EC) hand-eye calibration method based on the linear properties of the central projection for the stripe-laser vision sensor guidance system is proposed. In this method, the measurements of a vision sensor with errors can be corrected to the right tool center point coordinates. Experiments involving synthetic and real data confirm that the proposed hand-eye calibration method is robust to the vision sensor errors.

关键词： CDIO   机器人竞赛   项目式学习   VEX机器人  

摘要： 随着教育机器人的出现、创客教育的发展和各种先进工程理念的引进,人们为了解决学校教育与社会需求的矛盾,将教育机器人用于培养学生的综合能力。运用CDIO的教学理念,探讨在中学生课外科技活动中的应用,使学生在实际的工程场景中学会专业知识并解决真实问题,同时培养学生的创新能力、实践能力、团队协作能力及其职业态度。以2018-2019赛季的"VEX世界锦标赛-Turning Point"为例,通过竞赛前后学生及教师的任务变化,阐述了CDIO工程教育模式的实现过程。以期为中学生机器人竞赛项目的教学起到帮助作用。

关键词： 四自由度混联机器人   运动学分析   位置正、逆解算例   ADAMS仿真  

摘要： 首先将串联机构与二自由度平面并联机构相结合,开发出一种新型四自由度混联构型工业机器人,采用D-H法建立坐标系并推导出运动学方程;利用MATLAB数值扫描方法,得到机械臂末端执行器的可达空间;根据位置正逆解算例,在机器人的作业空间内任取若干点,验证了运动学正、逆解方程在一定精度范围内的正确性。然后用SolidEdge建立虚拟样机模型,并将模型导入到ADAMS环境下进行运动学仿真分析,验证解析结果的正确性。最后将仿真结果和理论解析结果进行比较,证明了所设计的混联型机器人理论分析的正确性和设计方案的可行性,为后续控制等方面的研究打下了基础。

关键词： “雨课堂”   混合教学模式   机器人学   教学模式  

摘要： 传统“填鸭式”课堂教学已经不能满足现在本科日常教学需要,根据工科课程的特点并结合学校的应用型人才培养目标,文章提出了基于“雨课堂”和基于项目的教学方法(Project-Based Learning,PBL)的双轮驱动教学改革实践,提出包括课上到课下的延伸、课上的多形式调动、全程的教学效果反馈、课终的系统复习等环节的设计方案,在每个环节进行“雨课堂”和PBL的双轮教学驱动方式。通过在“机器人学”教学中的实践应用,证明双轮驱动的教学改革有助于激发、调动学生主动学习能力,提高学生对知识的理解能力,为应用于工科课程教学提供参考。

关键词： 巡线机器人   机械臂   动力学分析  

摘要： 高压输电线路通常为裸导线,暴露于野外环境之中,长时间的风雪雷击、机械张力、电气闪络,易造成线路损伤,从而影响输电线路线路运行的安全性及稳定性。因此,针对110 kV高压输电线路,设计了一种轻量化双臂巡线机器人。对巡线机器人进行动力学仿真,验证了机器人机械结构设计以及关节电机选型的合理性,确保了巡线机器人能实现在输电线上爬行、越障等作业。制作了巡线机器人的样机并对其进行调试,最后在实验室搭建的110 kV输电线路试验环境上完成了巡线机器人行走、爬坡以及越障实验,实验结果表明本课题设计制作的巡线机器人各项功能均实现了设计指标的要求。