摘要： Over the last decade, there has been increasing recognition and use of transanal total mesorectal excision (taTME) as a safe and reliable method for resection of mid to low rectal malignancies [1]. The technique has been adopted in a structured and safe manner in Australasia [2]. Structured accreditation pathways for robotic colorectal competence also exist worldwide [3]. There is little in the literature describing the utilisation of these minimally invasive surgical (MIS) techniques for locally advanced rectal cancer. The authors present a novel application of taTME in the “beyond TME” era [4] to achieve an R0 resection to aid a posterior vaginectomy, with robotic assisted ultralow anterior resection, en bloc total hysterectomy and bilateral salpingo-oophorectomy, retrieved transvaginally, in a patient with locally advanced rectal cancer.

关键词： action representations   robotics   taxonomy  

摘要： Understanding and defining the meaning of "action" is substantial for robotics research. This becomes utterly evident when aiming at equipping autonomous robots with robust manipulation skills for action execution. Unfortunately, to this day we still lack both a clear understanding of the concept of an action and a set of established criteria that ultimately characterize an action. In this survey, we thus first review existing ideas and theories on the notion and meaning of action. Subsequently, we discuss the role of action in robotics and attempt to give a seminal definition of action in accordance with its use in robotics research. Given this definition we then introduce a taxonomy for categorizing action representations in robotics along various dimensions. Finally, we provide a meticulous literature survey on action representations in robotics where we categorize relevant literature along our taxonomy. After discussing the current state of the art we conclude with an outlook towards promising research directions.

关键词： Rehabilitation robotic devices   end-effector   exoskeleton   hand rehabilitation  

摘要： This article aims to give an overall review of research status in hand rehabilitation robotic technology, evaluating a number of devices. The main scope is to explore the current state of art to help and support designers and clinicians make better choices among varied devices and components. The review also focuses on both mechanical design, usability and training paradigms since these parts are interconnected for an effective hand recovery. In order to study the rehabilitation robotic technology status, the devices have been divided in two categories: end-effector robots and exoskeleton devices. The end-effector robots are more flexible than exoskeleton devices in fitting the different size of hands, reducing the setup time and increasing the usability for new patients. They suffer from the control of distal joints and haptic aspects of object manipulation. In this way, exoskeleton devices may represent a new opportunity. Nevertheless their design is complex and a deep investigation of hand biomechanics and physical human-robot interaction is required. The main hand exoskeletons have been developed in the last decade and the results are promising demonstrated by the growth of the commercialized devices. Finally, a discussion on the complexity to define which design is better and more effective than the other one is summarized for future investigations.

关键词： Aerodynamics   Satellites   Numerical models   Robots   Space vehicles   Aerospace electronics  

摘要： Maneuverable tethered space net robot (TSNR) is promising for active debris removal due to its flexibility and controllability. However, the contact dynamics of TSNR is not completely understood. Therefore, the contact dynamics is analyzed and the net does not close completely after contact. A super-twisting sliding mode control scheme is designed to make the net completely closed and avoid the risk of tether cut. The efficacy of the controller is validated by simulation results.

关键词： Ubiquitous supercomputing   The ARCHADE   Ubiquitous supercomputing ontology   High performance robotic computing   HPRC   HPRC cluster   Parallel robotic computing node - PRCN   General-purpose computing mission  

摘要： In this work, we introduce Ubiquitous Supercomputing for robotics with the objective of opening our imagination to the development of new powerful heterogeneous multi-robot systems able to perform all kind of missions. Supercomputing, also known as High Performance computing (HPC) is the tool that allows us to predict the weather, understand the origins of the universe, create incredibly realistic fantasy movies, send personalized advertisement to millions of users worldwide and much more. Robotics has been mostly absent in its use of HPC but some previous works have lightly flirted with it. With the findings presented in here, we propose a ubiquitous supercomputing ontology, which allows describing systems made up of robots, traditional HPC infrastructures, sensors, actuators and people and exhibiting scalability, user-transparency and ultimately higher computing efficiency. Moreover, we present a technology called The ARCHADE, which facilitates the development, implementation and operation of such systems, and we propose a mechanism to define and automatize missions carried out by ubiquitous supercomputing systems. As a proof of concept, we present a system depicted as Tigers VS Hunters, which illustrates the potential of this technology. The results presented in here are part of a two series work introducing The ARCHADE. This first delivery presents its philosophy and main features. Correspondingly the second part will present a set of use cases and a complete performance benchmark. Supercomputing is part of our lives and it can be found in many research and industrial endeavors. With the ubiquitous supercomputing ontology and The ARCHADE, supercomputing will become part of robotics as well, bringing it therefore everywhere. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Swarm robotics   Multi-target search   Swarm intelligence optimization   Random walk   Probabilistic finite state machine  

摘要： As a distributed system, swarm robotics is well suited for the multi-target search task where a single robot is rather inefficient. In this paper, a model of the multi-target search problem in swarm robotics and its approximate mathematical representation are given, based on which a lower bound of the expected number of iterations is drawn. Two categories of behavior-based strategies for target search are introduced: one is inspired from swarm intelligence optimization while the other from random walk. A novel search strategy based on probabilistic finite state machine is put forward, showing the highest efficiency in all presented algorithms, which is very close to the optimal value in situations with a large number of robots. It has been demonstrated by extensive experiments that the novel strategy has excellent stability, striking a good balance between exploration and exploitation, as well as a good trade-off between parallelism and cooperative capability. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Electrostatic layer jamming (ELJ)   jamming technology   soft robotics   variable stiffness  

摘要： A novel layer jamming variable stiffness technique for soft robotics is proposed in this paper, which we call electrostatic layer jamming (ELJ). The basic principle of the ELJ is using electrostatic attraction to squeeze material layers to generate friction and then engage jamming. Based on this technique, several specimens used in two common application scenarios including variable tensile stiffness and variable bending stiffness are fabricated, and their stiffness adjustment characteristics are investigated experimentally. Surprisingly, the test data are much larger than the theoretical prediction, which we think is because of the formation of local low air pressure regions between the contact surfaces. Also, the experimental results show that the ELJ technique possesses a large capability of stiffness changing and is space saving. The potential values of the ELJ have been shown by performing with a soft linear actuator for three representative practical applications in the soft robotic field. Finally, the existing problems and advantages of the ELJ technique are discussed, and we believe that this technique will inspire new ways and new opportunities for the soft robotic community.

关键词： Mechanical systems   Forward dynamics   Inverse dynamics   Holonomic and nonholonomic constraints   Uderactuated robots   Udwadia-Kalaba equations   Underactuation Equivalence Principle  

摘要： This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia-Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia-Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot.

摘要： The cytokinesis-block micronucleus (CBMN) assay has become a fully-validated and standardized method for radiation biodosimetry. The assay is typically performed using microscopy, which is labor intensive, time consuming and impractical after a large-scale radiological/nuclear event. Imaging flow cytometry (IFC), which combines the statistical power of traditional flow cytometry with the sensitivity and specificity of microscopy, has been recently used to perform the CBMN assay. Since this technology is capable of automated sample acquisition and multi-file analysis, we have integrated IFC into our Rapid Automated Biodosimetry Technology (RABiT-II). Assay development and optimization studies were designed to increase the yield of binucleated cells (BNCs), and improve data acquisition and analysis templates to increase the speed and accuracy of image analysis. Human peripheral blood samples were exposed ex vivo with up to 4 Gy of gamma rays at a dose rate of 0.73 Gy/min. After irradiation, samples were transferred to microtubes (total volume of 1 ml including blood and media) and organized into a standard 8 X 12 plate format. Sample processing methods were modified by increasing the blood-to-media ratio, adding hypotonic solution prior to cell fixation and optimizing nuclear DRAQ5 staining, leading to an increase of 81% in BNC yield. Modification of the imaging processing algorithms within IFC software also improved BNC and MN identification, and reduced the average time of image analysis by 78%. Finally, 50 mu l of irradiated whole blood was cultured with 200 mu l of media in 96-well plates. All sample processing steps were performed automatically using the RABiT-II cell::explorer robotic system adopting the optimized IFC-CBMN assay protocol. The results presented here detail a novel, high-throughput RABiT-IFC CBMN assay that possesses the potential to increase capacity for triage biodosimetry during a large-scale radiological/nuclear event. (C) 2019 by Radiation Re

关键词： composite   microstructure   strength   actuator  

摘要： Robots and artificial machines have been captivating the public for centuries, depicted first as threats to humanity, then as subordinates and helpers. In the last decade, the booming exposure of humans to robots has fostered an increasing interest in soft robotics. By empowering robots with new physical properties, autonomous actuation, and sensing mechanisms, soft robots are making increasing impacts on areas such as health and medicine. At the same time, the public sympathy to robots is increasing. However, there is still a great need for innovation to push robotics toward more diverse applications. To overcome the major limitation of soft robots, which lies in their softness, strategies are being explored to combine the capabilities of soft robots with the performance of hard metallic ones by using composite materials in their structures. After reviewing the major specificities of hard and soft robots, paths to improve actuation speed, stress generation, self- sensing, and actuation will be proposed. Innovations in controlling systems, modeling, and simulation that will be required to use composite materials in robotics will be discussed. Finally, based on recently developed examples, the elements needed to progress toward a new form of artificial life will be described.