关键词： ROS   SLAM技术   路径规划  

摘要： 随着人工智能技术的进步,机器人自主定位与导航技术已经成为研究的热点之一。设计了一种以ROS作为环境基础,STM32ZET6作为底层控制层核心的移动机器人。系统通过基于激光雷达的SLAM技术构建实时地图并实现自主定位功能,最后通过路径规划算法实现导航功能。经过测试,该系统工作稳定,自主定位准确,能精确导航到达目标点且具备避障功能。

关键词： 快课技术   机器人学   兴趣  

摘要： 快课技术是指利用技术来快速开发数字化学习课程,通过精心设计的电子课件,采用流媒体形式来进行教学活动,将现场授课与"互联网手段"相结合,开展机器人学教学,在快速提升学生的兴趣等方面有十分重要的作用。

关键词： robotic surgery   robotic colectomy   robotic rectopexy   robotic transanal total mesorectal excision   TME  

摘要： Background: Robotic technology aims to obviate some of the limitations of conventional laparoscopic surgery, yet the role of robotics in colorectal surgery is still largely undefined and varies with respect to its application in abdominal versus pelvic surgery. Methods: With this review, we aimed to highlight current developments in colorectal robotic surgery. We systematically searched the following databases: PubMed, EMBASE, and Cochrane Library. We critically reviewed the available literature on the use of robotic technology in colon and rectal surgery. Results: Robotic colorectal surgery is oncologically safe and has short-term outcomes comparable to conventional laparoscopy, with potential benefits in rectal surgery. It has a shorter learning curve but increased operative times and costs. It offers potential advantages in the resection of rectal cancer, due to lower conversion rates. There is also a trend toward better outcomes in anastomotic leak rates, circumferential margin positivity, and perseveration of autonomic function. Conclusion: Laparoscopy remains technically challenging and conversion rates are still high. Therefore, most cases of colorectal surgery are still performed open. Robotic surgery aims to overcome the limits of the laparoscopic technique. This new technology has many advantages in terms of articulating instruments, advanced three-dimensional optics, surgeon ergonomics, and improved accessibility to narrow spaces, such as the pelvis. However, further studies are needed to assess long-term results and benefits.

关键词： 创新人才培养   工科教育   机器人   研讨会  

摘要： 经过反复的研讨、调研和论证,教育部高教司于2017年正式推出'新工科'计划,并先后形成了'复旦共识'、'天大行动'、'北京指南'等指导性文件。随后,为进一步推动新工科建设和发展,教育部于2018年3月启动了首批'新工科研究与实践'课题项目,先后由浙大、上海交大、上海工程技术大学、汕头大学牵头组建了工科优势高校组、综合性高校组和地方高校组,围绕工程教育的新理念、学科专业的新结构、人才培养的新模式、教育教学的新质量.

关键词： Object dataset   Object recognition   Deep convolutional neural network   Deep learning-based robot vision   Synthetic image data   Labeled image data  

摘要： The primary motivation of computer vision in the robotics field is to obtain a perception level that is as close as possible to human visual system. To achieve this, the inclusion of large datasets is necessary, sometimes involving less-frequent and seemingly irrelevant data to increase the system robustness. To minimize the effort and time in forming such extensive datasets from real world, the preferred method is to utilize simulation environments, replicating real-world conditions as much as possible. Following this solution path, the machine vision problems in robotics (i.e., object detection, recognition, and manipulation) often employ synthetic images in datasets and, however, do not mix them with real-world images. When the systems are trained only using the synthetic images and tested within the simulated world, the tasks requiring object recognition in robotics can be accomplished. However, the systems trained using this procedure cannot be directly used in the real-world experiments or end-user products due to the inconsistencies between real and simulation environments. Therefore, we propose a hybrid image dataset including annotated desktop objects from real and synthetic worlds (ADORESet). This hybrid dataset provides purposeful object categories with a sufficient number of real and synthetic images. ADORESet is composed of colored images with the dimension of 300x300 pixels within 30 categories. Each class has 2500 real-world images acquired from the wild web and 750 synthetic images that are generated within Gazebo simulation environment. This hybrid dataset enables researchers to implement their own algorithms for both real-world and simulation environment conditions. ADORESet is composed of fully annotated object images. The limits of objects are manually specified, and the bounding box coordinates are provided. The successor objects are also labeled to give statistical information and the likelihood about the relations of the objects within the dat

关键词： Progressive image compression   Region of interest (ROI)   Parallel wavelet transforms   Arm architecture   Underwater robotics applications  

摘要： This paper proposes the use of a real-time progressive image compression and region of interest algorithm for the ARM processor architecture. This algorithm is used for the design of an underwater image sensor for an autonomous underwater vehicle for intervention, under a highly constrained available bandwidth scenario, allowing for a more agile data exchange between the vehicle and a human operator supervising the underwater intervention. For high compression ratios (smaller output size), execution time is dominated by the transformation algorithm, which plays a progressively smaller role as the compression ratio gets smaller (larger output size). A novel progressive rate distortion-optimized image compression algorithm based on the discrete wavelet transform (DWT) is presented, with special emphasis on a novel minimal time parallel DWT algorithm, which allows full memory bandwidth saturation using only a few cores of a modern multicore embedded processor. The paper focuses in a novel efficient inplace, multithreaded, and cache-friendly parallel 2-D wavelet transform algorithm, based on the lifting transform using the ARM Architecture. In order to maximize the cache utilization and consequently minimize the memory bus bandwidth use, the threads compete to work on a small memory area, maximizing the chances of finding the data in the cache. Their synchronization is done with very low overhead, without the use of any locks and relying solely on the basic compare-and-swap atomic primitive. An implementation in C programming language with and without the use of vector instructions (single instruction multiple data) is provided for both, single (serial) and multi-(parallel) threaded single-loop DWT implementations, as well as serial and parallel naive implementations using linear (row order) and strided (column order) memory access patterns for comparison. Results show a significant improvement over the single-threaded optimized implementation and a much greater improve

关键词： Dynamics   identification   physical consistency   physical feasibility  

摘要： Physical feasibility of robot dynamics identification is currently receiving renovated attention from the research community. Inertia tensor inequalities (namely the positive definite property) have been extensively used among other physical constraints to check physical consistency of identification methods. Recently, an extra inequality associated to inertia tensor eigenvalues has been included to check physical consistency, showing that the previous methods were incomplete. In this paper we show that this extra inequality incorporates the positive definite property, being more restrictive. We also include it in the linear matrix inequality framework for robot dynamics identification to obtain fully physical estimates. The relevance of the extra inequality is verified through real 7-DOF robot manipulator experiments.

关键词： Robotic cardiac surgery   Robotically assisted   Endoscopic  

摘要： The application of robotic technologies in cardiac surgery has provided the possibility for minimally invasive access inside the thorax and avoidance of a median sternotomy. Given that current evidence seems promising, we sought to systematically review the existing literature regarding the efficacy, feasibility and mortality rate associated with robotic cardiac surgery. The PubMed and Cochrane bibliographical databases were thoroughly searched for the following MeSH terms: robotic, cardiac surgery and heart surgery. Original studies on robotic cardiac surgery in more than ten cases and reporting on the associated peri- or post-operative mortality were deemed eligible. Twenty-eight studies were included and provided data for 5993 patients with a mean age of 59.8years. Approximately, one out of two patients (49.2%) underwent robotic CABG, while the other half (49.9%) underwent robotic MVR. Robotic atrial septal defect repair and atrial tumor resection were performed in a small proportion (0.9%) of the patients. Mean 30-day mortality was 0.7% ranging from 0 to 0.8% among the different types of surgery, while late mortality was 0.8% ranging from 0 to 1% with a mean follow-up period of 40.1months. Our findings demonstrate that the application of robotics in cardiac surgery has provided a safe and efficacious alternative to the traditional techniques. However, more trials are necessary to elucidate all of its aspects.

关键词： Hippocampus   Place cells   Grid cells   View cells   Navigation   Path integration   Modulo projection   Robot  

摘要： Place recognition is a complex process involving idiothetic and allothetic information. In mammals, evidence suggests that visual information stemming from the temporal and parietal cortical areas ('what' and 'where' information) is merged at the level of the entorhinal cortex (EC) to build a compact code of a place. Local views extracted from specific feature points can provide information important for view cells (in primates) and place cells (in rodents) even when the environment changes dramatically. Robotics experiments using conjunctive cells merging 'what' and 'where' information related to different local views show their important role for obtaining place cells with strong generalization capabilities. This convergence of information may also explain the formation of grid cells in the medial EC if we suppose that: (1) path integration information is computed outside the EC, (2) this information is compressed at the level of the EC owing to projection (which follows a modulo principle) of cortical activities associated with discretized vector fields representing angles and/or path integration, and (3) conjunctive cells merge the projections of different modalities to build grid cell activities. Applying modulo projection to visual information allows an interesting compression of information and could explain more recent results on grid cells related to visual exploration. In conclusion, the EC could be dedicated to the build-up of a robust yet compact code of cortical activity whereas the hippocampus proper recognizes these complex codes and learns to predict the transition from one state to another.