关键词： Discrete element method   space robot   biologically inspired design   coupling simulation  

摘要： According to the on-orbit servicing requirements of spacecraft, this article presents a new type of space-climbing robot that can climb onto the target spacecraft for repairing, rescuing, and removing orbital debris. This robot mobile system is composed of a piezoelectric actuation leg, microadhesive feet, and others. In the environment of zero gravity, the space-climbing robot can cross obstacles through crawling movement and turnover movement. The gripping force of the robot is supplied by the adhesive capacity of the robot feet. The research on its adhesion mechanism is the basis of the robot feet design and motion control. The design of a robot feet microarray structure imitates the adhesion mechanism of gecko seta. Based on the theory of interface micromechanics, we used EDEM software to establish the simulation model of vertical microarrays. This work will simulate the microarray's attaching and detaching processes with different modes of motion, analyzing each microarray's adhesive property. In order to make the structure of microarray has ideal adhesive property, microarray parameters including length-diameter ratio and arrangement density of microarray are optimized. By EDEM-ADAMS coupling simulation, the robot can attach to the surface of the spacecraft and verify the adhesion function of the space-climbing robot.

关键词： GPGPU Computing   Image Description   Mobile Robotics   Visual Place Recognition  

摘要： In this paper, a novel visual Place Recognition approach is evaluated based on a visual vocabulary of the Color and Edge Directivity Descriptor (CEDD) to address the loop closure detection task. Even though CEDD was initially designed so as to globally describe the color and texture information of an input image addressing Image Indexing and Retrieval tasks, its scalability on characterizing single feature points has already been proven. Thus, instead of using CEDD as a global descriptor, we adopt a bottom-up approach and use its localized version, Local Color And Texture dEscriptor, as an input to a state-of-the-art visual Place Recognition technique based on Visual Word Vectors. Also, we use a parallel execution pipeline based on a previous work of ours using the well established General Purpose Graphics Processing Unit (GPGPU) computing. Our experiments show that the usage of CEDD as a local descriptor produces high accuracy visual Place Recognition results, while the parallelization used allows for a real-time implementation even in the case of a low-cost mobile device.

关键词： actuation   materials chemistry   soft robotics  

摘要： This description of soft robotics is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new fieldone that offers opportunities to chemists and materials scientists who like to make things and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional hard robotics. It will also suggest how and why soft robotics is more than simply a minor technical tweak on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics.

关键词： laparoscopic prostatectomy   spine surgery   surgical robotics  

摘要： Surgical applications for robotics truly emerged in the 1980s with the adaptation of industrial robots for surgical purposes. Initial target applications included neurosurgical biopsies and orthopedic joint replacements. Purpose-built surgical robotic platforms were developed in the early 1990s by two different companies (Computer Motion, Inc., Goleta, CA; and Intuitive Surgical, Inc., Sunnyvale, CA). Both of these were telesurgical platforms in which surgeon and patient were positioned at different consoles in a "master-slave" architecture.1 In 2001, Mazor Robotics (Caesarea, Israel) launched the first surgical robot specifically targeting applications in spine surgery; it released SpineAssist in 2004. In general, robotics offers a number of conceptual benefits for surgical applications. Improved accuracy and consistency create value for patient safety and surgical efficiency.2,3 Moreover, robotic platforms may enable minimally invasive techniques and could create workspace boundaries ("no fly zones"), potentially reducing surgical morbidity. There are significant benefits to the surgeon as well-robots don't fatigue, they reduce tremor, perform better at a distance, and could offer motion and force scaling. It is no longer a question of whether robotics has a role in spine surgery, but rather how and when. As we imagine applications within spine surgery, it is possible to imagine applications defined by clinical procedures ("TLIF," "Lateral thoracolumbar," "ACDF," etc.), or clinical domains ("deformity," "trauma," "tumor," etc.) or specific surgical maneuvers ("pedicle screw placement," "osteotomy," "decompression," etc.). There are advantages to each of these approaches, but if we focus on surgeon adoption, then there may be the greatest value in developing robotic solutions for specific procedures. Developing solutions for only part of a surgery requires that the surgeon do the procedure the way they always do, but bring a fairly expensive robot into the field

关键词： 机器人竞赛   果园喷药   自动寻迹   定位系统   喷药系统   设计  

摘要： 依据果园喷药机器人的竞赛要求,以STC15F2K60S2单片机为控制核心,设计了竞赛机器人的机械系统和基本控制电路,包括机器人底盘系统、喷药模块、主控模块和以L298N为核心的驱动模块。然后,以步进电机控制器、丝杆滑台、循迹模块、光电开关和平面定位系统搭建了果园喷药机器人控制系统,并设计了控制算法,实现了果园喷药机器人的竞赛功能。

关键词： 科技成果转化   机器人   大连市   学院   哈尔滨工业大学   发展中国家   科技服务   经济开发区  

摘要： 4月19日，发展中国家工程技术院院士赵姝颖教授聘任暨哈工大科技机器人学院成立仪式举行。哈工大机器人集团国际学院常务副院长王贺年表示，哈尔滨工业大学（分数线，专业设置）和大连科技学院两家“中国新工科”联盟中的东北高校合作，对于落实教育部的产教融合、协同育人、科技成果转化和服务社会将起到重要的作用。哈尔滨工业大学愿与大连市和旅顺经济开发区一起为实现产业升级和科技服务升级做出不懈的努力。

关键词： 水下无人机器人   SIMULINK仿真   六自由度  

摘要： 针对水下机器人的动力学模型进行分析,通过对状态坐标系和欧拉角变换的研究,进而进行了水下机器人动力学建模的分析,其中动力学分析包括质量和惯性的描述,科氏力和向心,流体动力学阻尼,以及重力和浮力。最终通过对系统进行SIMULINK仿真,建立六自由度仿真模型,并得出仿真结果,并通过仿真结果的分析,验证了系统的可行性。

关键词： pedicle screws   robotic-assisted surgery   stereotaxis  

摘要： Robotic surgical systems have been utilized in many surgical fields, including gynecology, urology, cardiothoracic surgery, vascular surgery, and general surgery.1-3 Robotic-assisted systems in spinal surgery, however, have only become available relatively recently. The evolution of robotics in spinal surgery parallels the evolution of image guidance. In 1908, Victor Horsley and Robert Clarke first coined the term "stereotaxis" to define a neurosurgery method utilizing the Cartesian coordinate system to locate points within the brain using external cranial landmarks.4 Modern stereotaxic integration with computed tomography arrived in 1986, developed by David Roberts.5 Moreover, Food and Drug Administration (FDA) clearance of the da Vinci Surgical System (Intuitive Surgical, Sunnyvale, CA) for general laparoscopic surgery in 2000 marked a new era for robotic-assisted surgery, with four arms and seven degrees of freedom. The first robotic-assisted system for spinal surgery, SpineAssist, (Mazor Robotics Ltd., Casesarea, Israel) received FDA clearance in 2004, and demonstrated an average error of less than 2 mm in 98.3% of pedicle screws inserted (N = 646).6 In a study comparing freehand fluoroscopy-guided screws to robotic assisted thoracolumbar pedicle screws, SpineAssist had a significantly greater proportion of non-misplaced screws in comparison to freehand (Gertzbein-Robbins Grades A and B; P = 0.005).7 In a study of 20 open robotic-guided and 57 open conventionally placed screws, SpineAssist's successor, the Renaissance Guidance System (Mazor Robotics Ltd.), demonstrated 94.5% accuracy versus 91.4% accuracy with conventionally placed screws.8 ExelsiusGPS(TM) (Globus Medical Inc., Audubon, PA), which was granted FDA clearance in 2017, has the potential to revolutionize the field of robotic-assisted spinal surgery. With automated accuracy, reproducible outcomes, efficient integration, automatic patient registration, constrained motion for safety, and automatic comp

关键词： 人工智能   机器人学   程序控制   内部存储器   人的行为   工作流程   技术人员   第一代  

摘要： 机器人学 机器人是一种能模拟人的行为的机械,对它的研究经历了三代的发展过程：第一代（程序控制）机器人：这种机器人一般是按以下二种方式“学会”工作的;一种是由设计师预先按工作流程编写好程序存贮在机器人的内部存储器,在程序控制下工作.

关键词： 医疗服务机器人   竞赛   STC89C52R   L298N   电机驱动  

摘要： 在分析医疗服务机器人竞赛要求的基础上,以单片机为控制核心,设计了竞赛机器人机械系统和基本控制电路.以STC89C52R为核心主控模块、以L298N为核心驱动模块,搭载舵机控制器、循迹模块、光电开关,搭建了竞赛医疗服务机器人控制系统.根据比赛流程,设计了控制算法,实现了医疗服务机器人的竞赛功能.