关键词： Cable-driven parallel robot   Feedback Linearization   LQR   Kalman filter   LQG  

摘要： Cable robots are a type of parallel robots where the rigid links are replaced by flexible cables. This flexibility produces internal dynamic which challenges the rigid model based controller. In this paper, the dynamic equations of cable robots with viscoelastic cables are obtained. The Feedback Linearization (FL) method is used to provide a linearized dynamic error for the closed loop model of the system with rigid cables. Using the Lyapunov criterion, the stability analysis of the flexible system with the rigid FL control input is performed. It is shown that considering a minimum damping coefficient and employing the rigid FL controller, the system stability can be guaranteed. In order to achieve a trade-off between the control input and the tracking error, the FL gains are obtained using LQR method. In practice, measurement noise usually exists. On the other hand, the end-effector vibration caused by the cables elasticity can be considered as a process noise. Therefore, the LQG approach is used to estimate the states in presence of the process and measurement noise. Using simulation, it is shown that in presence of measurement noise, the LQG method effectively controls the system while the LQR and also the SMC approach, employed in Korayem et al. (Robotica 33(3), 578-598, 2015), lead to the system instability. Another simulation demonstrates that the system with damping less than the specified minimum value can be stable with the LQG approach, in contrary to the LQR controller. Moreover, in order to investigate the vibrational effect of the cable stiffness and damping coefficient, a frequency analysis is performed. Finally, experimental result obtained by implementation on a manufactured cable robot is presented and verified the approach.

关键词： Costs   general surgery   healthcare economics   outcomes   robotics   training  

摘要： The utilisation of robotic-assisted techniques is a novelty in the field of general surgery. Our intention was to examine the up to date available literature on the cost assessment of robotic surgery of diverse operations in general surgery. PubMed and Scopus databases were searched in a systematic way to retrieve the included studies in our review. Thirty-one studies were retrieved, referring on a vast range of surgical operations. The mean cost for robotic, open and laparoscopic ranged from 2539 to 57,002, 7888 to 16,851 and 1799 to 50,408 Euros, respectively. The mean operative charges ranged from 273.74 to 13,670 Euros. More specifically, for the robotic and laparoscopic gastric fundoplication, the cost ranged from 1534 to 2257 and 657 to 763 Euros, respectively. For the robotic and laparoscopic colectomy, it ranged from 3739 to 17,080 and 3109 to 33,865 Euros, respectively. For the robotic and laparoscopic cholecystectomy, ranged from 1163.75 to 1291 and from 273.74 to 1223 Euros, respectively. The mean non-operative costs ranged from 900 to 48,796 from 8347 to 8800 and from 870 to 42,055 Euros, for robotic, open and laparoscopic technique, respectively. Conversions to laparotomy were present in 34/18,620 (0.18%) cases of laparoscopic and in 22/1488 (1.5%) cases of robotic technique. Duration of surgery robotic, open and laparoscopic ranged from 54.6 to 328.7, 129 to 234, and from 50.2 to 260 min, respectively. The present evidence reveals that robotic surgery, under specific conditions, has the potential to become cost-effective. Large number of cases, presence of industry competition and multidisciplinary team utilisation are some of the factors that could make more reasonable and cost-effective the robotic-assisted technique.

关键词： Affordances   computational models   robotics  

摘要： J. J. Gibson's concept of affordance, one of the central pillars of ecological psychology, is a truly remarkable idea that provides a concise theory of animal perception predicated on environmental interaction. It is thus not surprising that this idea has also found its way into robotics research as one of the underlying theories for action perception. The success of the theory in this regard has meant that existing research is both abundant and diffuse by virtue of the pursuit of multiple different paths and techniques with the common goal of enabling robots to learn, perceive, and act upon affordances. Up until now, there has existed no systematic investigation of existing work in this field. Motivated by this circumstance, in this article, we begin by defining a taxonomy for computational models of affordances rooted in a comprehensive analysis of the most prominent theoretical ideas of import in the field. Subsequently, after performing a systematic literature review, we provide a classification of existing research within our proposed taxonomy. Finally, by both quantitatively and qualitatively assessing the data resulting from the classification process, we highlight gaps in the research terrain and outline open questions for the investigation of affordances in robotics that we believe will help inform future work, prioritize research goals, and potentially advance the field toward greater robot autonomy.

关键词： Robotics   Industrial robots   Research & development projects   Intelligent control systems   Automatic detection in radar   Global Positioning System  

摘要： The article discusses the developed automation technologies in Australia. Topics mentioned include wave radar sensor and real-time-kinetic global positioning sensor as the key parts to the navigation system, safety measures on technology, and the international trade event MEGATRANS2018 to be held in Melbourne in May. It highlights the robotics and intelligent systems research and development projects led by Professor Salah Sukkarieh, with focus on areas such as logistics, aerospace and mining.

关键词： Attention   Rehabilitation   Stroke   Upper extremity   Robotics  

摘要： Objective: To compare the long-term effects of external focus (EF) and internal focus (IF) of attention after 4 weeks of arm training. Design: Randomized, repeated-measures, mixed analysis of variance. Setting: Outpatient clinic. Participants: Individuals with stroke and moderate-to-severe arm impairment living in the community (N=33;withdrawals: n=3). Interventions: Four-week arm training protocol on a robotic device (12 sessions). Main Outcome Measures: Joint independence, Fugl-Meyer Assessment, and Wolf Motor Function Test measured at baseline, discharge, and 4 week follow-up. Results: There were no between-group effects for attentional focus. Participants in both groups improved significantly on all outcome measures from baseline to discharge and maintained those changes at 4-week follow-up regardless of group assignment (joint independence EF condition: F-1.6,F-45.4 =17.74;P<.0005;partial eta(2)=.39;joint independence IF condition: F-2,F-56= 18.66;P<.0005;partial eta(2)=.40;Fugl-Meyer Assessment: F-2,F-56 = 27.83;P<.0005;partial eta(2) =.50;Wolf Motor Function Test: F-2,F-56 = 14.05;P<.0005;partial eta(2)=.35). Conclusions: There were no differences in retention of motor skills between EF and IF participants 4 weeks after arm training, suggesting that individuals with moderate-to-severe arm impairment may not experience the advantages of an EF found in healthy individuals. Attentional focus is most likely not an active ingredient for retention of trained motor skills for individuals with moderate-to-severe arm impairment, whereas dosage and intensity of practice appear to be pivotal. Future studies should investigate the long-term effects of attentional focus for individuals with mild arm impairment. (C) 2017 by the American Congress of Rehabilitation Medicine

关键词： Cloud robotics   Energy consumption   Green software modeling method   State transition matrix   Bounded model checking  

摘要： The energy consumption of cloud robotics is an important design factor to be considered early in system development. Software as the main enabler of cloud robots, its energy consumption will directly influence the energy consumption level of the entire system. In this paper, we propose a green software model for cloud robotics based on energy consumption time state transition matrix (ETSTM), which can effectively integrate the logic functions, energy consumption, and execution time of software into a single model. To improve the practicability of ETSTM, we provide a software energy consumption function based on software characteristic fitting by a backpropagation (BP) neural network, which can be used to predict software energy consumption. Furthermore, we provide two types of energy consumption analysis algorithms based on explicit execution path search and bounded model checking (BMC) for ETSTM. The experiment results show that the proposed method can achieve good performance. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Cloud robotics   Smart manufacturing   Simultaneous localization and mapping   Cloud computing  

摘要： In Smart Manufacturing Environments (SME), the use of cloud robotics is based on the integration of cloud computing and industrial robots, which provides a new technologica approach to task execution and resource sharing compared to traditional industrial robots. However, research on cloud robotics in SME still faces some challenges. First, highly flexible load scheduling mechanisms are immature. Second, traditional optimization mechanisms for the network service quality do not meet the requirements of smart manufacturing due to time variability and service quality dynamics. And, finally, existing learning algorithms used without cloud-assisted resources cause great resource wasting. Accordingly, this paper explores main technologies related to cloud robotics in SME. The research contents include self-adaptive adjustment mechanisms for the service quality of a cloud robot network, computing load allocation mechanisms for cloud robotics, and group learning base, on a cloud platform. The results presented in this paper are helpful to understand the internal mechanisms of perception and interaction, intelligent scheduling and control of cloud robot systems oriented to smart manufacturing, and the design of a cloud architecture oriented to group learning. (C) 2017 Elsevier Ltd. All rights reserved,

关键词： Cloud robotics   Neuromorphic computing   Cognitive computing   Vertical RRAM structure   Memristor   Monolithic 3D-IC  

摘要： Neuromorphic computing based on three-dimensional inetgraed circuits (3D-NCs) offers a novel hardware implementation of neuromorphic computing, and provides high device density, massively parallel signal processing capability, low power consumption, and direct analog signal processing capability. In this paper, by replacing conventional CPUs based on Von Neumann architecture with 3D-NCs, a novel neuromorphic computing based cloud robotics (NC-robotics) system is proposed, which is constructed by 1) cloud server center using 3D-NCs as computing units, 2) neuromorphic robotics based on neural network control technology. Besides the benefits of normal Cloud Robotics platform, this NC- Robotics system has more advantages on massive parallel-computing, analog signals processing, and lower power consumption. In order to implement this NC--Robotics system, a novel 3D-NCs architecture combining vertical RRAM structure is investigated and its concise equivalent circuit model is created, evaluated, and analyzed through SPICE simulations. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： 动力学模型   参数重组   参数辨识   遗传算法  

摘要： 首先采用牛顿-欧拉法推导了工业机器人的动力学模型,并对动力学参数进行重组得出工业机器人的动力学基础参数;其次,综合考虑了观察矩阵条件数、惩罚函数等指标,采用遗传算法优化得出参数辨识轨迹;最后,通过对ADAMS软件中的机器人模型进行参数辨识仿真实验,验证了参数辨识方法的有效性。