关键词： Anthropomorphic robots  

摘要： Recent robotics efforts have automated simple, repetitive tasks to increase execution speed and lessen an operator's cognitive load, allowing them to focus on higher-level objectives. However, an autonomous system will eventually encounter something unexpected, and if this exceeds the tolerance of automated solutions, there must be a way to fall back to teleoperation. Our solution is a largely autonomous system with the ability to determine when it is necessary to ask a human operator for guidance. We call this approach human-guided autonomy. Our design emphasizes human-on-the-loop control where an operator expresses a desired high-level goal for which the reasoning component assembles an appropriate chain of subtasks. We introduce our work in the context of the DARPA Robotics Challenge (DRC) Finals. We describe the software architecture Team TROOPER developed and used to control an Atlas humanoid robot. We employ perception, planning, and control automation for execution of subtasks. If subtasks fail, or if changing environmental conditions invalidate the planned subtasks, the system automatically generates a new task chain. The operator is able to intervene at any stage of execution, to provide input and adjustment to any control layer, enabling operator involvement to increase as confidence in automation decreases. We present our performance at the DRC Finals and a discussion about lessons learned. (C) 2016 Wiley Periodicals, Inc.

关键词： Tethered Space Robot   dynamics modeling   dynamics analysis   model selection   offsets  

摘要： This work proposes a scheme to select a proper dynamics model for space debris removal which is captured by a Tethered Space Robot. A proper dynamics model is crucial for the parameters estimation and controller design in a Tethered Space Robot mission, in particular, for the retrieval or de-orbiting of uncooperative target. A new dynamics model of the system is derived by treating the base satellite and the space debris as rigid bodies in the presence of offsets, and with the effect of the tether's flexibility and elasticity. Then the equations of motion are simplified based on the attitude analysis and numerical simulations in different cases. It is concluded that in the Tethered Space Robot's mission, the strong coupled attitude motions among the base, target satellites, and the tether cannot be ignored during the retrieval, which is totally different from the traditional tethered satellite system. The attitude motions of the system in different conditions are discussed respectively, and a method of the model selection of the system during post-capture and retrieval/de-orbiting phase is proposed, which is a balance of the accuracy and facility. Finally, a control scheme is used to prove this conclusion.

关键词： Nonlinear control systems   nonlinear dynamical systems   robot control   unmanned aerial vehicles  

摘要： In this paper, we consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties such as differential flatness, controllability, and observability. We prove that the robotic system is differentially flat with respect to two output pairs: elevation of the link and attitude of the vehicle;elevation of the link and longitudinal link force (e.g., cable tension, or bar compression). We show the design of an almost globally convergent nonlinear observer of the full state that resorts only to an onboard accelerometer and a gyroscope. We also design two almost globally convergent nonlinear controllers to track any sufficiently smooth time-varying trajectory of the two output pairs. Finally, we numerically test the robustness of the proposed method in several far-from-nominal conditions: nonlinear cross-coupling effects, parameter deviations, measurements noise, and nonideal actuators.

关键词： Swarm robotics   Evolutionary algorithms   Nonlinear optimization  

摘要： In this paper, a novel heuristic algorithm is proposed to solve continuous non-linear optimization problems. The presented algorithm is a collective global search inspired by the swarm artificial intelligent of coordinated robots. Cooperative recognition and sensing by a swarm of mobile robots have been fundamental inspirations for development of Swarm Robotics Search & Rescue (SRSR). Swarm robotics is an approach with the aim of coordinating multi-robot systems which consist of numbers of mostly uniform simple physical robots. The ultimate aim is to emerge an eligible cooperative behavior either from interactions of autonomous robots with the environment or their mutual interactions between each other. In this algorithm, robots which represent initial solutions in SRSR terminology have a sense of environment to detect victim in a search & rescue mission at a disaster site. In fact, victims location refers to global best solution in SRSR algorithm. The individual with the highest rank in the swarm is called master and remaining robots will play role of slaves. However, this leadership and master position can be transitioned from one robot to another one during mission. Having the supervision of master robot accompanied with abilities of slave robots for sensing the environment, this collaborative search assists the swarm to rapidly find the location of victim and subsequently a successful mission. In order to validate effectiveness and optimality of proposed algorithm, it has been applied on several standard benchmark functions and a practical electric power system problem in several real size cases. Finally, simulation results have been compared with those of some well-known algorithms. Comparison of results demonstrates superiority of presented algorithm in terms of quality solutions and convergence speed. (C) 2017 Elsevier B.V. All rights reserved.

关键词： *INTEGRATED circuits   *TESTING   *ROBOTICS   DETECTORS  

摘要： An interview of Robert Little, chief executive officer (CEO) at ATI Industrial Automation, is presented. Little mentions consideration of the firm for adoption of sensing approaches among robots with proliferation of force/torque sensor products. He states enhancement in electronics assembly conditions with insertion of chips onto circuit boards along with usage of robots in testing. Little discusses significance of robotic technology for an improvement in manufacturing services.

关键词： Motion planning  

摘要： This paper presents a technical overview of Team DRC-Hubo@UNLV's approach to the 2015 DARPA Robotics Challenge Finals (DRC-Finals). The Finals required a robotic platform that was robust and reliable in both hardware and software to complete tasks in 60 min under degraded communication. With this point of view, Team DRC-Hubo@UNLV integrated methods and algorithms previously verified, validated, and widely used in the robotics community. For the communication aspect, a common shared memory approach that the team adopted to enable efficient data communication under the DARPA controlled network is described. A new perception head design (optimized for the tasks of the Finals) and its data processing are then presented. In the motion planning and control aspect, various techniques, such as wheel-driven navigation, zero-moment-point (ZMP) -based locomotion, and position-based manipulation and controls, are described in this paper. By introducing strategically critical elements and key lessons learned from DRC-Trials 2013 and the testbed of Charleston, we also illustrate how DRC-Hubo has evolved successfully toward the DRC-Finals. (C) 2017 Wiley Periodicals, Inc.

关键词： Robotic cystectomy   Intracorporeal   Extracorporeal   Bladder cancer   Enhanced recovery  

摘要： Robot-assisted radical cystectomy (RARC) has been adopted widely in many centres, owed largely to the success of robot-assisted laparoscopic prostatectomy (RALP). It aims to replicate the oncological outcomes of open radical cystectomy (ORC), while providing a shorter recovery period. Despite this, previous RCTs have failed to show a benefit for RARC over ORC. These trials have compared extracorporeal RARC (eRARC) with ORC, which requires a further incision to mobilise the bowel for urinary reconstruction with an open technique. For intracorporeal RARC (iRARC), this urinary reconstruction is performed robotically without further incisions. There are theoretical benefits to this approach such as reduced recovery time for the bowel and reduced ileus rates, but no level 1 evidence currently exists to support this. While there has been an improvement in patient outcomes since the adoption of RARC, various other factors, such as enhanced recovery programmes and surgical learning curve, have made it difficult to attribute this solely to the robotic approach as many centres performing ORC have also shown similar improvements. In this review, we will discuss implementation of RARC as well as perioperative measures that have helped improve outcomes, offer a comparison of outcomes between ORC and RARC and highlight upcoming RCTs that may offer new evidence for or against a paradigm shift in the future of bladder cancer surgery.

关键词： Elementary education   Gender studies   Interactive learning environments   Teaching/learning strategies   Applications in subject areas  

摘要： Using robotics technologies in education is increasingly common and has the potential to impact students' learning. Educational robotics is a valuable tool for developing students' cognitive and social skills, and it has greatly attracted the interest of teachers and researchers alike, from pre-school to university. The purpose of this study is to understand the behavioral patterns of elementary students and teachers in one-to-one robotics instruction process. The participants were made up of 18 elementary school students and 18 preservice teachers. Quantitative content analysis and lag sequential analysis were used to analyze the student-teacher interactions. According to findings, the students' assembling bricks, sharing ideas and experiences, and the teachers' providing guidance and asking questions were the most frequent behaviors. Regarding behavioral sequences, the teachers' guidance significantly followed the students' behavior of expressing and sharing their ideas that followed the teachers' questions. The students also significantly tended to play with robots that they themselves designed. Moreover, the teacher-student interactions were discussed in detail in terms of gender differences and difficulty level of robotics activities. The results of this study can be taken into consideration in the design of learning environments with robotics activities. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Logistics systems   Multi-AGV systems   Cloud robotics   Data fusion   Path-planning  

摘要： In this paper we introduce a novel cloud robotics architecture that provides different functionalities to support enhanced coordination of groups of Automated Guided Vehicles (AGVs) used for industrial logistics. In particular, we define a cooperative data fusion system that, gathering data from different sensing sources, provides a constantly updated global live view of the industrial environment, for coordinating the motion of the AGVs in an optimized manner. In fact, local sensing capabilities are complemented with global information, thus extending the field of view of each AGV. This knowledge extension allows to support a cooperative and flexible global route assignment and local path planning in order to avoid congestion zones, obstacles reported in the global live view map and deal with unexpected obstacles in. the current path. The proposed methodology is validated in a real industrial environment, allowing an AGV to safely perform an obstacle avoidance procedure. (c) 2017 Elsevier Ltd. All rights reserved.