关键词： ROBOTICS   MOLECULAR biology   ROBOT motion   EVOLUTIONARY computation   CONSTRAINT programming (Computer science)   DATA mining  

摘要： Molecular biological systems can be seen as extremely complex mobile systems. The development of methods for modeling the structure and the motion of such systems is essential to better understand their physiochemical properties and biological functions. In recent years, many computer scientists in robotics and artificial intelligence have made significant contributions to modeling biological systems. Research expertise in planning, search, learning, evolutionary computation, constraint programming, and data mining is being used to make great progress on molecular motion, structure prediction, and design. [ABSTRACT FROM AUTHOR]

关键词： advantages   gynecology   minimally invasive surgery   robotic surgery   robotics  

摘要： Purpose of review The purpose of this article is to review the literature and discuss the advantages of robotics in benign gynecologic surgery. Recent findings Minimally invasive surgery has become the preferred route over abdominal surgery. The laparoscopic or robotic approach is recommended when vaginal surgery is not feasible. Thus far, robotic gynecologic surgery data have demonstrated feasibility, safety, and equivalent clinical outcomes in comparison with laparoscopy and better clinical outcomes compared with laparotomy. Robotics was developed to overcome challenges of laparoscopy and has led to technological advantages such as improved ergonomics, visualization with three-dimensional capabilities, dexterity and range of motion with instrument articulation, and tremor filtration. To date, applications of robotics in benign gynecology include hysterectomy, myomectomy, endometriosis surgery, sacrocolpopexy, adnexal surgery, tubal reanastomosis, and cerclage. Though further data are needed, robotics may provide additional benefits over other approaches in the obese patient population and in higher complexity cases. Challenges that arose in the earlier adoption stage such as the steep learning curve, costs, and operative times are becoming more optimized with greater experience, with implementation of robotics in high-volume centers and with improved training of surgeons and robotic teams. Robotic laparoendoscopic single-site surgery, albeit still in its infancy where technical advantages compared with laparoscopic single-site surgery are still unclear, may provide a cost-reducing option compared with multiport robotics. The cost may even approach that of laparoscopy while still conferring similar perioperative outcomes. Summary Advances in robotic technology such as the single-site platform and telesurgery, have the potential to revolutionize the field of minimally invasive gynecologic surgery. Higher quality evidence is needed to determine the advantages and dis

关键词： cloud robotics   service robotics   environmental monitoring   data center   energy management  

摘要： This work presents a robotic application aimed at performing environmental monitoring in data centers. Due to the high energy density managed in data centers, environmental monitoring is crucial for controlling air temperature and humidity throughout the whole environment, in order to improve power efficiency, avoid hardware failures and maximize the life cycle of IT devices. State of the art solutions for data center monitoring are nowadays based on environmental sensor networks, which continuously collect temperature and humidity data. These solutions are still expensive and do not scale well in large environments. This paper presents an alternative to environmental sensor networks that relies on autonomous mobile robots equipped with environmental sensors. The robots are controlled by a centralized cloud robotics platform that enables autonomous navigation and provides a remote client user interface for system management. From the user point of view, our solution simulates an environmental sensor network. The system can easily be reconfigured in order to adapt to management requirements and changes in the layout of the data center. For this reason, it is called the virtual sensor network. This paper discusses the implementation choices with regards to the particular requirements of the application and presents and discusses data collected during a long-term experiment in a real scenario.

关键词： Unilateral spatial neglect   Embodied cognition   Cognitive robotics   Hemisphere specialization   Neuropsychology  

摘要： In this paper, we present the experimental results of an embodied cognitive robotic approach for modelling the human cognitive deficit known as unilateral spatial neglect (USN). To this end, we introduce an artificial neural network architecture designed and trained to control the spatial attentional focus of the iCub robotic platform. Like the human brain, the architecture is divided into two hemispheres and it incorporates bio-inspired plasticity mechanisms, which allow the development of the phenomenon of the specialization of the right hemisphere for spatial attention. In this study, we validate the model by replicating a previous experiment with human patients affected by the USN and numerical results show that the robot mimics the behaviours previously exhibited by humans. We also simulated recovery after the damage to compare the performance of each of the two hemispheres as additional validation of the model. Finally, we highlight some possible advantages of modelling cognitive dysfunctions of the human brain by means of robotic platforms, which can supplement traditional approaches for studying spatial impairments in humans.

摘要： Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots.

关键词： Delta机器人   弹性动力学模型   模糊PID   遗传算法  

摘要： 为了提高Delta机器人控制的实时性与准确性,同时使控制过程简单方便、运行效率高,以Delta机器人为研究对象,基于空间有限元理论与拉格朗日方程,充分考虑主、从动臂间的运动及动力特性,建立了其弹性动力学模型。通过分析系统的结构特点,采用模糊比例—积分—微分(PID)控制器与传统PID控制器并联的形式对Delta机器人主动臂输入力矩进行控制。以动平台轨迹误差的平均值与系统前三阶固有频率平均值的倒数为目标函数,利用遗传算法优化得到模糊PID控制参数的取值范围,从而提高控制的实时性与准确性。通过ADAMS与MATLAB/simulink联合仿真和物理样机的现场实验,验证了控制策略的有效性与正确性。

关键词： 机器人竞赛   北海市   中小学   电脑   广西   北京师范大学   附属中学   自治区  

摘要： 近日，由自治区教育厅主办，自治区电教馆、北海市教育局承办的2016广西中小学电脑机器人竞赛在北京师范大学北海附属中学举行。

关键词： 机器人学   运动规划   非完整约束   RRT算法  

摘要： 本文提出一种改进的快速扩展随机树(rapidly-exploring random trees,RRT)运动规划方法,用于非完整微分约束下的机器人运动规划.针对类似目标偏好与双向RRT(bi-directional RRT,bi-RRT)等目标区域导向的RRT运动规划所存在的局部极小问题,结合回归检测与碰撞检测机制,设计了一种碰撞检测与回归机制(collision-test and regression mechanism,CR)机制.该方法使得机器人在规划过程中能获取到全局障碍物信息,从而避免对已扩展节点的重复搜索,以及重复对边缘节点的回归测试和避障检测.该机制使得机器人可加快跳出局部极小区域,提高运动规划实的时性.将改进的RRT运动算法在容易产生局部极小值的环境中仿真测试,结果表明该算法在不显著影响其他性能的前提下,可以明显提高规划的实时性.

关键词： 开槽型柔顺关节   并联机器人   动力学   轨迹跟踪  

摘要： 以含有开槽型柔顺关节的并联机器人为研究对象,对其动力学及轨迹跟踪问题进行研究。根据柔顺关节特性,建立系统分析模型,应用拉格朗日方法建立系统动力学方程。为补偿系统具有的不确定性,分别设计趋近律上界滑模控制策略和径向基函数(Radial basis function,RBF)神经网络趋近律滑模控制策略,基于Lyapunov理论证明了系统的全局稳定性。应用S型速度规划曲线,分别给出直线轨迹和圆轨迹的运动规划算法。仿真结果表明,系统模型及控制策略能够有效实现柔顺关节并联机器人的轨迹跟踪。