关键词： 机械臂   履带移动机器人   统一动力学方程   Recurdyn  

摘要： 针对履带式移动机器人的研究主要集中在履带式行走机构和不考虑车体在其他装置影响下,履带移动机器人的运动性能。以搭载6自由度机械臂的履带式移动机器人为研究对象,分别推出机械臂、履带移动平台的运动学方程和包含机械臂的整车统一动力学方程,并运用多体动力学软件Recur Dyn构建动力学模型。通过模型,分析了机械臂与履带移动平台在动态交互影响下,整车的行驶特性,得到了整车在不同预紧力、不同路面下的运动性能。结果表明,在机械臂动态影响下履带移动机器人的预紧力为8KN最为合适,且其在黏土上的各项行驶性能均优于干砂。

关键词： self-construction   self-organization   correlation learning   multisensory fusion   cortically inspired network   mobile robotics  

摘要： Biological and technical systems operate in a rich multimodal environment. Due to the diversity of incoming sensory streams a system perceives and the variety of motor capabilities a system exhibits there is no single representation and no singular unambiguous interpretation of such a complex scene. In this work we propose a novel sensory processing architecture, inspired by the distributed macro-architecture of the mammalian cortex. The underlying computation is performed by a network of computational maps, each representing a different sensory quantity. All the different sensory streams enter the system through multiple parallel channels. The system autonomously associates and combines them into a coherent representation, given incoming observations. These processes are adaptive and involve learning. The proposed framework introduces mechanisms for self-creation and learning of the functional relations between the computational maps, encoding sensorimotor streams, directly from the data. Its intrinsic scalability, parallelisation, and automatic adaptation to unforeseen sensory perturbations make our approach a promising candidate for robust multisensory fusion in robotic systems. We demonstrate this by applying our model to a 3D motion estimation on a quadrotor.

关键词： Autonomy   robotics  

关键词： Anticipation   Cognitive robotics   Embodied cognition   Enactivism   Animats  

摘要： The aim of this paper is to propose that current robotic technologies cannot have intentional states any more than is feasible within the sensorimotor variant of embodied cognition. It argues that anticipation is an emerging concept that can provide a bridge between both the deepest philosophical theories about the nature of life and cognition and the empirical biological and cognitive sciences steeped in reductionist and Newtonian conceptions of causality. The paper advocates that in order to move forward, cognitive robotics needs to embrace new platforms and a conceptual framework that will enable it to pursue, in a meaningful way, questions about autonomy and purposeful behaviour. We suggest that hybrid systems, part robotic and part cultures of neurones, offer experimental platforms where different dimensions of enactivism (sensorimotor, constitutive foundations of biological autonomy, including anticipation), and their relative contributions to cognition, can be investigated in an integrated way. A careful progression, mindful to the deep philosophical concerns but also respecting empirical evidence, will ultimately lead towards unifying theoretical and empirical biological sciences and may offer advancement where reductionist sciences have been so far faltering. (C) 2016 The Authors. Published by Elsevier Ireland Ltd.

关键词： robotic-assisted surgery   robot   Mako   Robodoc   Blue Belt   arthroplasty  

摘要： Robotic-assisted orthopedic surgery has been available clinically in some form for over 2 decades, claiming to improve total joint arthroplasty by enhancing the surgeon's ability to reproduce alignment and therefore better restore normal kinematics. Various current systems include a robotic arm, robotic-guided cutting jigs, and robotic milling systems with a diversity of different navigation strategies using active, semiactive, or passive control systems. Semiactive systems have become dominant, providing a haptic window through which the surgeon is able to consistently prepare an arthroplasty based on preoperative planning. A review of previous designs and clinical studies demonstrate that these robotic systems decrease variability and increase precision, primarily focusing on component positioning and alignment. Some early clinical results indicate decreased revision rates and improved patient satisfaction with robotic-assisted arthroplasty. The future design objectives include precise planning and even further improved consistent intraoperative execution. Despite this cautious optimism, many still wonder whether robotics will ultimately increase cost and operative time without objectively improving outcomes. Over the long term, every industry that has seen robotic technology be introduced, ultimately has shown an increase in production capacity, improved accuracy and precision, and lower cost. A new generation of robotic systems is now being introduced into the arthroplasty arena, and early results with unicompartmental knee arthroplasty and total hip arthroplasty have demonstrated improved accuracy of placement, improved satisfaction, and reduced complications. Further studies are needed to confirm the cost effectiveness of these technologies. (C) 2016 Elsevier Inc. All rights reserved.

关键词： ENCODING   BRAIN imaging   MACHINE learning   MAGNETIC resonance imaging of the brain   BIOENGINEERING   NEUROREHABILITATION  

摘要： 413

关键词： SURGICAL robots   TRAINING of medical residents   LAPAROSCOPIC surgery   CHOLECYSTECTOMY   VENTRAL hernia   MEDICAL care costs   TREATMENT  

关键词： duplex system   ectopic ureters   minimally invasive surgery   pediatrics   robotics   ureteroureterostomy  

摘要： Introduction: Robotic technology has been increasingly utilized for complicated reconstructive surgeries in pediatric urology, such as ureteroureterostomy (UU). The literature is limited regarding the performance of minimally invasive UU in children, and the existing published series utilize indwelling ureteral stents. We sought to report on our pediatric experience with robot-assisted laparoscopic (RAL)-UU using a temporary ureteral catheter in duplex systems with ureteral ectopia. Methods: A retrospective chart review was performed of all pediatric patients who underwent RAL-UU at a single institution over a 2-year period. An externalized ureteral catheter was kept overnight and removed with the indwelling catheter on postoperative day 1. Intraoperative as well as postoperative complications, length of stay (LOS), and analgesia were recorded. Follow-up renal ultrasound (US) and evaluation for symptom resolution were completed 3 months postoperatively. Results: Twelve patients (four male, eight female) underwent RAL-UU at a mean age of 19.4 months (range 9-48 months) during the study period. The majority of patients (83.3%) presented with hydronephrosis, and all were found to have duplicated systems with ureteral ectopia. No child had ipsilateral vesicoureteral reflux. Two children had bilateral duplicated systems, one of which required bilateral surgery. Median operative time was 138 minutes (IQR 119-180 minutes), and mean estimated blood loss was 1.5mL. There were no intraoperative complications, and no case required open conversion. Median hospital LOS was 31 hours (IQR 30-39 hours). Median follow-up time was 11 months (range 3-22 months). One patient developed a postoperative febrile upper respiratory infection. All patients had improved hydroureteronephrosis on US at 3 months postoperatively. One patient with preoperative urinary incontinence was dry postoperatively. Therefore, the overall success rate was 100%. Conclusion: Our institutional results demonstrat

关键词： Neurology   Assessment   Upper extremity   Rehabilitation technology   Robotics   Evaluation   Outcome measures  

摘要： Background: The need for cost-effective neurorehabilitation is driving investment into technologies for patient assessment and treatment. Translation of these technologies into clinical practice is limited by a paucity of evidence for cost-effectiveness. Methodological issues, including lack of agreement on assessment methods, limit the value of meta-analyses of trials. In this paper we report the consensus reached on assessment protocols and outcome measures for evaluation of the upper extremity in neurorehabilitation using technology. The outcomes of this research will be part of the development of European guidelines. Methods: A rigorous, systematic and comprehensive modified Delphi study incorporated questions and statements generation, design and piloting of consensus questionnaire and five consensus experts groups consisting of clinicians, clinical researchers, non-clinical researchers, and engineers, all with working experience of neurological assessments or technologies. For data analysis, two major groups were created: i) clinicians (e.g., practicing therapists and medical doctors) and ii) researchers (clinical and non-clinical researchers (e.g. movement scientists, technology developers and engineers). Results: Fifteen questions or statements were identified during an initial ideas generation round, following which the questionnaire was designed and piloted. Subsequently, questions and statements went through five consensus rounds over 20 months in four European countries. Two hundred eight participants: 60 clinicians (29 %), 35 clinical researchers (17 %), 77 non-clinical researchers (37 %) and 35 engineers (17 %) contributed. At each round questions and statements were added and others removed. Consensus (>= 69 %) was obtained for 22 statements on i) the perceived importance of recommendations;ii) the purpose of measurement;iii) use of a minimum set of measures;iv) minimum number, timing and duration of assessments;v) use of technology-generated assessme

摘要： The relative rarity of reciprocity in nature, contrary to theoretical predictions that it should be widespread, is currently one of the major puzzles in social evolution theory. Here we use evolutionary robotics to solve this puzzle. We show that models based on game theory are misleading because they neglect the mechanics of behavior. In a series of experiments with simulated robots controlled by artificial neural networks, we find that reciprocity does not evolve, and show that this results from a general constraint that likely also prevents it from evolving in the wild. Reciprocity can evolve if it requires very few mutations, as is usually assumed in evolutionary game theoretic models, but not if, more realistically, it requires the accumulation of many adaptive mutations.