关键词： 人工智能   智能机器人   产学研合作   人才培养  

摘要： 人工智能的发展改变了人类的认知方式和生活方式,人工智能延伸了人类的体力和脑力,将会让人类更加有尊严、更加优雅、更加智慧地生活。人工智能给人类带来的影响将远远超过计算机、互联网在过去几十年对世界的改变,也为教育带来了前所未有的机遇和挑战。北京联合大学在全国率先成立机器人学院,突破传统教学的边界,采取科学任务带动创新人才培养的模式,致力于培养面向先进机器人、智能汽车及无人系统等领域的高素质、应用型专门人才。

关键词： 青少年   机器人竞赛   干涉   对策  

摘要： 青少年机器人竞赛中的干涉是指在青少年机器人竞赛活动过程中,为完成竞赛项目任务,教师(指导者)或其他人员协助参赛者形成解决方案的行为。对机器人的结构、程序和竞赛策略上实施的干涉,削弱了青少年机器人竞赛的教育价值,剥夺了青少年的竞赛主体地位。社会功利性、市场经济利益、教师个人素质和竞赛项目难度是导致干涉现象产生的四个因素。应对干涉现象有教育行政部门弱化功利导向、教师(指导者)提高辅导能力、竞赛组织者完善竞赛体制等策略。

关键词： 小型机器人   竞赛   关节运动   遥控机器人   编程界面   编程设计   模块   动作  

摘要： 这款小型机器人的每个关节都植入了定制舵机，利用关节运动模块、电磁传感模块、前端操控模块实现格斗、竞速、避障等各类动作。更有趣的是，GJS公司开放了动作编程界面，操纵者可通过手机APP遥控机器人，并简单编程设计格斗动作。

关键词： Medical robotics   Interventional imaging   Multimodal imaging   Breast cancer   Inside-out tracking  

摘要： The staging of female breast cancer requires detailed information about the level of cancer spread through the lymphatic system. Common practice to obtain this information for patients with early-stage cancer is sentinel lymph node (SLN) biopsy, where LNs are radioactively identified for surgical removal and subsequent histological analysis. Punch needle biopsy is a less invasive approach but suffers from the lack of combined anatomical and nuclear information. We present and evaluate a system that introduces live collaborative robotic 2D gamma imaging in addition to live 2D ultrasound to identify SLNs in the surrounding anatomy. The system consists of a robotic arm equipped with both a gamma camera and a stereoscopic tracking system that monitors the position of an ultrasound probe operated by the physician. The arm cooperatively places the gamma camera parallel to the ultrasound imaging plane to provide live multimodal visualization and guidance. We validate the system by evaluating the target registration errors between fused nuclear and US image data in a phantom consisting of two spheres, one of which is filled with radioactivity. Medical experts perform punch biopsies on agar-gelatine phantoms with complex configurations of hot and cold lesions to provide a qualitative and quantitative evaluation of the system. The average point registration error for the overlay is mm. The time of the entire procedure was reduced by 36 %, with 80v of the biopsies being successful. The users' feedback was very positive, and the system was deemed to be very intuitive, with handling similar to classic US-guided needle biopsy. We present and evaluate the first medical collaborative robotic imaging system. Feedback from potential users for SLN punch needle biopsy is encouraging. Ongoing work investigates the clinical feasibility with more complex and realistic phantoms.

关键词： underwater robot   batoid Dasyotis   diving maneuver   computational fluid dynamics  

摘要： As part of a design project for a batoid-inspired underwater robot, its dive to a predetermined depth is questioned here. Previously, the vehicle was designed with a streamlined hull shape that resembles a Dasyatis batoid fish, and the fish locomotion was imitated using undulating fins at each side. We did not, however, provide a buoyancy engine or any fins to turn the vessel in the vertical plane and conduct diving maneuvers. We expect to leave the vessel on the water surface, and it dives to a desired depth and then maintains a constant pitch angle and a constant forward speed. A new technique is invented here: the thrust forces of the two fins are shifted off the central top-bottom symmetry plane of the hull, therefore producing a pitching moment on the vessel. An initial trim is also introduced by shifting the center of mass forward the center of buoyancy. Therefore, the vessel is initially bowed down and, by its out-of-plane thrust force, adjusts its pitch attitude. The question is whether a final balance between the thrust force and the hydrodynamic forces will be feasible. The hydrodynamic forces at such forward speeds and attack angles were numerically derived using the computational fluid dynamics powerful software ANSYS-CFX.

关键词： Robotic manipulators   Motor dynamics   Path tracking   Optimal trajectory   Optimal control   Convex optimization  

摘要： To fully utilize the dynamic performance of robotic manipulators and enforce minimum motion time in path tracking, the problem of minimum time path tracking for robotic manipulators under confined torque, change rate of the torque, and voltage of the DC motor is considered. The main contribution is the introduction of the concepts of virtual change rate of the torque and the virtual voltage, which are linear functions in the state and control variables and are shown to be very tight approximation to the real ones. As a result, the computationally challenging non-convex minimum time path tracking problem is reduced to a convex optimization problem which can be solved efficiently. It is also shown that introducing dynamics constraints can significantly improve the motion precision without costing much in motion time, especially in the case of high speed motion. Extensive simulations are presented to demonstrate the effectiveness of the proposed approach.

关键词： robotic   ureteral reimplantation   Boari flap   psoas hitch   ureteral stricture  

摘要： Objective To describe our robot-assisted Boari flap ureteric reimplantation (RA-BFUR) technique, Please see Video S1. Methods The RA-BFUR technique is based on the open surgical technique of Ubelhor, and the experience includes 11 cases. Results Excellent results were achieved after a mean follow-up period of > 12 months. Conclusion The RA-BFUR technique could be considered a safe and effective method of ureteric reimplantation for long distal ureteric strictures.

关键词： underwater robot   Batoid (Dasyatis)   hydrodynamics   thrust mechanism   design  

摘要： Given the facts that a vast area of the earth is covered by water and the average depth of the oceans is more than 3,000 m, the issue of the unknowns beneath the water surface is a challenging and questionable one. It has been a few decades since remotely operated vehicles as well as untethered underwater robots have appeared and elevated the level of complex engineering. In this category, underwater robots that mimic fish and aquatic creatures open new horizons. In this article, imitating the body shape, kinematics, and swimming mechanism of a batoid fish (Dasyatidae), a vessel is designed that can swim at an acceptable speed with a limited amount of power. The hull shape is based on a cardioid curve, and drag force is calculated using fundamentals of fluid mechanics. Propulsion of the robot-fish is two wings at starboard and port that are undulating backward;thrust is approximated versus shaft speed. Finally, the power for swimming at the design speed is evaluated and compared with the available data of similar orders of magnitude.

关键词： Curriculum   Robotic surgery   Robot assisted   Resident training   General surgery  

摘要： The robotic surgical platform is being utilized by a growing number of hospitals across the country, including academic medical centers. Training programs are tasked with teaching their residents how to utilize this technology. To this end, we have developed and implemented a robotic surgical curriculum, and share our initial experience here. Our curriculum was implemented for all General Surgical residents for the academic year 2014-2015. The curriculum consisted of online training, readings, bedside training, console simulation, participating in ten cases as bedside first assistant, and operating at the console. 20 surgical residents were included. Residents were provided the curriculum and notified the department upon completion. Bedside assistance and operative console training were completed in the operating room through a mix of biliary, foregut, and colorectal cases. During the fiscal years of 2014 and 2015, there were 164 and 263 robot-assisted surgeries performed within the General Surgery Department, respectively. All 20 residents completed the online and bedside instruction portions of the curriculum. Of the 20 residents trained, 13/20 (65 %) sat at the Surgeon console during at least one case. Utilizing this curriculum, we have trained and incorporated residents into robot-assisted cases in an efficient manner. A successful curriculum must be based on didactic learning, reading, bedside training, simulation, and training in the operating room. Each program must examine their caseload and resident class to ensure proper exposure to this platform.

关键词： Applied physics   Materials science   Technology   Engineering  

摘要： Meet the octobot, the first robot to be made entirely from soft materials. Powered by a chemical reaction and controlled by a fluidic logic circuit, it heralds a generation of soft robots that might surpass conventional machines. See Letter p.451