关键词： Surgical robotics   Skill learning   Skill analysis   Learning to perceive  

摘要： Advances in technology and computing play an increasingly important role in the evolution of modern surgical techniques and paradigms. This article reviews the current role of machine learning (ML) techniques in the context of surgery with a focus on surgical robotics (SR). Also, we provide a perspective on the future possibilities for enhancing the effectiveness of procedures by integrating ML in the operating room. The review is focused on ML techniques directly applied to surgery, surgical robotics, surgical training and assessment. The widespread use of ML methods in diagnosis and medical image computing is beyond the scope of the review. Searches were performed on PubMed and IEEE Explore using combinations of keywords: ML, surgery, robotics, surgical and medical robotics, skill learning, skill analysis and learning to perceive. Studies making use of ML methods in the context of surgery are increasingly being reported. In particular, there is an increasing interest in using ML for developing tools to understand and model surgical skill and competence or to extract surgical workflow. Many researchers begin to integrate this understanding into the control of recent surgical robots and devices. ML is an expanding field. It is popular as it allows efficient processing of vast amounts of data for interpreting and real-time decision making. Already widely used in imaging and diagnosis, it is believed that ML will also play an important role in surgery and interventional treatments. In particular, ML could become a game changer into the conception of cognitive surgical robots. Such robots endowed with cognitive skills would assist the surgical team also on a cognitive level, such as possibly lowering the mental load of the team. For example, ML could help extracting surgical skill, learned through demonstration by human experts, and could transfer this to robotic skills. Such intelligent surgical assistance would significantly surpass the state of the art in surgical r

关键词： Bifurcation   Legged Locomotion   Chaos   Chaotic Mobile Robot   Fractal   Modular Robot   Optimization Methods   Swarm Intelligence  

摘要： This article presents a summary of applications of chaos and fractals in robotics. Firstly, basic concepts of deterministic chaos and fractals are discussed. Then, fundamental tools of chaos theory used for identifying and quantifying chaotic dynamics will be shared. Principal applications of chaos and fractal structures in robotics research, such as chaotic mobile robots, chaotic behaviour exhibited by mobile robots interacting with the environment, chaotic optimization algorithms, chaotic dynamics in bipedal locomotion and fractal mechanisms in modular robots will be presented. A brief survey is reported and an analysis of the reviewed publications is also presented.

关键词： Brain-machine interface   Brain-computer interface   Neuroprosthetic   Shared mode control   Assistive technology  

摘要： Background: Recent studies have shown that brain-machine interfaces (BMIs) offer great potential for restoring upper limb function. However, grasping objects is a complicated task and the signals extracted from the brain may not always be capable of driving these movements reliably. Vision-guided robotic assistance is one possible way to improve BMI performance. We describe a method of shared control where the user controls a prosthetic arm using a BMI and receives assistance with positioning the hand when it approaches an object. Methods: Two human subjects with tetraplegia used a robotic arm to complete object transport tasks with and without shared control. The shared control system was designed to provide a balance between BMI-derived intention and computer assistance. An autonomous robotic grasping system identified and tracked objects and defined stable grasp positions for these objects. The system identified when the user intended to interact with an object based on the BMI-controlled movements of the robotic arm. Using shared control, BMI controlled movements and autonomous grasping commands were blended to ensure secure grasps. Results: Both subjects were more successful on object transfer tasks when using shared control compared to BMI control alone. Movements made using shared control were more accurate, more efficient, and less difficult. One participant attempted a task with multiple objects and successfully lifted one of two closely spaced objects in 92 % of trials, demonstrating the potential for users to accurately execute their intention while using shared control. Conclusions: Integration of BMI control with vision-guided robotic assistance led to improved performance on object transfer tasks. Providing assistance while maintaining generalizability will make BMI systems more attractive to potential users.

关键词： 机器人教学   兴趣培养   战略重点   中国制造   九大   机器人竞赛   问卷调查   特色学校   校本教材   个体差异  

摘要： 2015年＂中国制造2025＂战略将机器人产业作为九大战略重点与任务中的一项内容。在市场和政策刺激下,我国机器人产业将迎来重要的发展机遇期。与此同时,机器人教育应市场和社会的需要快速成长和建设起来。普通高中的学生逻辑思维能力发展日趋完善和成熟,同时知识储备较小学生和初中生更为扎实,因此在普通高中对学生进行机器人教育启蒙和兴趣培养尤为重要。

关键词： 人才培养环境   人才成长   科技创新意识   大赛组委会   科技竞赛   重点中学   校本课程资源   校园文化建设   辅导工作   机器人竞赛  

摘要： ＂科技教育创新学校奖＂（School of Distinction Award）由英特尔公司在美国设立,奖励在科学和数学教育方面有出色成绩的美国中小学校。为引进全球优质教育资源,完善创新人才培养环境,自2010年第25届创新大赛开始,英特尔（中国）有限公司与全国青少年科技创新大赛组委会合作开展＂十佳科技教育创新学校＂评选活动,每年选拔和奖励10所在科学教育中有出色成绩的中小学校，

关键词： Supervisory control theory   Swarm robotics   Formal methods   Kilobot   e-puck   Automatic code generation  

摘要： Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system's control code is typically generated manually. Also, there is cultural resistance to apply formal methods;they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics.

关键词： Assumed modes   flexible   parallel robot   prismatic joint   vibration  

摘要： In this research, first an analytical model is presented for dynamic and vibration analysis of a 3-PSP parallel robot with a flexible moving platform. Next, the presented analytical model is solved using an approximate analytical method. The moving platform is assumed to be made of three Euler-Bernoulli beams joined together to form a star. Each of the three beams of the star slides through a passive prismatic joint. Then, three-dimensional vibration analysis of the flexible moving platform, star, with three passive prismatic joints is the main subject of the present research. Only vibration during free motion is considered. Therefore, it is assumed that only inertia forces of the star are the main source of its vibration. First, direct kinematics is used for acceleration analysis of the rigid robot and inertia forces are obtained. For dynamic modeling, the passive prismatic joints and junction point of the three beams are modeled using a new set of geometric constraints. Additionally, a previously developed constrained motion equation for a planar Euler-Bernoulli beam having a prismatic joint is further developed for the three beams of the star. Next, an approximate analytical solution method, called the constrained assumed modes method, is used for inverse dynamics and vibration analysis of the robot. Furthermore, the developed model can be used for direct dynamics analysis of the robot. Finally, several input trajectories and two different groups of mode shapes are considered to investigate the model efficiency. The results of the presented model are compared with the results of a commercial finite element method software.

关键词： Special issues of periodicals   Robots -- Control systems   Information processing   Robots -- Kinematics   Computer science -- Periodicals  

摘要： Assistive technologies are important tools for helping older people to live independently. Praminda Caleb-Solly, Associate Professor in Independent Living Systems at Bristol Robotics Laboratory (BRL) and Institute of Bio-Sensing Technologies, University of the West of England, provides an introduction as to how assistive robotics can address care needs. Intelligent robots, integrated with smart home sensors and healthcare databases, can provide the ability to realise autonomous assistive care solutions to support independent living for an ageing population. Assistive robots, working in conjunction with smart home sensors, can enable proactive initiatives to prompt and support a person wherever they are in their home, thus offering increased availability, awareness and access, as compared to a static telecare system. The assistance provided by a robot could include lifting and carrying, support with dressing and rehabilitation, or to monitor health with early detection of problems, using an interactive robot to provide guidance for taking remedial action.