关键词： robotics   Science  

摘要： An introduction to papers from the tenth Robotics: Science & Systems Conference (RSS) that was held in June 2014 at the University of California at Berkeley is presented which include topics about the algorithm for estimating the pose of articulated mechanisms, sensor model for semantic observations, and analysis on the gait of sidewinder rattlesnakes.

关键词： Robotics   Automation   In-pipe inspection robots   Tank inspection robots   NDT   UAV   Wireless sensor networks (WSN)   Oil and gas exploration  

摘要： With ever increasing global demand and depleting resources for fossil fuels, oil and gas industry is now positively looking for advanced robotic solutions to increase their productivity and safety. With time easy resources of the fossil fuels are shrinking and newly searched reservoirs, to feed supply demands of global consumption, are mostly located in extreme environmental conditions such as hot deserts, deep water and arctic zone etc. Production of the fossil fuels, in such inhospitable environmental conditions, poses difficult challenges to health, safety and environment (HSE). Tragic incidents like Exxon Valdez and Deepwater Horizon oil spills are examples of such challenges. Therefore, oil and gas industry has lot to learn from successful implementation of robotics and automation for dull, dirty and dangerous (3D) tasks of manufacturing industry. Most of the robotics technologies, currently used in the oil and gas industry, are mainly focused on inspection, maintenance and repair (IMR) of plant facilities with higher frequency and accuracy. Fundamental idea, involved in the automatization of these processes, is based on the principle of teleoperation with skilled operator. Automation of 3D tasks not only improves HSE standards but also lead to much needed economic efficiency by reducing production cycle, floor space and number of staff members required for continuous inspection and manipulation of plant facilities. Considering the risks involved in this industry usage of completely autonomous robots, first without achieving very high reliability, is still a far fetch choice. Therefore, semi-autonomous robots, where actions are performed by robots but cognitive decisions are still taken by skilled operator, is an excellent choice for this industry as a near future solution. In the onshore oil and gas industry robotic solutions are used both in upstream and downstream processes, such as site survey, drilling, production and transportation, mainly focused in the

关键词： Learning curve   Robotic sacral colpopexy  

摘要： Study Objective: To determine the learning curve of the following segments of a robotic sacral colpopexy: preoperative setup, operative time, postoperative transition, and room turnover. Design: A retrospective cohort study to determine the number of cases needed to reach points of efficiency in the various segments of a robotic sacral colpopexy (Canadian Task Force II-2). Setting: A university-affiliated community hospital. Patients: Women who underwent robotic sacral colpopexy at our institution from 2009 to 2013 comprise the study population. Interventions: Patient characteristics and operative reports were extracted from a patient database that has been maintained since the inception of the robotics program at Winthrop University Hospital and electronic medical records. Based on additional procedures performed, 4 groups of patients were created (A-D). Measurements and Main Results: Learning curves for each of the segment times of interest were created using penalized basis spline (B-spline) regression. Operative time was further analyzed using an inverse curve and sequential grouping. A total of 176 patients were eligible. Nonparametric tests detected no difference in procedure times between the 4 groups (A-D) of patients. The preoperative and postoperative points of efficiency were 108 and 118 cases, respectively. The operative points of proficiency and efficiency were 25 and 36 cases, respectively. Operative time was further analyzed using an inverse curve that revealed that after 11 cases the surgeon had reached 90% of the learning plateau. Sequential grouping revealed no significant improvement in operative time after 60 cases. Turnover time could not be assessed because of incomplete data. Conclusions: There is a difference in the operative time learning curve for robotic sacral colpopexy depending on the statistical analysis used. The learning curve of the operative segment showed an improvement in operative time between 25 and 36 cases when using B-spline

关键词： Wheeled mobile robots   Formation control   Engineering education  

摘要： This paper describes the development of a motivating and innovative multi-robot formation control platform for laboratory experiments with mobile robots. The platform is composed of two components: a simulator and an environment to experiment with low cost wheeled mobile robots. The environment constitutes a ready to use test tool that provides to engineering students the opportunity to simulate and test many different formation and cooperation control strategies with a real system. Currently the platform is used in the Systems and Control Engineering Master program offered by the National University of Distance Education (UNED) and the Complutense University of Madrid (UCM) in Spain. The use of the platform exposes students to hands-on laboratory sessions, contributing to their development as engineers.

摘要： Background: To report our initial experience and highlight the value of using intraoperative C-arm cone beam computed tomography (CT;DynaCT (R)) image fusion guidance along with steerable robotic endovascular catheter navigation to optimize vessel cannulation. Methods: Between May 2013 and January 2015, all patients who underwent endovascular procedures using DynaCT image fusion technique along with Hansen Magellan vascular robotic catheter were included in this study. As a part of preoperative planning, relevant vessel landmarks were electronically marked in contrast-enhanced multi-slice computed tomography images and stored. At the beginning of procedure, an intraoperative noncontrast C-arm cone beam CT (syngo DynaCT (R), Siemens Medical Solutions USA Inc.) was acquired in the hybrid suite. Preoperative images were then coregistered to intraoperative DynaCT images using aortic wall calcifications and bone landmarks. Stored landmarks were then overlaid on 2-dimensional (2D) live fluoroscopic images as virtual markers that are updated in real-time with C-arm, table movements and image zoom. Vascular access and robotic catheter (Magellan (R), Hansen Medical) was setup per standard. Vessel cannulation was performed based on electronic virtual markers on live fluoroscopy using robotic catheter. The impact of 3-dimensional (3D) image fusion guidance on robotic vessel cannulation was evaluated retrospectively, by assessing quantitative parameters like number of angiograms acquired before vessel cannulation and qualitative parameters like accuracy of vessel ostium and centerline markers. Results: All 17 vessels were cannulated successfully in 14 patients' attempted using robotic catheter and image fusion guidance. Median vessel diameter at origin was 5.4 mm (range, 2.3-13 mm), whereas 12 of 17 (70.6%) vessels had either calcified and/or stenosed origin from parent vessel. Nine of 17 vessels (52.9 %) were cannulated without any contrast injection. Median number of angiogra

摘要： [in Japanese]

关键词： 寻宝机器人   传感器   前轮定位   控制系统   PID控制   数字识别  

摘要： 寻宝机器人控制系统的总体设计过程是按照由整体到局部的设计原则进行的。整体设计是指在详细分析学校已有关于寻宝机器人的研究及查阅大量国内外文献资料的基础上,构建出寻宝机器人控制系统的总体设计方案,总体设计方案主要分为四个部分,即硬件选择、硬件电路的设计、机械结构的设计及软件系统的设计。局部设计是指采用模块化的设计思想,分别对寻宝机器人的各个功能模块进行设计,各个功能模块的设计一般分为理论分析、电路设计、PCB板制作、程序设计及实验验证等步骤。机械结构的设计方面,本文完成了前轮定位参数及寻宝机器人重心位置的调整,并通过计算及实验分析确立了寻宝机器人的前瞻距离,同时对地板、舵机连接件等结构进行了设计。详细介绍了灰度传感器、接近开关、线性CCD摄像头等传感器的安装方式,并基于混合式数据融合的结构模型特点,利用贝叶斯推理的方法推导出了一种基于贝叶斯法则的多传感器数据融合算法。该算法对各个传感器采集到的数据信息进行联合判断,能提高寻宝机器人获取环境特征参数及自身状态特征参数的准确度和精度,进而实现了寻宝机器人快速稳定的行驶。软件系统的设计核心是寻宝机器人赛道引导线的提取算法、数字识别算法及车体控制算法的研究与实现。本文采用边缘检测算法中的Sobel算子来进行引导线提取,并对Sobel算子的提取过程进行了程序设计。同时根据寻宝机器人需完成查找宝物这一任务的需要,提出了一种基于数字符轮廓的数字识别算法并通过实验验证了该算法的鲁棒性。本文还对寻宝机器人的PID控制策略进行了研究,完成了寻宝机器人增量式PID控制器的设计,并利用Matlab/Simulink对寻宝机器人PID控制算法进行了模拟仿真,完成了k、k及k等参数的整定,并通过测试验证了PID控制算法的可行性及优越性。总之,通过完成以上工作,本文设计并制作了一款环境感知能力强、爬坡能力好、得分能力强、转向精准及速度控制性能好的寻宝机器人,并在2015年寻宝机器人大赛中以总得分2600分的优异成绩获得了华中赛区一等奖。

关键词： 机器人   人工智能   机器人学  

摘要： 救援机器人按类别属特种机器人,应用场景固定。我国在"十一五"期间,已经将"废墟搜索与辅助救援机器人"项目列入国家863重点项目,由中科院沈阳自动化研究所机器人学国家重点实验室与中国地震应急搜救中心联合承担研制,并成功研制出"废墟可变形搜救机器人、机器人化生命探测仪、旋翼无人机"三款机器人。

关键词： 颅颌面穿刺   视觉导航   机器人学   空间配准   安全机制  

摘要： 颅颌面外科疾病严重影响患者的生活质量,因此研究有效的手术疗法是临床迫切需要解决的问题。人工针穿刺是目前该领域比较常见的诊疗手段,但该方法存在一些固有的缺点。首先,手术涉及的区域结构较复杂,要求操作医生具有较高的专业技能和丰富的临床经验;其次,手术过程中由于操作者的手臂抖动和视觉误差,导致穿刺路径偏离术前规划,造成伤害。手术机器人的使用为解决该问题提供了有效途径。采用机器人手术系统协助医生完成穿刺手术除了具有人工穿刺术的一般优点外,还具备定位准确、操作稳定、便捷易用等特点,成为目前颅颌面外科穿刺手术的研究热点。本文针对该热点,研究适用于颅颌面穿刺的专用机器人系统架构、导航、控制等关键问题。课题与北京大学附属口腔医院合作,结合临床医师的人工颅颌面穿刺手术实践,探讨机器人穿刺手术流程,并制定了机器人手术系统的整体方案,构建出一种应用视觉导航实现颅颌面自动穿刺的专用机器人手术系统。该系统包括六自由度机器人、光学定位装置、六维力传感器在内的硬件系统,和由运动控制、空间配准、安全机制等多个控制模块构成的上位机控制系统。为研究机器人运动特性,采用D-H法对手术机器人建模,利用解析法求解逆运动学,Matlab Robotics Toolbox函数验证求解结果的正确性。之后通过矢量积法求解雅克比矩阵,拉格朗日法一般化动力学方程,蒙特卡洛法建立运动空间。结合光学定位系统,研究了手术机器人与光学定位器之间的空间配准问题。提出了包括平面测量配准法、旋转配准法、直线旋转自动配准法在内的三种配准算法,并通过实验比较三者的配准精度,为最终的模拟实验提供配准矩阵。研究了机器人手术系统的安全机制,提出了按手术空间划分的多种安全控制策略。在位姿设定空间,引入阻抗控制策略实现术前柔顺调整;在直线进针空间,采取力超限即原路径返回策略;在弹射取检空间,采取绝对静止策略。最后,对所构建的手术机器人系统进行实验研究,验证其实用性。首先进行基于三种工作空间的安全控制试验和末端手术器械的跟随实验,验证了手术机器人系统安全控制机制的有效性;之后与北大口腔医院联合开展模拟手术实验,考核了手术机器人的穿刺精度、运动稳定性和易用性,结果表明系统具备开展动物实验的能力。