关键词： 细菌机器人   趋磁细菌   动力学模型   金黄色葡萄球菌   分离  

摘要： 利用具有磁场响应特性的趋磁细菌构建了一种趋磁细菌微机器人系统.首先建立了趋磁细菌MO-1的动力学模型,仿真分析了趋磁细菌在不同磁场条件下的运动特性,结果与实验结果吻合.然后,利用兔抗MO-1多克隆抗体与MO-1细胞反应,构建趋磁细菌MO-1机器人,其可借助抗体Fc段的亲和特性与金黄色葡萄球菌连接.通过搭建的磁场控制系统,在微流控芯片中实现了趋磁细菌机器人对金黄色葡萄球菌的捕获与分离.研究结果显示,构建的趋磁细菌机器人系统可以有效实现对特异细菌的分离,在医学检测分析方面将发挥重要的作用.

关键词： 码垛机器人   Robotics   toolbox   有限元分析   刚柔耦合   动态特性  

摘要： 目的以码垛机器人为例,探讨刚柔耦合系统的运动学、动力学仿真分析方法,分析杆件弹性变形对机器人末端运动精度的影响。方法利用Matlab/Robotics工具箱编程,对码垛机器人进行运动学仿真,获取各关节角位移曲线;利用ADMAS建立虚拟样机,对码垛机器人进行动力学仿真;同时,利用Ansys对机械臂等杆件进行柔性化处理,生成mnf中性文件,导入ADAMS中建立刚柔耦合模型进行仿真分析。结果得出了码垛机器人在高速重载运动过程中机械手末端的位移偏差曲线,以及各关节的驱动扭矩。结论刚柔耦合分析方法更加直观、准确地模拟了机器人的实际工作状况,提高了在动载荷作用下对零部件动态响应分析的准确性,为码垛机器人的设计优化及驱动选型分析提供了理论依据。

摘要： This study aimed to assess the safety of robotic surgery for older women undergoing surgery for endometrial cancer. A retrospective chart review of women undergoing surgery for endometrial cancer between October 2010 and December 2012 was conducted at the authors' institution. This cohort was divided by age (a parts per thousand yen65 vs < 65 years) and surgical approach (laparotomy vs robotic surgery). Postoperative morbidity and mortality were compared using standard statistical analysis. Of 228 patients identified, 73 (32 %) were 65 years old or older, and 98 (43 %) had undergone robotic surgery. Among the robotic surgery patients, women 65 years old or older had a higher Charlson comorbidity score (7.6 vs 4.9;p < 0.01) and were more likely to undergo pelvic lymphadenectomy (73 vs 39 %;p < 0.01). The complication rates did not differ between the groups except for increased urinary retention in the older group (15 % vs 3 %;p = 0.04). Older patients had a longer hospital stay (2.2 vs 1.3 days;p < 0.01) and a similar rate of discharge home (100 vs 96 %;p = 0.09). For the patients 65 years old or older, robotic surgery was associated with less blood loss (131 vs 235 ml;p = 0.03), a lower rate of ileus (0 vs 15 %;p = 0.04), a lower perioperative surgical complication rate (4 vs 30 %;p = 0.01), a shorter hospital stay (2.2 vs 4.4 days;p < 0.01), and a similar rate of discharge home (96 vs 91 %;p = 0.45) compared with laparotomy. Robotic surgery appears to be associated with less postoperative morbidity than laparotomy for endometrial cancer staging in women 65 years old or older. The complication rates after robotic surgery were similar between the two age groups.

关键词： Bladder cancer   Extracorporeal urinary diversion   Intracorporeal urinary diversion   Open radical cystectomy   Quality of life  

摘要： Open radical cystectomy (ORC) remains the gold standard for treatment of muscle-invasive bladder cancer and certain cases of high-risk noninvasive bladder cancer. However, ORC is associated with significant morbidity, and there is promise of improved outcomes with the emergence of minimally invasive surgery. Because of the increased adoption of robotic radical cystectomy (RRC), we sought to review the current literature on the robotic approach. We explored the surgical techniques, perioperative and postoperative complications, oncologic and functional outcomes, and quality of life of patients with RRC versus ORC. Current data appear to favor RRC in perioperative outcomes and patient recovery, although RRC continues to be associated with longer surgical times and higher costs. Oncologic data are also promising, however data on long-term oncologic outcomes are insufficient. To date, there is evidence of similar functional outcomes between RRC and ORC continence, but there is a paucity of rigorous, standardized studies on health-related quality of life for continent versus incontinent diversion. Even as use of RRC steadily grows, there is a lack of consensus on the type of approach and urinary diversion that is optimal. We assessed the influence of surgeon experience on the totally intracorporeal urinary diversion and its feasibility to be widely adopted. We aimed to answer the question of whether there are significant benefits to RRC, and furthermore, of the effect of the approach on the choice of urinary diversion. (C) 2015 Elsevier Inc. All rights reserved.

关键词： velocity jump process   swarm robotics   transport equation with delay  

摘要： We investigate the effect of turning delays on the behaviour of groups of differential wheeled robots and show that the group-level behaviour can be described by a transport equation with a suitably incorporated delay. The results of our mathematical analysis are supported by numerical simulations and experiments with E-Puck robots. The experimental quantity we compare with our revised model is the mean time for robots to find the target area in an unknown environment. The transport equation with delay better predicts the mean time to find the target than the standard transport equation without delay.

关键词： Planar parallel manipulator   Inverse dynamics   Robust control   Trajectory tracking control   Sliding mode control   Disturbance observer  

摘要： This paper proposes a modular lightweight three degrees of freedom (DOF) vertical planar parallel robotic manipulator with a singularity free working region and that which is partially decoupled. It also addresses the inverse dynamics of the proposed manipulator supported by a robust sliding mode control along with an active disturbance compensation which has been improvised for the proposed vertical planar parallel robotic manipulator in the presence of parameter uncertainties and external disturbances. Disturbance vector comprising of disturbances due to the system dynamic variations namely payload and parameter variations, frictional effects and other additional (unmodelled) effects have been estimated and compensated through the disturbance observer. To demonstrate the effectiveness of the proposed controller, simulations and experiments with a desired characteristic trajectory are performed and, the proposed controller performances have been compared with traditional controllers and recent developed controllers to illustrate the usefulness and efficacy of the proposed controller. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Robots   Caregivers   Older adults   Hospital beds  

关键词： Computational thinking   Systems thinking   Robotics   Participatory simulations  

摘要： Both complex systems methods (such as agent-based modeling) and computational methods (such as programming) provide powerful ways for students to understand new phenomena. To understand how to effectively teach complex systems and computational content to younger students, we conducted a study in four urban middle school classrooms comparing 2-week-long curricular units-one using a physical robotics participatory simulation and one using a virtual robotics participatory simulation. We compare the two units for their effectiveness in supporting students' complex systems thinking and computational thinking skills. We find that while both units improved student outcomes to roughly the same extent, they engendered different perspectives on the content. That is, students using the physical system were more likely to interpret situations from a bottom-up ("agent") perspective, and students using the virtual system were more likely to employ a top-down ("aggregate") perspective. Our outcomes suggest that the medium of students' interactions with systems leads to differences in their learning from and about those systems. We explore the reasons for and effects of these differences, challenges in teaching this content, and student learning gains. The paper contributes operationalizable definitions of complex systems perspectives and computational perspectives and provides both a theoretical framework for and empirical evidence of a relationship between those two perspectives.

关键词： Microcontrollers   embedded software   robots   engineering education   mechatronics  

摘要： This paper describes how students can be guided to become their own best teachers, able to test their newly acquired skills with only minimum or no direct assistance from an instructor or lecturer. Closed-loop' student-centred learning and problem-based learning approaches are described, involving weekly lectures and hands-on lab activities that keep students highly curious, motivated and engaged in self-regulated learning. Students are required to design and test their own original circuits and software code by modifying, extending or expanding the sample circuits and example code described in the lecture notes, in order to complete and demonstrate specific objectives or requirements for each weekly lab session. These closed-loop' student-centred learning labs ensure that all teams of students achieve a common or minimum acceptable level of practical skills, which adequately prepares them for a design-and-build' competition. This style of learning also helps develop generic life-long learning skills such as investigating and identifying problems (problem definition and analysis), independent research and experimentation, decision making, communication and teamwork. Even without any prior hands-on experience with electronic circuit design, programming and microcontrollers, each team of students was able to apply and demonstrate new knowledge and skills, devise and test original designs for circuits and software without any supervision, solve and fix complex problems successfully and confidently, and build an operational remote-controlled electric vehicle or mobile robot for a final competition. Some went even further and built sensor-guided fully autonomous mobile robots. Three different competitions described in this paper include a timed racing car competition, a multi-player box grabbing contest over a rocky obstacle course and a robot wars' competition that was televised on Channel 10 news in Australia.