关键词： Absolute nodal coordinate formulation   Flexible cable dynamics   Multi-body dynamics   Large deformation   Semi-submersible AUV   Towed system  

摘要： In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify) the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

关键词： visual servoing   medical robotics   medical imaging   minimally invasive therapy   image-based tracking   tomographic imaging   ultrasound   magnetic resonance imaging   computed tomography   X-ray fluoroscopy  

摘要： BackgroundIntraoperative application of tomographic imaging techniques provides a means of visual servoing for objects beneath the surface of organs. MethodsThe focus of this survey is on therapeutic and diagnostic medical applications where tomographic imaging is used in visual servoing. To this end, a comprehensive search of the electronic databases was completed for the period 2000-2013. ResultsExisting techniques and products are categorized and studied, based on the imaging modality and their medical applications. This part complements Part I of the survey, which covers visual servoing techniques using endoscopic imaging and direct vision. ConclusionThe main challenges in using visual servoing based on tomographic images have been identified. Supervised automation of medical robotics' is found to be a major trend in this field and ultrasound is the most commonly used tomographic modality for visual servoing. Copyright (c) 2014 John Wiley & Sons, Ltd.

关键词： Swarm robotics   Task abstraction   Swarm intelligence   Robotics  

摘要： Research in swarm robotics focuses mostly on how robots interact and cooperate to perform tasks, rather than on the details of task execution. As a consequence, researchers often consider abstract tasks in their experimental work. For example, foraging is often studied without physically handling objects: the retrieval of an object from a source to a destination is abstracted into a trip between the two locations-no object is physically transported. Despite being commonly used, so far task abstraction has only been implemented in an ad hoc fashion. In this paper, we propose a new approach to abstracting complex tasks in swarm robotics research. This approach is based on a physical device called the "task abstraction module" (TAM) that abstracts single-robot tasks to be performed by an e-puck robot. A complex multi-robot task can be abstracted using a group of TAMs by first modeling the task as the set of its constituent single-robot subtasks and then abstracting each subtask with a TAM. We present a collection of tools for modeling complex tasks, and a framework for controlling a group of TAMs such that the behavior of the group implements the model of the task. The TAM enables research on cooperative behaviors and complex tasks with simple, cost-effective robots such as the e-puck-research that would be difficult and costly to conduct using specialized robots or ad hoc task abstraction. We demonstrate how to abstract a complex task with multiple TAMs in an example scenario involving a swarm of e-puck robots.

关键词： artificial intelligence   Turing test   diagnostic robots   healthcare  

摘要： BackgroundThe increasing demands of delivering higher quality global healthcare has resulted in a corresponding expansion in the development of computer-based and robotic healthcare tools that rely on artificially intelligent technologies. The Turing test was designed to assess artificial intelligence (AI) in computer technology. It remains an important qualitative tool for testing the next generation of medical diagnostics and medical robotics. MethodsDevelopment of quantifiable diagnostic accuracy meta-analytical evaluative techniques for the Turing test paradigm. ResultsModification of the Turing test to offer quantifiable diagnostic precision and statistical effect-size robustness in the assessment of AI for computer-based and robotic healthcare technologies. ConclusionsModification of the Turing test to offer robust diagnostic scores for AI can contribute to enhancing and refining the next generation of digital diagnostic technologies and healthcare robotics. Copyright (c) 2014 John Wiley & Sons, Ltd.

关键词： chicken   laparoscopy   porcine   robotic   simulator  

摘要： Purpose of reviewTo review the most recent literature and contemporary role of the use of porcine and chicken models in laparoscopic and robotic simulation exercises, for training and skill *** findingsThere are multiple types of the simulators which include mechanical, virtual reality, hybrid simulators and animal models. The recent literature has seen insurgence of several of such simulators, specifically the animate ones comprising porcine and chicken models. The different training models reported have evolved from generalized and simpler, to a more task dedicated and complex versions. Unlike in the past, the recent publications include analysis of these models incorporating different measures of validity *** account of the natural tissue properties inherent to these porcine and chicken models, they are proving to be instrumental in acquisition of higher surgical skills such as dissection, suturing and use of energy sources, all of which are required in real-time clinical scenarios be it laparoscopy or robotic-assisted procedures. In-vivo training in the animal model continues to be, perhaps, the most sophisticated training method before resorting to real-time surgery.

关键词： Colorectal   Surgical   Human/Robotic   Rectal cancer  

摘要： Laparoscopy offers some evidence of benefit compared to open rectal surgery. Robotic rectal surgery is evolving into an accepted approach. The objective was to analyze and compare laparoscopic and robotic rectal surgery learning curves with respect to operative times and perioperative outcomes for a novice minimally invasive colorectal surgeon. One hundred and six laparoscopic and 92 robotic LAR rectal surgery cases were analyzed. All surgeries were performed by a surgeon who was primarily trained in open rectal surgery. Patient characteristics and perioperative outcomes were analyzed. Operative time and CUSUM plots were used for evaluating the learning curve for laparoscopic versus robotic LAR. Laparoscopic versus robotic LAR outcomes feature initial group operative times of 308 (291-325) min versus 397 (373-420) min and last group times of 220 (212-229) min versus 204 (196-211) min-reversed in favor of robotics;major complications of 4.7 versus 6.5 % (NS), resection margin involvement of 2.8 versus 4.4 % (NS), conversion rate of 3.8 versus 1.1 (NS), lymph node harvest of 16.3 versus 17.2 (NS), and estimated blood loss of 231 versus 201 cc (NS). Due to faster learning curves for extracorporeal phase and total mesorectal excision phase, the robotic surgery was observed to be faster than laparoscopic surgery after the initial 41 cases. CUSUM plots demonstrate acceptable perioperative surgical outcomes from the beginning of the study. Initial robotic operative times improved with practice rapidly and eventually became faster than those for laparoscopy. Developing both laparoscopic and robotic skills simultaneously can provide acceptable perioperative outcomes in rectal surgery. It might be suggested that in the current milieu of clashing interests between evolving technology and economic constrains, there might be advantages in embracing both approaches.

关键词： Trajectories  

摘要： We describe our full body humanoid control approach developed for the simulation phase of the DARPA Robotics Challenge (DRC), as well as the modifications made for the DARPA Robotics Challenge Trials. We worked with the Boston Dynamics Atlas robot. Our approach was initially targeted at walking, and it consisted of two levels of optimization: a high-level trajectory optimizer that reasons about center of mass and swing foot trajectories, and a low-level controller that tracks those trajectories by solving floating base full body inverse dynamics using quadratic programming. This controller is capable of walking on rough terrain, and it also achieves long footsteps, fast walking speeds, and heel-strike and toe-off in simulation. During development of these and other whole body tasks on the physical robot, we introduced an additional optimization component in the low-level controller, namely an inverse kinematics controller. Modeling and torque measurement errors and hardware features of the Atlas robot led us to this three-part approach, which was applied to three tasks in the DRC Trials in December 2013.

关键词： Trials   human-made disaster   lessons learned   robotics   experimentation   Robot   master tool   Teaching   DARPA  

摘要： This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC) Trials. The primary goal of the DRC is to develop robots capable of assisting humans in responding to natural and manmade disasters. The robots are expected to use standard tools and equipment to accomplish the mission. The DRC Trials consisted of eight different challenges that tested robot mobility, manipulation, and control under degraded communications and time constraints. Team IHMC competed using the Atlas humanoid robot made by Boston Dynamics. We competed against 16 international teams and placed second in the competition. This article discusses the challenges we faced in transitioning from simulation to hardware. It also discusses the lessons learned both during the competition and in the months of preparation leading up to it. The lessons address the value of reliable hardware and solid software practices. They also cover effective approaches to bipedal walking and designing for human-robot teamwork. Lastly, the lessons present a philosophical discussion about choices related to designing robotic systems.

关键词： spherical robot   kinematic model   dynamic model   nonholonomic constraint   omni-wheel  

摘要： This paper deals with the problem of a spherical robot propelled by an internal omniwheel platform and rolling without slipping on a plane. The problem of control of spherical robot motion along an arbitrary trajectory is solved within the framework of a kinematic model and a dynamic model. A number of particular cases of motion are identified, and their stability is investigated. An algorithm for constructing elementary maneuvers (gaits) providing the transition from one steady-state motion to another is presented for the dynamic model. A number of experiments have been carried out confirming the adequacy of the proposed kinematic model.

关键词： control ring   Disaster Response   Human   DARPA   Software architecture   robotics   Trials   experimentation   Humanoid robots  

摘要： The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster-response tasks. We describe our hardware choices and software architecture, which enable human-in-the-loop control of a 28 degree-of-freedom Atlas humanoid robot over a limited bandwidth link. We discuss our methods, results, and lessons learned for the DRC Trials tasks. The effectiveness of our system architecture was demonstrated as the WPI-CMU DRC Team scored 11 out of a possible 32 points, ranked seventh (out of 16) at the DRC Trials, and was selected as a finalist for the DRC Finals.