关键词： SCIMITAR syndrome   LUNG diseases -- Treatment   POLYTEF   ENDOSCOPY   ROBOTICS in medicine   COMPUTED tomography  

摘要： We present two adult patients in whom anatomic correction of scimitar syndrome (SS) was accomplished by redirecting the anomalous pulmonary venous drainage into the left atrium using a reinforced polytetrafluoroethylene (PTFE) graft extension. A right lateral endoscopic approach with robotic instrumentation (LEAR) was utilized with excellent early and long-term results. doi: 10.1111/jocs.12560 (J Card Surg 2015;30:601-604)

关键词： Dynamics   Equimomental system   Optimization   Robots  

摘要： An optimization methodology is presented for design of serial-chain planar robots for minimizing torque at joints, when its endeffector is supposed to move on a prescribed path. In particular, the end-effector of the robot is allowed to move on a circular path. For the respective joint trajectories, the weighted sum of root mean square (RMS) of the actuating torques is minimized by the mass redistribution of the links. To achieve the goal, the DeNOC (Decoupled natural orthogonal complement) based dynamics was formulated by representing the rigid links as a set of rigidly connected point-masses known as equimomental system. The methodology is illustrated using a planar two-degree-of-freedom (DOF) robot with two revolute joints.

摘要： Stroke in human immunodeficiency virus infection is associated with a prothrombotic state, characterized by elevated von Willebrand factor and low ADAMTS13 levels.

关键词： augmented dialog   augmented interaction   contextualized dialog   social robots   human-robot interaction   HRI   natural language understanding   natural language processing   interaction system   dialog system   multimodal interaction  

摘要： Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human-robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text;and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human-robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications.

关键词： ROBOTICS   RESCUE robots   SPACE robotics   COMPETITIONS  

摘要： The article discusses the 2015 Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC), a competition funded by the U.S. Department of Defense. It is noted that the team from Korea Advanced Institute of Science and Technology (KAIST) won the prize money after it's DRC-Hubo robot performed all the tasks assigned to the team. Also discussed are upcoming robotics competitions and future use of robots in space exploration, disasters, and hospitals.

关键词： Self-organizing Maps   Cognitive Abilities   Consciousness   Artificial Intelligence   Robot-sitting  

摘要： The Theory of neural Cognition (TnC) states that the brain does not process information, it only represents information (i.e., it is 'only' a memory). The TnC explains how a memory can become an actor pursuing various goals, and proposes explanations concerning the implementation of a large variety of cognitive abilities, such as attention, memory, language, planning, intelligence, emotions, motivation, pleasure, consciousness and personality. The explanatory power of this new framework extends further though, to tackle special psychological states such as hypnosis, the placebo effect and sleep, and brain diseases such as autism, Alzheimer's disease and schizophrenia. The most interesting findings concern robotics: because the TnC considers the cortical column to be the key cognitive unit (instead of the neuron), it reduces the requirements for a brain implementation to only 160,000 units (instead of 86 billion). A robot exhibiting human-like cognitive abilities is therefore within our reach.

关键词： Dynamics   Continuum Robots   Soft Robots   Biologically-Inspired Robots  

摘要： This paper entails the study of the pulsed-jet propulsion inspired by cephalopods in the frame of underwater bioinspired robotics. This propulsion routine involves a sequence of consecutive cycles of inflation and collapse of an elastic bladder, which, in the robotics artefact developed by the authors, is enabled by a cable-driven actuation of a deformable shell composed of rubber-like materials. In the present work an all-comprehensive formulation is derived by resorting to a coupled approach that comprises of a model of the structural dynamics of the cephalopod-like elastic bladder and a model of the pulsed-jet thrust production. The bladder, or mantle, is modelled by means of geometrically exact, axisymmetric, nonlinear shell theory, which yields an accurate estimation of the forces involved in driving the deformation of the structure in water. By coupling these results with those from a standard thrust model, the behaviour of the vehicle propelling itself in water is derived. The constitutive laws of the shell are also exploited as control laws with the scope of replicating the muscle activation routine observed in cephalopods. The model is employed to test various shapes, material properties and actuation routines of the mantle. The results are compared in terms of speed performance in order to identify suitable design guidelines. Altogether, the model is tested in more than 50 configurations, eventually providing useful insight for the development of more advanced vehicles and bringing evidence of its reliability in studying the dynamics of both man-made cephalopod-inspired robots and live specimens.

关键词： 给你   类共生   生理信息   湖北工业大学   脑科学   后机   人机交互  

摘要： 智慧只有在智能和情感的基础上才能出现,所以我们主张讨论智慧城市的必要条件之一就是智慧机器人。但是,现在谈智慧机器人还比较早,我们谈一谈情感机器人。最早出现的机器人概念是在1886年,经过多年的发展,工业机器人的国际标准化组织于1984年成立,当年日本工业机器人占到全球67.2%的市场份额。为什么到现在机器人还进入不了家庭呢?主要的原因就是没有情感。1997年MIT有一个报告提到情感计算,我们认为情感是可能计算的。

关键词： 拉格朗日方程   动力学   轨迹规划   MATLAB软件   机器人  

摘要： 提出了一种应用拉格朗日方程建立机器人动力学模型的方法。以单自由度机器人为例,根据其动力学模型,使用MATLAB软件对单自由度机器人常用的3种运动轨迹进行轨迹规划,仿真结果符合要求。

关键词： 动态优化   全域动态性能   弹性动力学仿真   空间梁单元   尺寸优化   码垛机器人  

摘要： 为提升码垛机器人全域动态性能,将有限元建模、弹性动力仿真、性能指标评价和尺寸寻优过程集成于Matlab下,实现自动尺寸优化.选取杆状零件的20项关键尺寸参数作为设计变量,构建有限元模型,在典型码垛过程中进行弹性动力仿真.综合提高基频、降低关节转矩和提升末端定位精度的设计要求,定义优化目标函数.借鉴梯度寻优思想,优化设计参数.优化后,机器人全域关节转矩均方根值由97.6kN·m降至81.9kN·m,全域基频均值由6.983Hz增至7.506Hz,全域定位误差均值由2.424mm降至2.119mm.结果表明通过优化码垛机器人杆件尺寸可有效提升系统全域动态性能.