关键词： 机器人   缠绕系统   动力学分析   纤维复合材料  

摘要： 纤维复合材料非对称形体容器因其结构的特殊性往往采用人工缠绕，但人工缠绕生产出的容器缺点极其明显，不仅外观粗糙、强度低、成本高，而且性能难以保证，这一现状一直制约着整个复合材料行业的发展，实现非对称形体容器自动缠绕是复合材料行业的发展趋势。从上世纪七十年代至今国内外对于自动缠绕，无论是理论基础还是实际应用，发展都非常迟缓。现有的复合材料容器缠绕设备具有活动范围小，灵活度低、未考虑张力影响等缺点，众所周知机器人以其灵活性高的特点广泛应用于各个行业，所以将机器人应用于容器的自动缠绕势在必行。本文主要围绕以下几个方面进行研究。\n 首先，以缠绕容器的形状结构为基础，结合缠绕过程中的速度、加速度等参数，对复合材料容器在缠绕过程中纤维所受到的变张力进行分析，并由机器人各关节驱动力矩与移动耗能的关系，推导出机器人优化位姿判据。其次，根据缠绕机器人六自由度的机械结构，搭建出机器人的虚拟模型，对机器人的三个位姿进行规划，根据位姿的差异分别推导出运动学正逆方程，对机器人坐标系进行建立和分析，并针对在缠绕过程中预设的缠绕轨迹进行编程。最后，将纤维的变张力加载到机器人模型中，使机器人在受变张力和不受张力的情况下沿设计轨迹运动，用 ADAMS测量出机器人三个位姿的各关节的参数变化，分析机器人的最优位姿。\n 本文对六自由度机器人在受变张力和不受张力的情况下进行实验，使机器人模型沿预设轨迹进行运动，通过测量两种情况下的各个位姿六个关节的力矩曲线，并将实验数据与力矩耗能关系相结合，分析出在缠绕过程中机器人的优化位姿。

关键词： 漂浮基空间机器人   柔性关节   柔性臂   奇异摄动法   鲁棒   模糊   滑模  

摘要： 讨论受到外部干扰影响的参数不确定的漂浮基柔性关节、柔性臂空间机器人系统的动力学建模过程、运动控制律设计和关节、臂双重柔性振动的主动抑制问题。利用动量、动量矩守恒关系和拉格朗日-假设模态法建立系统动力学方程。基于奇异摄动法,将系统分解为相互独立的三个子系统:慢变子系统、快变子系统1和快变子系统2。针对慢变子系统提出一种饱和鲁棒模糊滑模控制律来补偿不确定参数、柔性关节引起的转角误差以及外部干扰的影响,从而实现系统期望运动轨迹的渐近跟踪。饱和函数的运用可减弱滑模控制自身的抖振;针对快变子系统1设计一种速度差值反馈控制器来抑制柔性关节引起的系统柔性振动;针对快变子系统2采用线性二次型最优控制器来抑制柔性臂引起的系统柔性振动。仿真试验证明所提出的混合控制律的有效性。

关键词： 机器人教学   导学   应用策略   自主探究学习   学习过程   教学效果   轮式机器人   人形机器人   项目学习   机器人竞赛  

摘要： 几年以来,我们从机器人实验室入手,尝试将机器人课程校本化。根据校本课程和学生需求,我们创作了一系列＂导学式机器人微课程＂,引导学生自主探究学习机器人知识,积极参与机器人项目活动,在教学实践中总结了导学式机器人微课程的创作流程及其在教学中的应用策略。

关键词： Robotics  

摘要： The theory of flexible specialisation has been offering a challenging alternative to mass production system since its debut. Despite the attractiveness of the theory, practical applicability of the theoretical content has been weak. As time passes by, however, new momentum has been building up from the robotics and its related technology development, which can really open up the possibilities for flexible specialisation. Especially the advent of ageing society can be an impetus to change the industrial paradigm, due to labour shortage. This paper, noting the symptoms of change, has endeavoured with empirical data of Korea to see which industrial sectors are likely to start up this industrial change in the future. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： Bariatric   gastric bypass   review   robotic surgery   roux-en-y   sleeve gastrectomy  

摘要： With the rise in a number of bariatric procedures, surgeons are facing more complex and technically demanding surgical situations. Robotic digital platforms potentially provide a solution to better address these challenges. This review examines the published literature on the outcomes and complications of bariatric surgery using a robotic platform. Use of robotics to perform adjustable gastric banding, sleeve gastrectomy, roux-en-y gastric bypass (RYGB), biliopancreatic diversion with duodenal switch and revisional bariatric procedures (RBP) is assessed. A search on PubMed was performed for the most relevant articles in robotic bariatric surgery. A total of 23 articles was selected and reviewed in this article. The review showed that the use of robotics led to similar or lower complication rate in bariatric surgery when compared with laparoscopy. Two studies found a significantly lower leak rate for robotic gastric bypass when compared to laparoscopic method. The learning curve for RYGB seems to be shorter for robotic technique. Three studies revealed a significantly shorter operative time, while four studies found a longer operative time for robotic technique of gastric bypass. As for the outcomes of RBP, one study found a lower complication rate in robotic arm versus laparoscopic and open arms. Most authors stated that the use of robotics provides superior visualisation, more degrees of freedom and better ergonomics. The application of robotics in bariatric surgery seems to be a safe and feasible option. Use of robotics may provide specific advantages in some situations, and overcome limitations of laparoscopic surgery. Large and well-designed randomised clinical trials with long follow-up are needed to further define the role of digital platforms in bariatric surgery.

关键词： Robot-assisted partial nephrectomy   robot-assisted radical cystectomy   robot-assisted radical prostatectomy   robot-assisted retroperitoneal lymph node dissection   robotic surgery   urologic oncology  

摘要： Robotic surgery was initially developed to overcome problems faced during conventional laparoscopic surgeries and to perform telesurgery at distant locations. It has now established itself as the epitome of minimally invasive surgery (MIS). It is one of the most significant advances in MIS in recent years and is considered by many as a revolutionary technology, capable of influencing the future of surgery. After its introduction to urology, robotic surgery has redefined the management of urological malignancies. It promises to make difficult urological surgeries easier, safer and more acceptable to both the surgeon and the patient. Robotic surgery is slowly, but surely establishing itself in India. In this article, we provide an overview of the advantages, disadvantages, current status, and future applications of robotic surgery for urologic cancers in the context of the Indian scenario.

关键词： Actuators  

摘要： We report here the development of an actuator with an ionic electromechanically active polymer (IEAP) laminate that is exclusively designed to exhibit a combination of high electrically induced strain and high bending modulus. The newly constructed laminate is one of the few IEAPs meeting the requirements for use in miniature soft robotics. The laminate has activated carbon-based electrodes and ionic liquid is used as an electrolyte. Layers of compliant gold foil are used as current collectors. The superior performance of the IEAP laminate is demonstrated by constructing a centimeter-scale robot propelled by a single IEAP actuator. The cyclic locomotion of the robot is inspired by the movements of an inchworm, while the IEAP laminate is used concurrently as an actuator and a structural member. The 830-mg robot is able to crawl on a smooth surface in open air, solely by undulation of its body. The microprocessor-controlled robot has an on-board lithium battery and uses a pulse-width-modulated signal to drive the IEAP actuator. The robot is able to carry its own power supply and even an extra payload. The constructed biomimetic robot is distinctive for the use of a non-planar actuator whose shape is programmed during the manufacturing process.

关键词： Borderline tumor of the ovary   Quality of life   Sexuality   Fertility preserving surgery  

摘要： Borderline tumors of the ovary (BOT) represent an entity of ovarian neoplasms with low malignant potential and excellent prognosis. Mainstay of therapy is surgery including adequate staging and complete tumor resection, possibly inducing long-term side effects, especially in premenopausal women. The aim of this study was to evaluate quality of life (QoL) and sexual function in patients treated for BOT, also with respect to treatment modalities. This prospective study was part of an ambidirectional multicentric cohort study in patients with BOT in Germany. Patients from seven centers completed three questionnaires after completion of therapy. QoL and sexual function data were correlated with treatment characteristics: surgical approach, lymphadenectomy, and fertility sparing surgery. One hundred ten patients returned the questionnaires. Median follow-up was 4.0 years. The majority lived in a relationship (n = 85, 77 %, missing n = 4), and 49 % (n = 54, missing n = 6) were sexually active. The main reason for sexual inactivity was "no partner" (38 %). The women had a mean global health status of 69.8 (SD 22.7;min 0, max 100), with 100 implying perfect health. Mean QoL score was 73.7 (SD 23.3, range 0 to 100). Both scores showed no difference regarding fertility preserving surgery, surgical approach, and lymphadenectomy. Sexually active women had a significantly higher QoL (78.7 vs. 67.4, p = 0.0156) and global health status (75.9 vs. 60.9, p = 0.0013) than inactive patients. In this prospective study, patients who had been diagnosed with BOT had a very good quality of life and global health status. Sexually inactive women stated lack of a partner as the main reason and had an inferior HRQoL compared to sexually active women.

关键词： Robotic surgery   Robot-assisted laparoscopic surgery   Foregut surgery   Bariatric surgery  

摘要： In the last decade, the robotic platform has been used in different surgical fields. However, the field of foregut and bariatric surgery is still evolving. Most surgeons still prefer laparoscopic techniques because it has proven clinical benefits, does not require complex setups, and does not have high costs compared with that of robotics. The aim of this article is to review the outcomes of foregut and bariatric surgery and its potential clinical advantages. We performed a search on PUBMED for the most relevant articles published in the field of robotic bariatric and foregut surgery in the last 15 years. More than 40 articles were selected and included on this review. Several systematic reviews were also included. Very few randomized clinical trials are available. For the most part, robotic procedures were associated with better ergonomics for the surgeon, better visualization of the anatomy, easier fine dissection (i.e., lymphadenectomy) when required, and higher costs. In foregut surgery, the robotic system is associated with a significant lower rate of mucosal perforation in Heller myotomy compared to laparoscopy. In bariatric surgery, the clinical advantages have not been well documented yet;however, it seems robotics shortens the learning curve of Roux-en-Y gastric bypass (RYGB). Foregut and bariatric robotic surgery is a surgical field still in development. For the vast majority of the procedures in this area, the clinical outcomes of robotic surgery are the same of standard laparoscopy. However, the use of robots in selected cases may have specific advantages and may overcome the limitations of laparoscopic surgery. More research is needed, especially large and well-designed randomized clinical trials, to elucidate more accurate conclusions.

关键词： Mobile robotics   Quantified Fuzzy Rules   Iterative Rule Learning   Genetic fuzzy system  

摘要： The automatic design of controllers for mobile robots usually requires two stages. In the first stage, sensorial data are preprocessed or transformed into high level and meaningful values of variables which are usually defined from expert knowledge. In the second stage, a machine learning technique is applied to obtain a controller that maps these high level variables to the control commands that are actually sent to the robot. This paper describes an algorithm that is able to embed the preprocessing stage into the learning stage in order to get controllers directly starting from sensorial raw data with no expert knowledge involved. Due to the high dimensionality of the sensorial data, this approach uses Quantified Fuzzy Rules (QFRs), that are able to transform low-level input variables into high-level input variables, reducing the dimensionality through summarization. The proposed learning algorithm, called Iterative Quantified Fuzzy Rule Learning (IQFRL), is based on genetic programming. IQFRL is able to learn rules with different structures, and can manage linguistic variables with multiple granularities. The algorithm has been tested with the implementation of the wall-following behavior both in several realistic simulated environments with different complexity and on a Pioneer 3-AT robot in two real environments. Results have been compared with several well-known learning algorithms combined with different data preprocessing techniques, showing that IQFRL exhibits a better and statistically significant performance. Moreover, three real world applications for which IQFRL plays a central role are also presented: path and object tracking with static and moving obstacles avoidance. (C) 2014 Elsevier B.V. All rights reserved.