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： 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： 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： ROBOTICS   AWARDS   PLAQUES, plaquettes -- Design & construction  

摘要： A personal narrative is presented which explores the author's experience of coaching his students to design and build a robotics trophy using a light-emitting diode (LED) electronics for the post-season robotics tournament at the Dalton School in New York City.

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： borderline ovarian tumour   prognostic factors   staging procedures   omentectomy   peritoneal biopsies   cytology  

摘要： Background: Incomplete surgical staging is a negative prognostic factor for patients with borderline ovarian tumours (BOT). However, little is known about the prognostic impact of each individual staging procedure. Methods: Clinical parameters of 950 patients with BOT (confirmed by central reference pathology) treated between 1998 and 2008 at 24 German AGO centres were analysed. In 559 patients with serous BOT and adequate ovarian surgery, further recommended staging procedures (omentectomy, peritoneal biopsies, cytology) were evaluated applying Cox regression models with respect to progression-free survival (PFS). Results: For patients with one missing staging procedure, the hazard ratio (HR) for recurrence was 1.25 (95%-CI 0.66-2.39;P = 0.497). This risk increased with each additional procedure skipped reaching statistical significance in case of two (HR 1.95;95%-CI 1.06-3.58;P = 0.031) and three missing steps (HR 2.37;95%-CI 1.22-4.64;P = 0.011). The most crucial procedure was omentectomy which retained a statistically significant impact on PFS in multiple analysis (HR 1.91;95%-CI 1.15-3.19;P = 0.013) adjusting for previously established prognostic factors as FIGO stage, tumour residuals, and fertility preservation. Conclusion: Individual surgical staging procedures contribute to the prognosis for patients with serous BOT. In this analysis, recurrence risk increased with each skipped surgical step. This should be considered when re-staging procedures following incomplete primary surgery are discussed.

关键词： Space Tether-Net System   Approaching maneuver   Dynamics   Configuration control  

摘要： In order to eliminate the limitation of the Space Tether-Net System in the field of maneuver and control, we propose the Maneuvering-Net Space Robot System (MNSRS) in this paper, which can capture and remove the space debris dexterously. We focus on the approaching phase towards the space debris, which is a challenging problem for the MNSRS, especially the coupled dynamics modeling and configuration control problems. Firstly the system and mission overview of the MNSRS is described in detail. After that, a coupled dynamics modeling, which divides the MNSRS into finite mass points connected with massless springs, is established to describe dynamic characteristics of the MNSRS in approaching phase. Then the configuration variation of the MNSRS in approaching phase is analyzed. Finally the configuration control of the MNSRS in approaching phase is investigated. (C) 2014 COSPAR. Published by Elsevier Ltd. All rights reserved.

关键词： Arduino   Automation   Mass spectrometry   Open-source electronics   Robotics   Sample handling  

摘要： Mass spectrometry (MS) is an important analytical technique with numerous applications in clinical analysis, biochemistry, environmental analysis, geology and physics. Its success builds on the ability of MS to determine molecular weights of analytes, and elucidate their structures. However, sample handling prior to MS requires a lot of attention and labor. In this work we were aiming to automate processing samples for MS so that analyses could be conducted without much supervision of experienced analysts. The goal of this study was to develop a robotics and information technology-oriented platform that could control the whole analysis process including sample delivery, reaction-based assay, data acquisition, and interaction with the analyst. The proposed platform incorporates a robotic arm for handling sample vials delivered to the laboratory, and several auxiliary devices which facilitate and secure the analysis process. They include: multi-relay board, infrared sensors, photo-interrupters, gyroscopes, force sensors, fingerprint scanner, barcode scanner, touch screen panel, and internet interface. The control of all the building blocks is achieved through implementation of open-source electronics (Arduino), and enabled by custom-written programs in C language. The advantages of the proposed system include: low cost, simplicity, small size, as well as facile automation of sample delivery and processing without the intervention of the analyst. It is envisaged that this simple robotic system may be the forerunner of automated laboratories dedicated to mass spectrometric analysis of biological samples. (C) 2014 Elsevier B.V. All rights reserved.

关键词： 科普工作   中国科协   品牌活动   科技进步   知识就是力量   科普资源   科普事业   学生时代   机器人竞赛   领导  

摘要： 2015年的春节即将到来。在这个辞旧迎新的日子里,中国科协祝全国的青少年节日快乐!青少年是祖国的希望,也是科学发展与科技进步的希望。青少年时期是兴趣最广泛、求知欲最旺盛的时候,对科学知识充满了好奇与渴望。面向青少年的科普工作是中国科协科普工作的重中之重。2014年,中国科协面向青少年群体开展的科普活动开拓了新的局面,成功举办高校科学营等特色品牌活动。

关键词： 管道机器人   变径机构   动力学分析   仿真  

摘要： 介绍了4种支承轮式管道机器人变径方案的工作原理,比较分析得出丝杠螺母副变径机构具有更高的驱动效率。在此基础上,基于虚功原理分析了丝杠螺母—支承杆变径机构的驱动特性,并应用多体动力学仿真软件ADAMS对其进行了动力学仿真验证,结果显示丝杠螺母—支承杆变径机构具有更高的驱动效率和更强的管径适应能力,并给出了其驱动电动机随管径变化的一般动力学特性,为支承轮式管道机器人推广应用奠定了基础。