摘要： [...]the only limitation of RMN that remains in experienced teams is the cost of the equipment which can be up to 2 million € [6]. [...]because of the limited availability of RMN technology, present studies are mostly non-randomised. EHRA/HRS Expert Consensus on Catheter Ablation of Ventricular Arrhythmias: developed in a partnership with the European Heart Rhythm Association (EHRA), a Registered Branch of the European Society of Cardiology (ESC), and the Heart Rhythm Society (HRS); in collaboration with the American College of Cardiology (ACC) and the American Heart Association (AHA).

关键词： ROBOTS -- Dynamics   SYNCHRONIZATION   ROBOTS -- Kinematics   SWITCHING circuits   ELECTRIC network topology  

摘要： In this paper, the problems related to control for a network of heterogeneous robots, to achieve task-space synchronization in the presence of uncertainties in kinematic and dynamic models have been reported. Based on the proposed control algorithms and adaptive laws, networked robot systems can be ensured to synchronize with imprecise measurement of system parameters and communication delays. Three different connection scenarios, namely, strongly connected graphs, switching regular graphs, and jointly connected regular graphs have been considered in this paper. With the use of weighted storage function, attempts have been made in this paper to demonstrate that a multi-robot system, interconnected over a strongly connected graph with time delays, can be stabilized with guaranteed position and velocity synchronization. Since it is difficult to set up a fixed communication network between robots, an alternative synchronization controller was developed through switching topologies. Additionally, for interconnections between robots that are time-varying and agents that are disconnected at certain time intervals, the stability and synchronous behaviors of the networked system were studied using Lyapunov theory and switching control theory. Numerical examples were also provided to demonstrate the performance of the proposed multi-robot system. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： Simulation   Cancellation task   Neural networks   Neurorobots   Evolutionary robotics  

摘要： Mainstream approaches to modelling cognitive processes have typically focused on (1) reproducing their neural underpinning, without regard to sensory-motor systems and (2) producing a single, ideal computational model. Evolutionary robotics is an alternative possibility to bridge the gap between neural substrate and behavior by means of a sensory-motor apparatus, and a powerful tool to build a population of individuals rather than a single model. We trained 4 populations of neurorobots, equipped with a pan/tilt/zoom camera, and provided with different types of motor control in order to perform a cancellation task, often used to tap spatial cognition. Neurorobots’ eye movements were controlled by (a) position, (b) velocity, (c) simulated muscles and (d) simulated muscles with fixed level of zoom. Neurorobots provided with muscle and velocity control showed better performances than those controlled in position. This is an interesting result since muscle control can be considered a particular type of position control. Finally, neurorobots provided with muscle control and zoom outperformed those without zooming ability.

关键词： SURGICAL robots   RESEARCH   COMPUTER algorithms   DIGITAL cameras   LAPAROSCOPIC surgery  

摘要： The article discusses the study which aims to develop an algorithm for autonomous operation in surgical robotics. The study involved the Raven II surgical robotic system from robotic firm Applied Dexterity Inc. and Point Grey Bumblebee2 camera. The results reportedly led to the development of a fully autonomous algorithm for transferring the simulating laparoscopic surgical tissue manipulation.

关键词： Robot dynamics   Parallel kinematics machines   Approximated model   System identification  

摘要： This paper presents the identification of an approximated polynomial model for the dynamics of a parallel kinematics machine. The case study of a specific translational Cartesian manipulator is faced. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the actual behaviour of the robot prototype. The seek of the coefficients of the interpolating polynomials has been constrained taking advantage of robot peculiarities, such as symmetry and intrinsic properties of multibody systems dynamics. The effectiveness of the proposed simplification is then verified by comparison with robot behaviour. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： compliant robotics   Hebbian plasticity   morphological computation   recurrent neural networks   tensegrity  

摘要： In embodied computation (or morphological computation), part of the complexity of motor control is offloaded to the body dynamics. We demonstrate that a simple Hebbian-like learning rule can be used to train systems with (partial) embodiment, and can be extended outside of the scope of traditional neural networks. To this end, we apply the learning rule to optimize the connection weights of recurrent neural networks with different topologies and for various tasks. We then apply this learning rule to a simulated compliant tensegrity robot by optimizing static feedback controllers that directly exploit the dynamics of the robot body. This leads to partially embodied controllers, i.e., hybrid controllers that naturally integrate the computations that are performed by the robot body into a neural network architecture. Our results demonstrate the universal applicability of reward-modulated Hebbian learning. Furthermore, they demonstrate the robustness of systems trained with the learning rule. This study strengthens our belief that compliant robots should or can be seen as computational units, instead of dumb hardware that needs a complex controller. This link between compliant robotics and neural networks is also the main reason for our search for simple universal learning rules for both neural networks and robotics.

关键词： Robotics  

摘要： The article offers information on a four-month Robotics Accelerator program established by telecommunications company Qualcomm Inc. in an aim to drive robotics innovation. It states that the company will be providing 10 companies with a series of radio frequency (RF), circuit, and mechanical reference designs to develop robotics that they should present on September 10, 2015. It adds that the program was part of the company's attempt to bring its range processors to adjacent markets.

关键词： 机器人竞赛   培养体系   培养方法  

摘要： 本文介绍南京大学金陵学院以培养高素质具有创新精神的应用型人才为目标,积极参加机器人竞赛的发展历程,提出了适合独立学院特点的竞赛机器人组织训练培养体系,最后总结了机器人竞赛的培养方法。在五年多的竞赛实践中,该学院取得了较好的成绩。