关键词： borderline ovarian tumour   surgical treatment   fertility preservation   recurrence   malignant transformation  

摘要： Approximately one-third of all borderline ovarian tumours (BOT) are diagnosed in patients with child-bearing potential. Detailed information regarding their specific characteristics and prognostic factors is limited. Clinical parameters of BOT patients treated between 1998 and 2008 in 24 German centres were retrospectively investigated. Central pathology review and prospective follow-up were carried out. Patients < 40 versus a parts per thousand yen40 years were analysed separately and then compared regarding clinico-pathological variables and prognosis. A total of 950 BOT patients with a median age of 49.1 (14.1-91.5) years were analysed [280 patients < 40 years (29.5%), 670 patients a parts per thousand yen40 years (70.5%)]. Fertility-preserving surgery was carried out in 53.2% (149 of 280) of patients < 40 years with preservation of the primarily affected ovary in 32 of these 149 cases (21.5%). Recurrence was significantly more frequent in patients < 40 years (19.0% versus 10.1% 5-year recurrence rate, P < 0.001), usually in ovarian tissue, whereas disease-specific overall survival did not differ between the subgroups. In case of recurrent disease, malignant transformation was less frequent in younger than in older patients (12.0% versus 66.7%, P < 0.001), mostly presenting as invasive peritoneal carcinomatosis. Multivariate analysis for patients < 40 years identified advanced International Federation of Gynecology and Obstetrics (FIGO) stage and fertility-sparing approach as independent prognostic factors negatively affecting progression-free survival (PFS) while, for patients a parts per thousand yen40 years, higher FIGO stage and incomplete staging was associated with impaired PFS. Despite favourable survival, young BOT patients with child-bearing potential are at higher risk for disease recurrence. However, relapses usually remain BOT in the preserved ovaries as opposed to older patients being at higher risk for malignant transformation in peritoneal or dista

关键词： Non-holonomic system   Dynamics   Motion planning   Trident snake  

摘要： The trident snake robot is a mechanical device that serves as a demanding testbed for motion planning and control algorithms of constrained non-holonomic systems. This paper provides the equations of motion and addresses the motion planning problem of the trident snake with dynamics, equipped with either active joints (undulatory locomotion) or active wheels (wheeled locomotion). Thanks to a partial feedback linearization of the dynamics model, the motion planning problem basically reduces to a constrained kinematic motion planning. Two kinds of constraints have been taken into account, ensuring the regularity of the feedback and the collision avoidance between the robot's arms and body. Following the guidelines of the endogenous configuration space approach, two Jacobian motion planning algorithms have been designed: the singularity robust Jacobian algorithm and the imbalanced Jacobian algorithm. Performance of these algorithms have been illustrated by computer simulations.

关键词： Modeling Run-Time Variability   Service Robotics   SmartTCL   Variability Management   VML  

摘要： Complex systems are executed in environments with a huge number of potential situations and contingencies, therefore a mechanism is required to express dynamic variability at design-time that can be efficiently resolved in the application at run-time based on the then available information. The authors present an approach for dynamic variability modeling and its exploitation at run-time. It supports different developer roles and allows the separation of two different kinds of dynamic variability at design-time: (i) variability related to the system operation, and (ii) variability associated with QoS. The former provides robustness to contingencies, maintaining a high success rate in task fulfillment. The latter focuses on the quality of the application execution (defined in terms of non-functional properties like safety or task efficiency) under changing situations and limited resources. The authors also discuss different alternatives for the run-time integration of the two variability management mechanisms, and show real-world robotic examples to illustrate them.

关键词： Algorithms   Applied mathematics   Computer and information sciences   Computerized simulations   Engineering and technology   Mathematics   Mechanical engineering   Physical sciences   Research Article   Robotics   Software design   Software engineering  

摘要： Embodied evolutionary robotics is a sub-field of evolutionary robotics that employs evolutionary algorithms on the robotic hardware itself, during the operational period, i.e., in an on-line fashion. This enables robotic systems that continuously adapt, and are therefore capable of (re-)adjusting themselves to previously unknown or dynamically changing conditions autonomously, without human oversight. This paper addresses one of the major challenges that such systems face, viz. that the robots must satisfy two sets of requirements. Firstly, they must continue to operate reliably in their environment (viability), and secondly they must competently perform user-specified tasks (usefulness). The solution we propose exploits the fact that evolutionary methods have two basic selection mechanisms-survivor selection and parent selection. This allows evolution to tackle the two sets of requirements separately: survivor selection is driven by the environment and parent selection is based on task-performance. This idea is elaborated in the Multi-Objective aNd open-Ended Evolution (MONEE) framework, which we experimentally validate. Experiments with robotic swarms of 100 simulated e-pucks show that MONEE does indeed promote task-driven behaviour without compromising environmental adaptation. We also investigate an extension of the parent selection process with a 'market mechanism' that can ensure equitable distribution of effort over multiple tasks, a particularly pressing issue if the environment promotes specialisation in single tasks.

关键词： 多机器人   协同   ADAMS   相贯线  

摘要： 以松下TA1400型六轴工业机器人为研究对象,在ADAMS中建立多机器人协调运动仿真环境。通过设计绘制双贯线的辅助机构,仿真动作设计及仿真脚本编写,对三台机器人协同焊接双贯线进行动力学分析,求取各机器人各关节所需驱动力矩并测量角位移、角速度、角加速度曲线。经与采用末端牵引机器人运动测量的角位移、角速度、角加速度曲线比对分析,验证动力学分析正确性。

关键词： 跳跃机器人   两轮机器人   机构设计   动力学分析  

摘要： 为提高跳跃机器人运动的灵活性和实用性,通过将跳跃运动与轮式运动相结合,设计了一种新型的可跳跃式两轮机器人.跳跃运动由三杆弹簧跳跃机构实现,在大大减小机构尺寸的同时提高了能量利用率.详细介绍了机器人各机构的组成及工作原理,在此基础上,对机器人跳跃过程进行了动力学建模,分析了影响机器人跳跃能力的因素.为验证机械设计的有效性,利用ADAMS进行了机器人轮式移动与跳跃越障过程的仿真.搭建机器人控制系统并制作可跳跃式两轮机器人原理样机,最终跳跃实验结果证明了机器人设计的合理性以及理论分析的正确性.该跳跃机器人的能量利用效率接近70%,跳跃高度超过自身尺寸.

关键词： 足球机器人   竞赛活动   隆回县   中学生   培训   电脑制作   中小学   贫困县  

摘要： 2013年7月，在湖南长沙举行的第十四届全国中小学电脑制作活动中，隆回县一中一举夺得了高中组足球机器人竞赛的全国冠军。从2008年第一次参加机器人竞赛活动，历经六年，我们终于如愿以偿地拿到了全国冠军。六年，我们跌倒又爬起，不知流过多少汗水；六年，好几次离登顶只有一步之遥，却在临门一脚败北。一路走来，筚路蓝缕，有过辛酸，也收获了成功与喜悦。在一个国家级贫困县的高中，师生是如何携手踏上全国冠军之路的？

关键词： 水下机器人   水动力   动力学模型   参数辨识  

摘要： 以集中讨论水下机器人动力学建模和参数辨识方法、突出近年来取得的成就和未来的方向为主线,通过简要介绍水下机器人水动力性质与机器人几何外形之间的关系,给出基于牛顿-欧拉方程的6自由度动力学方程.经简化模型后给出需要辨识的模型参数.将参数辨识方法按经验法、试验法和计算流体动力学法进行分类,介绍各辨识方法的基本原理和目前相关研究现状,指出其优点和不足,展望水下机器人参数辨识方法的未来研究方向.

关键词： 山西省科协   机器人竞赛   青少年   联赛   成功   中国   办公室主任   活动中心  

摘要： 5月17日-18日，第十四届中国青少年机器人竞赛（山西赛区）联赛在太原市成功举办。此次联赛由山西省科协主办、省青少年科技活动中心承办。来自省内7个市的170支参赛队参加比赛。省科协巡视员关原成、办公室主任王继龙出席了颁奖仪式。

关键词： 机器人   竞赛   竞技   教育   交流活动   国外   本地化   再开发  

摘要： 我的主要工作是把国际上好的竞赛资源、交流活动引到中国本地化,再开发,再推给中国的学生。我们之所以做这样的工作,是因为从与国外的这些活动的交流中看到了学生创新力的缺乏及精英教学向大众化教学的转变。我们已经从国外引进了许多竞赛,在机器人方面有Botball比赛,它在美国是一个很好的比赛。在去国外参赛的过程中,我们发现国外的队伍,参赛的方案各具特色,甚至从未有雷同现象出现。