关键词： low-Reynolds-number flows   lubrication theory  

摘要： Viscous flows in contact with elastic structures apply both pressure and shear stress at the solid-liquid interface and thus create internal stress and deformation fields within the solid structure. We study the interaction between the deformation of elastic structures, subject to external forces, and an internal viscous liquid. We neglect inertia in the liquid and solid and focus on viscous flow through a thin-walled slender elastic cylindrical shell as a basic model of a soft robot. Our analysis yields an inhomogeneous linear diffusion equation governing the coupled viscous-elastic system. Solutions for the flow and deformation fields are obtained in closed analytical form. The functionality of the viscous-elastic diffusion process is explored within the context of soft-robotic applications, through analysis of selected solutions to the governing equation. Shell material compressibility is shown to have a unique effect in inducing different flow and deformation regimes. This research may prove valuable to applications such as micro-swimmers, micro-autonomous systems and soft robotics by allowing for the design and control of complex time-varying deformation fields.

关键词： Stroke   Stem Cells   Robotics   Rehabilitation   Brain-Computer Interfaces  

摘要： Objective: The aim of this study was to describe the current state and latest advances in robotics, stem cells, and brain-computer interfaces in rehabilitation and recovery for stroke. Design: The authors of this summary recently reviewed this work as part of a national presentation. The article represents the information included in each area. Results: Each area has seen great advances and challenges as products move to market and experiments are ongoing. Conclusions: Robotics, stem cells, and brain-computer interfaces all have tremendous potential to reduce disability and lead to better outcomes for patients with stroke. Continued research and investment will be needed as the field moves forward. With this investment, the potential for recovery of function is likely substantial.

关键词： robotics   Surgical Patients   Vehicle manufacturing   wide-range   Space Exploration   Surgery  

摘要： ImportanceThere is an ever-increasing drive to improve surgical patient outcomes. Given the benefits which robotics has bestowed upon a wide range of industries, from vehicle manufacturing to space exploration, robots have been highlighted by many as essential for continued improvements in surgery. ObjectiveThe goal of this review is to outline the history of robotic surgery, and detail the key studies which have investigated its effects on surgical outcomes. Issues of cost-effectiveness and patient acceptability will also be discussed. Results and conclusionRobotic surgery has been shown to shorten hospital stays, decrease complication rates and allow surgeons to perform finer tasks, when compared to the traditional laparoscopic and open approaches. These benefits, however, must be balanced against increased intraoperative times, vast financial costs and the increased training burden associated with robotic techniques. The outcome of such a cost-benefit analysis appears to vary depending on the procedure being conducted;indeed the strongest evidence in favour of its use comes from the fields of urology and gynaecology. It is hoped that with the large-scale, randomised, prospective clinical trials underway, and an ever-expanding research base, many of the outstanding questions surrounding robotic surgery will be answered in the near future.

关键词： cost   gynecology   health-care economics   outcome   robotics   training  

摘要： AimThe application of robotics is an innovation in the field of gynecologic surgery. Our objective was to evaluate the currently available literature on the cost assessment of robotic surgery of various operations in the field of gynecologic surgery. Material and MethodsPubMed and Scopus databases were systematically searched in order to retrieve the included studies in our review. ResultsWe retrieved 23 studies on a variety of gynecologic operations. The mean cost for robotic, open and laparoscopic surgery ranged from 1731 to 48769, 894 to 20277 and 411 to 41836 Euros, respectively. Operative charges, in hysterectomy, for robotic, open and laparoscopic technique ranged from 936 to 33920, 684 to 25616 and 858 to 25578 Euros, respectively. In sacrocolpopexy, these costs ranged from 2067 to 7275, 2904 to 69792 and 1482 to 2000 Euros, respectively. Non-operative charges ranged from 467 to 39121 Euros. The mean total costs for myomectomy ranged from 27342 to 42497 and 13709 to 20277 Euros, respectively, for the robotic and open methods, while the mean total cost of the laparoscopic technique was 26181 Euros. Conversions to laparotomy were present in 79/36185 (0.2%) cases of laparoscopic surgery and in 21/3345 (0.62%) cases of robotic technique. Duration of robotic, open and laparoscopic surgery ranged from 50 to 445, 83.7 to 701 and 74 to 330min, respectively. ConclusionRobotic surgery has the potential to become cost-effective in centers with many patients while industry competition could reduce the cost of the robotic instrumentation, making robotic technology more affordable and cost-effective.

关键词： Robotics   Peer Influence   Cooperative Learning   Problem Solving   Instructional Design   Elementary School Students   Peer Relationship   Role   Teaching Methods   Suburban Schools   Grade 5   Qualitative Research   Interviews   Observation   Discourse Analysis  

摘要： This study investigated how interaction with peers influenced the ways students managed uncertainty during collaborative problem solving in a 5th-grade class. The analysis focused on peer responses to individuals' attempts to manage uncertainty they experienced while engaged in collaborative efforts to design, build, and program robots and achieve assignment objectives. Patterns of peer response were established through discourse analysis of work sessions for 5 teams engaged in 2 collaborative projects. Three socially supportive peer responses and 2 unsupportive peer responses were identified. Peer interaction was influential because students relied on supportive social response to enact most of their uncertainty management strategies. This study provides a useful theoretical contribution to understanding the roles of peer interaction in collaborative problem solving. Conceptualizing collaborative problem solving as a process of negotiating uncertainties can help instructional designers shape tasks and relational contexts to facilitate learning.

关键词： Time-of-Flight cameras   3D perception for manipulation   Depth calibration   Outdoor imaging   Complex-shape objects  

摘要： ToF cameras are now a mature technology that is widely being adopted to provide sensory input to robotic applications. Depending on the nature of the objects to be perceived and the viewing distance, we distinguish two groups of applications: those requiring to capture the whole scene and those centered on an object. It will be demonstrated that it is in this last group of applications, in which the robot has to locate and possibly manipulate an object, where the distinctive characteristics of ToF cameras can be better exploited. After presenting the physical sensor features and the calibration requirements of such cameras, we review some representative works highlighting for each one which of the distinctive ToF characteristics have been more essential. Even if at low resolution, the acquisition of 3D images at frame-rate is one of the most important features, as it enables quick background/foreground segmentation. A common use is in combination with classical color cameras. We present three developed applications, using a mobile robot and a robotic arm, to exemplify with real images some of the stated advantages. (C) 2014 Elsevier B.V. All rights reserved.

关键词： 全向移动机器人   动力学解析   解耦控制   电机控制   运动控制  

摘要： 四轮全向移动机器人是一个复杂的非线性、强耦合的机械系统,各轮驱动电机间存在强耦合现象,很难取得理想的控制效果。针对这一问题,提出一种基于动力学解析的多电机控制系统解耦方法。通过对四轮机器人的动力学解析推导出四轮转速与其驱动力矩间的状态方程,获得各电机输入输出量之间的耦合关系,在此基础上依据控制量一致思想设计解耦控制器,解决了传统参考模型解耦方法不能兼顾控制性能和解耦性能的问题,实现了四路电机的独立控制。仿真结果显示,该方法能够有效地减小控制系统各变量间的相互耦合作用,每路电机均很好地跟踪了各自的输入,解耦效果好。

关键词： 两轮机器人   机构   动力学   状态反馈控制器  

摘要： 针对现有两轮机器人转弯速度较低问题,提出一种可轴向摆动的新型两轮机器人设计方法.该方法使用连杆控制机构摆动来调整机构的重心分布,实现机器人在小转弯半径条件下稳定运动的目的.基于拉格朗日方程方法,对机器人的小摆角自由度进行了动力学建模与分析,得到了系统动力学模型,并在此基础上设计了一种状态反馈控制器.运用Matlab/Simulink进行控制器系统仿真,验证了控制器在机器人稳定控制方面的有效性.结果表明,该两轮机器人机构设计思路及运动控制手段可有效提高系统运动稳定性.

关键词： 机器人工程   机器人足球赛   中低层   信息融合   集成传感器   机器人竞赛   机器人研究所   日至   机器人领域   无人驾驶汽车  

摘要： 通过比赛看实力今年7月20日至24日,在巴西举办了一场2014世界杯机器人足球赛（Robo Cup）,上场参赛的全部是由许多快速运动的机器人组成的球队,比赛的技能也不仅是看谁进球多,而是比谁设计的自主运动的机器人头脑更发达、智力更高、更擅长多人合作、人工智能实时推理、路径规划,以及集成传感器信息融合、策略获取等多项机器人学科技水平的高低。这是迄今全球最具规模的国际机器人赛事,今年共有500多支队伍参赛。

关键词： 机器人竞赛   电脑制作   足球项目   最佳组织奖   作品评选   国际学生   江西教育   创意大赛   高中组   教育工委  

摘要： （2014年8月1日-2014年8月31日） 8月2日第十五届全国中小学电脑制作活动暨第三届中国国际学生信息科技创意大赛落下帷幕。我省选手包揽＂电脑机器人竞赛＂足球项目小学组、初中组和高中组的三个冠军,电脑机器人代表队共获得一等奖3个、二等奖3个、三等奖5个,创造参赛以来历史最好成绩。电脑作品评选类项目共获得一等奖13个、二等奖17个、三等奖23个。15所学校获优秀学校组织奖,省教育厅第十四次荣获＂最佳组织奖＂。