关键词： Baby's Cry   Speech Recognition System   Fundamental Frequency   Emotion   Pattern Recognition  

摘要： We developed a method for pattern recognition of baby's emotions (discomfortable, hungry, or sleepy) expressed in the baby's cries. A 32-dimensional fast Fourier transform is performed for sound form clips, detected by our reported method and used as training data. The power of the sound form judged as a silent region is subtracted from each power of the frequency element. The power of each frequency element after the subtraction is treated as one of the elements of the feature vector. We perform principal component analysis (PCA) for the feature vectors of the training data. The emotion of the baby is recognized by the nearest neighbor criterion applied to the feature vector obtained from the test data of sound form clips after projecting the feature vector on the PCA space from the training data. Then, the emotion with the highest frequency among the recognition results for a sound form clip is judged as the emotion expressed by the baby's cry. We successfully applied the proposed method to pattern recognition of baby's emotions. The present investigation concerns the first stage of the development of a robotics baby caregiver that has the ability to detect baby's emotions. In this first stage, we have developed a method for detecting baby's emotions. We expect that the proposed method could be used in robots that can help take care of babies.

关键词： 竞赛规则   机器人   青少年   朝阳区   中国科协   计算机编程   机械原理   科技活动  

摘要： 由中国科协创意并组织开展的机器人竞赛是一项综合了多学科的发展成果，涉及机械原理、计算机编程、数字、信息、传感器等多种知识综合应用的青少年科技活动。代表了素质教育最新理念的发展前沿。第13届北京市青少年机器人竞赛在通州区3中学隆重举行，来自16区中小学生共500余人，参加了比赛。按照中国科协机器人竞赛规则，

关键词： 机器人教学   教学规律   学习结果   中小学   客观规律   科学发展   现代教育   教学活动  

摘要： 现代教育科学发展的重要方向，就是不断探索教学活动中的客观规律，中小学机器人教学也应该有其客观规律，有规律就存在规定性，即“学有定律，教有优法”。加涅学习结果分类理论对此提供了有益的启示，有助于创建新的学科教学体系，用科学眼光来看待教与学的结果、过程和条件，克服教学中出现的盲目性和随意性。

关键词： 机器人   动力学   辨识   摩擦力   激励轨迹  

摘要： 针对机器人动力学参数辨识的问题,提出一种基于改进傅里叶级数的辨识方法.采用静态连续摩擦模型描述机器人关节摩擦特性,以确保基于该模型的摩擦补偿是物理可实现的.推导得到机器人动力学模型的线性形式.设计严格满足速度、加速度边界条件的改进傅里叶级数作为激励轨迹,并根据条件数准则优化激励轨迹系数.考虑测量噪声的影响,采用最大似然法作为参数估计的方法.实验结果表明,采用所提方法的辨识结果能够准确重构机器人关节力矩值.且相比于传统的基于傅里叶级数的辨识方法,该方法提高参数辨识的精度.

关键词： 机器人竞赛   技术细节   智力   参赛选手   竞赛活动   赛前准备   主观因素   成绩  

摘要： 竞赛就是最大限度地发挥个人或团队的力量，战胜对手，取得优异成绩。选手参加机器人竞赛也是为了取得好成绩。然而，很多时候或因为对规则的认识不充分，或因为赛前准备不足，或因为比赛中策略采取不当等原因，造成不能取得理想的成绩，而这些原因完全是主观的，只要准备工作到位是可以避免的。因此，比赛前参赛选手需要采取一些措施，克服这些主观因素，保证自己的技能水平得到充分发挥。笔者指导机器人竞赛活动多年。多次带队参加省市级机器人竞赛活动，积累了一些参赛经验，在此与大家一起分享。

关键词： Laparoscopy   Robot-assisted surgery   Ureterolithotomy   Pyelolithotomy   Urolithiasis   Calculi  

摘要： The surgical management of urolithiasis has undergone a remarkable clinical evolution over the past three decades. The once common practice of open stone surgery has nearly been relegated to historical interest by modern technology. The introduction of minimally invasive techniques, laparoscopy and robot-assisted surgery, have emerged to complete the urologist's armamentarium. The benefits to patients when other endourologic procedures have failed include less pain, shorter hospitalization and convalescence, and improved cosmesis. This chapter explores the historical shift from open to minimally invasive management for stone disease and the unique risks and outcomes associated with these procedures in modern urology.

关键词： Collaborative gaming   Educational Robotics   Programming competitions   Social science research  

摘要： There is widespread investment of resources in the fields of Computer Science, Science, Technology, Engineering, Mathematics (CS-STEM) education to improve STEM interests and skills. This paper addresses the goal of revolutionizing student education using collaborative gaming and competition, both in virtual simulation environments and on real hardware in space. The concept is demonstrated using the SPHERES Zero Robotics (ZR) Program which is a robotics programming competition. The robots are miniature satellites called SPHERES-an experimental test bed developed by the MIT SSL on the International Space Station (ISS) to test navigation, formation flight and control algorithms in microgravity. The participants compete to win a technically challenging game by programming their strategies into the SPHERES satellites, completely from a web browser. The programs are demonstrated in simulation, on ground hardware and then in a final competition when an astronaut runs the student software aboard the ISS. ZR had a pilot event in 2009 with 10 High School (HS) students, a nationwide pilot tournament in 2010 with over 200 HS students from 19 US states, a summer tournament in 2010 with similar to 150 middle school students and an open-registration tournament in 2011 with over 1000 HS students from USA and Europe. The influence of collaboration was investigated by (1) building new web infrastructure and an Integrated Development Environment where intensive inter-participant collaboration is possible, (2) designing and programming a game to solve a relevant formation flight problem, collaborative in nature-and (3) structuring a tournament such that inter-team collaboration is mandated. This paper introduces the ZR web tools, assesses the educational value delivered by the program using space and games and evaluates the utility of collaborative gaming within this framework. There were three types of collaborations as variables within matches (to achieve game objectives), inter-tea

摘要： Objective: Current interventional techniques rely heavily on operator familiarity with catheters and wires and on physician skills in effectively navigating through and managing target lesions. A novel robotic technology allows endovascular specialists to remotely control catheter tip deflection and advancement and to coordinate manipulation of currently available wires. The aim of this study was to successfully demonstrate feasibility and safety of navigation to and treatment of iliac and femoral artery lesions using Hansen Medical's vascular control catheter (VCC). Methods: A total of 20 limbs were included in this analysis for a first-in-man trial of the VCC and vascular catheter control system. The local Institutional Review Board approved the trial, and all patients included had symptomatic femoropopliteal occlusive disease. Preoperative imaging was available on all patients. Target lesions in the contralateral superficial femoral artery ranged from mild stenosis to chronic total occlusions (TransAtlantic Inter-Society A through D). Exclusion criteria included previously treated iliac and femoral lesions in the symptomatic leg and a body mass index >35. The operators comprised three experienced interventionalists (two vascular surgeons and an interventional radiologist) and a novice (cardiac surgeon). The primary end point of the study was to demonstrate successful cannulation of the target vessel (ie, navigation to the lesion with wire and catheter) with the Hansen VCC, with no device-related serious adverse events. Secondary end points were to assess the ability to treat lesions using the flexible catheter defined by successful insertion of a guidewire, angiography of the target vessel, delivery of balloon, and/or stent. Procedure times and radiation delivered were analyzed for the group and by operator, and t-test was performed to determine statistical significance. Complications were assessed by clinical examination and ultrasound. Results: Lesions were suc

关键词： Outdoor path planning   Fast marching   Robotics  

摘要： In this paper, a new path planning method for robots used in outdoor environments is presented. The proposed method applies Fast Marching to a 3D surface represented by a triangular mesh to calculate a smooth trajectory from one point to another. The method uses a triangular mesh instead of a square one since this kind of grid adapts better to 3D surfaces. The novelty of this approach is that, before running the algorithm, the method calculates a weight matrix W based on the information extracted from the 3D surface characteristics. In the presented experiments these features are the height, the spherical variance, and the gradient of the surface. This matrix can be viewed as a difficulty map situated over the 3D surface and is used to limit the propagation speed of the Fast Marching wave in order to find the best path depending on the task requirements, e.g., the least energy consumption path, the fastest path, or the most plain terrain. The algorithm also gives the speed for the robot, which depends on the wave front propagation speed. The results presented in this paper show how, by varying this matrix W, the paths obtained are different. Moreover, as it is shown in the experimental part, this algorithm is also useful for calculating paths for climbing robots in much more complex environments. Finally, at the end of the paper, it is shown that this algorithm can also be used for robot avoidance when two robots approach each other, and they know each other's position. (C) 2012 Elsevier B.V. All rights reserved.

关键词： Robotics in medicine -- Evaluation   Surgeons -- Equipment & supplies   Computer-assisted surgery  

摘要： The article offers information on Medical Robotics And Computer-Assisted Surgery (MRCAS) equipment which is defined as computer or microprocessor-enabled devices assisting surgeon in planning and carrying out surgical procedures.