关键词： 并联机构   机器人   多柔性系统   动力学   联合仿真  

摘要： 介绍了采用Adams联合Ansys研究多体并联机器人柔性动力学问题的详细方法。利用Pro/E的实体建模和Ansys的柔性化处理,建立了6_PUS并联支撑机器人的多柔体系统模型,并借助于Adams动力学仿真得到了6_PUS并联支撑机器人的速度、加速度和力曲线。研究发现6_PUS并联支撑机器人的速度和加速度具有一定的对称性,而力具有明显的峰值大、平均力小,以及效率低的特征。研究结果不但验证了柔性杆的设计能够满足机器人的要求,同时也为这类并联机构的设计和直线电动机的选择提供了参考。

关键词： 基于行为的方法   案例推理   MissionLab仿真平台   多机器人编队   粒子群优化算法  

摘要： 以未知环境下多机器人学习为研究平台,因案例推理方法可存储以前的问题和解信息,用该方法的长期记忆特性可帮助粒子群优化算法更好地解决新的问题。在特定的仿真环境里,粒子群优化算法可训练机器人的几个基本行为,经过学习使机器人具有更好的鲁棒性和自适应学习能力。根据机器人不同行为在复杂环境下的性能指标,CBR可从案例库中选择特定的行为,并将其参数传送到粒子群优化算法的初始解库,从而加速整体的学习过程。利用机器人仿真软件MissionLab,采用基于行为的多机器人编队任务,用来测试该算法的有效性。仿真和实验结果表明,案例推理方法和粒子群优化算法相结合,使机器人获得更优的控制参数,同时在未知环境下的多机器人编队具有更好的性能。

关键词： 外骨骼机器人   结构设计   动力学仿真  

摘要： 对外骨骼机器人进行了结构设计,重点介绍了外骨骼机器人的驱动器设计和工作原理。通过ADAMS动力学仿真,得到了外骨骼机器人髋关节、膝关节的动力学参数,分析了仿真结果的正确性,为外骨骼机器人的结构设计提供了可靠的依据。

关键词： Swarm robotics   Search tasks   Benchmark   Performance analysis  

摘要： This paper presents a survey on multi-robot search inspired by swarm intelligence by further classifying and discussing the theoretical advantages and disadvantages of the existing studies. Subsequently, the most attractive techniques are evaluated and compared by highlighting their most relevant features. This is motivated by the gradual growth of swarm robotics solutions in situations where conventional search cannot find a satisfactory solution. For instance, exhaustive multi-robot search techniques, such as sweeping the environment, allow for a better avoidance of local solutions but require too much time to find the optimal one. Moreover, such techniques tend to fail in finding targets within dynamic and unstructured environments. This paper presents experiments conducted to benchmark five state-of-the-art algorithms for cooperative exploration tasks. The simulated experimental results show the superiority of the previously presented Robotic Darwinian Particle Swarm Optimization (RDPSO), evidencing that sociobiological inspiration is useful to meet the challenges of robotic applications that can be described as optimization problems (e.g., search and rescue). Moreover, the RDPSO is further compared with the best performing algorithms within a population of 14 e-pucks. It is observed that the RDPSO algorithm converges to the optimal solution faster and more accurately than the other approaches without significantly increasing the computational demand, memory and communication complexity. (C) 2013 Elsevier B.V. All rights reserved.

摘要： The article evaluates the Integrated Vision smart camera system from ABB Robotics, a supplier of industrial robots.

关键词： Endoscopic   Surgery   Robotic   da Vinci  

摘要： Robotic systems were introduced 15 years ago to support complex endoscopic procedures. The technology is increasingly used in gastro-intestinal surgery. In this article, literature on experimental- and clinical research is reviewed and ergonomic issues are discussed. Methods: literature review was based on Medline search using a large variety of search terms, including e.g. robot(ic), randomized, rectal, oesophageal, ergonomics. Review articles on relevant topics are discussed with preference. Results: There is abundant evidence of supremacy in performing complex endoscopic surgery tasks when using the robot in an experimental setting. There is little high-level evidence so far on translation of these merits to clinical practice. Discussion: Robotic systems may appear helpful in complex gastrointestinal surgery. Moreover, dedicated computer based technology integrated in telepresence systems opens the way to integration of planning, diagnostics and therapy. The first high tech add-ons such as near infrared technology are under clinical evaluation. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： ROBOTS   ROBOTICS   AUTOMATION   MAINTENANCE   INDUSTRIAL technicians  

摘要： The article offers information on the role of robots and robotics technician that install, service, maintain, troubleshoot, and repair robots and automated production systems. It discusses skills and characteristics of robotics various facts which includes good mechanical and electrical aptitude, good eyesight and color vision techs must inspect and work on small, delicate parts and ability to work without close supervision.

关键词： SURGICAL robots   PLASTIC surgery   ROBOTICS in medicine  

摘要： The article introduces a series of papers on robotic applications in plastic surgery published within the issue.

关键词： Aerial robotics   Quadrocopters   Robotics testbeds   Networked control systems  

摘要： The Flying Machine Arena is a platform for experiments and demonstrations with fleets of small flying vehicles. It utilizes a distributed, modular architecture linked by robust communication layers. An estimation and control framework along with built-in system protection components enable prototyping of new control systems concepts and implementation of novel demonstrations. More recently, a mobile version has been featured at several eminent public events. We describe the architecture of the Arena from the viewpoint of system robustness and its capability as a dual-purpose research and demonstration platform. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： 10   10.4   RL   VATS   VATS lobectomy   VL   robotic lobectomy   video-assisted thoracic surgery  

摘要： Objectives: To determine if there are advantages to transitioning to robotics by a surgeon who is already proficient in performing video-assisted thoracic surgical (VATS) lobectomy. Methods: A single surgeon proficient in VATS lobectomy initiated a robotic lobectomy program, and a retrospective review was conducted of his patients undergoing minimally invasive lobectomy (robotics or VATS) for lung cancer between 2011 and 2012. Data collected included patient/tumor characteristics, morbidity, mortality, operative times, and length of hospital stay. Results: Over a 24-month period, a total of 69 patients underwent minimally invasive lobectomy (35 robotic, 34 VATS). Patients in each group were similar in age and clinical stage. Robotic upper lobectomy operative times were longer than VATS (172 vs 134 minutes;P - .001), with no significant difference in lower lobectomies noted (140 vs 123 minutes;P = .1). Median length of stay was 3 days in both groups, and the median number of lymph nodes harvested was 18 (robotic) versus 16 (VATS;P = .42). Morbidity and mortality for robotic versus VATS were 11% versus 18% (P = .46) and 0% versus 3% (P = .49), respectively. Conclusions: There does not seem to be a significant advantage for an established VATS lobectomy surgeon to transition to robotics based on clinical outcomes. The learning curve for robotic upper lobectomies seems to be more significant than that for lower lobectomies.