关键词： In-network computation   Data reduction   Information collection   Networked robotics   Wireless robotics   Machine-to-machine communications   Sensor networks   Ad hoc networks  

摘要： Wireless robotics enables wide applications of service robots to benefit human life. However, effective machine-to-machine communications would be the foundation of operation. With cloud-based architecture, we innovatively demonstrate in-network computation to significantly alleviate the requirement of communication bandwidth for multi-hop networking, to achieve spectrum-efficient M2M communications. We further characterize the coverage geographical of machines to impact effective operation of wireless robotics.

关键词： Instrumentation and measurement Medical physics Biological physics  

摘要： Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s(-1).

关键词： Rehabilitation   stroke   hemiplegia   rehabilitation  

摘要： Objective: To compare the efficacy of a repetitive task-specific practice regimen integrating a portable, electromyography-controlled brace called the 'Myomo' versus usual care repetitive task-specific practice in subjects with chronic, moderate upper extremity impairment. Subjects: Sixteen subjects (7 males;mean age 57.0 +/- 11.02 years;mean time post stroke 75.0 +/- 87.63 months;5 left-sided strokes) exhibiting chronic, stable, moderate upper extremity impairment. Interventions: Subjects were administered repetitive task-specific practice in which they participated in valued, functional tasks using their paretic upper extremities. Both groups were supervised by a therapist and were administered therapy targeting their paretic upper extremities that was 30 minutes in duration, occurring 3 days/week for eight weeks. One group participated in repetitive task-specific practice entirely while wearing the portable robotic, while the other performed the same activity regimen manually. Main outcome measures: The upper extremity Fugl-Meyer, Canadian Occupational Performance Measure and Stroke Impact Scale were administered on two occasions before intervention and once after intervention. Results: After intervention, groups exhibited nearly identical Fugl-Meyer score increases of approximate to 2.1 points;the group using robotics exhibited larger score changes on all but one of the Canadian Occupational Performance Measure and Stroke Impact Scale subscales, including a 12.5-point increase on the Stroke Impact Scale recovery subscale. Conclusions: Findings suggest that therapist-supervised repetitive task-specific practice integrating robotics is as efficacious as manual practice in subjects with moderate upper extremity impairment.

关键词： Quality of Service   Robotics   Wireless sensor networks  

摘要： Wireless sensor networks and mobile robotics are two hot research topics. Integrating them leads to a wide range of new applications in many different environments such as terrestrial, underwater, underground and aerial. Where sensor networks are mainly used for large-scale monitoring and control, mobile robotics are used for performing fine-scale actions and automation. Network heterogeneity together with stringent Quality of Service (QoS) demands from applications such as voice and video make QoS support very challenging. Therefore, this paper investigates the QoS challenges in wireless sensor networked robotics and presents a novel QoS framework as solution to cope with these challenges.

关键词： Mobile robots  

摘要： The Extended Kalman Filter (EKF) is one of the most efficient algorithms to address the problem of Simultaneous Localization And Mapping (SLAM) in the area of autonomous mobile robots. The EKF simultaneously estimates a model of the environment (map) and the position of a robot based on sensor information. The EKF for SLAM is usually implemented using floating-point data representation demanding high computational processing power, mainly when the processing is performed online during the environment exploration. In this paper, we propose a method to automatically estimate the bit-range of the EKF variables to mitigate its implementation using only fixed-point representation. In this method is presented a model to monitor the algorithm stability, a procedure to compute the bit range of each variable and a first effort to analyze the maximum acceptable system error. The proposed system can be applied to reduce the overall system cost and power consumption, specially in SLAM applications for embedded mobile robots. © 2012 The Brazilian Computer Society.

关键词： Cooperative communications   Mobile robotics   Policy   Spectrum   Power  

摘要： Mobile robotics is a field that presents a surprising set of challenges to communications. One concept that can result in radically different solutions in mobile robotics is that of collaborative and cooperative communications. Cooperative techniques in wireless networks can enhance the performance of communication especially in cases where a small number of robots can be used to aid the establishment of reliable and efficient communication links. In this paper, we present a scenario for hybrid mobile robotics, where a small number of carriers are able to reposition nodes according to communication needs. We developed a common information management layer in order to coordinate cooperation (including communication aspects) between all units (information nodes and robots) according to high level self-established policies. We select IEEE 802.11 technology as the technology for the communication infrastructure and explore its potential for cooperative mobile environments in terms of power and spectrum efficiency presenting the rules required to reconfigure such a mobile robotic environment.

关键词： Motion planning  

摘要： This paper presents a set of novel modifications that can be applied to any grid-based path planning algorithm from the A* family used in mobile robotics. Five modifications are presented regarding the way the robot sees an obstacle and its target to plan the robot's path. The modifications make it possible for the robot to get to the target faster than traditional algorithms, as well as to avoid obstacles that move as fast as (or even faster than) the robot. Some simulations were made using a crowded and highly dynamic environment with twelve randomly moving obstacles. In these first simulations, a middle sized 5DPO robot was used. Also, real experiments were made with a small-sized version of a 5DPO robot to validate the algorithm's effectiveness. In all simulations and real robot experiments the objects are considered to be moving at a constant speed. Finally, we present an overall discussion and conclusion of this paper. © 2012 The Brazilian Computer Society.

关键词： Robotics   Prostatectomy   Partial nephrectomy   Cystectomy   Review   Urologic oncology  

摘要： Robotic technology disseminated into urological practice without robust comparative effectiveness data. To review the diffusion of robotic surgery into urological practice We performed a comprehensive literature review focusing on diffusion patterns, patient safety, learning curves, and comparative costs for robotic radical prostatectomy, partial nephrectomy, and radical cystectomy Robotic urologic surgery diffused in patterns typical of novel technology spreading among practicing surgeons. Robust evidence-based data comparing outcomes of robotic to open surgery were sparse. Although initial Level 3 evidence for robotic prostatectomy observed complication outcomes similar to open prostatectomy, subsequent population-based Level 2 evidence noted an increased prevalence of adverse patient safety events and genitourinary complications among robotic patients during the early years of diffusion. Level 2 evidence indicated comparable to improved patient safety outcomes for robotic compared to open partial nephrectomy and cystectomy. Learning curve recommendations for robotic urologic surgery have drawn exclusively on Level 4 evidence and subjective, non-validated metrics. The minimum number of cases required to achieve competency for robotic prostatectomy has increased to unrealistically high levels. Most comparative cost-analyses have demonstrated that robotic surgery is significantly more expensive than open or laparoscopic surgery. Evidence-based data are limited but suggest an increased prevalence of adverse patient safety events for robotic prostatectomy early in the national diffusion period. Learning curves for robotic urologic surgery are subjective and based on non-validated metrics. The urological community should develop rigorous, evidence-based processes by which future technological innovations may diffuse in an organized and safe manner.