关键词： Wavelet   Parameter estimation   MLE   Least squares   Omni bundle   Noise  

摘要： Accurate parameter estimation in presence of stochastic noise is the essential part of almost all control hardware of the plants. However, the optimal design of the control hardware depends on processing power and installed memory. The proposed research investigation focuses on precise parameter estimation from compressed temporal data of error dynamics with exiguous susceptibility to the robot's controllability. Instead of using Maximum Likelihood estimation (MLE) and Least Squares (LS) estimation in the time domain, the proposed method exploits the recursive wavelet domain's properties to selectively store the error data coefficients negating the data related to noise. As a result, data compression is achieved. The proposed algorithm may be directly implemented on any scalable "Very Large Scale Integration" (VLSI) circuit due to the recursive implementation. For the evaluation of robustness, dynamic parameter variation is considered. The variation in scalar & vector-valued error is considered to evaluate the performance of the stochastic system. The proposed algorithm implementation is demonstrated experimentally on commercially available Omni Bundle robot.

关键词： 3-DOF Delta parallel robot   Dynamics analysis   The virtual works method   Insufficient excitations   Online identification   Online tuning of base parameters  

摘要： In this paper, the dynamics model of the 3-Degrees-Of-Freedom (DOF) Delta parallel manipulator is elaborated by means of a Screw-based formulation of the virtual works method in a linear regression form. Moreover, a reduced dynamics model is obtained by exploiting the singular value decomposition, leading to the determination of the base inertial parameters. This method is an offline tuning approach for which an optimized path containing several harmonics is required to establish the desired bandwidth. Additionally, this paper presents an algorithm to address the singularity problem by mapping the regressors to an orthogonal space and obtaining an optimal set of base parameters in an online manner, namely the online base inertial parameter tuning method. Thereafter, through a set of simulations, the effectiveness of the proposed method has been illustrated for different paths. Finally, a change in the value of an inertial parameter of the system, which can be regarded as a disturbance, is exerted and the obtained results reveal that the proposed method can compensate for extrinsic mass effect. In summary, it can be deduced that the the proposed approach is also able to identify the changed model under insufficient excitations for real-time purposes.

关键词： Total knee replacement   Total knee arthroplasty   Computer navigation   Robotics   Patient-specific instruments   Network meta-analysis  

摘要： Purpose To achieve the desired alignment more accurately and improve postoperative outcomes, new techniques such as computer navigation (Navigation), patient-specific instruments (PSI) and surgical robots (Robot) are applied in Total Knee Arthroplasty (TKA). This network meta-analysis aims to compare the radiological and clinical outcomes among the above-mentioned techniques and conventional instruments (CON). Methods A PRISMA network meta-analysis was conducted and study protocol was published online at INPLASY (INPLASY202060018). Three databases (PubMed, EMBASE and Cochrane) were searched up to June 1, 2020. Randomised controlled trials (RCTs) comparing any two of the four techniques were included. A Bayesian network meta-analysis was performed focusing on radiological and clinical outcomes. The odds ratio (OR) or mean difference (MD) in various outcomes were calculated, and the interventions were ranked by the surface under the cumulative ranking area (SUCRA) value. Results Seventy-three RCTs were included, with a total of 4209 TKAs. Navigation and Robot could significantly reduce the occurrence of malalignment and malposition compared with PSI and CON, and Navigation could obtain higher medium-and-long-term KSS knee scores than CON. Robot had the greatest advantage in achieving the desired alignment accurately, followed by Navigation;Navigation had the greatest advantage in the KSS score. Conclusion Navigation and Robot did improve the accuracy of alignment compared with PSI and conventional instrument in TKA, but the above four techniques showed no clinical significance in postoperative outcomes.

关键词： 空间机器人   空间机器人  

ISBN: (纸本)9787030709554

摘要： 本书以空间机器人抓捕空间非合作目标为对象，详细介绍了抓捕前、抓捕中、抓捕后的相关理论与方法，内容包括：抓捕前的非合作目标的智能识别、运动观测、运动预测、近距离交会、姿态演化、主动消旋等，抓捕中的空间机器人无扰路径规划控制技术及几种抓捕策略，抓捕后的非合作目标惯性参数辨识技术、卫星组合体消旋及姿态快速稳定控制技术。另外还介绍了空间机器人关节柔性及摩擦建模、容错控制、追逃博弈等。

关键词： Robotics   Security systems   Security attacks   Countermeasures   Risk analysis   Counter-terrorism   insurgency   Robotics against COVID-19  

摘要： The recent digital revolution led robots to become integrated more than ever into different domains such as agricultural, medical, industrial, military, police (law enforcement), and logistics. Robots are devoted to serve, facilitate, and enhance the human life. However, many incidents have been occurring, leading to serious injuries and devastating impacts such as the unnecessary loss of human lives. Unintended accidents will always take place, but the ones caused by malicious attacks represent a very challenging issue. This includes maliciously hijacking and controlling robots and causing serious economic and financial losses. This paper reviews the main security vulnerabilities, threats, risks, and their impacts, and the main security attacks within the robotics domain. In this context, different approaches and recommendations are presented in order to enhance and improve the security level of robotic systems such as multi-factor device/user authentication schemes, in addition to multi-factor cryptographic algorithms. We also review the recently presented security solutions for robotic systems.

关键词： Robots   Soft robotics   Robot sensing systems   Performance evaluation   Sensors   Actuators   Grasping   Assistive technologies   haptics   material technologies   soft robotics   wearable robotics   wearable technologies  

摘要： Recent advances in the rapidly growing field of soft robotics highlight the potential for innovations in wearable soft robotics to meet challenges and opportunities affecting individuals, society, and the economy. Some of the most promising application areas include wearable haptic interfaces, assistive robotics, and biomedical devices. Several attributes of soft robotic systems make them well-suited for use in human-wearable applications. Such systems can be designed to accommodate the complex morphology and movements of the human body, can afford sufficient compliance to ensure safe operation in intimate proximity with humans, and can provide context-appropriate haptic feedback or assistance to their wearers. Many soft robotic systems have been designed to resemble garments or wearables that are already widely used today. Such systems could one day become seamlessly integrated into a myriad of human activities and environments. Here, we review emerging advances in wearable soft robotic technologies and systems, including numerous examples from prior research. We discuss important considerations for the design of such systems based on functional concerns, wearability, and ergonomics. We describe an array of design strategies that have been adopted in prior research. We review wearable soft robotics applications in diverse domains, survey sensing and actuation technologies, materials, and fabrication methods. We conclude by discussing frontiers, challenges, and future prospects for soft, wearable robotics.

关键词： Construction robot   Digitization   3D printing   Precision and assessment   Planning and control  

摘要： Robotics and 3D printing are becoming more widely used in the field of construction industry. This paper reviews the work focused on the robotics technologies that aided for 3D printing in construction. Several aspects of them can be summarized as follows: (1) system composition and information flow, (2) robot workspace and motion planning, (3) control system and optimization of control strategy, (4) precision measurement and optimization, (5) quality assessment of 3D printing, (6) others, such as stability and interoperability. The challenge of every aspect is analyzed, and the correspondingly technical characteristics and methods are discussed in detail. The differences between robotics and construction mechanisms for 3D printing are analyzed and compared. Also, the robotics are further classified based on the workpiece size and their configurations. Finally, a brief description of future work to the robotics that suitable for 3D printing in construction is prospected.

关键词： competition   cooperative learning   coopetition   pair learning   robotics education  

摘要： Background Although some researchers have applied both cooperation and competition in the practice of robotics education, most of these practices were not systematic, and there was no integration design for intra-group cooperation and inter-group competition. Objectives The study aims to examine the effects of different coopetition designs on students' intragroup cooperation and intergroup competition. Methods A two-stage study was conducted in two elementary schools. In the pilot study, two coopetition designs were developed by combining rewarded and unrewarded competition. In the follow-up study, three coopetition designs (i.e., zero-sum with real-time reward, zero-sum with delayed reward, and social-comparison) were examined. Results and Conclusions The study showed that both social-comparison coopetition and zero-sum real-time reward coopetition can be more effective than zero-sum delayed reward coopetition in teaching knowledge and skills in robotics education. Social comparison coopetition turned out to have a larger effect on affective outcome than the zero-sum delayed reward coopetition. Implications Social comparison coopetition seems to be a more advantages method for both cognitive and affective learning. However, more research is needed to confirm the difference in effectiveness between the three models of coopetition.

关键词： underwater gripper   ROV gripper   underwater manipulation   underwater end-effector   robotic underwater hands   marine biological sampling   taxonomy of actions  

摘要： In order to develop a gripping system or control strategy that improves scientific sampling procedures, knowledge of the process and the consequent definition of requirements is fundamental. Nevertheless, factors influencing sampling procedures have not been extensively described, and selected strategies mostly depend on pilots' and researchers' experience. We interviewed 17 researchers and remotely operated vehicle (ROV) technical operators, through a formal questionnaire or in-person interviews, to collect evidence of sampling procedures based on their direct field experience. We methodologically analyzed sampling procedures to extract single basic actions (called atomic manipulations). Available equipment, environment and species-specific features strongly influenced the manipulative choices. We identified a list of functional and technical requirements for the development of novel end-effectors for marine sampling. Our results indicate that the unstructured and highly variable deep-sea environment requires a versatile system, capable of robust interactions with hard surfaces such as pushing or scraping, precise tuning of gripping force for tasks such as pulling delicate organisms away from hard and soft substrates, and rigid holding, as well as a mechanism for rapidly switching among external tools.

摘要： Compared with the original Takens prediction algorithm, the prediction angle obtained by the improved prediction PSO-Takens algorithm was more closely related to the actual motion angle data of the human body, with a smaller error rate and smooth features. [...]a shoulder passive torque prediction method based on a backpropagation neural network (BPANN) was proposed to expand the shoulder passive torque-angle relationship by S. Li et al. In this paper, the forward kinematic analysis of the mechanism, the simulation of the centering effect, the development of the physical prototype, and related experimental research were presented. [...]this special issue presents the most recent advances in modeling, design, analysis, control, implementation, and therapeutic testing of the human assistive rehabilitation systems, bioinspired prosthesis, manipulators, surgical robots, and sensing systems.