关键词： Clinical Competence   Female   Hospitals, University   Humans   Laparoscopy/methods   Male   Middle Aged   Nephrectomy/methods   Robotics  

摘要： OBJECTIVE We report our experience on 127 kidney surgeries with the da Vinci surgical system and show the feasibility of a robotics application in a variety of kidney surgeries by both a laparoscopically-trained and a laparoscopically-naive surgeon. METHODS Clinical data of patients who underwent kidney surgery with the da Vinci surgical system from September 2006 to April 2009 were reviewed. Data acquired from medical records included patient demographics, operative time, estimated blood loss (EBL), incidence of intraoperative complication, duration of hospital stay, blood transfusion rate, oncological outcomes, and follow-up results. RESULT One-hundred twenty-seven kidney surgeries have been conducted with the da Vinci surgical system at our institution. Three urologists-1 with formal endourology training, 1 with laparoscopic experience, and 1 laparoscopically nave-have used it for a variety of procedures involving the kidney. The cases include 65 partial nephrectomies (RPN), 38 radical nephrectomies (RRN), and 24 nephroureterectomies with bladder cuff (RNU). Results on operative time, EBL, incidence of intraoperative injury, duration of hospital stay, and blood transfusion rate are comparable with contemporary studies. CONCLUSIONS Robotics application in kidney surgery is a viable option for various procedures. Our experience shows it can be safely and effectively conducted by both laparoscopically-trained and laparoscopically-naive surgeons once they are accustomed to the robotics system. UROLOGY 77: 114-118, 2011. (C) 2011 Elsevier Inc.

关键词： 智能机器人   智能自动机   人工智能   学术研讨会   中华人民共和国  

关键词： 研抛机器人   机器人运动学   机器人动力学   开放式数控系统  

摘要： 随着汽车、家电、航天工业等高新产业的迅速发展,对零件表面的质量要求越来越高。传统的手工抛光费时费力,而且精度都难以保证。利用数控机床抛光,由于受夹具尺寸的限制,不能加工大型复杂零件,且不能灵活移动。本课题将传统的数控机床与工业机器人于灵活、高智能以及柔性等技术特点相结合,自主开发出一种能够适应自由曲面的高精度、高性能的研抛机器人,对提高大型自由曲面精整加工技术有着非常重要的意义。 为了使工具头能够对自由曲面任意位置的法向量方向进行研抛,机器人具有五个自由度的自适应功能,其中包括三个直线移动和两个方向的摆动。机器人脚部机构为吸盘式,可以很好的保证机器人工作时的静稳定性和动稳定性；腿部机构采用了电动推杆,使其具有越障功能；手臂机构的五个自由度中三个直线运动是由滚珠丝杠实现的,两个摆动机构则分别是由弧形导轨机构和渐开线花键结构组成。按照功能要求和设计准则,通过CATIA软件完成了机器人的三维实体造型。在对零部件设计时,利用有限元分析软件ANSYS对受力情况比较复杂的摇摆机构和转动轴结构进行静力学分析,以验证其结构强度和刚度的合理性。 机器人的控制系统控制机器人运动轨迹和动作是以各关节位姿参数为基础通过编写运动程序来实现的。求解各关节速度、加速度、力矩以及它们之间的关系则是机器人运动学和动力学所解决的问题。本文建立了5自由度研抛机器人运动学的数学模型,运用D-H方法求解机器人运动学正解、逆解、速度雅克比矩阵以及各关节速度、加速度之间的关系。运用拉格朗日方程对机器人进行动力学分析,求解出各关节的驱动力(力矩)关于速度和加速度的函数表达式。为了验证运动学计算结果的正确性,本文设定机器人匀速走过夹角为20°半径为60mm的圆弧,利用已经求解出的运动学表达式计算出各关节位移量,并将数据导入ADAMS软件进行轨迹仿真,验证了计算结果的正确性。 目前,开放式数控系统应用最为广泛的是以运动控制器作为核心处理器,以PC工控机为信息处理平台,即“PC机+运动控制卡”的形式。PC机作为上层控制器,主要负责工作方式设定、参数的调整和输入以及监视机器人运行状态等非实时性工作。下位机运动控制卡与上位机通过总线结构进行通讯,将上位机的各种指令转化为“脉冲+方向”或者开关量的形式传递给电机驱动器等执行原件。在数控系统硬件方面,本课题以“PC机+ADT-856六轴控制卡”为基础,以步进电机等为执行原件,再辅以限位开关、编码器等搭建了控制系统硬件平台。此外设计了气路控制系统,用来辅助控制研抛机器人的行走机构。在系统软件方面,引入了“模块化”思想,整个系统的功能就是许多功能模块的有序组合。结合ADT-856控制卡自身提供的函数库,并利用VC++6.0面向对象的编程语言,开发了部分功能模块的程序代码。

摘要： There is a considerable interest in developing robotic aircraft, inspired by birds, for a variety of missions covering reconnaissance and surveillance. Flapping wing aircraft concepts have been put forth in light of the efficiency of flapping flight at small scales. These aircraft are naturally equipped with the ability to rotate their wings about the root, a form of wing articulation. This thesis covers some problems concerning the performance, stability and control of robotic aircraft with articulated wings in gliding flight. Specifically, we are interested in aircraft without a vertical tail, which would then use wing articulation for longitudinal as well as lateral-directional control. Although the dynamics and control of articulated wing aircraft share several common features with conventional fixed wing aircraft, the presence of wing articulation presents several unique benefits as well as limitations from the perspective of performance and control. One of the objective of this thesis is to understand these features using a combination of theoretical and numerical tools. The aircraft concept envisioned in this thesis uses the wing dihedral angles for longitudinal and lateral-directional control. Aircraft with flexible articulated wings are also investigated. We derive a complete nonlinear model of the flight dynamics incorporating dynamic CG location and the changing moment of inertia. We show that symmetric dihedral configuration, along with a conventional horizontal tail, can be used to control flight speed and flight path angle independently of each other. This characteristic is very useful for initiating an efficient perching maneuver. It is shown that wing dihedral angles alone can effectively regulate sideslip during rapid turns and generate a wide range of equilibrium turn rates while maintaining a constant flight speed and regulating sideslip. We compute the turning performance limitations that arise due to the use of wing dihedral for yaw control, and

关键词： 机器人学   RoboEarth   为人类服务   学习型   欧洲  

摘要： 据英国广播公司(BBC)近日报道,最近,欧洲科学家启动了RoboEarth(机器人地球)计划,试图让机器人共享信息并存储它们的发现。这意味着机器人很快将拥有自己的互联网和维基百科。届时,当机器人执行任务时,它们能下载数据,并寻求其他机器人的帮助,更快地在新环境下工作。执行该计划的研究人员希望,该研究能通过给机器人装备人类创造出来的、不断丰富的知识库,让机器人更快地为人类服务。

关键词： 鲍威尔   第二定律   机器人学   多诺万  

摘要： 机器人学三定律第一定律——机器人不得伤害人,也不得见人受到伤害而袖手旁观第二定律——机器人应服从人的一切命令,但不得违反第一定律第三定律——机器人应保护自身的安全,但不得违反第一、第二定律引自《机器人学指南》第56版2058年

关键词： 并联机器人   运动学   动力学   MATLAB仿真  

摘要： 本文针对了两种新型三自由度平移并联机构2-RRC-SPS及2-RRC-PSS的结构特点,对这两种类似的并联机构进行了运动学及动力学分析。在运动学分析的过程中,运用坐标解析法和矢量法相结合,得出了两并联机构的运动学方程。根据运动学方程,得出两并联机构的位置正解、反解。在2-RRC-SPS和2-RRC-PSS两并联机构的运动学分析的基础上,对两机构的位置反解求导,得出了该两并联机构的Jacobian矩阵,从而进行运动学方程的速度正、反解求解。基于运动方程的基础上,运用求导的方法,对两个并联机构的各个支链的运动副进行速度分析。在两并联机构的运动学方程速度分析和各支链运动副速度分析基础上,进一步对加速度进行分析。有了上述位置、速度、加速度的分析、求解,运用Lagrange方法,对2-RRC-SPS和2-RRC-PSS两并联机构进行动力学建模,求出该并联机构的驱动力。最后,运用MATLAB软件编写程序,对两并联机构的运动学及动力学模型进行仿真。

关键词： 康复器械   助力机器人   柔顺控制   计算机技术  

摘要： 近年来随着全球范围内人口老年化趋势日益加剧，可穿戴型助力机器人已经成为重点的研究领域之一，膝关节助力机器人作为可穿戴型助力机器人的重要组成部分，科学家对其技术的开发和研究已经取得巨大的进步。膝关节助力机器人将环境感知和多传感器信息融合和运动控制等多种功能集于一身，是典型的人机一体化系统。当人穿上膝关节助力机器人时，机器人在人的智力指导下为人的行走提供助力从而扩展了人的运动能力和活动范围。本文采用假想柔顺控制策略和PID控制算法，实现了膝关节助力机器人为人提供助力的目的。具体内容包括：　　 ⑴通过分析人腿的运动特点，考虑到人腿和外骨骼机器人是捆绑在一起的，因此可以将人腿的质量转移到机器人的连杆之上，又根据左右两条腿的对称性，只需要为人机系统的左腿或者右腿建立一个二连杆动力学模型，得到其动力学方程，并且利用ADAMS软件对其进行仿真分析，为机械设计优化提供了参考，同时也为系统的运动控制算法提供了仿真实验依据。　　 ⑵要使人的运动与膝关节助力机器人的运动协调一致，采用多传感器数据融合的方法来判断人的运动意图和人腿的运动状态，采用假想柔顺控制策略由作用力求出膝关节的转动方向和转速，采用增量式PID 算法对直流电机进行精确的控制，从而实现为人的步行提供助力的目的。　　 ⑶客观上要求对膝关节助力机器人的助力效果作出评估，以便于从机械设计和控制算法两个方面对机器人进行整体优化。利用表面肌电信号（sEMG）对膝关节机器人的助力效果进行评估，结果表明了假想柔顺控制策略和PID控制算法的有效性。

关键词： cable   robot   inspection   dynamics   rigid-flexible coupling   compensation  

摘要： kinematic and dynamic behaviours of a robot manipulator on an elastic catenary cable were investigated. The dynamic equations of the robot and the cable were derived based on the Newton-Euler principle and Hamilton principle respectively. The recursive formulations describing the nonlinear and coupling dynamics relationship between the robot and the cable were presented. Based on the rigid-flexible coupling model proposed in this paper, a dynamic compensation technique with complementary control strategy was discussed which was implemented to adjust the posture of the robot and restrain the vibration that arise the flexible characteristics of the cable. The simulation and experiment results shown in this paper validate the effectiveness of the dynamic compensation.

关键词： Motion   Sensors   Robotics   Artificial intelligence  

摘要： Purpose - The purpose of this paper is to provide a review of various motion capture technologies and discuss the methods for handling the captured data in applications related to robotics. Design/methodology/approach - The approach taken in the paper is to compare the features and limitations of motion trackers in common use. After introducing the technology, a summary is given of robotic-related work undertaken with the sensors and the strengths of different approaches in handling the data are discussed. Each comparison is presented in a table. Results from the author's experimentation with an inertial motion capture system are discussed based on clustering and segmentation techniques. Findings - The trend in methodology is towards stochastic machine learning techniques such as hidden Markov model or Gaussian mixture model, their extensions in hierarchical forms and non-linear dimension reduction. The resulting empirical models tend to handle uncertainty well and are suitable for incrementally updating models: The challenges in human-robot interaction today include expanding upon generalising motions to understand motion planning and decisions and build ultimately context aware systems. Originality/value - Reviews including descriptions of motion trackers and recent methodologies used in analyzing the data they capture are not very common. Some exist, as has been pointed out in the paper, but this review concentrates more on applications in the robotics field. There is value in regularly surveying the research areas considered in this paper due to the rapid progress in sensors and especially data modeling.