关键词： Surgical planning   Robotics-assisted cardiac surgery   Image guidance   Minimally invasive surgery  

摘要： Objective: Robotics-assisted endoscopic atraumatic coronary artery bypass has been shown to be effective in reducing surgical morbidity and length of hospital stay. Unfortunately, the criteria for selecting eligible patients for this procedure are still primitive. This has motivated the use of preoperative computed tomography scans to establish patient eligibility. The objective of this study is to establish which image measurements can be correlated to procedure success. Methods: A retrospective study was performed in 144 patients who underwent robotics-assisted coronary bypass surgery. After an initial set of 55 patients, preoperative computed tomography scans of the other patients were used to obtain patient specific measurements: the lateral distance between the midline of the sternum to the left anterior descending coronary artery and its depth from the skin surface, anteroposterior diameter of the thoracic cavity, and the transverse diameter of the thoracic cavity. The procedures were rated as successful if completed in a minimally invasive manner. Different combinations of the variables were evaluated and correlated with success. Results: A strong correlation was found between success rate and the ratio of the lateral distance to the transverse diameter in the female patients only (0.532, P = 0.006). A ratio of less than 0.20 significantly increased the occurrence of conversion during this procedure in female cases. Conclusions: The lateral distance of the left anterior descending coronary artery from the midline divided by the transverse thoracic width of a female patient shows a significant correlation with procedure success. No significant correlations were found for male patients.

关键词： 微型游动机器人   管道   动力学模型   流体阻力   仿真  

摘要： 分析了管道机器人在充满液体的管道中运行时的受力状况,在此基础上建立了基于欧拉参数(四元数)的潜游式管道机器人六自由度空间运动的动力学模型。对于在特定的三维弯管道内沿规划路径游动的机器人,通过流体力学仿真软件Fluent计算出机器人的流场阻力并代入该动力学模型,在Mathematica环境下可计算出机器人的受力.利用该模型进行的动力学仿真得到了机器人在确定形状的弯曲管道中游动时所需的驱动力.欧拉参数(四元数)的引入有效地避免了奇异性.

关键词： 仿生微小型机器人   试验   仿真  

摘要： 为提高蠕动型机器人的适应性和行走效率,根据腹足动物蠕动原理,设计了一种可应用于人体大动脉血管介入诊疗的新型蠕动式机器人,该机器人的摩擦力控制模块使固定相与移动相的体节单元与管壁之间具有不同的摩擦系数,从而提高了蠕动效率,使机器人运动更平稳,承载能力更强。描述了机器人的结构与行走原理,分析了机器人在大动脉流场环境中的受力,利用空间算子代数方法,建立了机器人动力学模型,通过试验验证了机器人行走原理,在此基础上进一步进行了任务仿真,测试了机器人在不同环境中的动力学性能。样机试验和仿真的结果表明这种仿腹足动物蠕动式机器人达到了预期目的,而建模和仿真的方法对于其他类型蠕动式机器人也具有借鉴意义。

关键词： 船舶壁面除锈   爬壁机器人   动力学模型   模糊优化   仿真分析  

摘要： 设计一种履带式永磁真空混合吸附的船舶壁面除锈爬壁机器人,该机器人具有负载大、本体重特点,且机器人负载质量以及重心位置随爬壁高度变化。根据机器人爬壁运动原理,建立机器人沿船舶壁面上爬和转弯的动力学模型,运用模糊优化理论对模型进行优化和仿真分析,规划机器人的安全工作范围,分析机器人在典型爬壁高度下的驱动上爬能力,讨论在理论转矩、最大转矩和额定转矩下的机器人上爬的高度与角度关系,研制试验样机进行爬壁转弯试验、定负载上爬试验和变负载上爬试验。仿真和试验结果表明,机器人动力学优化模型可靠,运动性能受永磁吸附力、真空力、射流反击力等影响很小,而受本体重力、爬壁高度和壁面倾角影响较大,所规划的机器人安全工作范围合理。

关键词： 拆除机器人   有限元法   ANSYS   瞬态动力学  

摘要： 以某型号拆除机器人为研究对象,采用当今主流的CAD及CAE软件的Pro/E和ANSYS,首先利用Pro/E软件建立其三维实体模型,通过Pro/E与ANSYS的接口将其导入ANSYS中,并通过节点耦合的方式,处理机构连接,从而建立起了整机的有限元模型,参照液压锤在实际工作状态下的打击力,对拆除机器人进行了瞬态动力学分析,得到了结构的瞬态动力学响应,为进行产品设计与改进奠定了基础。

关键词： Technological innovations   Application software   Open source software   Industrial robots   Study & teaching of robotics   Curriculum change   Computer science education   Robotics software   Common fallacies   Microprocessors   Graphical user interfaces (Computer systems)  

摘要： The author discusses how robotics innovations may lead to curriculum changes in computer science (CS) courses. The author comments on how CS courses have been affected by innovations and predicts growth in the development of robots. He comments that development of robotics is being negatively affected by misconceptions regarding robotics education and the lack of robotics platforms and user-friendly robotics software for higher education CS courses.

关键词： Robotics   Intelligent control   Cooperative control   Agents   Al   System life   Robot systems  

摘要： Artifact systems created by humans interact with the surrounding natural world and have a large-scale influence on our human lives. The most creditable concept to this critical issue of scientific and technological development seems to be "System Life" that is an innovative competence to be embodied into any artifact system for creating harmony in the world of natural entities and artifact systems interacting with each other. System life is defined as a seamless system of sensing, processing, activating and expressing mechanisms governed by system life information. This paper introduces a design approach of robots possessing system life. First, this paper presents the concept of system life comparing it with the conventional design methodology of intelligent systems. Second, the paper introduces an intelligent control methodology using the cubic neural network that the author developed in order to cope with unpredicted failures. Finally, the paper presents various intelligent robots, a skiing robot, autonomous soccer robots, a game playing robot, as new concrete artifact systems designed using the system life concept. (C) 2010 Published by Elsevier B.V.

关键词： Reinforcement learning   Soccer robots  

摘要： In real-world robotic applications, many factors, both at low level (e.g., vision, motion control and behaviors) and at high level (e.g., plans and strategies) determine the quality of the robot performance. Consequently, fine tuning of the parameters, in the implementation of the basic functionalities, as well as in the strategic decisions, is a key issue in robot software development. In recent years, machine learning techniques have been successfully used to find optimal parameters for typical robotic functionalities. However, one major drawback of learning techniques is time consumption: in practical applications, methods designed for physical robots must be effective with small amounts of data. In this paper, we present a method for concurrent learning of best strategy and optimal parameters using policy gradient reinforcement learning algorithm. The results of our experimental work in a simulated environment and on a real robot show a very high convergence rate. (C) 2010 Elsevier B.V. All rights reserved.

关键词： Spinal Cord Injury   Humanoid Robot   Motor Neuron Disease   Robotic Device   Sensorimotor Control  

摘要： Several questions and answers related to robotics are presented which include one related to the functions of robots, one related to the field of neuroscience which has been advanced by using robotics and one related to the study of sensorimotor.