关键词： ROBOTICS   DECISION making   ROBUST control   GAUSSIAN processes   SIMULATION methods & models   PROPULSION systems  

关键词： Mobile robot   Kinematics   Dynamics   Actuators   Virtual vehicle   Flat-system   Backstepping   Tracking   Convoy  

摘要： This paper establishes control strategies for wheeled mobile robots which are subjected to nonholonomic constraints. The mobile robot model includes the kinematic and dynamic equations of motion and the actuator dynamics. Using the notion of virtual vehicle and the concept of flatness, and applying the backstepping methodology the paper proposes control schemes for trajectory tracking for the considered augmented model of the mobile robot. The resulting controller ensures exponential convergence to a desired trajectory. Applications of the tracking controller for convoy-like vehicles governed by the augmented models are considered as well. Simulation results and lab experiments are demonstrated. (C) 2011 Elsevier B.V. All rights reserved.

关键词： Autonomous agents  

摘要： A formalism is developed that treats a robot as a subject that can interpret its own experience rather than an object that is interpreted within our experience. A regulative definition of a meaningful experience in robots is proposed in which the present sensible experience is considered meaningful to the agent, as the subject of the experience, if it can be related to the agent's temporal horizons. This definition is validated by demonstrating that such an experience in evolutionary autonomous agents is embodied, contextual and normative, as is required for the maintenance of phenomenological accuracy. With this formalism it is shown how a dialectic similar to that described in Hegelian phenomenology can emerge in the robotic experience and why the presence of such a dialectic can serve as a constraint in the further development of cognitive agents. © 2011 World Scientific Publishing Company.

关键词： endometrial carcinoma   robotic surgery   surgical morbidity  

摘要： OBJECTIVE: We sought to examine outcomes in an expanding robotic surgery (RS) program. STUDY DESIGN: In all, 1000 women underwent RS from May 2006 through December 2009. We analyzed patient characteristics and outcomes. A total of 377 women undergoing RS for endometrial cancer staging (ECS) were compared with the historical data of 131 undergoing open ECS. RESULTS: For the entire RS cohort of 1000, the conversion rate was 2.9%. Body mass index increased over 3 time intervals: T1 = 26.2, T2 = 29.5, T3 = 30.1 (T1:T2, P = .01;T1:T3, P = .0001;T2:T3, P = .037). Increasing body mass index was not associated with increased major complications: T1 = 8.7%, T2 = 4.3%, T3 = 5.7%. In the ECS cohort, as compared with open ECS, women undergoing RS had lower blood loss (46.9 vs 197.6 mL, P = .0001), shorter hospitalization (1.4 vs 5.3 days, P =.0001), fewer major complications (6.4% vs 20.6%, P =.0001), with higher lymph node counts (15.5 vs 13.1, P = .007). CONCLUSION: RS is associated with favorable morbidity and conversion rates in an unselected cohort. Compared to laparotomy, robotic ECS results in improved outcomes.

关键词： electronic nose   mobile robotic olfaction   gas sensing   Metal Oxide Semiconductor Sensor  

摘要： One of the major disadvantages of the use of Metal Oxide Semiconductor (MOS) technology as a transducer for electronic gas sensing devices (e-noses) is the long recovery period needed after each gas exposure. This severely restricts its usage in applications where the gas concentrations may change rapidly, as in mobile robotic olfaction, where allowing for sensor recovery forces the robot to move at a very low speed, almost incompatible with any practical robot operation. This paper describes the design of a new e-nose which overcomes, to a great extent, such a limitation. The proposed e-nose, called Multi-Chamber Electronic Nose (MCE-nose), comprises several identical sets of MOS sensors accommodated in separate chambers (four in our current prototype), which alternate between sensing and recovery states, providing, as a whole, a device capable of sensing changes in chemical concentrations faster. The utility and performance of the MCE-nose in mobile robotic olfaction is shown through several experiments involving rapid sensing of gas concentration and mobile robot gas mapping.

摘要： The article offers brief information on a hardware and software design platform based on the BeagleBoard-xM offered by Arrow Electronics Inc.

摘要： Surgical Robotics and Instrumentation Surgical robotics and instrumentation

关键词： 漂浮基   闭链双臂空间机器人   滑模补偿   力/位置混合控制   动力学  

摘要： 讨论了载体位置、姿态均不受控制情况下,漂浮基闭链双臂空间机器人抓持系统的动力学建模与控制问题。利用拉格朗日方法和牛顿-欧拉法分别建立了双臂空间机器人及抓持负载的动力学模型,并结合漂浮基空间机器人固有的动力学特性及闭合链约束几何关系,获得了抓持系统合成动力学方程。以此为基础,考虑到闭链双臂空间机器人系统结构的复杂性及某些参数的变动性,根据具有较强鲁棒性的变结构控制理论和Lyapunov稳定性理论,设计了系统参数不确定情况下该抓持系统基于滑模补偿的力/位置混合控制方案;从而达到对抓持负载位置与所受内力的双重控制效果。系统数值仿真,证明了上述控制方案的有效性与精确性。

关键词： 职业院校   技能大赛   机器人技术   竞赛规则   应用   高职   主办单位   教育改革  

摘要： 2011年全国职业院校技能大赛于6月24-27日在天津举行。这是继2008年、2009年、2010年成功举办全国职业院校技能大赛之后,职业教育界的又一次盛会。一年一度的全国职业院校技能大赛,已经成为我国职业教育改革发展成果展示的平台、职业院校与企业合作交流的平台、职业教育教学效果检验的平台、职业院校学生事业发展的平台。本刊记者在为期4天的比赛中,与主办单位、参赛单位进行了多方面的沟通,切身体会到学校和学生们对比赛的热情,因此选用了两篇参赛一等奖获奖队伍设计的作品,从参与者的角度与大家分享比赛的经验。

关键词： 双足机器人   动力学仿真   仿生控制   Matlab/Simulink  

摘要： 针对仿生控制的特点,构建了一种Matlab环境下的双足机器人动力学仿真及仿生控制平台。为了充分利用关节自身的被动特性,描述了由非外界约束引起的自由度变化,以及双足机器人在运动相态间的合理切换。同时,考虑到碰撞是机器人运动的固有特性,建立了包括碰撞在内的混合动力学模型,最终实现控制器与机器人、环境的耦合。在此平台上,对设计的仿生控制算法进行了仿真:借助机器人自身运动状态和环境交互信息,协调各个关节的动作时序,实现了低能耗的稳定行走。结果表明,该平台为双足机器人仿生控制及其运动特性分析提供了有效的仿真手段。