关键词： PD   Robotics   Technology integration   Science curriculum   Mathematics curriculum  

摘要： This study describes a professional development (PD) program designed to support middle school teachers in effectively integrating robotics in science and mathematics classrooms. The PD program encouraged the teachers to develop their own science and mathematics lessons, aligned with national standards, infused with robotic activities. A multi-week summer PD and sustained academic year follow-up imparted to the teachers the technical knowledge and skills of robotics as well as an understanding of when and how to use robotics in science and mathematics teaching. The goal of this study is to investigate the effects of the robotics-integrated PD program through the changes of teachers' technological-pedagogical-and-content knowledge self-efficacy, the improvement in their content knowledge of robotics in the context of science and mathematics teaching, and their reflections on the PD. The 41 participants consisted of 20 mathematics and 20 science teachers and one teacher who teaches both subjects. Three instruments were administered to the teachers during the PD, and follow-up interviews were conducted to further examine benefits and possible impacts on their teaching resulting from the PD. The data were analyzed by both statistical and qualitative methods to identify the effectiveness of the PD. The findings of the study indicate that the PD program was effective in increasing participants' robotics content knowledge and confidence and outcome expectancy while integrating robotics in their teaching practices. Based on teacher reflections and follow-up interviews, this study offers guidelines for future development of technology-integrated science and mathematics teaching.

关键词： Friction   Force   Robots   Lead   Fasteners   Dynamics   Mathematical model   Contact modeling   direct   inverse dynamics formulation   dynamics   sliding transmission systems  

摘要： This article presents a unified mathematical approach for modeling, identifying, and solving the friction-inclusive dynamics of robotic mechanisms driven by sliding contact transmission systems. This approach is applied to the most common industrial screw-based drives: 1) the worm drive, 2) the simple lead screw drive, and 3) the antibacklash lead screw drive. The resulting dynamics, handily transferable to single and multiple degree of freedom (DoF) manipulators, are complemented with an algorithm for the solution of the forward dynamics problem as well as a framework for friction identification based on nonlinear optimization. The presented theory is experimentally tested on single-DoF screw-based drives for a variety of payloads and at different operation speeds. Simulation and parameter identification results using the classical Coulomb model, the Coulomb model with Stribeck friction, and the Armstrong model with Stribeck friction, rising static friction, and frictional memory are compared with experimental data, showcasing the effectiveness of the presented approach toward framing the concepts of friction and motion transmission into a robotics setting.

关键词： Cochlear implant   Residual hearing   Robotics  

摘要： Objectives: Recent advancements in robotics have set forth a growing body of evidence for the clinical application of the robotic cochlear implantation (RCI), with many potential benefits. This review aims to summarize these efforts, provide the latest developments in this exciting field, and explore the challenges associated with the clinical implementation of RCI. Data Sources: MEDLINE, PubMed, and EMBASE databases. Study Selection: A search was conducted using the keywords "robotics otolaryngology," "robotic cochlear implant," "minimally-invasive cochlear implantation," "minimally-invasive mastoidectomy," and "percutaneous cochlear implant" with all of their synonyms. Literature selection criteria included articles published in English, and articles from 1970 to present. Results: The use of robotics in neurotology is a relatively new endeavor that continues to evolve. Robotics is being explored by various groups to facilitate in the various steps of cochlear implant surgery, including drilling a keyhole approach to the middle ear for implants, inner ear access, and electrode insertion into the cochlea. Initial clinical trials have successfully implanted selected subjects using robotics. Conclusions: The use of robotics in cochlear implants remains in its very early stages. It is hoped that robotics will improve clinical outcomes. Although successful implants with robots are reported in the literature, there are some challenges that need to be addressed before this approach can become an acceptable option for the conventional cochlear implant surgery, such as safety, time, efficiency, and cost. However, it is hoped that further advancements in robotic technology will help in overcoming these barriers leading to successful implementation for clinical utility.

关键词： technology   navigation   robotics   total hip arthroplasty   patient-reported outcome measures   outcomes  

摘要： Background: The use of technology such as navigation and robotic systems may improve the accuracy of component positioning in total hip arthroplasty (THA), but its impact on patient-reported outcome measures (PROMS) remains unclear. This study aims to elucidate the association between the use of intraoperative technology and PROMS in patients who underwent primary THA. Methods: We retrospectively reviewed a consecutive series of patients who underwent primary THA between 2016 and 2020 and answered PROM questionnaires. Patients were separated into 3 groups depending on intraoperative technology utilization: computer-assisted navigation, robotic-assisted, or no technology (conventional) THA. Forgotten Joint Score-12 and Hip disability and Osteoarthritis Outcome Score, Joint Replacemen scores were collected at various time points. Demographic differences were assessed with chi-square and analysis of variance. Mean scores between groups were compared using univariate analysis of covariance, controlling for all significant demographic differences. Results: Of the 1960 cases identified, 896 used navigation, 135 used robotics, and 929 used no technology. There were significant statistical differences in one-year Hip disability and Osteoarthritis Outcome Score, Joint Replacement scores (85.23 vs 85.95 vs 86.76, respectively;P = .014) and two-year Forgotten Joint Score-12 scores (64.72 vs 73.35 vs 74.63, respectively;P = .004) between the 3 groups. However, these differences did not exceed the mean clinically important differences. Length of stay was statistically longest for patients who underwent conventionally performed THA versus navigation and robotics (2.22 vs 1.46 vs 1.91, respectively;P < .001). Surgical time was significantly longer for cases performed using robotics versus navigation and conventionally (119.61 vs 90.35 vs 95.35, respectively;P < .001). Conclusion: Statistical differences observed between all modalities are not likely to be clinically meaningful wit

关键词： Robotic surgery   children   UPJO   Lich Gregoire procedure   ICG fluorescence  

摘要： Minimally invasive surgery (MIS) has represented the main innovation in the field of pediatric surgery and urology over the last 30 years. Pediatric MIS is a wide field, ranging from the standard laparoscopic surgery using 3-mm ports to robotics mainly adopted for pediatric urology indications. The aim of this paper was to summarize the current status of robotic surgery in pediatric urology and to evaluate possible future technical developments for this technique. In pediatric urology, many procedures are challenged by the narrow working space available in smaller children, the difficulty to perform complex and long suture lines to repair complex urinary malformations, and the challenge to remove renal or adrenal tumors. The main characteristic of robotic surgery is that the robotic instruments inserted into the abdominal cavity are remotely controlled by the surgeon, who is sitting at a console next to the patient or even far away, avoiding human tremor during complex suturing. Due to the magnification of the operative field view and the six degrees of freedom of the robotic instruments compared to conventional laparoscopic instruments, providing enhanced 3D vision and improved surgeon ergonomics, robot-assisted surgery appears to be beneficial over conventional MIS, especially in complex reconstructive procedures. Currently, there are two robotic systems available on the market and certified for robotic surgery in children: the DaVinci (Intuitive Surgical, since 2001) and Senhance (Transenterix, since 2020). However, almost the totality of papers published in the international literature are focused on robotic procedures using the DaVinci platform. Analyzing the current literature, there is no evidence about the indications where robotics are preferable to conventional MIS approaches. Currently, the main indications of robotic surgery in pediatric urology are: pyeloplasty for ureteropelvic junction obstruction (UPJO), ureteral reimplantation according to Lich Greg

关键词： Pheromone communication   bio-inspired   swarm robotics   artificial pheromone  

摘要： Pheromones are chemical substances released into the environment by an individual animal, which elicit stereotyped behaviours widely found across the animal kingdom. Inspired by the effective use of pheromones in social insects, pheromonal communication has been adopted to swarm robotics domain using diverse approaches such as alcohol, RFID tags and light. COS phi is one of the light-based artificial pheromone systems which can emulate realistic pheromones and environment properties through the system. This article provides a significant improvement to the state-of-the-art by proposing a novel artificial pheromone system that simulates pheromones with environmental effects by adopting a model of spatio-temporal development of pheromone derived from a flow of fluid in nature. Using the proposed system, we investigated the collective behaviour of a robot swarm in a bio-inspired aggregation scenario, where robots aggregated on a circular pheromone cue with different environmental factors, that is, diffusion and pheromone shift. The results demonstrated the feasibility of the proposed pheromone system for use in swarm robotic applications.

关键词： Soft robotics   Robot organisms   Biodegradable robots   Avogadro's number of robots  

摘要： Soft Robotics has come to the fore in the last decade as a new way of conceptualising, designing and fabricating robots. Soft materials empower robots with locomotion, manipulation, and adaptability capabilities beyond those possible with conventional rigid robots. Soft robots can also be made from biological, biocompatible and biodegradable materials. This offers the tantalising possibility of bridging the gap between robots and organisms. Here, we discuss the properties of soft materials and soft systems that make them so attractive for future robots. In doing so, we consider how future robots can behave like, and have abilities akin to, biological organisms. These include huge numbers, finite lifetime, homeostasis and minimal-and even positive-environmental impact. This paves the way for future robots, not as machines, but as robotic organisms.

关键词： Stroke   Robotic rehabilitation   Cortical plasticity   Motor rehabilitation   Serotonergic system   Buspirone  

摘要： Despite recent progresses in robotic rehabilitation technologies, their efficacy for post-stroke motor recovery is still limited. Such limitations might stem from the insufficient enhancement of plasticity mechanisms, crucial for functional recovery. Here, we designed a clinically relevant strategy that combines robotic rehabilitation with chemogenetic stimulation of serotonin release to boost plasticity. These two approaches acted synergistically to enhance post-stroke motor performance. Indeed, mice treated with our combined therapy showed substantial functional gains that persisted beyond the treatment period and generalized to non-trained tasks. Motor recovery was associated with a reduction in electrophysiological and neuroanatomical markers of GABAergic neurotransmission, suggesting disinhibition in perilesional areas. To unveil the translational potentialities of our approach, we specifically targeted the serotonin 1A receptor by delivering Buspirone, a clinically approved drug, in stroke mice undergoing robotic rehabilitation. Administration of Buspirone restored motor impairments similarly to what observed with chemogenetic stimulation, showing the immediate translational potential of this combined approach to significantly improve motor recovery after stroke.

关键词： educational robotics   STEAM education  

摘要： In recent years we have observed a clear trend for the transformation and evolution of teaching practices using Information and Communication Technologies (ICT) and in particular educational robotics. As modern society gives great importance to scientific and technological literacy and new technologies, the educational process must play a central role in the development of the respective skills. Thus, the training of future teachers in corresponding fields is especially important. In this paper, we present the curriculum design of a course named "S.T.E.A.M Teaching Scenarios using Educational Robotics" implemented for undergraduate pre-service teachers at the Elementary Education Department of the University of Western Macedonia in Florina, Greece. The objectives of the course include the development of critical and computational thinking, familiarity with robots, and the process of their integration in curricula focusing on interdisciplinary practices facilitated by embodied learning affordances.

关键词： Software architecture   Robotics   ROS  

摘要： Context: The Robot Operating System (ROS) is the de-facto standard for robotics software. However, ROS-based systems are getting larger and more complex and could benefit from good software architecture practices. Goal: We aim at (i) unveiling the state-of-the-practice in terms of targeted quality attributes and architecture documentation in ROS-based systems, and (ii) providing empirically-grounded guidance to roboticists about how to properly architect ROS-based systems. Methods: We designed and conducted an observational study where we (i) built a dataset of 335 GitHub repositories containing real open-source ROS-based systems, and (ii) mined the repositories to extract and synthesize quantitative and qualitative findings about how roboticists are architecting ROS-based systems. Results: First, we extracted an empirically-grounded overview of the state of the practice for architecting and documenting ROS-based systems. Second, we synthesized a catalog of 47 architecting guidelines for ROS-based systems. Third, the extracted guidelines were validated by 119 roboticists working on real-world open-source ROS-based systems. Conclusion: Roboticists can use our architecting guidelines for applying good design principles to develop robots that meet quality requirements, and researchers can use our results as evidence-based indications about how real-world ROS systems are architected today, thus inspiring future research contributions. (C) 2021 The Author(s). Published by Elsevier Inc.