关键词： Model reference adaptive control   Switched dynamical systems   Caratheodory solutions   Filippov solutions   Aerial robots  

摘要： This paper presents an adaptive control law for unknown nonlinear switched plants that must follow the trajectory of user-defined linear switched reference models. The effectiveness of the proposed control architecture is proven in two alternative frameworks, that is, analyzing Caratheodory and Filippov solutions of discontinuous differential equations. Numerical and experimental data verify the applicability of the theoretical results to problems of practical interest. The proposed numerical simulation involves the design of a model reference adaptive control law to regulate the roll dynamics of a reconfigurable delta-wing aircraft. The proposed flight tests involve an aerial robot tasked with autonomously mounting a camera of unknown inertial properties to a vertical surface.

关键词： Dual number   n-Order dual number   Space manipulator   Chain-like multi-body   Multi-body dynamics  

摘要： In this study, n-order dual numbers were introduced to derive novel dynamics equations of chain-like multi-body deployed on spacecraft. A multi-body system dynamics equation was proposed in the Newton-Euler form, after dual motor, dual mass and dual momentum were provided by establishing operator (t and operation properties. Translation and rotation motion around base are described in the presented integral models based on n-order dual number. Finally, a chain-like space robot manipulator was designed as a verifying example of the n-order dual number scheme applied to multi-body system dynamics. The simulation results showed that the dynamics of each joint was simplified and the coupling effect between the links was reduced.

关键词： Formal methods   Schedulability analysis   Robotics   Binary search  

摘要： The challenges of deploying robots and autonomous vehicles call for further efforts to bridge the gap between the robotics, the real-time systems and the formal methods communities. Indeed, with robots being more and more involved in costly missions and contact with humans, a rigorous formal verification of their behavior in the presence of various real-time constraints is crucial. In order to increase our trust in its results, such verification should be carried out on models that are as close as possible to reality, and thus take into account hardware and OS specificities such as the number of cores provided by the robotic platform and the scheduling policy. In this paper, we propose a novel binary-search-inspired technique that allows to extend timed automata models of robotic specifications with dynamic-priority schedulers. Given a number of cores, the extended models can then be checked against various real-time and behavioral properties, including schedulability, within the same model checking framework. Our technique is implemented in an automatic translation from a robotic framework to UPPAAL, and evaluated on a real robotic case study, where it shows a significant gain in scalability as opposed to the counting technique used in the literature.

关键词： Motion analysis   JIGSAWS   ROVIMAS  

摘要： Purpose The JIGSAWS dataset is a fixed dataset of robot-assisted surgery kinematic data used to develop predictive models of skill. The purpose of this study is to analyze the relationships of self-defined skill level with global rating scale scores and kinematic data (time, path length and movements) from three exercises (suturing, knot-tying and needle passing) (right and left hands) in the JIGSAWS dataset. Methods Global rating scale scores are reported in the JIGSAWS dataset and kinematic data were calculated using ROVIMAS software. Self-defined skill levels are in the dataset (novice, intermediate, expert). Correlation coefficients (global rating scale-skill level and global rating scale-kinematic parameters) were calculated. Kinematic parameters were compared among skill levels. Results Global rating scale scores correlated with skill in the knot-tying exercise (r = 0.55,p = 0.0005). In the suturing exercise, time, path length (left) and movements (left) were significantly different (p < 0.05) for novices and experts. For knot-tying, time, path length (right and left) and movements (right) differed significantly for novices and experts. For needle passing, no kinematic parameter was significantly different comparing novices and experts. The only kinematic parameter that correlated with global rating scale scores is time in the knot-tying exercise. Conclusion Global rating scale scores weakly correlate with skill level and kinematic parameters. The ability of kinematic parameters to differentiate among self-defined skill levels is inconsistent. Additional data are needed to enhance the dataset and facilitate subset analyses and future model development.

关键词： Urban technologies   Responsible Research and Innovation   Cityness   Urban justice   Urban planning   Self-driving cars  

摘要： Robots are leaving factories and entering urban spaces. In this paper, I will explore how we can integrate robots of various types into the urban landscape. I will distinguish between two perspectives: (1) the responsible design and use of urban robots and (2) robots as part of responsible urban innovations. The first viewpoint considers issues arising from the use of a robot in an urban environment. To develop a substantive understanding of Responsible Urban Robotics, we need to focus on normative implications of city life as the context in which in robots are being used. I will refer to the desirable qualities of city life as "cityness" and will argue that we should design for cityness. The second approach asks how robots might be used to address challenges specific to cities. From the perspective of RRI, this may require participatory approaches in which the needs of the stakeholders are addressed. But we may also find inspiration in the work undertaken in architecture on expanding the concept and field to ensure that architects not only provide services to the lucky few but also create useful and beautiful spaces for the many. A dialogue with architects, urban designers, and urban planners may also be needed to successfully address the spatial issues raised by the presence of robots in the city.

关键词： robotics   workplace   Twitter Analytics   anthropomorphism   technophobia  

摘要： Robotics application has provided a fruitful combination for hybrid industry 4.0 teams wherein robotic systems are progressing their way into spaces shared with human workers. The advent of artificial intelligence has also instilled the feeling of distress and ambiguity among employees regarding their future. Such confusion has triggered a plethora of deliberations surrounding the possible receptivity and hostility towards these modern technologies in the digital era where people are articulating their opinions and experiences through social media communication. This study explores the antecedents of employees' intention to accept robotics at workplace using two-step analyses: Twitter Analysis and Survey-based analysis. Around 121,750 tweets from 43,000 Twitter handles were evaluated in the form of descriptive analysis, geospatial analysis, network analysis and sentiment analysis. Thereafter, the conceptual model has been formulated and validated based on the extracted themes (anthropomorphism, technophobia and behavioral intention to accept robotics at workplace) by including 864 responses from an online survey conducted in India. The findings corroborated that anthropomorphism and technophobia significantly influence behavioral intention, and technophobia acts as a significant competitive mediator.

摘要： Neogi focuses on the progress in space robotics, satellite systems, air traffic control. The Intelligent Systems Technical Committee works to advance the application of computational problem-solving technologies and methods to aerospace systems. Several advances in intelligent aerospace systems were made this year. The Integrated System for Adaptive Autonomous Caretaking teams at NASA's Ames Research Center in California and Johnson Space Center in Texas collaborated in June to demonstrate an integrated data approach for anomaly detection and isolation. Using a simulation of Astrobee in the International Space Station, this work combines vehicle system telemetry, static spatial information and functional relationships for vehicle hardware, and robot data, obtained by Astrobee's mapping and inspection software, to detect and isolate the root causes of anomalous data.

关键词： Robotics   Pediatric otolaryngology   Surgical planning  

摘要： Robotic surgery has been shown to be feasible and successful in several areas of pediatric head and neck surgery. However, adoption has been limited. Robotic surgery may be better integrated into practice with advanced preoperative surgical planning and the design of new robotic platforms with instrumentation specific for the application. With continued investigations, computer-aided surgical planning techniques including three-dimensional printing, virtual reality, multiobjective cost function for optimization of approach, mirror image overlay, and flexible robotic instruments may demonstrate value and utility over current practice.