Automated installation of primary roof support material can potentially increase productivity and operator safety in the roadway development process within underground coal mining. Although the broader manufacturing s...Automated installation of primary roof support material can potentially increase productivity and operator safety in the roadway development process within underground coal mining. Although the broader manufacturing sector has benefited from automation, several challenges exist within the Australian underground coal industry which makes it difficult to fully exploit these technologies. At the University of Wollongong a series of reprogrammable electromechanical manipulators have been designed to overcome these challenges and automatically handle the installation of roof and rib containment consumables on a continuous miner. The automated manipulation removes personnel from hazards in the immediate face area, particularly those associated with working in a confined and unstable working environment in close proximity to rotating and moving equipment. In a series of above ground trials the automated system was successfully demonstrated without human intervention and proven to be capable of achieving cycle times at a rate of 10 m per operating hour, consistent with that required to support high capacity longwall mines. The trials also identified a number of refinements which could further improve both cycle times and system reliability when considering the technology for underground use. The results have concluded that conventional manual handling practices on a continuous miner can be eliminated, and that the prototypes have significantly reduced the technical risk in proceeding to a full underground trial.展开更多
As a typical representative and main technicalmeans of advanced manufacturing technology,robotic technology plays an important role in raisingan enterpse’s engineering level, improving its prod-uct quality and produc...As a typical representative and main technicalmeans of advanced manufacturing technology,robotic technology plays an important role in raisingan enterpse’s engineering level, improving its prod-uct quality and productivity, and realizing civilizedproduction. Currently, there are nearly one millionrobots of various kinds, which are employed widelyin different fields of manufacturing industry. Robot-ics is now one of the high technologies, which arecompetitively developed by the developed coun-展开更多
interaction pipelines while maintaining interfaces for task-specific customization.The Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planni...interaction pipelines while maintaining interfaces for task-specific customization.The Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planning flows between BT components.With the Structural-BT framework,software engineers can develop robotic software by flexibly composing BT structures to formulate the skeleton software architecture and implement task-specific algorithms when necessary.In the experiment,this paper develops robotic software for diverse task scenarios and selects the baseline approaches of Robot Operating System(ROS)and classical BT development frameworks for comparison.By quantitatively measuring the reuse frequencies and ratios of BT structures,the Structural-BT framework has been shown to be more efficient than the baseline approaches for robotic software development.展开更多
The skill of robotic hand-eye coordination not only helps robots to deal with real time environment,but also afects the fundamental framework of robotic cognition.A number of approaches have been developed in the lite...The skill of robotic hand-eye coordination not only helps robots to deal with real time environment,but also afects the fundamental framework of robotic cognition.A number of approaches have been developed in the literature for construction of the robotic hand-eye coordination.However,several important features within infant developmental procedure have not been introduced into such approaches.This paper proposes a new method for robotic hand-eye coordination by imitating the developmental progress of human infants.The work employs a brain-like neural network system inspired by infant brain structure to learn hand-eye coordination,and adopts a developmental mechanism from psychology to drive the robot.The entire learning procedure is driven by developmental constraint： The robot starts to act under fully constrained conditions,when the robot learning system becomes stable,a new constraint is assigned to the robot.After that,the robot needs to act with this new condition again.When all the contained conditions have been overcome,the robot is able to obtain hand-eye coordination ability.The work is supported by experimental evaluation,which shows that the new approach is able to drive the robot to learn autonomously,and make the robot also exhibit developmental progress similar to human infants.展开更多
目的探讨Mako机器人辅助人工全髋关节置换术(total hip arthroplasty,THA)治疗成人发育性髋关节发育不良(developmental dysplasia of the hip,DDH)早期疗效,总结初步应用经验。方法 2018年8月—2020年1月,采用Mako机器人辅助THA治疗55...目的探讨Mako机器人辅助人工全髋关节置换术(total hip arthroplasty,THA)治疗成人发育性髋关节发育不良(developmental dysplasia of the hip,DDH)早期疗效,总结初步应用经验。方法 2018年8月—2020年1月,采用Mako机器人辅助THA治疗55例(75髋)DDH。男10例,女45例;年龄30~73岁,平均51岁。单髋35例,双髋20例。DDH分型:CroweⅠ型29髋,Ⅱ型20髋,Ⅲ型6髋,Ⅳ型20髋。改良Harris评分为(54.8±16.0)分,髋关节活动度为90°(80°,100°),双下肢长度差为22.0(10.5,47.0)mm。术前基于CT数据于机器人系统中制定手术计划;术中在机器人辅助下完成髋臼磨锉和臼杯安装。术后于骨盆正位X线片上测量髋关节旋转中心在水平方向和垂直方向与泪滴距离(水平距离、垂直距离)、外展角及前倾角,评价髋臼假体位置;并将上述指标与术前规划比较,评估机器人辅助手术的准确性。以髋关节改良Harris评分、关节活动度以及双下肢长度差评价早期疗效。结果 75髋THA均在Mako机器人辅助下完成。术前规划髋臼外展角、髋关节旋转中心水平距离及垂直距离与术后测量值比较,差异均无统计学意义(P>0.05);髋臼前倾角小于术后测量值(t=-2.482,P=0.015)。其中4髋位于Lewinnek安全区以外,71髋位于Lewinnek安全区以内。患者均获随访,随访时间6~24个月,平均13个月。切口均Ⅰ期愈合。末次随访时改良Harris评分为(85.5±11.2)分,髋关节活动度为120°(110°,120°),双下肢长度差为3.8 (2.0,8.1)mm,均较术前明显改善(P<0.05)。除1例出现术侧下肢感觉障碍外,随访期间无其他THA相关并发症发生。结论 Mako机器人辅助THA治疗DDH是一种安全有效的手术方法,在髋臼假体定位、改善功能及调整肢体长度方面具有优势,远期疗效有待进一步随访观察。展开更多
基金the Australian Coal Association Research Programthe Roadway Development Task Group for their ongoing support with funding and review
文摘Automated installation of primary roof support material can potentially increase productivity and operator safety in the roadway development process within underground coal mining. Although the broader manufacturing sector has benefited from automation, several challenges exist within the Australian underground coal industry which makes it difficult to fully exploit these technologies. At the University of Wollongong a series of reprogrammable electromechanical manipulators have been designed to overcome these challenges and automatically handle the installation of roof and rib containment consumables on a continuous miner. The automated manipulation removes personnel from hazards in the immediate face area, particularly those associated with working in a confined and unstable working environment in close proximity to rotating and moving equipment. In a series of above ground trials the automated system was successfully demonstrated without human intervention and proven to be capable of achieving cycle times at a rate of 10 m per operating hour, consistent with that required to support high capacity longwall mines. The trials also identified a number of refinements which could further improve both cycle times and system reliability when considering the technology for underground use. The results have concluded that conventional manual handling practices on a continuous miner can be eliminated, and that the prototypes have significantly reduced the technical risk in proceeding to a full underground trial.
文摘As a typical representative and main technicalmeans of advanced manufacturing technology,robotic technology plays an important role in raisingan enterpse’s engineering level, improving its prod-uct quality and productivity, and realizing civilizedproduction. Currently, there are nearly one millionrobots of various kinds, which are employed widelyin different fields of manufacturing industry. Robot-ics is now one of the high technologies, which arecompetitively developed by the developed coun-
文摘interaction pipelines while maintaining interfaces for task-specific customization.The Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planning flows between BT components.With the Structural-BT framework,software engineers can develop robotic software by flexibly composing BT structures to formulate the skeleton software architecture and implement task-specific algorithms when necessary.In the experiment,this paper develops robotic software for diverse task scenarios and selects the baseline approaches of Robot Operating System(ROS)and classical BT development frameworks for comparison.By quantitatively measuring the reuse frequencies and ratios of BT structures,the Structural-BT framework has been shown to be more efficient than the baseline approaches for robotic software development.
基金supported by National Natural Science Foundation of China (No.6120333661273338 and 61003014)Major State Basic Research Development Program of China (973 Program)(No.2013CB329502)
文摘The skill of robotic hand-eye coordination not only helps robots to deal with real time environment,but also afects the fundamental framework of robotic cognition.A number of approaches have been developed in the literature for construction of the robotic hand-eye coordination.However,several important features within infant developmental procedure have not been introduced into such approaches.This paper proposes a new method for robotic hand-eye coordination by imitating the developmental progress of human infants.The work employs a brain-like neural network system inspired by infant brain structure to learn hand-eye coordination,and adopts a developmental mechanism from psychology to drive the robot.The entire learning procedure is driven by developmental constraint： The robot starts to act under fully constrained conditions,when the robot learning system becomes stable,a new constraint is assigned to the robot.After that,the robot needs to act with this new condition again.When all the contained conditions have been overcome,the robot is able to obtain hand-eye coordination ability.The work is supported by experimental evaluation,which shows that the new approach is able to drive the robot to learn autonomously,and make the robot also exhibit developmental progress similar to human infants.
文摘目的探讨Mako机器人辅助人工全髋关节置换术(total hip arthroplasty,THA)治疗成人发育性髋关节发育不良(developmental dysplasia of the hip,DDH)早期疗效,总结初步应用经验。方法 2018年8月—2020年1月,采用Mako机器人辅助THA治疗55例(75髋)DDH。男10例,女45例;年龄30~73岁,平均51岁。单髋35例,双髋20例。DDH分型:CroweⅠ型29髋,Ⅱ型20髋,Ⅲ型6髋,Ⅳ型20髋。改良Harris评分为(54.8±16.0)分,髋关节活动度为90°(80°,100°),双下肢长度差为22.0(10.5,47.0)mm。术前基于CT数据于机器人系统中制定手术计划;术中在机器人辅助下完成髋臼磨锉和臼杯安装。术后于骨盆正位X线片上测量髋关节旋转中心在水平方向和垂直方向与泪滴距离(水平距离、垂直距离)、外展角及前倾角,评价髋臼假体位置;并将上述指标与术前规划比较,评估机器人辅助手术的准确性。以髋关节改良Harris评分、关节活动度以及双下肢长度差评价早期疗效。结果 75髋THA均在Mako机器人辅助下完成。术前规划髋臼外展角、髋关节旋转中心水平距离及垂直距离与术后测量值比较,差异均无统计学意义(P>0.05);髋臼前倾角小于术后测量值(t=-2.482,P=0.015)。其中4髋位于Lewinnek安全区以外,71髋位于Lewinnek安全区以内。患者均获随访,随访时间6~24个月,平均13个月。切口均Ⅰ期愈合。末次随访时改良Harris评分为(85.5±11.2)分,髋关节活动度为120°(110°,120°),双下肢长度差为3.8 (2.0,8.1)mm,均较术前明显改善(P<0.05)。除1例出现术侧下肢感觉障碍外,随访期间无其他THA相关并发症发生。结论 Mako机器人辅助THA治疗DDH是一种安全有效的手术方法,在髋臼假体定位、改善功能及调整肢体长度方面具有优势,远期疗效有待进一步随访观察。
