Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.

Optimization Algorithm for Operation Comfortability of Master Manipulator of Minimally Invasive Surgery Robot

To evaluate the operation comfortability in the master-slave robotic minimally invasive surgery(MIS), an optimal function was built with two operation comfortability decided indices, i.e., the center distance and volume contact ratio. Two verifying experiments on Phantom Desktop and Micro Hand S were conducted. Experimental results show that the operation effect at the optimal relative location is better than that at the random location, which means that the optimal function constructed in this paper is effective in optimizing the operation comfortability.

Short-term efficacy of robotic and laparoscopic spleen-preserving splenic hilar lymphadenectomy via Huang’s three-step maneuver for advanced upper gastric cancer: Results from a propensity scorematched study

BACKGROUND Robotic surgery has been considered to be significantly better than laparoscopic surgery for complicated procedures.AIM To explore the short-term effect of robotic and laparoscopic spleen-preserving splenic hilar lymphadenectomy(SPSHL)for advanced gastric cancer(GC)by Huang’s three-step maneuver.METHODS A total of 643 patients who underwent SPSHL were recruited from April 2012 to July 2017,including 35 patients who underwent robotic SPSHL(RSPSHL)and 608 who underwent laparoscopic SPSHL(LSPSHL).One-to-four propensity score matching was used to analyze the differences in clinical data between patients who underwent robotic SPSHL and those who underwent laparoscopic SPSHL.RESULTS In all,175 patients were matched,including 35 patients who underwent RSPSHL and 140 who underwent LSPSHL.After matching,there were no significant differences detected in the baseline characteristics between the two groups.Significant differences in total operative time,estimated blood loss(EBL),splenic hilar blood loss(SHBL),splenic hilar dissection time(SHDT),and splenic trunk dissection time were evident between these groups(P<0.05).Furthermore,no significant differences were observed between the two groups in the overall noncompliance rate of lymph node(LN)dissection(62.9%vs 60%,P=0.757),number of retrieved No.10 LNs(3.1±1.4 vs 3.3±2.5,P=0.650),total number of examined LNs(37.8±13.1 vs 40.6±13.6,P=0.274),and postoperative complications(14.3%vs 17.9%,P=0.616).A stratified analysis that divided the patients receiving RSPSHL into an early group(EG)and a late group(LG)revealed that the LG experienced obvious improvements in SHDT and length of stay compared with the EG(P<0.05).Logistic regression showed that robotic surgery was a significantly protective factor against both SHBL and SHDT(P<0.05).CONCLUSION RSPSHL is safe and feasible,especially after overcoming the early learning curve,as this procedure results in a radical curative effect equivalent to that of LSPSHL.

Pearson＇s Correlation Coefficient： A More Realistic Threshold for Applications on Autonomous Robotics

Many applications for control of autonomous platform are being developed and one important aspect is the excess of information, frequently redundant, that imposes a great computational cost in data processing. Taking into account the temporal coherence between consecutive frames, the PCC （Pearson＇s Correlation Coefficient） was proposed and applied as： discarding criteria methodology, dynamic power management solution, environment observer method which selects automatically only the regions-of-interest; and taking place in the obstacle avoidance context, as a method for collision risk estimation for vehicles in dynamic and unknown environments. Even if the PCC is a great tool to help the autonomous or semi-autonomous navigation, distortions in the imaging system, pixel noise, slight variations in the object＇s position relative to the camera, and other factors produce a false PCC threshold. Whereas there are homogeneous regions in the image, in order to obtain a more realistic Pearson＇s correlation, we propose to use some prior known environment information.

Mathematical Models of Emotional Robots with a Non-Absolute Memory

In this paper, we discuss questions of creating an electronic intellectual analogue of a human being. We introduce a mathematical concept of stimulus generating emotions. We also introduce a definition of logical thinking of robots and a notion of efficiency coefficient to describe their efficiency of rote (mechanical) memorizing. The paper proves theorems describing properties of permanent conflicts between logical and emotional thinking of robots with a nonabsolute rote memory.

Single-Incision Robotic Surgery

Introduction: Single Incision Laparoscopic Surgery (SILSTM) has been developed as a less invasive laparoscopic surgery. On the other hand, robotically assisted surgical technology has offered new options for minimally invasive surgery. In this study, we report a new surgical technology to perform SILS using the da Vinci S surgical system (Intuitive Surgical Inc., Sunnyvale, CA). Materials and Surgical Technique: A porcine liver with gallbladder was placed on an endoscopic surgery trainer, and a 25 mm incision was made for one robotic camera and two instruments at the umbilicus position. Both instruments were crossed while preventing them from colliding with each other, and Robot-assisted single-incision cholecyctectomy was perfumed. Discussion: This technique is expected to contribute to the development of a number of procedures in the future.

Design of Robots Monitoring System on the Basis of Kingview

This paper introduces Robots Monitoring System on the Basis of Kingview.By using the device driver, Kingview acquires real-time data from on-site hardware device,whose results will be shown on the host computer’s screen in the way of animation.Meanwhile,according to configuration requirements and order of operators, Kingview will make Robots run by designed action and produce forms of the on-site data.This system is good at automatically controlling and managing of Robots.

Robot’s Emotion Decision by Energy and Entropy Concepts

This study is to introduce concepts of energy and entropy to describe a robot＇s emoton decisien. It chooses the dimensional approach based on factors of pleasure and arousal for the merit of the interpolation between enotions. Especially, Circumplex model which has also two axes： pleasure and arousal is used. Besides, the model indicates how emotions are distributed in the two-dimensional plane. Then by the definition of psychodynamicsthe energy states （mental energy and physical energy） are matched to pleasure and arousal respectively that are the basis of Circumplex model. The mental energy is updated by the result of Prospect theory which measures the value of gain and loss as pleasure factor. And the physical energy is updated by the result of hedonic scaling which measures levels of arousal from pleasure computed by Prospect theory, and the result of intensity of stimuli. Then the energy states are fed by entropy. The feedback loop by entropy satisfies the 2nd law of thermodynamics. The energy states generated by stimuli and fed by entropy take a position in the plane of Circumplex model. Then distances between the current position and other emotions are cornputed to get a level of each emotion, proportional to the inverse of the distance.

Mathematical Models of Receptivity of a Robot and a Human to Education

The paper gives general definitions of the mathematical theory of emotional robots able to forget older information. A formalized concept of relative receptivity of the robot to education is introduced. An algorithm of a voice training program for public speakers described in the paper is based on the theory of emotional robots. Also the paper presents a method of estimation of a coefficient of human emotional memory and estimation of a relative receptivity of a robot and a human to education;the method is based on application of the voice training program.

Robust State Feedback H_∞Control for Dynamic Biped Robot Based on T-S Fuzzy Model

T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain system.Based on robust state feedback H_∞control strategy,designed a global asymptotic steady fuzzy model.This control system can use the experimental input-output data pairs for the biped robot learning and walking with dynamic balance.It is proved by simulation result that robust state feedback H_∞control method based on T-S fuzzy model can effectively restrain the effect of model uncertainties and external disturbance acting on biped robot.From these works,we showed the satisfactory performance of joint tracking without any chattering.

U．S．Robotics推出首款X2路由器

近日，U．S．Robotics公司推出了面向SOHO(Small Of-fleeHomeOflqce)应用的高速X2路由器Lanlinker Dual Analog。这种路由器将两条X2通道结合在一起，在两条模拟线路上实现112kbps的数据下载速率。数据经压缩后，最高下载速率可达450kbps。

基于改进T-S模糊模型的弧焊机器人轨迹实时跟踪

针对弧焊机器人在实际作业中受到诸多不确定因素的影响,导致弧焊机器人焊接轨迹偏离预期轨迹的问题,提出一种基于改进T-S(Takagi-Sugeno)模糊模型的弧焊机器人轨迹实时跟踪方法。采用图像识别技术识别并定位焊缝,通过坐标转换,确定焊缝中心线在机器人坐标系中的位置坐标。利用蚁群算法根据焊缝中心线在机器人坐标系中的坐标,搜索从起始位置到目标位置的最优焊接路径。设计了一种改进区间二型T-S模糊模型,通过视觉传感器实时获取新的焊缝信息,计算轨迹误差,以此为输入,利用改进T-S模糊模型对机器人的运动轨迹进行实时调整。实验结果表明,采用改进T-S模糊模型后,机器人轨迹跟踪离散度均降至1 mm以下,弧焊机器人轨迹与预期轨迹高度重合,比传统方法跟踪离散度大大降低。

U．S.Robotics PC卡式Modem新品轻松升级到X2

近日,联想集团和东芝公司开始在中国市场推出一系列的东芝笔记本电脑新品。 作为世界笔记本电脑技术的领先者,东芝公司在1996年国内笔记本电脑市场上表现不俗。其优异的产品质量、性能价格比和联想集团良好服务的完美组合,是东芝公司成功的关键。自1995年联想集团成为东芝笔记本电脑的中国独家代理后,东芝笔记本电脑的市场排名一直处于明显的上升势头。百尺竿头,更进一步,联想集团计划在本年度销售2万台东芝笔记本电脑。 东芝笔记本电脑提供了大量的方便特性,使笔记本电脑更易操作。

Robot's Self-Introduction

用身体部分名词填空: Hello! Everyone. I am a robot. I think with my h__. I walk with my f__. I needn't (不必) wash my f__ every day. I have two bright e__. I speak with my m__. I smell with my n__. I listen with my e__. I don't have

U.S.Robotics公司的共享访问传真服务器

U.S.Robotics公司的共享访问传真服务器($2495)不仅价格上比大部分同类产品便宜。

基于n阶S形曲线的SCARA多目标运动规划

为了对SCARA机器人运动过程中产生的振动进行有效抑制,首先,建立了SCARA机器人的简化浮动坐标法动力学模型;然后,利用n阶S形曲线构造了同时对定位时间和SCARA机器人受到的冲击进行优化的多目标优化模型;最后,采用基于Kriging模型的NSGA-Ⅱ算法对优化问题进行求解。得到的多目标优化问题的Pareto前沿表明,四阶S形曲线的定位时间与三阶S形曲线大致相当,但是引起的冲击远小于三阶S形曲线。对优化结果的仿真也表明,以四阶S形曲线驱动的SCARA机器人运行过程更平滑,产生的残余振动也远小于三阶S形曲线。研究表明,四阶S形曲线具备比三阶S形曲线更加优良的振动抑制性能,在工程中具有广泛的应用价值。

基于T-S动态故障树的桁架机器人系统可靠性分析

为了提高桁架机器人系统的动态可靠性,并且在发生故障时提升排查故障的效率,提出一种对桁架机器人系统动态可靠性分析的方法。首先,对桁架机器人系统建立T-S动态故障树;然后,把T-S动态故障树和T-S动态门规则分别转化为离散时间贝叶斯网络(DTBN)与相应网络节点的条件概率表,根据DTBN正反向推理分别计算得到各时间段以及任务时间内系统失效概率和根节点后验概率,并获得各根节点的T-S概率重要度、T-S关键重要度和灵敏度;最后,应用Monte Carlo仿真法进行验证,结果显示相对误差为0.29%,证明所提方法可行。给出当系统发生故障时应优先排查的零部件,并确定了系统薄弱环节,得出应优先提高可靠度的零部件,为桁架机器人系统的动态可靠性分析提供了理论依据。

仿生机器鱼S形起动的控制与实现

给出一种仿生机器鱼S形起动的控制方法.结合北美狗鱼S形起动的形态特征及水动力学知识,建立了多关节链式结构仿生机器鱼的S形起动模型.整个过程设计为两个阶段:1)弯曲阶段:以转向速度最大化为目标.在鱼体S形变保证重心稳定平移的前提下,增大较长转向力臂处的转向力矩,提高转向速度,使鱼体迅速转向目标方向.2)伸展阶段:以增大前推力为目标.始终保持部分将要伸展的鱼体垂直前进方向,以L形滑动方式打开鱼体.同时,为保证转向精度,采用模糊控制调节已展开鱼体关节的小角度转动,实时纠正鱼体展开所引起的游动方向偏离.在S形起动末期,采用变幅值–频率的中枢模式发生器(Central pattern generator,CPG)实现向稳态游动方式的过渡:前期为保证游动方向及获取较大推进力,采用小幅值–高频率的CPG信号,后期则进入大幅值–低频率的稳态游动.最终,采用四关节仿生机器鱼验证了该方法的有效性,实现了峰值转速为318.08±9.20/s、转向误差为1.03±0.48的较好结果,对提升水下游动机器人的机动性能具有指导意义.

基于C/S模型机器人控制器的研究及其应用

随着网络通信技术的发展和控制系统的革新 ,如何将网络技术应用到机器人系统 ,使机器人达到开放式、分布式的网络控制系统 ,是目前机器人控制器研究的热点 .本文提出了基于 C/ S(Client/ Server)模型的机器人控制器实现原理 ,阐述基于 Win NT操作系统的 RPC(Remote Process Call)机制的机器人控制网络客户服务器程序的开发 ,并实现了软件的 DCOM封装 .最后 ,以实例说明了利用 DCOM技术开发的 Win NT操作系统下的Win32机器人柔性自动化应用程序和基于 Web的远程机器人监控系统 ,显示了基于 C/

基于Delta-s的高速果奶装箱机器人工程示范

研究Delta-S机器人在果奶装箱机上的工程示范应用,包括其系统布局及功能要求及Delta-S机器人的抓取器设计、软件设计和工程实践等问题。在基本设计分析的基础上,选取装填工位做具体分析。分析结果表明,Delta-S机器人在高速果奶装箱机上的应用使得装箱自动化水平和速度都大幅提高,进一步说明Delta-S机器人在工业生产线上的应用具有很好的应用前景。