Colon cancer has the fifth highest incidence worldwide and has the sixth highest mortality.Compared with rectal cancer,colon cancer currently has the worst 5-year overall survival for patients with stage II and III di...Colon cancer has the fifth highest incidence worldwide and has the sixth highest mortality.Compared with rectal cancer,colon cancer currently has the worst 5-year overall survival for patients with stage II and III disease.Complete mesocolic excision has been developed as a standardized and optimized surgical technique for the excision of colon cancers.This technique has traditionally been performed through an open approach since laparoscopy is generally considered technically challenging.The robotic approach has been slowly implemented for colon cancer,but the newest robotic platforms allow for a safer and optimized approach for right colon cancer.Several robotic approaches have been developed and explored.The expansion of the current robotic platform ecosystem is gradually providing new outputs in the application of the robotic approach to complete mesocolic excision.This review gains an oversight of existing literature on robotic complete mesocolic excision for right colon cancer(learning curve,training,techniques,approach,platforms,and future perspectives).展开更多
A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinema...A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equat!ons of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP＇s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC ＋ ＋. Test results have indicated that this system can perform RFP＇s kinematics simulation in virtual environment. It can also imitate RFP＇s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator＇s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP＇s teleoperation with vision telepresence.展开更多
The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the reco...The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the recognition of the operator’s movements. Through the filtering process of real-time data by the host computer platform with computer software as the core, the algorithm is programmed to realize the conversion from data to control signals. The system transmits the signal to the lower computer platform with Arduino as the core through the transmission mode of the serial communication, thereby completing the control of the steering gear. In order to verify the feasibility of the theory, the team built a 4-DOF robotic arm control system and completed software development. It can display other functions such as the current bone angle and motion status in real time on the computer operation interface. The experimental data shows that the Kinect-based motion recognition method can effectively complete the tracking of the expected motion and complete the grasping and transfer of the specified objects, which has extremely high operability.展开更多
This paper proposes a method of humanoid robot data structure definition based on the characteristics of a graph with tree structure. It applies the depth-first search algorithm to traverse and uses screw theory and c...This paper proposes a method of humanoid robot data structure definition based on the characteristics of a graph with tree structure. It applies the depth-first search algorithm to traverse and uses screw theory and chain of multiplication to describe the robot＇s postures. The platform references zero moment point theory as the stability constraint of the robot＇s dynamic walking and plans the gaits accordingly, h also realizes the visualization of motion control. This study provides superior means and methods to the evolution of a humanoid robot.展开更多
The main purpose of this literature review is to understand the effectiveness and impacts of Robotics Process Automation (RPA) on the practices of Project Management (PM). For attaining the purposes of the research st...The main purpose of this literature review is to understand the effectiveness and impacts of Robotics Process Automation (RPA) on the practices of Project Management (PM). For attaining the purposes of the research study, an extensive literature review was conducted, which helped in gaining a theoretical understanding. These findings were then justified with the help of current and relevant secondary sources in the analysis section. The findings suggested that RPA is quite advantageous for implementing in varied aspects of a business, especially in the field of project management. However, it can pose several challenges, which need to be taken into due consideration by the organizations during execution such as the capabilities of the employees and the abilities of the existing systems to incorporate automation, among others. It was ultimately concluded that RPA is highly advantageous for project management teams but its effective implementation is the key to success.展开更多
全向移动操作机器人(Omni-directional Mobile Manipulating Robots,OMMR)是由全向移动平台以及在平台上加装一个或多个操作臂组成的具有主动作业能力的新型机器人系统。在移动平台上加装操作臂后,整个系统动力学行为的复杂性将会因为...全向移动操作机器人(Omni-directional Mobile Manipulating Robots,OMMR)是由全向移动平台以及在平台上加装一个或多个操作臂组成的具有主动作业能力的新型机器人系统。在移动平台上加装操作臂后,整个系统动力学行为的复杂性将会因为移动平台与操作臂之间的耦合效应而大大增加,涉及地面-移动平台、移动平台-操作臂、操作臂-操作环境的动态交互,给系统的建模带来极大困难。在建立OMMR运动学、静力学模型的基础上,提出了一种简化的OMMR系统动力学建模方法;基于该动力学模型,建立车-臂交互作用模型并对其交互作用进行分析。仿真和实验验证了车-臂交互作用模型的正确性,间接证明了所提OMMR系统动力学建模方法的合理性和有效性,为机器人运动规划和运动控制提供了模型数据。展开更多
Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physica...Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.展开更多
文摘Colon cancer has the fifth highest incidence worldwide and has the sixth highest mortality.Compared with rectal cancer,colon cancer currently has the worst 5-year overall survival for patients with stage II and III disease.Complete mesocolic excision has been developed as a standardized and optimized surgical technique for the excision of colon cancers.This technique has traditionally been performed through an open approach since laparoscopy is generally considered technically challenging.The robotic approach has been slowly implemented for colon cancer,but the newest robotic platforms allow for a safer and optimized approach for right colon cancer.Several robotic approaches have been developed and explored.The expansion of the current robotic platform ecosystem is gradually providing new outputs in the application of the robotic approach to complete mesocolic excision.This review gains an oversight of existing literature on robotic complete mesocolic excision for right colon cancer(learning curve,training,techniques,approach,platforms,and future perspectives).
基金Sponsored by Independent Research Projects of State Key Laboratory (ZDKT08-05)
文摘A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equat!ons of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP＇s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC ＋ ＋. Test results have indicated that this system can perform RFP＇s kinematics simulation in virtual environment. It can also imitate RFP＇s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator＇s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP＇s teleoperation with vision telepresence.
文摘The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the recognition of the operator’s movements. Through the filtering process of real-time data by the host computer platform with computer software as the core, the algorithm is programmed to realize the conversion from data to control signals. The system transmits the signal to the lower computer platform with Arduino as the core through the transmission mode of the serial communication, thereby completing the control of the steering gear. In order to verify the feasibility of the theory, the team built a 4-DOF robotic arm control system and completed software development. It can display other functions such as the current bone angle and motion status in real time on the computer operation interface. The experimental data shows that the Kinect-based motion recognition method can effectively complete the tracking of the expected motion and complete the grasping and transfer of the specified objects, which has extremely high operability.
文摘This paper proposes a method of humanoid robot data structure definition based on the characteristics of a graph with tree structure. It applies the depth-first search algorithm to traverse and uses screw theory and chain of multiplication to describe the robot＇s postures. The platform references zero moment point theory as the stability constraint of the robot＇s dynamic walking and plans the gaits accordingly, h also realizes the visualization of motion control. This study provides superior means and methods to the evolution of a humanoid robot.
文摘The main purpose of this literature review is to understand the effectiveness and impacts of Robotics Process Automation (RPA) on the practices of Project Management (PM). For attaining the purposes of the research study, an extensive literature review was conducted, which helped in gaining a theoretical understanding. These findings were then justified with the help of current and relevant secondary sources in the analysis section. The findings suggested that RPA is quite advantageous for implementing in varied aspects of a business, especially in the field of project management. However, it can pose several challenges, which need to be taken into due consideration by the organizations during execution such as the capabilities of the employees and the abilities of the existing systems to incorporate automation, among others. It was ultimately concluded that RPA is highly advantageous for project management teams but its effective implementation is the key to success.
文摘全向移动操作机器人(Omni-directional Mobile Manipulating Robots,OMMR)是由全向移动平台以及在平台上加装一个或多个操作臂组成的具有主动作业能力的新型机器人系统。在移动平台上加装操作臂后,整个系统动力学行为的复杂性将会因为移动平台与操作臂之间的耦合效应而大大增加,涉及地面-移动平台、移动平台-操作臂、操作臂-操作环境的动态交互,给系统的建模带来极大困难。在建立OMMR运动学、静力学模型的基础上,提出了一种简化的OMMR系统动力学建模方法;基于该动力学模型,建立车-臂交互作用模型并对其交互作用进行分析。仿真和实验验证了车-臂交互作用模型的正确性,间接证明了所提OMMR系统动力学建模方法的合理性和有效性,为机器人运动规划和运动控制提供了模型数据。
文摘Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.
