Articular cartilage damage caused by trauma or degenerative pathologies such as osteoarthritis can result in significant pain,mobility issues,and disability.Current surgical treatments have a limited capacity for effi...Articular cartilage damage caused by trauma or degenerative pathologies such as osteoarthritis can result in significant pain,mobility issues,and disability.Current surgical treatments have a limited capacity for efficacious cartilage repair,and long-term patient outcomes are not satisfying.Three-dimensional bioprinting has been used to fabricate biochemical and biophysical environments that aim to recapitulate the native microenvironment and promote tissue regeneration.However,conventional in vitro bioprinting has limitations due to the challenges associated with the fabrication and implantation of bioprinted constructs and their integration with the native cartilage tissue.In situ bioprinting is a novel strategy to directly deliver bioinks to the desired anatomical site and has the potential to overcome major shortcomings associated with conventional bioprinting.In this review,we focus on the new frontier of robotic-assisted in situ bioprinting surgical systems for cartilage regeneration.We outline existing clinical approaches and the utilization of robotic-assisted surgical systems.Handheld and robotic-assisted in situ bioprinting techniques including minimally invasive and non-invasive approaches are defined and presented.Finally,we discuss the challenges and potential future perspectives of in situ bioprinting for cartilage applications.展开更多
Space robots possess unique distinguishing features unlike general robots on earth, due to the particular environments in space. The developing of various practical space robots promoting the improvement of space scie...Space robots possess unique distinguishing features unlike general robots on earth, due to the particular environments in space. The developing of various practical space robots promoting the improvement of space science and technology is a complex man-machine-environment engineering problem. This paper analyses from the systems engineering viewpoint the space robot system in the scope of the architecture of robotics discipline, space environment characteristics, man-machine-environment system of space robots, the general methodology of project systems engineering and the process of space robot systems engineering.展开更多
Model driven generative domain engineering (MDGDE) is a domain engineering method aiming to develop optimized, reusable architectures, components and aspects for application engineering. Agents are regarded in MDGDE a...Model driven generative domain engineering (MDGDE) is a domain engineering method aiming to develop optimized, reusable architectures, components and aspects for application engineering. Agents are regarded in MDGDE as special objects having more autonomy, and taking more initiative. Design of the agent involves three levels of activities: logical analysis and design, physical analysis, physical design. This classification corresponds to domain analysis and design, application analysis, and application design. Agent is an important analysis and design tool for MDGDE because it facilitates development of complex distributed system—the mobile robot. According to MDGDE, we designed a distributed communication middleware and a set of event-driven agents, which enables the robot to initiate actions adaptively to the dynamical changes in the environment. This paper describes our approach as well as its motivations and our practice.展开更多
Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore,...Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore, combining the training goal of mechanical design, manufacturing and automation in Beijing (Beijing), it is necessary to cultivate new direction and cultivate new growth point for “old” mechanical specialty. And social and economic development has a very important significance.展开更多
The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order ...The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.展开更多
Based on the original construction technology,construction robots are realized by integrating industrial information technology,and construction robots are used to replace manual labor in completing construction proje...Based on the original construction technology,construction robots are realized by integrating industrial information technology,and construction robots are used to replace manual labor in completing construction projects.China’s research on construction robots is still in its early stages.Research efforts need to be increased in order to promote better applications of construction robots.To this end,by analyzing the application of modern construction robots,we conduct a comprehensive study on the development of construction robots to ensure that construction robots can be widely used in the future.展开更多
第七届全国大学生工程训练综合能力竞赛智能+赛道基于机器视觉的智能物流搬运机器人,对OpenMV4视觉模块进行研究,应用该模块进行二维码、不同颜色物料等多种目标的识别,信息经过模块上STM32F427微控制器的处理,与Arduino Mega 2560板通...第七届全国大学生工程训练综合能力竞赛智能+赛道基于机器视觉的智能物流搬运机器人,对OpenMV4视觉模块进行研究,应用该模块进行二维码、不同颜色物料等多种目标的识别,信息经过模块上STM32F427微控制器的处理,与Arduino Mega 2560板通信,机器人识别场地上的三个区域,用PID算法驱动麦克纳姆轮机器人的四个直流电机旋转并且定位机器人,通过PCA9685模块的I2C通信协议,发送PWM脉冲信号给机械臂上的四个关节舵机,使智能物流搬运机器人对场地上的物料进行自动搬运。实验证明其可以较为精确地完成各项搬运任务。展开更多
基金the funding provided by the United Kingdom(UK)Engineering and Physical Sciences Research Council(EPSRC)Doctoral Prize Fellowship(EP/R513131/1)。
文摘Articular cartilage damage caused by trauma or degenerative pathologies such as osteoarthritis can result in significant pain,mobility issues,and disability.Current surgical treatments have a limited capacity for efficacious cartilage repair,and long-term patient outcomes are not satisfying.Three-dimensional bioprinting has been used to fabricate biochemical and biophysical environments that aim to recapitulate the native microenvironment and promote tissue regeneration.However,conventional in vitro bioprinting has limitations due to the challenges associated with the fabrication and implantation of bioprinted constructs and their integration with the native cartilage tissue.In situ bioprinting is a novel strategy to directly deliver bioinks to the desired anatomical site and has the potential to overcome major shortcomings associated with conventional bioprinting.In this review,we focus on the new frontier of robotic-assisted in situ bioprinting surgical systems for cartilage regeneration.We outline existing clinical approaches and the utilization of robotic-assisted surgical systems.Handheld and robotic-assisted in situ bioprinting techniques including minimally invasive and non-invasive approaches are defined and presented.Finally,we discuss the challenges and potential future perspectives of in situ bioprinting for cartilage applications.
文摘Space robots possess unique distinguishing features unlike general robots on earth, due to the particular environments in space. The developing of various practical space robots promoting the improvement of space science and technology is a complex man-machine-environment engineering problem. This paper analyses from the systems engineering viewpoint the space robot system in the scope of the architecture of robotics discipline, space environment characteristics, man-machine-environment system of space robots, the general methodology of project systems engineering and the process of space robot systems engineering.
文摘Model driven generative domain engineering (MDGDE) is a domain engineering method aiming to develop optimized, reusable architectures, components and aspects for application engineering. Agents are regarded in MDGDE as special objects having more autonomy, and taking more initiative. Design of the agent involves three levels of activities: logical analysis and design, physical analysis, physical design. This classification corresponds to domain analysis and design, application analysis, and application design. Agent is an important analysis and design tool for MDGDE because it facilitates development of complex distributed system—the mobile robot. According to MDGDE, we designed a distributed communication middleware and a set of event-driven agents, which enables the robot to initiate actions adaptively to the dynamical changes in the environment. This paper describes our approach as well as its motivations and our practice.
文摘Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore, combining the training goal of mechanical design, manufacturing and automation in Beijing (Beijing), it is necessary to cultivate new direction and cultivate new growth point for “old” mechanical specialty. And social and economic development has a very important significance.
基金supported by National Natural Science Foundation of China(No.50475011).
文摘The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.
文摘Based on the original construction technology,construction robots are realized by integrating industrial information technology,and construction robots are used to replace manual labor in completing construction projects.China’s research on construction robots is still in its early stages.Research efforts need to be increased in order to promote better applications of construction robots.To this end,by analyzing the application of modern construction robots,we conduct a comprehensive study on the development of construction robots to ensure that construction robots can be widely used in the future.
文摘第七届全国大学生工程训练综合能力竞赛智能+赛道基于机器视觉的智能物流搬运机器人,对OpenMV4视觉模块进行研究,应用该模块进行二维码、不同颜色物料等多种目标的识别,信息经过模块上STM32F427微控制器的处理,与Arduino Mega 2560板通信,机器人识别场地上的三个区域,用PID算法驱动麦克纳姆轮机器人的四个直流电机旋转并且定位机器人,通过PCA9685模块的I2C通信协议,发送PWM脉冲信号给机械臂上的四个关节舵机,使智能物流搬运机器人对场地上的物料进行自动搬运。实验证明其可以较为精确地完成各项搬运任务。
