Configuration information acquisition and matching in self-reconfiguring process of modular self-reconfigurable robots

Configuration information acquisition and matching are two important steps in the self-reconfiguring process of self-reconfigurable robots. The process of configuration information acquisition was introduced, and a self-reconfiguring configuration matching strategy based on graded optimization mechanism was proposed. The first-grade optimization was to search common connection between matching scheme and goal configuration. The second-grade optimization, whose object function was constructed in terms of configuration connectivity, was to search connnon topology according to the results of the first-grade optimization. The entire process of configuration information acquisition and matching was verified by an experiment and genetic algorithm （GA）. The result shows the accuracy of the configuration information acquisition and the effectiveness of the configuration matching method.

Design of a novel modular self-reconfigurable robot capable of self-turning

To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom （MDOF） feature of the proposed module, a motion controller based on the central pattern generator （CPG） is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i. e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15. 2 and 20. 1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.

Motion simulation and experiment of a novel modular self-reconfigurable robot

Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary joints and one cubic link. An attached/detached mechanism was designed on the rotary joints. A novel space transmitting system was placed on the inner portion of the cubic link. A motor separately transmitted torque to the six joints which were distributed equally on six surfaces of the cubic link. The example of a basic motion for the module was demonstrated. The result shows that the robot is concise and compact in structure, highly efficient in transmission, credible in connecting, and simple in controlling. At the same time, a simulator is developed to graphically design the system configuration, the reconfiguration process and the motion of cluster modules. The character of local action for the cellular automata （CA） is utilized. Each module is simplified as a cell. The transition rules of the CA are developed to combine with the genetic algorithm （GA） and applied to each module to accomplish distributed control. Simulation proves that the method is effective and feasible.

A mobile self-reconfigurable robot based on modularity

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.

Design and implementation of a modular self-reconfigurable robot

A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.

Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules

The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.

Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

基于RobotStudio的视觉分拣打磨工作站仿真设计

为解决中小型零件混流自动化生产等问题,提出基于RobotStudio的工业机器人视觉分拣打磨工作站的仿真设计方案。根据零件的生产工艺流程,利用UG软件创建视觉分拣打磨工作站的整体布局;通过分析工作站各个模块功能,设计了各模块的结构;利用RobotStudio软件构建了工作站仿真模型。以视觉引导Smart组件和输送链跟踪仿真为例,阐述了ABB工业机器人通过视觉引导获取工件空间位姿的四元数和欧拉角的转换方法,并介绍了视觉拍照、机器人与工业相机通信等动态仿真的设置过程,以及输送链跟踪动态效果的设置方法。为实现工作站全过程仿真,设计了整体工作站逻辑,编制了仿真工作站离线程序,并将仿真工作站同步到实验平台调试验证。该设计可为智能制造生产线的设计、制造及应用提供参考。

Docking process on hybrid self-reconfigurable modular robots

A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a slave module in the shape of triangular prism. There are four connection ports on each basic module. For the master module there are two holes on each connection port,and for the slave one there are two pegs on each connection. The docking process between two neighboring basic modules is analyzed with a peg-in-hole mechanical structure. A small motion's method is presented and the contact forces are derived. According to the force/moment,the pose of a motion module should be adjusted to make two neighboring modules align and finish the docking process.Finally,a simulation of 3 basic modules is shown to finish the morphing and docking process effectively. The system can finish the morphing task from the line shape to the hexagon shape.

Metamorphic Algorithm of Self-reconfigurable Modular Robotic System

A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.

Metamorphic strategy based on dynamic meta-modules for a self-reconfigurable robot

For a self-reconfigurable robot, how to metamorphose to adapt itself to environment is a difficult problem. To solve this problem, a new relative orientation model which describes modules and their surrounding grids was given, a module motion rules database which enables the robot to avoid obstacles was established, and finally a three-layer planner based on dynamic meta-modules was developed. The firstlayer planner designates the category of each module in robot by evaluation functions and picks out the modules in dynamic meta-modules. The second-layer planner plans the dynamic meta-module path according to output parameters of the first-layer planner. The third-layer planner plans the motion of the modules in dynamic meta-module using topology variation oriented methods. To validate the efficiency of the three-layer planner, two simulations were given. One is the simulation of a single dynamic meta-module, the other is the simulation of planning with an initial configuration composed of 8 modules in complicated environment. Results show that the methods can make robot with any initial configuration move through metamorphosis in complicated environment efficiently.

The evolution of robotics:research and application progress of dental implant robotic systems

The use of robots to augment human capabilities and assist in work has long been an aspiration.Robotics has been developing since the 1960s when the first industrial robot was introduced.As technology has advanced,robotic-assisted surgery has shown numerous advantages,including more precision,efficiency,minimal invasiveness,and safety than is possible with conventional techniques,which are research hotspots and cutting-edge trends.This article reviewed the history of medical robot development and seminal research papers about current research progress.Taking the autonomous dental implant robotic system as an example,the advantages and prospects of medical robotic systems would be discussed which would provide a reference for future research.

基于Robotstudio的工业机器人课程教学设计与实践

阐述工业机器人实训课程教学实践,将Robotstudio软件融入课程教学中,探讨以实例项目驱动的教学内容设计,以虚实结合手段提升课堂教学效果的教学模式,从而实现教学与实践的统一。

Autonomous docking based on infrared sensors for mobile self-reconfigurable relay microrobots

A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper.The IR guidance system composed of an IR receiver and four IR emitters is designed,analyzed and developed.The autonomous docking control method based on centering alignment and dynamic motion planning is adopted so that it has high efficiency and reliability.Two basic microrobot prototypes are developed,and related docking experiments are done to verify the feasibility of the approach.

Neuromorphic circuits based on memristors: endowing robots with a human-like brain

Robots are widely used,providing significant convenience in daily life and production.With the rapid development of artificial intelligence and neuromorphic computing in recent years,the realization of more intelligent robots through a pro-found intersection of neuroscience and robotics has received much attention.Neuromorphic circuits based on memristors used to construct hardware neural networks have proved to be a promising solution of shattering traditional control limita-tions in the field of robot control,showcasing characteristics that enhance robot intelligence,speed,and energy efficiency.Start-ing with introducing the working mechanism of memristors and peripheral circuit design,this review gives a comprehensive analysis on the biomimetic information processing and biomimetic driving operations achieved through the utilization of neuro-morphic circuits in brain-like control.Four hardware neural network approaches,including digital-analog hybrid circuit design,novel device structure design,multi-regulation mechanism,and crossbar array,are summarized,which can well simulate the motor decision-making mechanism,multi-information integration and parallel control of brain at the hardware level.It will be definitely conductive to promote the application of memristor-based neuromorphic circuits in areas such as intelligent robotics,artificial intelligence,and neural computing.Finally,a conclusion and future prospects are discussed.

Treatment of hemolymphangioma by robotic surgery: A case report

BACKGROUND Hemolymphangioma of the jejunum is rare and lacks clinical specificity,and can manifest as gastrointestinal bleeding,abdominal pain,and intestinal obstruction.Computed tomography,magnetic resonance imaging,and other examinations show certain characteristics of the disease,but lack accuracy.Although capsule endoscopy and enteroscopy make up for this deficiency,the diagnosis also still re-quires pathology.CASE SUMMARY A male patient was admitted to the hospital due to abdominal distension and abdominal pain,but a specific diagnosis by computed tomography examination was not obtained.Partial resection of the small intestine was performed by robotic surgery,and postoperative pathological biopsy confirmed the diagnosis of hemo-lymphangioma.No recurrence in the follow-up examination was observed.CONCLUSION Robotic surgery is an effective way to treat hemolymphangioma through minima-lly invasive techniques under the concept of rapid rehabilitation.

Summarizing the evidence for robotic-assisted bladder neck reconstruction: Systematic review of patency and incontinence outcomes

Objective:Bladder neck contracture and vesicourethral anastomotic stenosis are difficult to manage endoscopically,and open repair is associated with high rates of incontinence.In recent years,there have been increasing reports of robotic-assisted bladder neck reconstruction in the literature.However,existing studies are small,heterogeneous case series.The objective of this study was to perform a systematic review of robotic-assisted bladder neck reconstruction to better evaluate patency and incontinence outcomes.Methods:We performed a systematic review of PubMed from first available date to May 2023 for all studies evaluating robotic-assisted reconstructive surgery of the bladder neck in adult men.Articles in non-English,author replies,editorials,pediatric-based studies,and reviews were excluded.Outcomes of interest were patency and incontinence rates,which were pooled when appropriate.Results:After identifying 158 articles on initial search,we included only ten studies that fit all aforementioned criteria for robotic-assisted bladder neck reconstruction.All were case series published from March 2018 to March 2022 ranging from six to 32 men,with the median follow-up of 5e23 months.A total of 119 patients were included in our analysis.A variety of etiologies and surgical techniques were described.Patency rates ranged from 50%to 100%,and pooled patency was 80%(95/119).De novo incontinence rates ranged from 0%to 33%,and pooled incontinence was 17%(8/47).Our findings were limited by small sample sizes,relatively short follow-ups,and heterogeneity between studies.

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

基于Robot Studio的分类码垛仿真设计

针对工业机器人轨迹规划和自动化生产协调难度大的问题,提出一种基于Robot Studio的分类码垛仿真设计方案。使用Robot Studio软件,创建工业机器人仿真工作站。通过Smart组件的设计、I/O信号的设定、工作站逻辑的建立和程序编写等工作,最终实现工业机器人智能分类码垛操作。经过模拟仿真,结果表明:分类码垛的速度和准确率均可达到预期要求。说明该分类码垛设计方案可行,可以为实际码垛工作站的搭建和生产提供一定的现实指导。

Robotic surgery in living liver donors and liver recipients

There have been nearly 60 years since Thomas Starzl’s first liver transplant.During this period,advancements in medical technology have progressively enabled the adoption of new methods for transplantation.Among these innovations,robotic surgery has emerged in recent decades and is gradually being integrated into transplant medicine.Robotic hepatectomy and liver implantation represent significant advancements in the field of transplant surgery.The precision and minimally invasive nature of robotic surgery offer substantial benefits for both living donors and recipients.In living donors,robotic hepatectomy reduces postoperative pain,minimizes scarring,and accelerates recovery.For liver recipients,robotic liver implantation enhances surgical accuracy,leading to better graft positioning and vascular anastomosis.Robotic systems provide more precise and maneuverable control of instruments,allowing surgeons to perform complex procedures with greater accuracy and reduced risk to patients.This review encompasses publications on minimally invasive donor liver surgery,with a specific focus on robotic liver resection in transplantation,and aims to summarize current knowledge and the development status of robotic surgery in liver transplantation,focusing on liver resection in donors and graft implantation in recipients.