This paper describes current progress in a project to develop a robot for locating underground chemical sources. There are important economic, environmental and humanitarianapplications for systems that can find the ...
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ISBN:
(纸本)0780384636
This paper describes current progress in a project to develop a robot for locating underground chemical sources. There are important economic, environmental and humanitarianapplications for systems that can find the source of an odor or volatile chemical located beneath the ground. These applications cover the spectrum from harvesting truffles, to finding the location of leaking gas pipes and land mines. In previous work the feasibility of detecting vapor percolating throngh the ground was demonstrated. An algorithm was then developed to control a robot enabling it to gather information about the location of the source and to guide the robot towards it. This algorithm was limited to searching in two dimensions (depth was held constant). In this paper the original algorithm is extended to 3-dimensions allowing variations in depth to be included. The 3-dimensional search algorithm involves following a path through the ground that corresponds to the edges of closely packed dodecahedra. Simulations and physical experiments both confirm the capabilities of this search algorithm.
Invertebrate central pattern generators (CPGs) can serve as the basis for building biomimetic controllers based on real biological principles. Here we describe a CPG made of electronic neurons and synapses for robotic...
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Communication play an important role in multirobot systems. Since the advent of high-performance wireless local area network (WLAN) at relatively low cost, its use for wireless communication among multirobot has becom...
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Recovery of depth information plays a key role in the micromanipulation robot system for performing micron or sub-micron orientation and measurement tasks. Based on the model of defocused optical system and combined w...
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applications of robotics in medicine were studied. Medical procedures successfully employing robotic assistance include surgical procedures and interventional radiology procedures. The prospects for providing accurate...
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applications of robotics in medicine were studied. Medical procedures successfully employing robotic assistance include surgical procedures and interventional radiology procedures. The prospects for providing accurate and timely image processing, interpretation and feedback to medical robotics systems is great but at a relatively early stage of development. The resulting advances will require unusually thorough levels of validation, documentation and approval by the U.S. Food and Drug Administration prior to being accepted for application in routine clinical procedures.
We developed a jaw movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to jaw opening and closing training, which is one of the therapies for temporomandibular jo...
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We developed a jaw movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological movements, whereby the patients' jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite" i.e., those who cannot completely close their jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training movements of the training robot were evaluated.
This paper presents robotic neurosurgery and clinical applications. Firstly, background, objective, motivation and distinct properties of this kind of surgical robots are introduced. Secondly, by analysing current mai...
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ISBN:
(纸本)0780387481
This paper presents robotic neurosurgery and clinical applications. Firstly, background, objective, motivation and distinct properties of this kind of surgical robots are introduced. Secondly, by analysing current main classifications for surgical robots, neurosurgical robots are divided into two groups, namely, neurosurgical robots and tele-neurosurgical robots. Then, after the history of surgical robots is briefly reviewed, several prototypes of neurosurgical robots currently used in clinics are discussed in details. As a branch of surgical robots, the design issues about neurosurgical robots not only have the-common part as surgical robots, but this field has its special issues, such as high complex image modeling and analysis, high accuracy, and high safety. Therefore, current research challenges are provided and consideration about tele-robotic neurosurgical design is put forward. Finally, this paper is concluded with future directions.
Motion planning with obstacles avoidance in uncertain environments is an essential issue in robotics. Complete coverage path planning of a mobile robot requires the robot to pass through every area in the workspace wi...
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Today's service robotics require humanlike handling systems to interact with our everyday use items. In this paper we introduce the concept of a new modular anthropomorphic robot hand and describe our current work...
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The prospect of using humanoid robots in practical applications attracts an important research effort and the latest steps forward in robot technology show many remarkable achievements where design aspects, control sy...
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The prospect of using humanoid robots in practical applications attracts an important research effort and the latest steps forward in robot technology show many remarkable achievements where design aspects, control systems and software evolution regarding humanoid machines have been realised. While aiming to improve humanoid robots' overall performance, it is required that they could work for a long time spending minimum energy without losing their kinematic skills. In this direction, a new kind of non-linear actuator, SMART, based on quasi-resonance principle, has been developed by the Industrial automation Institute to improve the overall performance of biped locomotion.
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