Application Of Robotic System Research Articles

A Review of Automated Microinjection of Zebrafish Embryos.

Cell microinjection is a technique of precise delivery of substances into cells and is widely used for studying cell transfection, signaling pathways, and organelle functions. Microinjection of the embryos of zebrafish, the third most important animal model, has become a very useful technique in bioscience. However, factors such as the small cell size, high cell deformation tendency, and transparent zebrafish embryo membrane make the microinjection process difficult. Furthermore, this process has strict, specific requirements, such as chorion softening, avoiding contacting the first polar body, and high-precision detection. Therefore, highly accurate control and detection platforms are critical for achieving the automated microinjection of zebrafish embryos. This article reviews the latest technologies and methods used in the automated microinjection of zebrafish embryos and provides a detailed description of the current developments and applications of robotic microinjection systems. The review covers key areas related to automated embryo injection, including cell searching and location, cell position and posture adjustment, microscopic visual servoing control, sensors, actuators, puncturing mechanisms, and microinjection.

Optimal Distribution of Active Modules in Reconfiguration Planning of Modular Robots

Reconfigurability in versatile systems of modular robots is achieved by appropriately actuating individual modular units. Optimizing the distribution of active and passive modules in modular architecture can significantly reduce both cost and energy of a reconfiguration task. This paper presents a methodology for planning this distribution in modular robots, resulting in a minimum number of active modules that guarantees the capability to reconfigure. We discuss the optimal distribution problem in layout-based and target-based planning schemes such that modular robots can instantly respond to reconfiguration commands with either an initial planar layout or a target configuration as input. We propose heuristic algorithms as solutions for the different scenarios, which we demonstrate by applying them to Mori, a modular origami robot, in simulation. The results show that our algorithms yield high-quality distribution schemes in reduced time, and are thus viable for real-time applications in modular robotic systems.

Techniques for dental implants positioning

The modern techniques for dental implants positioning are analyzed. It is established that the duration of dental implants functioning depends on the accuracy of their positioning. The peculiarities of the influence of the human factor on the results of the installation of dental implants are revealed. It is shown that the «free hand» technique is the most inaccurate method. The accuracy of mechanical devices leaves an imprint on the results of dental implantation. Overall, the improvement of implant positioning techniques went along the way of eliminating the negative influence of the human factor on the results of the operation. For this purpose, a few mechanical devices and methods were proposed to approximate the result of the operation to the preoperative plan. Thus, the development of methods for positioning dental implants has gone from the«free hand» technique to robotic systems. Dental navigation platforms evolved along the path of improving the design and increasing the accuracy of implant positioning. In recent years there has been a sharp slowdown in the development of dental navigation systems and an increasing number of applications of robotic systems for the installation of dental implants. At the same time, the role of the implantologist gradually fades into the background, giving way to the dominant role for robotic systems that exceed the accuracy of the positioning of dental implants. In general, the use of mechanical and robotic devices in dental implantation makes it possible to achieve the best result in comparison with the «free hand» technique.

A Vision-Based Navigation Robot System Using Hybrid Color Models

Vision-based navigation robot system is a hot issue in the fields of robot vision and control system. As the development of image processing technique, the application of vision-based navigation robot system is increasing in household and industrial robots. This paper designs a navigation system based on robot vision named Patio2, using hybrid color models including white balance, color detection, and connect domain building. With necessary experimental verification, the developed system can find the color square efficiently, walk towards the right direction, and stop in a certain area with limited distance of 10cm.

Direct target NOTES: prospective applications for next generation robotic platforms.

A new era in surgical robotics has centered on alternative access to anatomic targets and next generation designs include flexible, single-port systems which follow circuitous rather than straight pathways. Such systems maintain a small footprint and could be utilized for specialized operations based on direct organ target natural orifice transluminal endoscopic surgery (NOTES), of which transanal total mesorectal excision (taTME) is an important derivative. During two sessions, four direct target NOTES operations were conducted on a cadaveric model using a flexible robotic system to demonstrate proof-of-concept of the application of a next generation robotic system to specific types of NOTES operations, all of which required removal of a direct target organ through natural orifice access. These four operations were (a) robotic taTME, (b) robotic transvaginal hysterectomy in conjunction with (c) robotic transvaginal salpingo-oophorectomy, and in an ex vivo model, (d) trans-cecal appendectomy. Feasibility was demonstrated in all cases using the Flex® Robotic System with Colorectal Drive. During taTME, the platform excursion was 17cm along a non-linear path; operative time was 57min for the transanal portion of the dissection. Robotic transvaginal hysterectomy was successfully completed in 78min with transvaginal extraction of the uterus, although laparoscopic assistance was required. Robotic transvaginal unilateral salpingo-oophorectomy with transvaginal extraction of the ovary and fallopian tube was performed without laparoscopic assistance in 13.5min. In an ex vivo model, a robotic trans-cecal appendectomy was also successfully performed for the purpose of demonstrating proof-of-concept only; this was completed in 24min. A flexible robotic system has the potential to access anatomy along circuitous paths, making it a suitable platform for direct target NOTES. The conceptual operations posed could be considered suitable for next generation robotics once the technology is optimized, and after further preclinical validation.

The Human Touch: Practical and Ethical Implications of Putting AI and Robotics to Work for Patients.

We live in a time when science fiction can quickly become science fact. Within a generation, the Internet has matured from a technological marvel to a utility, and mobile telephones have redefined how we communicate. Health care, as an industry, is quick to embrace technology, so it is no surprise that the application of programmable robotic systems that can carry out actions automatically and artificial intelligence (AI), e.g., machines that learn, solve problems, and respond to their environment, is being keenly explored.

How to get the best from robotic thoracic surgery.

The application of Robotic technology in thoracic surgery has become widespread in the last decades. Thanks to its advanced features, the robotic system allows to perform a broad range of complex operations safely and in a comfortable way, with valuable advantages related to low invasiveness. Regarding lung tumours, several studies have shown the benefits of robotic surgery including lower blood loss and improved lymph node removal when compared with other minimally invasive techniques. Moreover, the robotic instruments allow to reach deep and narrow spaces permitting safe and precise removal of tumours located in remote areas, such as retrosternal and posterior mediastinal spaces with outstanding postoperative and oncological results. One controversial finding about the application of robotic system is its high capital and running costs. For this reason, a limited number of centres worldwide are able to employ this groundbreaking technology and there are limited possibilities for the trainees to acquire the necessary skills in robotic surgery. Therefore, a training programme based on three steps of learning, associated with a solid surgical background and a consistent operating activity, are required to obtain effective results. Putting this highest technological innovation in the hand of expert surgeons we can assure safe and effective procedures getting the best from robotic thoracic surgery.

Enhanced Robust Motion Tracking Control for 6 Degree-of-freedom Industrial Assembly Robot with Disturbance Adaption

Industrial assembly robots are designed to enable accurate and repeatable tracking of the positions and orientations of the robot’s end-effector and are hence often required to perform complex tasks within uncertain environments. Therefore, trajectory tracking control is vital to the wide range of applications of industrial robotic systems. This paper presents an enhanced robust motion tracking controller with disturbance adaption for trajectory tracking control of industrial assembly robot. The dynamics of the industrial assembly robotic system is formulated in the working space of the end-effector and the tracking control problem is then formulated. The enhanced robust motion tracking control is synthesized by using disturbance adaption and modified iterative control terms, which is a refined version of conventional robust adaptive control with only disturbance rejection. The capability and effectiveness of the enhanced robust motion tracking control have been evaluated based on an industrial robotic platform. The comparative results clearly show that the proposed control can be used to better minimize the trajectory tracking errors in finite time as compared with conventional proportional derivative control.

Progress in the surgery of rectal cancer

The treatment of rectal cancer has been improved a great deal within the last 20 years. Major progress has been made in the preoperative evaluation by introducing MRI- imaging as a basis for the further management. Neoadjuvant radiochemotherapy has been shown to be effective in downstaging of advanced tumours. The surgical technique has been improved in many respects.- Total mesorectal excision has reduced local recurrences, sphincter saving techniques such as low anterior resection and intersphincteric resection reduced the need for a permanent stoma to 10%-20%. Recently the introduction of minimal invasive techniques and the application of robotic systems have reduced the surgical trauma.

Decision-making system of soccer-playing robots using finite state machine based on skill hierarchy and path planning through Bezier polynomials

The decision-making mechanism of robotic systems is a fundamental component for the robots’ autonomous control. Like soccer-playing robots, a system must be created such that the strategy is maximized to both chances of scoring and blocking, thus, obtaining a successful play. With the goal of expanding the range of practical applications for robotic systems and contributing to the progress of the design of mobile robots, this study designs a decision-making system using Finite State Machine (FSM) for the action-role selection and Bezier curvature algorithm for the path planning. The presented design follows the skill hierarchy – team strategy layer, role layer and action layer. The study limits the number of players per team to two soccer-playing robots. Each role has a different action to perform as strategized by FSM. The navigation of the robots is established by following a repeatedly modified Bezier curve. The results show that the system using FSM wins the game at 60% chance compared to a system without action planning. Moreover, the Bezier curvature algorithm is effective if both the robot is in the center area of the soccer field. However, the robot spins erroneously at locations near the edges of the soccer field.

Intelligent Systems of Prospective Autonomous Military RTCs in the Course of Pilot Operation of Remote-Controlled Complexes

In the article, based on the analysis of the world experience in the application of remotely-controlled robotic systems, it is concluded that the mass application of irrationality in the course of a prospective combined arms battle is irrational. The main disadvantages of classical remote control in combat conditions are increased requirements for the communication channel, limited range, unmasking of the object and control point, as well as the possibility of using radio electronic and fire countermeasures due to intensive radio exchange. It is shown that the real increase in the efficiency of the use of robotic complexes for military purposes is possible when they are used as part of groups, but they must have elements of autonomy and the ability to solve intellectual problems. Ensuring the autonomy of the functioning of robots and their groups located at a considerable distance from the control center, when performing tasks for their intended purpose, is primarily related to the development of intelligent combat weapon control systems for combat robots, including all the main phases of combat operations. The issues of acquiring knowledge for the construction of intelligent weapon control systems for autonomous terrestrial robots are considered. This phase of the life cycle is proposed, such as the pilot operation of robotic complexes for military purposes, used to determine the appearance and formation of intellectual decision-making systems, the acquisition in the course of it of formalization of knowledge about typical tasks of operation, a list, characteristics and attributes of typical goals, sequence of actions, list emerging alternatives in making decisions in the course of combat operations and the rules for their selection. It is proposed to involve engineers in knowledge during the whole cycle of pilot operation to form the rules of combat use of robotic complexes by experience, to formalize the knowledge gained for subsequent automation of decision-making processes and the formation of intellectual systems for military-type military hardware.

Fiber-Reinforced Origamic Robotic Actuator

A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed with significant improvements on the popular McKibben-type actuators, offering nearly doubled motion range, substantially improved force profile, and significantly lower actuation pressure. The desirable feature set is made possible by a novel soft origamic chamber that expands radially while contracts axially when pressurized. Combining this new origamic chamber with a reinforcing fiber mesh, FORA generates very high traction force (over 150N) and very large contractile motion (over 50%) at very low input pressure (100 kPa). We developed quasi-static analytical models both to characterize the motion and forces and as guidelines for actuator design. Fabrication of FORA mostly involves consumer-grade three-dimensional (3D) printing. We provide a detailed list of materials and dimensions. Fabricated FORAs were tested on a dedicated platform against commercially available pneumatic artificial muscles from Shadow and Festo to showcase its superior performances and validate the analytical models with very good agreements. Finally, a robotic joint was developed driven by two antagonistic FORAs, to showcase the benefits of the performance improvements. With its simple structure, fully characterized mechanism, easy fabrication procedure, and highly desirable performance, FORA could be easily customized to application requirements and fabricated by anyone with access to a 3D printer. This will pave the way to the wider adaptation and application of soft robotic systems.

Benchmark of 6D SLAM (6D Simultaneous Localisation and Mapping) Algorithms with Robotic Mobile Mapping Systems

Abstract This work concerns the study of 6DSLAM algorithms with an application of robotic mobile mapping systems. The architecture of the 6DSLAM algorithm is designed for evaluation of different data registration strategies. The algorithm is composed of the iterative registration component, thus ICP (Iterative Closest Point), ICP (point to projection), ICP with semantic discrimination of points, LS3D (Least Square Surface Matching), NDT (Normal Distribution Transform) can be chosen. Loop closing is based on LUM and LS3D. The main research goal was to investigate the semantic discrimination of measured points that improve the accuracy of final map especially in demanding scenarios such as multi-level maps (e.g., climbing stairs). The parallel programming based nearest neighborhood search implementation such as point to point, point to projection, semantic discrimination of points is used. The 6DSLAM framework is based on modified 3DTK and PCL open source libraries and parallel programming techniques using NVIDIA CUDA. The paper shows experiments that are demonstrating advantages of proposed approach in relation to practical applications. The major added value of presented research is the qualitative and quantitative evaluation based on realistic scenarios including ground truth data obtained by geodetic survey. The research novelty looking from mobile robotics is the evaluation of LS3D algorithm well known in geodesy.

Training robotic hepatectomy: the Hong Kong experience and perspective.

The introduction of robotic surgical systems has revolutionized the practice of minimal invasive surgery (MIS). Although little data regarding robotic hepatectomies have been reported, it appears to be similar to conventional laparoscopic approach in terms of blood loss, morbidity rate, mortality rate and hospital stay at least. The application of robotic system in liver surgery was not well evaluated yet, particularly learning curve. Studies were identified by searching MEDLINE and PubMed databases for articles from January 2001 to May 2016 using the keywords "laparoscopic hepatectomy", "robotic hepatectomy", and "learning curve". With the limited data in robotic hepatectomy, the learning curve model of robotic hepatectomy needs to base on the experience of conventional laparoscopic hepatectomy. Based on the learning curve study experience for laparoscopic hepatectomies, the minimal number laparoscopic minor and major hepatectomies to overcome learning curve are 22-64 cases, and 45-75 cases, respectively. Left lateral sectionectomy technique is more standardized, and it is a good start for training of MIS liver surgery. However, the training program required for the robotic liver surgeons still highly depends on the surgeons' experience of previous open and laparoscopic liver surgery, the surgeons' previous experience of other robotic surgeries, the experience of the surgical team including the assistant surgeons and nursing staffs, and the complexity of the diseases. We discourage performance of robotic hepatectomy in the occasional patient by a team that is not well prepared and is not embedded in a specialized center. Knowledge and practical skills are both required in MIS liver surgery and cannot be replaced by newer tools, including the most advanced robotic system.

A new approach for a Patient-Cooperative Upper Limb FES Support based on Vector Fields

Rehabilitation robotics and Functional Electrical Stimulation (FES) are becoming more important in the rehabilitation of stroke and spinal cord injured (SCI) patients. Patient-cooperative control strategies help to only compensate for deficits and to not support too much. The application of a cable-driven arm robotic system with constant force support is considered. FES of the biceps and triceps, as well as of the posterior and anterior part of the deltoid muscle allows us to control the flexion and extension of the elbow joint and of the shoulder motion in the transversal plane. In order to support these motions of the patient, we introduce a novel assist-as-needed FES support based on iterative learning vector fields. Using this new FES control scheme, we aim to facilitate the patient’s timing and completion of the motion. The approach is evaluated in experimental trials with healthy subjects performing a breaststroke swimming motion. Starting from a patient-typical deviation of 50°, the controller automatically adapts the support by adjusting the stimulation and thereby reduces the deviation to approximately 15° within less than ten strokes.

Impact of Arm Morphology on the Hydrodynamic Behavior of a Two-arm Robotic Marine Vehicle

Increasing the functionality and efficiency of small underwater marine robotic systems has been a significant challenge, particularly regarding their use in tasks requiring enhanced maneuverability, long-distance travel and delicate underwater manipulation of objects. In this paper, we explore the impact of bio-inspired arm morphology on underwater propulsion, through examination of the generated hydrodynamic forces and the corresponding complex vortical patterns in the wake of a novel two-arm underwater robotic swimmer, inspired by the octopus arm-swimming behavior. We demonstrate for the first time, via detailed modelling and CFD studies, the use of a variety of slender arm morphologies as thrust actuators in a system that can achieve forward propulsion, by the slow opening and rapid closing of these arms (“arm sculling”), while minimizing the lateral excursion of the system. Robotic prototypes, based on such principles, have already been used by our group to observe marine ecosystems, without disturbing them as much as current ROVs. Further applications of such robotic systems could be envisioned in future medical rehabilitation studies.

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

Organization of a Unified Coordinate-Information Space to Provide for the Operation of the Multi-Agent Robotic System

Background/Objectives: The article outlines aspects of effective application of multiagent robotic systems and development of a unified coordinate-information space for such systems Methods: Authors review aspects of efficacy of application of multiagent robotic systems and questions of development and maintaining the unified coordinateinformation space of these systems. Aspects of devices required to solve the identified problem are also considered in the article. Findings: The circle of the problems arising at creation of multiagent robotic systems has been outlined in the review and possible ways to solve these problems have been shown. Applications/Improvements: The article formulates a list of equipment and systems necessary to maintain a single coordinate-information space for the operation of multiagent robotic systems. Keywords: Coordinate Measuring, Hybrid Lidar, Multi-Agent Robotic System, Supervisory Network-Centric Management, Technical Vision

NAVIGATION OF MOBILE ROBOT- ALGORITHM FOR PATH PLANNING & COLLISION AVOIDANCE- A REVIEW

The field of autonomous mobile robotics has recently gained many researchers’ interests. Due to the specific needs required by various applications of mobile robot systems, especially in navigation, designing a real time obstacle avoidance and path following robot system has become the backbone of controlling robots in unknown environments. The main objective of our project is applications based mobile robot systems, especially in navigation, designing real time obstacle avoidance and path following robot system has become the backbone of controlling robots in unknown environments. The main objective behind using the obstacle avoidance approach is to obtain a collision-free trajectory from the starting point to the target in monitoring environments. The ability of the robot to follow a path, detects obstacles, and navigates around them to avoid collision. It also shows that the robot has been successfully following very congested curves and has avoided any obstacle that emerged on its path. Motion planning that allows the robot to reach its target without colliding with any obstacles that may exist in its path.
 To avoid collision in the mobile robot environment, providing a path planning& line following approach. Line following, path planning, collision avoidance, back propagation, improved memory, detecting long distance obstacles. Cheap and economical than the former one. Also work with back propagation technique.

Solar Powered Smart Surveillance System Enhanced with Wi-Fi technology by Using Raspberry Pi

This paper deals with the inventive surveillance tracking system the use of distinct strategies. This technique increases the usage of mobile technology to provide an essential safety to industry, our houses and other manipulate utility. Net generation offers a terrific way for us to increase an included computing community environment for the application of various robot systems. To prevent such incidents, presenting a smart surveillance machine more desirable with WI-if generation. The LINUX operating gadget is used to lessen the hardware additives. The idea of net-based entire robots is the new generation, and it does no longer have the restrictions of the variety of operation. On the identical time, the need to examine more and more human beings, locations, and connected with a desire to pull out of things more useful data from the video information, the unfold of using embedded systems is motivating the new demands talents and capability. In such instances, we may additionally use the proposed robot gadget whose running based on Raspberry Pi, in case want to move into the one's regions and provide us with the data within the shape of stay videos of that places. While a person enters such notably secured situations, the digital camera installed on the robotic will keep on shooting the videos from the environment to keep a file of the information about the incident passed off, and this is ready to be had to the person and most efficient the authenticated customers can see the recorded data. It can additionally find the number of persons positioned with the help of the Infrared sensor. This system is proposed with the assist of low fee PIR sensor and smoke sensor to hint out the intruders and to hit upon the hearth accident. The webcam will capture live data in the surroundings and transmit the live video to the social network through WI-FI. Simultaneously, the buzzer alerts the nearby neighbours. The system also consists of sprayer sprays the chloroform liquid on the intruders and sprinkler discharges water when the effect of the fire has been detected. This review paper offers an unusual technique closer to surveillance gadget. In this project, the robot will work with both battery and solar energy