Journal articles: 'Robotic unit'

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Shaji, Ashwin K., and Rinku Dhiman. "Gesture Controlled Robotic Hand Using RF Unit and Accelerometer." International Journal of Research in Engineering, Science and Management 3, no. 11 (November 30, 2020): 125–27. http://dx.doi.org/10.47607/ijresm.2020.387.

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In the race of man v/s machine, automation comes as a companion of man and machine. Taking the technology to the next level from the mobile driven world to an automation driven world, will increase manufacturers their production rates, productivity and efficiency with materials, product quality, and worker safety. From ancient times the ingenuity and the brain power human beings have astonished researchers with engineering and mechanical marvels like the wheel, bow and arrow, cross bows, etc. What started from the wheel did not end there but evolved into the complex mechatronics systems that we see around us today. The robotics is one such human marvel that will be one-day equal human beings themselves. The robots thus have far more use in the daily life than any other systems. The robotics and automation is a rising piece of technology which could lessen the loads of work and solve the problems exponentially. As robotics is finding its place on every sector in this globe, the aim this project is to introduce robotics in the field of industry. The title of the system is ‘Gesture controlled robotic arm’. The aim of the system is to provide safety and to increase productivity in our industries. The research project should be designed in such a way that it should occupy minimum space, should possess high maneuverability and high agility. The project in discussion is types of robots which needs minimum space and are proved to be highly maneuverable and highly agile. The robot contains two main units, one is the robotic arm and second is the data glove with accelerometer using a RF controller. The robotic arm unit is responsible for the hand functions of the whole structure of the robot. The data glove is responsible for the input feedback to the robotic arm. The robotic unit will be controlled by an Arduino platform to improve its stability. The angle tilt will be measured using ADXL335 sensor. The ADXL335 uses angle, tilt and yaw values with Arduino for data transfer. Through advanced primary and secondary research techniques, system implementation hurdles and potential risks involved in developing such a system are identified. The project is fully planned using advanced project management techniques like PERT chart and Gantt chart in order to identify the critical activities and the timeline related with it.

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Nikiforov, V. V., M. V. Aleshkov, and I. A. Gusev. "Mobile robotic unit for fire-fighting at NPPs." Safety and Reliability of Power Industry 12, no. 4 (January 25, 2020): 290–95. http://dx.doi.org/10.24223/1999-5555-2019-12-4-290-295.

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Fires and accidents at nuclear power facilities that occurred in the past resulted in considerable property damage, both direct and indirect one. The emerging threats had a negative impact on the fire-fighting process that had to be interrupted, which contributed to spreading of fire. One way of solving the problem is to develop and use robotics, and in order to achieve the effectiveness of robotics equipment, this must be designed taking into account the specifics of the facility, where it is planned to be used, and operate throughout the plant premises, while being of the light class. Having analyzed the peculiarities of origination and development of fires at NPPs, as well as taking into account the specifics of the facility, technical requirements for the design of the robotic equipment were developed, which formed the basis for the creation of a prototype implemented in a mobile robotic fire-fighting unit (MRUP). In order to check the stated tactical and technical characteristics, MRUP was subjected to tests for its running performance, operability of its components and assemblies, and fire-extinguishing properties. The test of running performance was carried out on dedicated stands with a variety of inclined surfaces, climbing angles and heights. For MRUP firefighting efficiency to be tested, a model hotspot was extinguished, the range of delivery and the consumption of fire-extinguishing agents were measured.

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Bernstein, Robert M., and Michael B. Wolfeld. "Robotic Follicular Unit Graft Selection." Dermatologic Surgery 42, no. 6 (June 2016): 710–14. http://dx.doi.org/10.1097/dss.0000000000000742.

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Wu, Shuai, Qiji Ze, Jize Dai, Nupur Udipi, Glaucio H. Paulino, and Ruike Zhao. "Stretchable origami robotic arm with omnidirectional bending and twisting." Proceedings of the National Academy of Sciences 118, no. 36 (August 30, 2021): e2110023118. http://dx.doi.org/10.1073/pnas.2110023118.

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Inspired by the embodied intelligence observed in octopus arms, we introduce magnetically controlled origami robotic arms based on Kresling patterns for multimodal deformations, including stretching, folding, omnidirectional bending, and twisting. The highly integrated motion of the robotic arms is attributed to inherent features of the reconfigurable Kresling unit, whose controllable bistable deploying/folding and omnidirectional bending are achieved through precise magnetic actuation. We investigate single- and multiple-unit robotic systems, the latter exhibiting higher biomimetic resemblance to octopus’ arms. We start from the single Kresling unit to delineate the working mechanism of the magnetic actuation for deploying/folding and bending. The two-unit Kresling assembly demonstrates the basic integrated motion that combines omnidirectional bending with deploying. The four-unit Kresling assembly constitutes a robotic arm with a larger omnidirectional bending angle and stretchability. With the foundation of the basic integrated motion, scalability of Kresling assemblies is demonstrated through distributed magnetic actuation of double-digit number of units, which enables robotic arms with sophisticated motions, such as continuous stretching and contracting, reconfigurable bending, and multiaxis twisting. Such complex motions allow for functions mimicking octopus arms that grasp and manipulate objects. The Kresling robotic arm with noncontact actuation provides a distinctive mechanism for applications that require synergistic robotic motions for navigation, sensing, and interaction with objects in environments with limited or constrained access. Based on small-scale Kresling robotic arms, miniaturized medical devices, such as tubes and catheters, can be developed in conjunction with endoscopy, intubation, and catheterization procedures using functionalities of object manipulation and motion under remote control.

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Scypinski, Stephen, Linda Nelson, and Theodore Sadlowski. "Automation in the pharmaceutical analysis laboratory: a centralized/decentralized approach." Journal of Automatic Chemistry 17, no. 2 (1995): 47–49. http://dx.doi.org/10.1155/s1463924695000071.

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It has been over 10 years since robots have appeared in the pharmaceutical analysis laboratory. In the early days, it was common for one selected individual to be responsible for the programming, usage and maintenance of the robots(s). However, the increasing use of robotics has prompted the formation of robotics ‘laboratories’ and/or ‘groups’. This is especially true when multiple robotic systems and applications are involved.Over the past several years at ISLAR, many champions of robotics have given presentations on the setup and usage of robotics within their organizations. These managers have described both the ‘centralized’ and ‘decentralized’ approaches to the implementation of robotics. In the centralized system, a single group is charged with all aspects of the robotic project, including justification, purchase, validation, use and maintenance. Under such an arrangement, samples are usually given to the robotics group for analysis. In contrast, a totally decentralized approach to robotics would have units interspersed throughout the organization, with each individual group responsible for their respective unit(s), in much the same way as liquid chromatographs are considered.At Hoffmann-La Roche, aspects of both the centralized and decentralized approaches to robotics are used which make our combined system the ‘best of both worlds’. This paper describes the Roche philosophy towards robotics and highlights the advantages to the system used.

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Avram, Marc R., and Shannon A. Watkins. "Robotic Follicular Unit Extraction in Hair Transplantation." Dermatologic Surgery 40, no. 12 (December 2014): 1319–27. http://dx.doi.org/10.1097/dss.0000000000000191.

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Avram, Marc R. "Commentary on Robotic Follicular Unit Graft Selection." Dermatologic Surgery 42, no. 6 (June 2016): 715–16. http://dx.doi.org/10.1097/dss.0000000000000759.

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Khort, Dmitriy, Alexey Kutyrev, Rostislav Filippov, and Stepan Semichev. "Development control system robotic platform for horticulture." E3S Web of Conferences 262 (2021): 01024. http://dx.doi.org/10.1051/e3sconf/202126201024.

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The article presents a control system for a robotic platform for horticulture. The electronic control system consists of a running engine control unit, a stepper motor steering unit, an electronic differential control unit, a power plant automatic on / off control unit, and battery charging balancing. The developed control system of the robotic vehicle contains a central computer that collects information from sensors and sensors, processes it and transmits control signals to the drives of the machine movement. The movement of the robotic platform is carried out both by a radio signal with a remote control, and in offline mode on a pre-set map of the area according to data from the GLONASS/GPS differential receiver of the satellite navigation system. It is also possible to independently control the movement of a robotic platform using a vision system. The autonomy of the robotic platform provides 10 hours of continuous operation in low-light conditions in various weather conditions.

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Yoshida, Eiichi, Shigeru Kokaji, Satoshi Murata, Kohji Tomita, and Haruhisa Kurokawa. "Miniaturization of Self-Reconfigurable Robotic System using Shape Memory Alloy Actuators." Journal of Robotics and Mechatronics 12, no. 2 (April 20, 2000): 96–102. http://dx.doi.org/10.20965/jrm.2000.p0096.

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This paper presents a small-size self-reconfigurable modular machine using shape memory alloy (SMA). The system is designed so that various shapes can be actively formed by a group of identical mechanical units. Each mechanical unit realizes two-dimensional rotational motion by using a novel actuator mechanism composed of two SMA torsion springs which can generate sufficient motion range and torque. The size and the weight of a unit are approximately 5[cm] cube and 80[g]. The reconfiguration motion of the machine is verified by many-unit experiments. Applicability of the developed unit model to a 3-D self-reconfigurable system is also discussed.

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Chen, Dar-Zen, and Shuen-Chen Shiue. "Topological Synthesis of Geared Robotic Mechanisms." Journal of Mechanical Design 120, no. 2 (June 1, 1998): 230–39. http://dx.doi.org/10.1115/1.2826963.

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An efficient and systematic methodology for the topological synthesis of geared robotic mechanisms is developed. The approach is based on the idea that the kinematic structure of a geared robotic mechanism can be described by an equivalent open-loop chain (EOLC) and mechanical transmission lines (MTLs) which drive the joints of the EOLC. It is shown that an MTL can be decomposed as an input unit and several transmission units connected in series. The characteristics of the input and transmission units are laid out and a systematic methodology is developed to enumerate all admissible input and transmission units from the existing atlas of nonfractionated geared kinematic chains. The atlas of admissible MTLs are then generated accordingly. Thus, all admissible geared robotic mechanisms can be enumerated efficiently with the atlas of admissible MTLs and a preferred form of the EOLC. With this new methodology, some novel structures of geared robotic mechanisms are obtained and it is believed that new areas of application can be further explored.

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Wang, Ding, Fei Xie, Jiquan Yang, Rongjian Lu, Tengfei Zhu, and Yijian Liu. "Industry robotic motion and pose recognition method based on camera pose estimation and neural network." International Journal of Advanced Robotic Systems 18, no. 3 (May 1, 2021): 172988142110185. http://dx.doi.org/10.1177/17298814211018549.

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To control industry robots and make sure they are working in a correct status, an efficient way to judge the motion of the robot is important. In this article, an industry robotic motion and pose recognition method based on camera pose estimation and neural network are proposed. Firstly, industry robotic motion recognition based on the neural network has been developed to estimate and optimize motion of the robotics only by a monoscope camera. Secondly, the motion recognition including key flames recording and pose adjustment has been proposed and analyzed to restore the pose of the robotics more accurately. Finally, a KUKA industry robot has been used to test the proposed method, and the test results have demonstrated that the motion and pose recognition method can recognize the industry robotic pose accurately and efficiently without inertial measurement unit (IMU) and other censers. Below in the same algorithm, the error of the method introduced in this article is better than the traditional method using IMU and has a better merit of reducing cumulative error.

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Škultéty, Emil, Elena Pivarčiová, and Ladislav Karrach. "Design of an Inertial Measuring Unit for Control of Robotic Devices." Materials Science Forum 952 (April 2019): 313–22. http://dx.doi.org/10.4028/www.scientific.net/msf.952.313.

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Industrial robots are increasingly used to automate technological processes, such as machining, welding, paint coating, assembly, etc. Automation rationalizes material flows, integrates production facilities and reduces the need for manufacturing inventory, provides cost savings for human maintenance. Technology development and growing competition have an influence on production growth and increase of product quality, and thus the new possibilities in innovation of industrial robot are searched for. One of the possibilities is applying of an inertial navigation system into robot control. This article focuses on new trends in manufacturing technology: design of Inertial Measurement Unit (IMU) for a robotic application control. The Arduino platform is used for the IMU as a hardware solution. The advantage of this platform is low cost and wide range of sensors and devices that are compatible with this platform. For scanning, the MEMS sensor MPU6050 is used, which includes a 3-axis gyroscope and an accelerometer in one chip. New trends in manufacturing facilities, especially robotics innovation and automation, will enable the productivity to grow in production processes.

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Drobouchevitch, Inna G., Suresh P. Sethi, and Chelliah Sriskandarajah. "Scheduling dual gripper robotic cell: One-unit cycles." European Journal of Operational Research 171, no. 2 (June 2006): 598–631. http://dx.doi.org/10.1016/j.ejor.2004.09.019.

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Althoefer, K., L. D. Seneviratne, P. Zavlangas, and B. Krekelberg. "Fuzzy Navigation for Robotic Manipulators." International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems 06, no. 02 (April 1998): 179–88. http://dx.doi.org/10.1142/s0218488598000161.

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This paper describes a novel navigation and obstacle avoidance system for robotic manipulators. The system is divided into separate fuzzy units which individually control the links of a manipulator. The rule base of each unit combines the repelling influence of obstacles with the attracting influence of the target position in a fuzzy way to generate actuating commands for the link. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable in on-line applications with strong real-time requirements. Furthermore, this approach allows obstacle avoidance in dynamic environments. The functioning of the fuzzy navigator with respect to robotic manipulators and results of real-world experiments are presented.

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Lobachevsky, Yakov P., Sergey E. Lonin, Ilya S. Alekseev, Nikolay T. Goncharov, Irina I. Afonina, and Ekaterina N. Il'chenko. "Development of Algorithms and Software Systems for Motion Control of a Robotic Tillage Unit." Agricultural Machinery and Technologies 13, no. 2 (April 28, 2019): 48–52. http://dx.doi.org/10.22314/2073-7599-2018-12-6-48-52.

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Abstract. Automation of agricultural machinery is aimed at solving specific practical tasks: control and maintenance of the technological process quality, increasing labor productivity as well as crop yields. The method of "precision farming" is economically expedient, since it is a direct saving of technological material, as well as it helps reducing the negative impact on the environment and farm produce. (Research purpose) The research purpose is to review and analyze the main aspects required to develop the algorithms and software for motion control systems for a robotic tillage unit. (Materials and methods) To implement process control, it is necessary to control the direction of travel along a specified path, change the speed of movement depending on the engine load, switching the transmission gears. Physical-and-mechanical characteristics of the unit are rather heterogeneous and depend on weather conditions. Therefore, the algorithm for controlling the power of the robotic mobile unit must take into account, as much as possible, variations in the external effects of drawbar properties and the motion resistance, as a random factor. (Results and discussion) The authors have developed an imitation model representing the movement of a robotic unit. For the simulation, use has been made of a cyclic trajectory of the unit movement, consisting of two types of sections: the rectilinear ones reflecting the soil tillage pattern, and the turn areas where the unit makes a turn along a curvilinear trajectory around a certain center. (Conclusions) The implementation of robotic technologies in agricultural production result in increased technical, technological, production and economic indicators of agricultural units in field work, increased labor productivity, reduced time required for fieldworks, more rational use of bioenergy resources, increased yields of agricultural crops and reduced environmental impacts.

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van Dam, Peter, Jan Hauspy, Luc Verkinderen, Xuan Bich Trinh, Pieter-Jan van Dam, Luc Van Looy, and Luc Dirix. "Are Costs of Robot-Assisted Surgery Warranted for Gynecological Procedures?" Obstetrics and Gynecology International 2011 (2011): 1–6. http://dx.doi.org/10.1155/2011/973830.

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The exponential use of robotic surgery is not the result of evidence-based benefits but mainly driven by the manufacturers, patients and enthusiastic surgeons. The present review of the literature shows that robot-assisted surgery is consistently more expensive than video-laparoscopy and in many cases open surgery. The average additional variable cost for gynecological procedures was about 1600 USD, rising to more than 3000 USD when the amortized cost of the robot itself was included. Generally most robotic and laparoscopic procedures have less short-term morbidity, blood loss, intensive care unit, and hospital stay than open surgery. Up to now no major consistent differences have been found between robot-assisted and classic video-assisted procedures for these factors. No comparative data are available on long-term morbidity and oncologic outcome after open, robotic, and laparoscopic gynecologic surgery. It seems that currently only for very complex surgical procedures, such as cardiac surgery, the costs of robotics can be competitive to open surgical procedures. In order to stay viable, robotic programs will need to pay for themselves on a per case basis and the costs of robotic surgery will have to be reduced.

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Oliveri, Giorgio, Lucas C. van Laake, Cesare Carissimo, Clara Miette, and Johannes T. B. Overvelde. "Continuous learning of emergent behavior in robotic matter." Proceedings of the National Academy of Sciences 118, no. 21 (May 10, 2021): e2017015118. http://dx.doi.org/10.1073/pnas.2017015118.

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One of the main challenges in robotics is the development of systems that can adapt to their environment and achieve autonomous behavior. Current approaches typically aim to achieve this by increasing the complexity of the centralized controller by, e.g., direct modeling of their behavior, or implementing machine learning. In contrast, we simplify the controller using a decentralized and modular approach, with the aim of finding specific requirements needed for a robust and scalable learning strategy in robots. To achieve this, we conducted experiments and simulations on a specific robotic platform assembled from identical autonomous units that continuously sense their environment and react to it. By letting each unit adapt its behavior independently using a basic Monte Carlo scheme, the assembled system is able to learn and maintain optimal behavior in a dynamic environment as long as its memory is representative of the current environment, even when incurring damage. We show that the physical connection between the units is enough to achieve learning, and no additional communication or centralized information is required. As a result, such a distributed learning approach can be easily scaled to larger assemblies, blurring the boundaries between materials and robots, paving the way for a new class of modular “robotic matter” that can autonomously learn to thrive in dynamic or unfamiliar situations, for example, encountered by soft robots or self-assembled (micro)robots in various environments spanning from the medical realm to space explorations.

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Minh, Vu Trieu, Nikita Katushin, and John Pumwa. "Motion tracking glove for augmented reality and virtual reality." Paladyn, Journal of Behavioral Robotics 10, no. 1 (March 27, 2019): 160–66. http://dx.doi.org/10.1515/pjbr-2019-0012.

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AbstractThis project designs a smart glove, which can be used for motion tracking in real time to a 3D virtual robotic arm in a PC. The glove is low cost with the price of less than 100 € and uses only internal measurement unit for students to develop their projects on augmented and virtual reality applications. Movement data from the glove is transferred to the PC via UART DMA. The data is set as the motion reference path for the 3D virtual robotic arm to follow. APID feedback controller controls the 3D virtual robot to track exactly the haptic glove movement with zero error in real time. This glove can be used also for remote control, tele-robotics and tele-operation systems.

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Shevchenko, V. A., and V. A. Kostjukov. "Features of the complex power unit for mobile robotic." IOP Conference Series: Materials Science and Engineering 635 (October 28, 2019): 012026. http://dx.doi.org/10.1088/1757-899x/635/1/012026.

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Bernstein, Robert M. "Commentary on Robotic Follicular Unit Extraction in Hair Transplantation." Dermatologic Surgery 41, no. 2 (February 2015): 279. http://dx.doi.org/10.1097/dss.0000000000000217.

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Smith, N., D. G. Murphy, N. Lawrentschuk, J. McCormick, A. Heriot, S. Warrier, and A. C. Lynch. "Robotic multivisceral pelvic resection: experience from an exenteration unit." Techniques in Coloproctology 24, no. 11 (July 13, 2020): 1145–53. http://dx.doi.org/10.1007/s10151-020-02290-x.

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Senay, Sahin, Ahmet Umit Gullu, Muharrem Kocyigit, Aleks Degirmencioglu, Leyla Kilic, Hasan Karabulut, and Cem Alhan. "Robotic Mitral Valve Replacement for Severe Rheumatic Mitral Disease: Perioperative Technique, Outcomes, and Early Results." Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery 9, no. 4 (July 2014): 292–96. http://dx.doi.org/10.1097/imi.0000000000000078.

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Objective We report a case series of robotic mitral valve replacement in patients with severe rheumatic mitral disease. Methods From March 2010 to June 2013, a total of 63 patients underwent robotic cardiac procedures. Robotic procedures were performed using the da Vinci Si surgical systems (Intuitive Surgical, Inc, Sunnyvale, CA USA). Eighteen of the patients (28.5%) underwent robotic mitral valve replacement. Rheumatic disease was the underlying pathology in all patients. The mean (SD) follow-up period was 18 (10) months. Results The mean (SD) age and EuroSCORE of the patients were 51.2 (11) years and 4.1% (4%), respectively. Seven patients (38.8%) had an additional cardiac procedure. No operative and hospital mortality were observed. The mean (SD) cross-clamp time and cardiopulmonary bypass time were 116 (30) and 178 (54) minutes, the mean (SD) drainage was 430 (350) mL, the mean intubation time was 9.4 (7) hours, the rate of patients extubated within 6 hours or less was 94.4%, and the mean (SD) intensive care unit stay time was 30 (12) hours. Sixteen of the patients (88.8%) were discharged from the intensive care unit within the first 24 hours postoperatively. During the intensive care unit stay, one patient (5.5%) needed inotropic support. There was one early reoperation for bleeding (5.5%), one (5.5%) intensive care unit readmission, and one (5.5%) hospital readmission observed. During the midterm follow-up, there was no mortality and no need for reoperation or reintervention. Conclusions Robotic mitral valve replacement for severe rheumatic mitral disease is technically feasible. Early results are encouraging. Patient selection criteria for robotic mitral valve surgery may be expanded to include valve replacements.

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Shao, Chao, Xin Ye, Jiahui Qian, Zhijing Zhang, and Dongsheng Zhu. "Robotic precision assembly system for microstructures." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 8 (November 7, 2019): 948–58. http://dx.doi.org/10.1177/0959651819885755.

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This article proposes a robotic precision assembly system for the typical parts of microstructures such as non-silicon microelectromechanical system parts. The assembly system contains three parallel assembly units and support system. In each unit, the images of the base part and target part can be obtained simultaneously from the coaxial alignment vision detection module. This article proposes a system calibration method to ensure accuracy of assembly system. Assembly experiments and accuracy validation tests are conducted. The experimental results show that the synthesizing assembly accuracy of the robotic precision assembly system can reach higher than 3 µm and the mean assembly cycle time of each part is less than 20 s, including the time for feeding and unloading parts. The robotic precision assembly system with nondestructive imaging and gripping can save on cost, achieve better quality results in less time, and greatly facilitate the precision assembly reliability and automation of microstructures.

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Goto, Tetsuya, Kazuhiro Hongo, Yukinari Kakizawa, Hisashi Muraoka, Yosuke Miyairi, Yuichiro Tanaka, and Shigeaki Kobayashi. "Clinical application of robotic telemanipulation system in neurosurgery." Journal of Neurosurgery 99, no. 6 (December 2003): 1082–84. http://dx.doi.org/10.3171/jns.2003.99.6.1082.

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✓ The NeuRobot is a telecontrolled microscopic micromanipulator system designed for neurosurgical procedures. The unit houses a three-dimensional endoscope and three robot arms that the surgeon operates without direct contact with the patient. The authors have successfully performed robotics-assisted neurosurgical procedures by using the NeuRobot in a 54-year-old man who had a recurrent atypical meningioma. Following the usual preparation of craniotomy and opening of the dura mater, a portion of the tumor was removed using the NeuRobot with the aid of microscopic observation. No complication related to the use of the NeuRobot was encountered and the patient's postoperative course was uneventful. Although various kinds of robots have been developed for use in neurosurgery in recent years, a robotic telemanipulation system capable of performing several surgical tasks has not previously been introduced to clinical neurosurgery. This is the first case report in which neurosurgical manipulation by a robotics system is described.

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Hartley, D. M., and D. R. Kerr. "Invariant measures of the closeness to linear dependence of six lines or screws." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 215, no. 10 (October 1, 2001): 1145–51. http://dx.doi.org/10.1177/095440620121500101.

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Line and screw systems, used in robotics and machinery analysis, become singular at particular geometric configurations. When not singular, measures are required that describe how far they are from being so. A new system of measures is proposed whose outcome is strictly invariant with respect to coordinate frame, origin and unit of length. Examples of the application of the new measures to sixfold systems of lines and screws in the context of work-holding systems and robotic manipulators are given.

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Mishchenko, N. I., A. K. Movchan, V. V. Kapustin, E. S. Chaldina, Yu P. Akulinichev, and V. G. Bozhkov. "Control unit for active-pulse television systems." Proceedings of Tomsk State University of Control Systems and Radioelectronics 23, no. 4 (December 25, 2020): 16–20. http://dx.doi.org/10.21293/1818-0442-2020-23-4-16-20.

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The principles of operation of active-pulse television systems used in robotic complexes, remotely controlled or Autonomous unmanned vehicles are considered. A mode control device is provided that allows to increase the depth of the visibility range and the efficiency of the systems in various environmental conditions as a result of scanning the observation zone by distance.

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Popescu, Dan, Loretta Ichim, Radu Fratila, and Diana Gornea. "Robotic System Used for Navigation and Tracking, in Real Time, with the Obstacle Avoidance." Advanced Materials Research 1077 (December 2014): 221–26. http://dx.doi.org/10.4028/www.scientific.net/amr.1077.221.

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Tracking the road or a mobile object and also obstacle avoidance are very important components that must be considered in the process of developing a robotic system. In this paper we propose a mobile platform for indoor navigation, based on a cheap computing hardware, which is able to be configured in two scenarios: the first refers to the movement of the robot on a predetermined path and to avoidance the obstacles, while maintaining the final target, and the second refers to the possibility of identifying and tracking a target. The robotic system aggregates the information acquired from different sensors and combines the computing resources from the mobile platform with those from the central unit. MATLAB is used for all the implementations and tests, to develop algorithms and to create models and applications. The robot's communication with central unit is wireless. Experimental results show that the mobile platform is able to perform, in real time, the following tasks in indoor environment: the recognition of the object, localization and tracking and also the obstacles avoidance.

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Wilshire, Candice L., Eric Vallières, Dale Shultz, Ralph W. Aye, Alexander S. Farivar, and Brian E. Louie. "Robotic Resection of 3 Cm and Larger Thymomas is Associated with Low Perioperative Morbidity and Mortality." Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery 11, no. 5 (September 2016): 321–26. http://dx.doi.org/10.1097/imi.0000000000000295.

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Objective The approach to thymoma resection has usually been determined by tumor size, although established guidelines do not exist. Minimally invasive approaches have been limited to tumors smaller than 5 cm, although 3 cm has been the suggested cutoff for performing an adequate oncologic procedure. No study has compared the perioperative outcomes of patients with 3 cm or larger tumors resected robotically versus sternotomy. Methods We reviewed patients who underwent resection of 3 cm or larger thymomas from 2004 to 2014. Patients were divided based on approach: robotic and open thymectomy/thymomectomy. Results Forty patients with tumors ranging from 3 to 13 cm were evaluated, 23 robotic and 17 open. Patient and tumor characteristics were similar. An R0 resection was primarily achieved: robotic, 91% (21/23); and open, 88% (15/17); P = 0.832. Adjuvant radiation rates were statistically equivalent: robotic, 17% (4/23) versus open, 41% (7/17); P = 0.191. Major postoperative complications were comparable: robotic, 4% (1/23) versus open, 29% (4/17); P = 0.184. Median chest tube duration was shorter for robotic (1 day) versus open (3 days); P = 0.001. The robotic approach had a shorter median intensive care unit stay compared to open (0 days vs 1day); P = 0.024. The median hospital stay was shorter for robotic (2 days) versus open (5 days); P < 0.001. Conclusions In 3 cm or larger thymomas, robotic thymectomy is feasible based on the ability to achieve a complete resection with similar adjuvant radiation therapy rates. Perioperatively, robotic thymectomy is associated with lower morbidity; and shorter chest tube duration, intensive care unit stay, and hospital stay compared to open. However, on-cologic outcomes are immature and require prolonged surveillance.

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Sugiura, Yoshiaki, and Kenji Manabe. "Industrial robot for the next generation. Robotic Automobile Unit Installation." Journal of the Robotics Society of Japan 12, no. 8 (1994): 1088–92. http://dx.doi.org/10.7210/jrsj.12.1088.

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McNelis, John, Garry J. Schwall, and John F. Collins. "Robotic remote presence technology in the surgical intensive care unit." Journal of Trauma and Acute Care Surgery 72, no. 2 (February 2012): 527–30. http://dx.doi.org/10.1097/ta.0b013e31822f7d3b.

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Neil Geismar, H., Milind Dawande, and Chelliah Sriskandarajah. "Approximation algorithms for k-unit cyclic solutions in robotic cells." European Journal of Operational Research 162, no. 2 (April 2005): 291–309. http://dx.doi.org/10.1016/j.ejor.2003.09.013.

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Gabidullina, R., M. Sokolov, V. V. Budanov, I. Molchanov, M. Petrova, and R. Yagubyan. "Robotic system to diagnose and treat in intensive care unit." Australian Critical Care 27, no. 1 (February 2014): 60. http://dx.doi.org/10.1016/j.aucc.2013.10.055.

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Morita, Akio, Shigeo Sora, Mamoru Mitsuishi, Shinichi Warisawa, Katopo Suruman, Daisuke Asai, Junpei Arata, et al. "Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models." Journal of Neurosurgery 103, no. 2 (August 2005): 320–27. http://dx.doi.org/10.3171/jns.2005.103.2.0320.

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Object. To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master—slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. Methods. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Conclusions. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

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Semasinghe, C. L., R. K. P. S. Ranaweera, J. L. B. Prasanna, H. M. Kandamby, D. G. K. Madusanka, and R. A. R. C. Gopura. "HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis." Journal of Robotics 2018 (2018): 1–15. http://dx.doi.org/10.1155/2018/8491073.

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This paper proposes a multi-DoF hybrid-powered transradial robotic prosthesis, named HyPro. The HyPro consists of two prosthetic units: hand and wrist that can achieve five grasping patterns such as power grasp, tip grasp, lateral grasp, hook grasp, and index point. It is an underactuated device with 15 degrees of freedom. A hybrid powering concept is proposed and implemented on hand unit of HyPro where the key focus is on restoration of grasp functions of biological hand. A novel underactuated mechanism is introduced to achieve the required hand preshaping for a given grasping pattern using electric power in the pregrasp stage and body power is used in grasp stage to execute the final grasping action with the selected fingers. Unlike existing hybrid prostheses where each of the joints is separately controlled by either electric or body power, the proposed prosthesis is capable of delivering grasping power in combination. The wrist unit of HyPro is designed and developed to achieve flexion-extension and supination-pronation using electric power. Experiments were carried out to evaluate the functionality and performance of the proposed hybrid-powered robotic prosthesis. The results verified the potential of HyPro to perform intended grasping patterns effectively and efficiently.

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Haddad, Richard L., Patrick Richard, and Franck Bladou. "Canada’s First Robotic Assisted Totally Intracorporeal Orthotopic Ileal Neobladder." Canadian Urological Association Journal 7, no. 7-8 (August 19, 2013): 537. http://dx.doi.org/10.5489/cuaj.417.

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Despite robotic-assisted radical cysto-prostatectomy being performed in several centres, the urinary diversion is most often performed extra-corporeal. A robotic intra-corporeal ileal neobladder is technically demanding and long-term functional outcome data is lacking. We performed a robotic intra-corporeal ileal neobladder in a 73-year-old man for muscle invasive non-metastatic bladder cancer. The total operative time was 6 hours 8 minutes. The estimated blood loss was 900 mL. There were no complications and he was discharged on day 12. The principles of open neobladder surgery were maintained, however key modifications were used to reduce technical difficulty and enable timely completion. We found that robotic intracorporeal ileal neobladder can be safely performed with an experienced robotic unit.

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Han, Luhua, Hanping Mao, Francis Kumi, and Jianping Hu. "Development of a Multi-Task Robotic Transplanting Workcell for Greenhouse Seedlings." Applied Engineering in Agriculture 34, no. 2 (2018): 335–42. http://dx.doi.org/10.13031/aea.12462.

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Abstract.A multi-task robotic transplanting workcell for greenhouse seedlings was developed and evaluated. The workcell mainly consists of a transplanting system, two conveyors, a filling unit, and a control system. The transplanting system having multi-grippers was designed to automatically pick-up and plant whole rows of seedlings. The conveyors were designed with the pallet-type double-row chain transmission system which moves the plug trays and pots to the predefined working space of the multi-grippers. The filling unit was designed for automatically filling the growing pots with soil and dibbling holes prior to planting seedlings. The control system coordinates the functionality of the aforementioned function units for flexible automation using a programmable logic controller (PLC). Consequently, a prototype of the multi-task robotic transplanting workcell was constructed. The system was made to undergo dynamic accuracy test and to evaluate the ability of the multi-grippers to meet its design and performance requirements. The results of the performance test under local seedling production conditions showed that the overall success ratio in transplanting operation was up to 90% at the efficiency of 960 plants/h/gripper. Keywords: Greenhouse, Multi-task, Seedlings, Transplanting.

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Andreiaş, Roxana, and Daniela Mariana Barbu. "Mechatronical system used for the recovery of motor functions." MATEC Web of Conferences 184 (2018): 02010. http://dx.doi.org/10.1051/matecconf/201818402010.

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Robotics of medical recovery represent a subject of great interest among various research centers that are trying to develop different complex systems dedicated to the recovery of motor functions through fulfilling the required tasks imposed by applied therapy programs. In order to implement the concept of 'robotical therapy' it is required to use a robotic system specially designed to adhere to medical protocols and to meet the requirements of therapeutic exercises by programming the command and control unit. This paper is in the field of mechatronic systems used in medicine because the purpose of this kind of equipment is to help patients who underwent surgery in the lower limbs regain the mobility of the affected joints as soon as possible. The proposed objective is to improve an exising concept so that a patient may be able to use it in the comfort of their own house, but still being 24/7 monitorized using various sensors and even being able to contact medical care assistance in case of emergency.

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Solodova, Rozaliia, Mikhael Sokolov, Vladimir Galatenko, Vladimir Budanov, Vladimir Staroverov, and Viktor Sadovnichy. "Automatic robotic system of diagnosing and treatment in intensive care unit." Journal of Critical Care 30, no. 4 (August 2015): 830. http://dx.doi.org/10.1016/j.jcrc.2015.04.028.

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Felli, Emanuele, Roberto Santoro, Marco Colasanti, Giovanni Vennarecci, Pasquale Lepiane, and Giuseppe M. Ettorre. "Robotic liver surgery: preliminary experience in a tertiary hepato-biliary unit." Updates in Surgery 67, no. 1 (March 2015): 27–32. http://dx.doi.org/10.1007/s13304-015-0285-4.

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Rohila, Jitender, Praveen Kammar, Anadi Pachaury, Ashwin de’Souza, and Avanish Saklani. "Evolution of Robotic Surgery in a Colorectal Cancer Unit in India." Indian Journal of Surgical Oncology 11, no. 4 (June 18, 2020): 633–41. http://dx.doi.org/10.1007/s13193-020-01105-7.

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Chandra, Rohit, Juan Antonio Corrales-Ramon, and Youcef Mezouar. "Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions." IFAC-PapersOnLine 53, no. 2 (2020): 8500–8505. http://dx.doi.org/10.1016/j.ifacol.2020.12.1425.

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Kuschan, Jan, Moritz Burgdorff, Hristo Filaretov, and Jörg Krüger. "Inertial Measurement Unit based Human Action Recognition for Soft-Robotic Exoskeleton." IOP Conference Series: Materials Science and Engineering 1140, no. 1 (May 1, 2021): 012020. http://dx.doi.org/10.1088/1757-899x/1140/1/012020.

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Jahn, Uwe, Carsten Wolff, and Peter Schulz. "Concepts of a Modular System Architecture for Distributed Robotic Systems." Computers 8, no. 1 (March 14, 2019): 25. http://dx.doi.org/10.3390/computers8010025.

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Modern robots often use more than one processing unit to solve the requirements in robotics. Robots are frequently designed in a modular manner to fulfill the possibility to be extended for future tasks. The use of multiple processing units leads to a distributed system within one single robot. Therefore, the system architecture is even more important than in single-computer robots. The presented concept of a modular and distributed system architecture was designed for robotic systems. The architecture is based on the Operator–Controller Module (OCM). This article describes the adaption of the distributed OCM for mobile robots considering the requirements on such robots, including, for example, real-time and safety constraints. The presented architecture splits the system hierarchically into a three-layer structure of controllers and operators. The controllers interact directly with all sensors and actuators within the system. For that reason, hard real-time constraints need to comply. The reflective operator, however, processes the information of the controllers, which can be done by model-based principles using state machines. The cognitive operator is used to optimize the system. The article also shows the exemplary design of the DAEbot, a self-developed robot, and discusses the experience of applying these concepts on this robot.

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Tarola, Christopher L., Hussein A. Al-Amodi, Sankar Balasubramanian, Stephanie A. Fox, Christopher C. Harle, Ivan Iglesias, Kumar Sridhar, Patrick J. Teefy, Michael W. A. Chu, and Bob B. Kiaii. "Ultrafast Track Robotic-Assisted Minimally Invasive Coronary Artery Surgical Revascularization." Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery 12, no. 5 (September 2017): 346–50. http://dx.doi.org/10.1097/imi.0000000000000401.

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Objective Contemporary anesthetic techniques have enabled shorter sedation and early extubation in off-pump and minimally invasive coronary artery bypass (CABG) surgery. Robotic-assisted CABG represents the optimal surgical approach for ultrafast track anesthesia, with patients able to bypass the cardiac surgical intensive care unit with recovery in the postanesthesia care unit (PACU) and inpatient ward. Methods In-hospital postoperative outcomes from ninety patients who underwent either elective or urgent robotically-assisted CABG at our institution were reviewed. These patients were carefully selected by a multidisciplinary team to undergo fast-track anesthesia: extubation in the operating room, 4-hour recovery in the postanesthesia care unit and transfer to the inpatient ward. Intrathecal, paravertebral local, and patient-controlled anesthesia techniques were used to facilitate transition to oral analgesics. Results Average patient age was 61 ± 9 years. Sixty-six patients (73%) were male. Seventy cases were elective, and 20 patients required urgent revascularization. All patients underwent intraoperative angiography after graft construction, which revealed Fitzgibbon class A grafts. There were no in-hospital mortalities. One patient required re-exploration for bleeding, through the same minimally invasive incision, did not require conversion to sternotomy for bleeding, and was transferred to the intensive care unit postexploration for bleeding for standard postoperative care. Postoperative complications were limited to one superficial wound infection. The mean hospital length of stay was 3.5 ± 1.17 days. Conclusions In patients undergoing robotic-assisted CABG, ultrafasttrack cardiac surgery with immediate postprocedure extubation and transfer to the inpatient ward has been demonstrated to be safe with no increase in perioperative morbidity or mortality. It requires a dedicated heart team with a carefully selected group of patients. Avoiding cardiac surgical intensive care unit expedites recovery, with possible avoidance of infection and early discharge from hospital.

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Driels, M., and Lt Yavuz Turkegenci. "Selective Backdriveability and Its Application to a Robotic Finger Design." Journal of Mechanical Design 116, no. 1 (March 1, 1994): 44–46. http://dx.doi.org/10.1115/1.2919374.

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The work reported covers the design of a prototype finger unit which will be part of a dexterous robotic hand design. Unlike conventional designs for contemporary hands which use tendons to actuate individual finger joints, this design uses small electric motors located in the finger units themselves. Because of high gear ratios in the final drive, the finger is able to sustain a grasp with power removed. An implementation of compliant joint control is discussed, and it is shown that this results in an actuation system which not only has variable stiffness control, but one in which the systems inability to be backdriven may be eliminated for those tasks where it is advantageous to do so.

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Wang, Xiu, and Qing Chun Feng. "Design and Simulation for Key Components of Robotic Flower-Seedling Transplanter." Advanced Materials Research 680 (April 2013): 387–91. http://dx.doi.org/10.4028/www.scientific.net/amr.680.387.

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In order to improve the mechanical transplanting for flower seedling, a new robotic transplanter was introduced. The design of two key parts, grasper and transit unit, was emphasized. The grasper driven by a ring-shaped spring, was used to pick the seedling at its root from the tray-hole, and the elastic holding-pressure was easily adjustable, and advantageous to prevent rigid hurt on seedling root. The module of toothed belt and guide rail was applied in the transit unit to carry and locate the graspers, and the module is appropriate to the transplanting operation of less vibration and higher efficiency. Finally, the performance of driving elements for grasper and transit unit was verified, according to the simulated result on the virtual prototype based on ADAMS.

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Kim, Taeg Yun, Ji Hoon Kim, Kun Chan Seo, Hong Min Kim, Gi Uk Lee, Jong Won Kim, and Hwa Soo Kim. "Design and Control of a Cleaning Unit for a Novel Wall-Climbing Robot." Applied Mechanics and Materials 541-542 (March 2014): 1092–96. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1092.

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This paper presents the design and control of a cleaning unit installed on a novel wall-cleaning robot (ROPE RIDE: RObotic Platform Enabling Rope access In Dangerous Environment). The proposed cleaning unit is able to autonomously avoid various obstacles on the wall of a building and also performs cleaning with sufficient contact force. The prototype of a cleaning unit is systematically designed and examined to verify its impedance-controlled cleaning performance.

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Boscariol, Paolo, and Dario Richiedei. "Trajectory Design for Energy Savings in Redundant Robotic Cells." Robotics 8, no. 1 (February 20, 2019): 15. http://dx.doi.org/10.3390/robotics8010015.

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This work explores the possibility of exploiting kinematic redundancy as a tool to enhance the energetic performance of a robotic cell. The test case under consideration comprises a three-degree-of-freedom Selective Compliance Assembly Robot Arm (SCARA) robot and an additional linear unit that is used to move the workpiece during a pick and place operation. The trajectory design is based on a spline interpolation of a sequence of via-points: The corresponding motion of the joints is used to evaluate, through the use of an inverse dynamic model, the actuators effort and the associated power consumption by the robot and by the linear unit. Numerical results confirm that the suggested method can improve both the execution time and the overall energetic efficiency of the cell.

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Tereshchuk, O. I., S. D. Kryachok, V. Iu Belenok, T. M. Malik, and L. V. Hebryn-Baidy. "ROBOTIC COMPLEX FOR THE RUNWAY LEVELING." Series of Geology and Technical Sciences 2, no. 446 (April 15, 2021): 180–88. http://dx.doi.org/10.32014/2021.2518-170x.51.

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There is a global trend towards an increase in the weight and dimensions of the aircraft fleet. At the same time, the load on aerodrome pavements increases, which contributes to their faster wear, changes in the pavement profile, and the appearance of defects that threaten flight safety. Therefore, constant monitoring of the condition of airfield pavements is carried out, in particular, the determination of its profile. A robotic complex has been developed for leveling the runway. The complex includes mobile leveling devices, mobile leveling rods, which are located on the runway during the performance of leveling, and a control device located at the central control station of technical systems of the airport. The control device contains the following blocks: control with a monitor; processing and storage of infor- mation; an intelligent subsystem with a set of logistics programs; geographic information system with GPS receiver; signal coding; reception and transmission of radio signals. Mobile levelers and mobile leveling rods are controlled from the central station and transmit coded information to the central station via radio communication channels. The mobile leveling rod is similar in design to a mobile leveling device due to the absence of a rangefinder measurement unit, a turning unit and the optoelectronic device itself. The movement of robotic mobile leveling devices and sighting targets with stops for measurements is carried out according to a pre-compiled program transmitted via coded radio communication channels. For the initial ones, the marks of the benchmarks are used, the horizontal plates of which are laid flush with the surface of the runway at its lateral ends, along which the steps of precise leveling are preliminarily laid. The proposed robotic complex allows to quickly determine the marks of the runway in automatic mode with an adjustable scanning step and build longitudinal and transverse surface profiles.

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Sharari, T. M. "Building and Programming a Smart Robotic System for Distinguishing Objects Based on their Shape and Colour." Journal of Theoretical and Applied Mechanics 45, no. 1 (March 1, 2015): 53–68. http://dx.doi.org/10.1515/jtam-2015-0004.

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Abstract This paper presents a robotic system designed for holding and placing objects based on their colour and shape. The presented robot is given a complete set of instructions of positions and orientation angles for each manipulation motion. The main feature in this paper is that the developed robot used a combination of vision and motion systems for holding and placing the work-objects, mounted on the flat work-plane, based on their shapes and colors. This combination improves the flexibility of manipulation which may help eliminate the use of some expensive manipulation tasks in a variety of industrial applications. The robotic system presented in this paper is designed as an educational robot that possesses the ability for holding-and-placing operations with limited load. To process the various instructions for holding and placing the work objects, a main control unit - Manipulation Control Unit (MCU) is used as well as a slave unit that performed the actual instructions from the MCU.

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Journal articles on the topic 'Robotic unit'

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