The course ROS Robot Programming Practice is designed to equip students with both the foundational principles and practical applications of the Robot Operating System(ROS)through structured instruction and hands-on ex...The course ROS Robot Programming Practice is designed to equip students with both the foundational principles and practical applications of the Robot Operating System(ROS)through structured instruction and hands-on exercises.This paper summarizes the course’s pedagogical approach and the insights gained from its implementation,focusing on key areas such as the practical teaching platform,instructional system,teaching methods,and evaluation mechanisms.The practical teaching platform incorporates robotic arms and mobile robots,along with commonly used sensors,to engage students and stimulate their interest in robotics.A well-structured teaching system is employed,guiding students through a series of experiments-ranging from basic tasks to modeling and simulation experiments,sensor experiments,mobile robot tasks,robotic arm exercises,and comprehensive project practices.Regarding teaching methods,a blended learning approach and progressive instructional model are utilized to ensure active student participation.This approach follows a logical progression,starting with fundamental ROS knowledge,advancing to robot applications,and culminating in comprehensive project-based practice.In terms of evaluation,a dual approach combining process and outcome assessments is employed,ensuring that students’performance is evaluated comprehensively through various metrics.展开更多
随着机器人技术的发展,自主移动机器人已经逐渐在制造车间物流运输系统中得到应用,同步定位与地图构建(simultaneous localization and mapping,SLAM)和路径规划是实现车间物流机器人自主移动的关键。针对制造车间自主移动物流机器人,...随着机器人技术的发展,自主移动机器人已经逐渐在制造车间物流运输系统中得到应用,同步定位与地图构建(simultaneous localization and mapping,SLAM)和路径规划是实现车间物流机器人自主移动的关键。针对制造车间自主移动物流机器人,研究基于机器人操作系统(robot operating system,ROS)的机器人路径规划仿真平台搭建方法,建立了移动机器人模型及制造车间的导航地图,实现了机器人SLAM及路径规划仿真,验证了基于ROS实现制造车间移动机器导航仿真的可行性。展开更多
This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers...This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers is discussed in the beginning of the paper. The discussion is based on the results of a field study in the Tianjin Power System Control Center in China. According to the study, one problem in power systems is that the power system analysis system in the control center is not fast and powerful enough to help the operators in time to deal with the incidents in the power system. Another issue in current power system control center is that the operation tickets are compiled manually by the operators, so that it is less efficient and human errors cannot be avoided. Based on these problems, a framework of the smart operating robot is proposed in this paper, which includes an intelligent power system analysis system and a smart operation ticket compiling system to solve the two problems in power system control centers. The proposed framework is mainly based on the AI techniques, especially the neural network with deep learning, since it is faster and more capable of dealing with the highly nonlinear and complex power system.展开更多
Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversati...Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.展开更多
In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At f...In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.展开更多
For the hand-eye calibration of the vision service robot,the traditional hand-eye calibration tech-nology can’t be realized which because the service robot is independently developed and there is no teaching device t...For the hand-eye calibration of the vision service robot,the traditional hand-eye calibration tech-nology can’t be realized which because the service robot is independently developed and there is no teaching device to feed back the pose information of the service robot in real time.In this paper,a hand-eye calibration method based on ROS(Robot Operating System)is proposed.In this method,ROS system is used to accurately control the arm of the service robot to rotate in different positions for many times.Meanwhile,the head camera of the service robot takes images of a fixed point in the scene.Then,the nonlinear equations were established ac-cording to the homography matrix of the two images and the position and pose information of the ROS system,and the accurate hand-eye relationship was optimized by the least square method.Finally,an experimental platform is built and the proposed hand-eye calibration method is verified.The experiment results show that the method is easy to operate,simple algorithm and correct result,which verifies the effectiveness of the algorithm and provides conditions for the realization of humanoid grasping of visual service robot.展开更多
BACKGROUND Minimally invasive hepatectomy techniques have developed rapidly since 2000.Pure laparoscopic liver resection(LLR)has become the primary approach for managing liver tumors and procuring donor organs for liv...BACKGROUND Minimally invasive hepatectomy techniques have developed rapidly since 2000.Pure laparoscopic liver resection(LLR)has become the primary approach for managing liver tumors and procuring donor organs for liver transplantation.Robotic liver resection(RLR)has emerged during the last decade.The technical status of RLR seems to be improving.AIM To conduct a systematic review and meta-analysis comparing the short-term clinical outcomes of LLR and RLR over two 5-year periods.METHODS A systematic literature search was performed using PubMed and Medline,including the Cochrane Library.The following inclusion criteria were set for the meta-analysis:(1)Studies comparing LLR vs RLR;and(2)Studies that described clinical outcomes,such as the operative time,intraoperative bleeding,intraoperative conversion rate,and postoperative complications.RESULTS A total of 25 articles were included in this meta-analysis after 40 articles had been subjected to full-text evaluations.The studies were divided into early(n=14)and recent(n=11)groups.In the recent group,the operative time did not differ significantly between LLR and RLR(P=0.70),whereas in the early group the operative time of LLR was significantly shorter than that of RLR(P<0.001).CONCLUSION The initial disadvantages of RLR,such as its long operation time,have been overcome during the last 5 years.The other clinical outcomes of RLR are comparable to those of LLR.The cost and quality-of-life outcomes of RLR should be evaluated in future studies to promote its routine clinical use.展开更多
文摘The course ROS Robot Programming Practice is designed to equip students with both the foundational principles and practical applications of the Robot Operating System(ROS)through structured instruction and hands-on exercises.This paper summarizes the course’s pedagogical approach and the insights gained from its implementation,focusing on key areas such as the practical teaching platform,instructional system,teaching methods,and evaluation mechanisms.The practical teaching platform incorporates robotic arms and mobile robots,along with commonly used sensors,to engage students and stimulate their interest in robotics.A well-structured teaching system is employed,guiding students through a series of experiments-ranging from basic tasks to modeling and simulation experiments,sensor experiments,mobile robot tasks,robotic arm exercises,and comprehensive project practices.Regarding teaching methods,a blended learning approach and progressive instructional model are utilized to ensure active student participation.This approach follows a logical progression,starting with fundamental ROS knowledge,advancing to robot applications,and culminating in comprehensive project-based practice.In terms of evaluation,a dual approach combining process and outcome assessments is employed,ensuring that students’performance is evaluated comprehensively through various metrics.
基金supported by State Grid Corporation of China(SGCC)Science and Technolgy Project(SGTJDK00DWJS1700060)
文摘This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers is discussed in the beginning of the paper. The discussion is based on the results of a field study in the Tianjin Power System Control Center in China. According to the study, one problem in power systems is that the power system analysis system in the control center is not fast and powerful enough to help the operators in time to deal with the incidents in the power system. Another issue in current power system control center is that the operation tickets are compiled manually by the operators, so that it is less efficient and human errors cannot be avoided. Based on these problems, a framework of the smart operating robot is proposed in this paper, which includes an intelligent power system analysis system and a smart operation ticket compiling system to solve the two problems in power system control centers. The proposed framework is mainly based on the AI techniques, especially the neural network with deep learning, since it is faster and more capable of dealing with the highly nonlinear and complex power system.
基金the National Natural Science Foundation of China (Nos. 10672040 and10372022)the Natural Science Foundation of Fujian Province of China (No. E0410008)
文摘Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
基金supported by the National Natural Science Foundation of China(11372073,11072061)。
文摘In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.
基金supported by the University-level Funding Projects of Guangdong Mechanical&Elec-trical college of Technology(No.Gccrcxm-202007)The 2021 Guangdong Provincial Department of edu-cation recognized scientific research projects in Col-leges and Universities(No.2021KTSCX205)the 2021 School-level Scientific Research Projects(No.YJZD2021-54).
文摘For the hand-eye calibration of the vision service robot,the traditional hand-eye calibration tech-nology can’t be realized which because the service robot is independently developed and there is no teaching device to feed back the pose information of the service robot in real time.In this paper,a hand-eye calibration method based on ROS(Robot Operating System)is proposed.In this method,ROS system is used to accurately control the arm of the service robot to rotate in different positions for many times.Meanwhile,the head camera of the service robot takes images of a fixed point in the scene.Then,the nonlinear equations were established ac-cording to the homography matrix of the two images and the position and pose information of the ROS system,and the accurate hand-eye relationship was optimized by the least square method.Finally,an experimental platform is built and the proposed hand-eye calibration method is verified.The experiment results show that the method is easy to operate,simple algorithm and correct result,which verifies the effectiveness of the algorithm and provides conditions for the realization of humanoid grasping of visual service robot.
基金Supported by Grants-in-Aid from JSPS KAKENHI,No.JP 20K10404(to Mizuguchi T)the Hokkaido Hepatitis B Litigation Orange Fund,No.2059198+10 种基金Terumo Life Science Foundation,No.2000666Pfizer Health Research Foundation,No.2000777the Viral Hepatitis Research Foundation of Japan,No.2000638Daiichi Sankyo Company,No.2109540Shionogi and Co.,No.2109493MSD,No.2099412Takeda,No.2000555Sapporo Doto Hospital,No.2039118Noguchi Hospital,No.2029083Doki-kai Tomakomai Hospital,No.2059203Tsuchida Hospital,No.2069231.
文摘BACKGROUND Minimally invasive hepatectomy techniques have developed rapidly since 2000.Pure laparoscopic liver resection(LLR)has become the primary approach for managing liver tumors and procuring donor organs for liver transplantation.Robotic liver resection(RLR)has emerged during the last decade.The technical status of RLR seems to be improving.AIM To conduct a systematic review and meta-analysis comparing the short-term clinical outcomes of LLR and RLR over two 5-year periods.METHODS A systematic literature search was performed using PubMed and Medline,including the Cochrane Library.The following inclusion criteria were set for the meta-analysis:(1)Studies comparing LLR vs RLR;and(2)Studies that described clinical outcomes,such as the operative time,intraoperative bleeding,intraoperative conversion rate,and postoperative complications.RESULTS A total of 25 articles were included in this meta-analysis after 40 articles had been subjected to full-text evaluations.The studies were divided into early(n=14)and recent(n=11)groups.In the recent group,the operative time did not differ significantly between LLR and RLR(P=0.70),whereas in the early group the operative time of LLR was significantly shorter than that of RLR(P<0.001).CONCLUSION The initial disadvantages of RLR,such as its long operation time,have been overcome during the last 5 years.The other clinical outcomes of RLR are comparable to those of LLR.The cost and quality-of-life outcomes of RLR should be evaluated in future studies to promote its routine clinical use.
