Search results for "Robotic"

A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints

2005

Abstract In this paper a novel algorithm with a dynamic fuzzy controller applied to the control of trajectory of vehicles with two independent wheels is proposed. An automatic control of trajectory of a vehicle can behave in a not efficient way. It is necessary to consider the friction of the actuators and possible perturbations coming from the outside environment, as for instance the variable characteristics of the ground where the vehicle moves. These perturbations, which depend also on the contact between the wheel and the ground, involve violations of nonholonomic constraints. Thus it is necessary to compensate for these perturbations to obtain a robust control system. The controller sy…

Trajectory Decentralized Fuzzy Control of Multiple UAVs.

2008

This paper considers a complete position and heading rate control system for multiple unmanned aerial vehicles (UAVs) with constant altitude. A decentralized trajectory planning algorithm is proposed, where the UAVs will avoid collisions while moving. In order to stabilize the UAVs in the reference planned trajectories and ensure the boundedness of the control velocities, a fuzzy control law is proposed with Lyapunov's stability proof. Simulation experiments developed in Matlab environment confirm the effectiveness and the robustness of the proposed control algorithm with respect to possible turbulence disturbances perturbing the nominal motion of the UAVs.

Editorial: Consciousness in Humanoid Robots

2019

Building a conscious robot is a grand scientific and technological challenge. Debates about the possibility of conscious robots and the related positive outcomes and hazards for human beings are today no longer confined to philosophical circles.

Philosophical, Experimental and Synthetic Phenomenology: The Study of Perception for Biological, Artificial Agents and Environments

2022

AbstractIn this paper the relationship between phenomenology of perception and synthetic phenomenology is discussed. Synthetic phenomenology is presented on the basis of the issues in A.I. and Robotics that required to address the question of what enables artificial agents to have phenomenal access to the environment. Phenomenology of perception is construed as a theory with autonomous structure and domain, which can be embedded in a philosophical as well as a scientific theory. Two attempts at specifying the phenomenal content of artificial agents are discussed. Concepts and experimental evidence on the independence of perception and the coordination of motion and appearances are set out t…

Grounded Human-Robot Interaction

2009

Optimizing the magnetic circuit of an actuator

2019

The paper presents a modern method of constructive optimization of a plunger actuator with axial symmetry based on the electromagnetic simulation of several variants of magnetic circuit and excitation currents. On the basis of the force calculation developed by this actuator and the magnetic induction values in the core, we calculated the kinematic actuator parameters. Experimental determinations confirmed the precision and utility of the optimization method by electromagnetic simulation of the actuator.

Absolok® versus Hem-o-Lok® clips for renorrhaphy during partial nephrectomy for parenchymal renal tumors

2020

Background To compare perioperative and functional outcomes associated with renorrhaphy performed with two different types of clips (Absolok® vs. Hem-o-Lok®) in a contemporary series of patients who underwent partial nephrectomy. Methods Patients in whom Absolok® clips were used to perform haemostasis at the level of tumor bed or to block the running sutures during sliding-clip renorrhaphy (study group) were compared with a contemporary control group of patients in whom renorrhaphy was performed with Hem-o-Lok® clips. Both groups received the same surgical technique via an open or robot-assisted approach. Inner renorrhaphy was performed with one or more 3-0 (26 mm needle) monofilament runni…

A Human-Humanoid Interaction Through the Use of BCI for Locked-In ALS Patients Using Neuro-Biological Feedback Fusion.

2018

This paper illustrates a new architecture for a human–humanoid interaction based on EEG-brain computer interface (EEG-BCI) for patients affected by locked-in syndrome caused by Amyotrophic Lateral Sclerosis (ALS). The proposed architecture is able to recognise users’ mental state accordingly to the biofeedback factor $\text {B}_{\text f}$ , based on users’ attention, intention, and focus, that is used to elicit a robot to perform customised behaviours. Experiments have been conducted with a population of eight subjects: four ALS patients in a near locked-in status with normal ocular movement and four healthy control subjects enrolled for age, education, and computer expertise. The results s…

Preserving the abductor mechanism in robotic THR: the influence of stem design and cutterpath.

2004

The tip of the greater trochanter is the attachment site for the abductor muscles of the hip joint. Its preservation in robotic and conventional THR is important for normal gait. The effect of different stem designs and robotic cutterpaths on the preservation of the trochanter tip is examined.One anatomical stem, one straight stem, and one stem specifically designed for robotic THR were implanted virtually in CT scans of osteoarthrotic hip joints using the Torch preoperative planning unit (URS-ortho). In transverse sections of the trochanter tip, dimensions of the trochanter area removed by the milling tool were recorded for each stem design and different cutterpaths (3-axis versus 5-axis m…

An international multicentre prospective audit of elective rectal cancer surgery; operative approach versus outcome, including transanal total mesore…

2018

Introduction: Transanal total mesorectal excision (TaTME) has rapidly emerged as a novel approach for rectal cancer surgery. Safety profiles are still emerging and more comparative data is urgently needed. This study aimed to compare indications and short-term outcomes of TaTME, open, laparoscopic, and robotic TME internationally. Methods: A pre-planned analysis of the European Society of Coloproctology (ESCP) 2017 audit was performed. Patients undergoing elective total mesorectal excision (TME) for malignancy between 1 January 2017 and 15 March 2017 by any operative approach were included. The primary outcome measure was anastomotic leak. Results: Of 2579 included patients, 76.2% (1966/257…