Search results for "Robotic"

Learning to Approach a Moving Ball with a Simulated Two-Wheeled Robot

2006

We show how a two-wheeled robot can learn to approach a moving ball using Reinforcement Learning. The robot is controlled by setting the velocities of its two wheels. It has to reach the ball under certain conditions to be able to kick it towards a given target. In order to kick, the ball has to be in front of the robot. The robot also has to reach the ball at a certain angle in relation to the target, because the ball is always kicked in the direction from the center of the robot to the ball. The robot learns which velocity differences should be applied to the wheels: one of the wheels is set to the maximum velocity, the other one according to this difference. We apply a REINFORCE algorith…

Fuzzy Control Strategy for Cooperative Non-holonomic Motion of Cybercars with Passengers Vibration Analysis

2021

The cybercars are electric road wheeled non-holonomic vehicles with fully automated driving capabilities. They contribute to sustainable mobility and are employed as passenger vehicles. Non-holonomic mechanics describes the motion of the cybercar constrained by non-integrable constraints, i.e. constraints on the system velocities that do not arise from constraints on the configuration alone. First of all there are thus with dynamic nonholonomic constraints, i.e. constraints preserved by the basic Euler-Lagrange equations (Bloch, 2000; Melluso, 2007; Raimondi & Melluso, 2006-a). Of course, these constraints are not externally imposed on the system but rather are consequences of the equations…

Fuzzy EKF Control for Wheeled Nonholonomic Vehicles

2006

In this paper a new Fuzzy extended Kalman robust control system for position and orientation tracking of nonholonomic vehicles with two wheels actuated by two independent DC motors is presented. The problem of robustness and localization are solved simultaneously. About the robustness, some perturbations coming from the outside environment and depending on the contact between the wheels and the ground, involve violations of the nonholonomic constraints. The fuzzy controller of this work is able to obtain a dynamic term of robustness with respect to the perturbations above. However, by using encoders only, the measures of actual position and orientation of the vehicle are with Gaussian noise…

Fuzzy cooperative control of automated ground passenger vehicles

2007

In this paper a fuzzy motion control for cooperative passenger automated vehicles where there are not collisions between the closest ones is proposed. Based on the position of the target and on the initial position of each cooperative vehicle, a supervisory plans nonholonomic circular trajectories which are without intersections, while a fuzzy control strategy assures the asymptotical stability of the motion errors and the reaching of the target with low acceleration values along the planned trajectories. Based on the ISO 2631-1 standard, the saturation properties of the fuzzy maps guarantees low values of the longitudinal and lateral accelerations to assure the comfort of the passengers. T…

Minimally invasive secondary cytoreduction plus HIPEC for recurrent ovarian cancer: a case series.

2014

Objective To analyze the feasibility of laparoscopic/robotic secondary cytoreductive surgery and hyperthermic intraperitoneal intra-operative chemotherapy (SCS + HIPEC) in a retrospective series of isolated platinum sensitive recurrent ovarian cancer. Methods We retrospectively evaluated a consecutive series of ovarian cancer patients with isolated platinum sensitive relapse. Isolated relapse was defined as the presence of a single nodule, in a single anatomic site. In all cases the presence of isolated relapse was assessed at pre-operative FDG-PET/CT scan, and confirmed with staging laparoscopy performed immediately before SCS + HIPEC. Results 84 women with platinum sensitive relapse recei…

Merits and differences between single-site robotic and laparoscopic cholecystectomy: What is unfair? Commentary on "Propensity score-matching analysi…

2020

From Focused Thought to Reveries: A Memory System for a Conscious Robot

2018

© 2018 Balkenius, Tjøstheim, Johansson and Gärdenfors. We introduce a memory model for robots that can account for many aspects of an inner world, ranging from object permanence, episodic memory, and planning to imagination and reveries. It is modeled after neurophysiological data and includes parts of the cerebral cortex together with models of arousal systems that are relevant for consciousness. The three central components are an identification network, a localization network, and a working memory network. Attention serves as the interface between the inner and the external world. It directs the flow of information from sensory organs to memory, as well as controlling top-down influences…

Wireless Interference Estimation Using Machine Learning in a Robotic Force-Seeking Scenario

2019

Cyber-physical systems are systems governed by the laws of physics that are tightly controlled by computer-based algorithms and network-based sensing and actuation. Wireless communication technology is envisioned to play a primary role in conducting the information flows within such systems. A practical industrial wireless use case involving a robot manipulator control system, an integrated wireless force-torque sensor, and a remote vision-based observer is constructed and the performance of the cyber-physical system is examined. By using readings from the remote observer, an estimation system is developed using machine learning regression techniques. We demonstrate the practicality of comb…

Robotic versus laparoscopic surgery in gynecology: Which should we use?

2015

This review of the literature aims at assessing the safety and effectiveness of robotic versus laparoscopic surgery in benign and malignant gynecological diseases. Robotic-assisted laparoscopy is already widely used in the United States and Europe for the main gynecological procedure - hysterectomy - and has proved feasible and comfortable for other benign and malignant gynecological procedures. However, the clinical effectiveness and safety of robotic surgery compared with standard laparoscopy have not been undoubtedly established. We reviewed the literature by searching in the Ovid/MEDLINE, PubMed, Cochrane Library, and Google Scholar databases for all the articles published from January …

“It Is Not the Robot Who Learns, It Is Me.” Treating Severe Dysgraphia Using Child–Robot Interaction

2021

Writing disorders are frequent and impairing. However, social robots may help to improve children's motivation and to propose enjoyable and tailored activities. Here, we have used the Co-writer scenario in which a child is asked to teach a robot how to write via demonstration on a tablet, combined with a series of games we developed to train specifically pressure, tilt, speed, and letter liaison controls. This setup was proposed to a 10-year-old boy with a complex neurodevelopmental disorder combining phonological disorder, attention deficit/hyperactivity disorder, dyslexia, and developmental coordination disorder with severe dysgraphia. Writing impairments were severe and limited his parti…