Search results for "Robotic"
showing 10 items of 636 documents
Change from Hybrid to Fully Minimally Invasive and Robotic Esophagectomy is Possible without Compromises.
2018
Background The incidence of esophageal carcinoma is increasing in the western world, and esophageal resection is the essential therapy. Several studies report advantages of minimally invasive esophagectomies (MIEs) versus conventional open procedures (OPs). The benefits of the use of fully MIE or robot-assisted MIE (RAMIE) compared with the hybrid approaches (laparoscopic gastric preparation and open transthoracic esophagectomy) remain unclear. Methods Between July 2015 and August 2017, the data of 75 patients with esophageal carcinoma were prospectively registered. Of the 75 patients, 25 treated with a hybrid MIE (hybrid), 25 with total MIE (MIE), and 25 with RAMIE. All patients were oper…
Social robots and therapeutic adherence: a new challenge in pediatric asthma?
2020
Social Robots are used in different contexts and, in healthcare, they are better known as Socially Assistive Robots. In the context of asthma, the use of Socially Assistive Robots has the potential to increase motivation and engagement to treatment. Other positive roles proposed for Socially Assistive Robots are to provide education, training regarding treatments, and feedback to patients. This review evaluates emerging interventions for improving treatment adherence in pediatric asthma, focusing on the possible future role of social robots in the clinical practice.
The da Vinci Xi Robotic Four-Arm Approach for Robotic-Assisted Minimally Invasive Esophagectomy
2018
AbstractRobotic surgery is gaining importance in complex thoracoscopic surgery, such as robotic-assisted minimally invasive esophagectomy (RAMIE). The RAMIE procedure was designed using the first generation of the robotic system. The latest da Vinci Xi system has substantially increased the dexterity, especially designed for multiquadrant surgery. The original three-arm RAMIE approach was modified including the robotic four-arm use for the thoracoscopic and laparoscopic part of the operation. This extended approach (four-arm RAMIE approach) provides more flexibility and raises the independence of the surgeon.
Introducing a novel mesh following technique for approximation-free robotic tool path trajectories
2017
Abstract Modern tools for designing and manufacturing of large components with complex geometries allow more flexible production with reduced cycle times. This is achieved through a combination of traditional subtractive approaches and new additive manufacturing processes. The problem of generating optimum tool-paths to perform specific actions (e.g. part manufacturing or inspection) on curved surface samples, through numerical control machinery or robotic manipulators, will be increasingly encountered. Part variability often precludes using original design CAD data directly for toolpath generation (especially for composite materials), instead surface mapping software is often used to gener…
ROS/Gazebo-Based Simulation of Quadcopter Aircrafts
2018
The main purpose of this work is to present a tutorial description on how to design and develop an observer, which is capable of estimating the position and the orientation of a drone commanded by a controller, whose shape and structure are unknown. Starting from Newton's and Euler's laws, a mathematical model describing the dynamics of a quadcopter has first been obtained. By linearizing this model it is possible to implement a Luenberger observer and validate it with simulations in a Linux environment, thanks to the use of the Ardupilot controller and the Gazebo simulator. Finally, starting from the results obtained from the simulation, it is possible to evaluate the error made in the est…
Wind gust estimation for precise quasi-hovering control of quadrotor aircraft
2021
Abstract This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasi-static vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind its…
Robust Longitudinal Control of Self-Driving Racecar Models
2022
This paper focuses on the control of longitudinal self-driving racecar models with model uncertainty and pro- poses a robust solution that comprises an online disturbance estimator and a nonlinear compensation control feedback law. By modeling all uncertainty with respect to a nominal model as suitably disturbance signals and afterward exploiting unknown- input state observer theory, a lean and fast estimator is derived for the racecar model. The estimator does not require a priori knowledge of the uncertainty. Closed-loop stability of the proposed controller ensuring the asymptotic reconstruction of the system state and disturbance inputs as well as asymptotic tracking of desired longitudi…
Exploring the development of mental rotation and computational skills in elementary students through educational robotics
2022
Abstract Interest in educational robotics has increased over the last decade. Through various approaches, robots are being used in the teaching and learning of different subjects at distinct education levels. The present study investigates the effects of an educational robotic intervention on the mental rotation and computational thinking assessment in a 3rd grade classroom. To this end, we carried out a quasi-experimental study involving 24 third-grade students. From an embodied approach, we have designed a two-hour intervention providing students with a physical environment to perform tangible programming on Bee-bot. The results revealed that this educational robotic proposal aimed at map…
An automatic system for stepwise treatment of solid samples and application to pollution evaluation by measuring ion lixiviation rates in lichens
1999
An automatic system for the stepwise treatment of solid samples is described. The system is controlled by a PC computer that is connected to a burette equipped with a three-way valve, to a peristaltic pump, and to a robot arm through two serial interfaces. In a cycle, the burette introduces a solvent volume in the sample cell, sonication is applied, and, after a fixed time, the pump carries the solvent to the vial selected by the robot arm. Measurements can be performed both in-line and off-line by analyzing the vial series. The program was written in Visual Basic 3. Lixiviation rates of several cations from the lichen Ramalina farinacea were measured by capillary zone electrophoresis using…
Subsequent Keyframe Generation for Visual Servoing
2021
International audience; In this paper, we study the problem of autonomous and reliable positioning of a camera w.r.t. an object when only this latter is known but not the rest of the scene. We propose to combine the advantages and efficiency of a visual servoing scheme and the generalization ability of a generative adversarial network. The paper describes how to efficiently create a synthetic dataset in order to train a network that predicts an intermediate visual keyframe between two images. Subsequent predictions are used as visual features to autonomously converge towards the desired pose even for large displacements. We show that the proposed method can be used without any prior knowled…