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https://www.readbyqxmd.com/read/28806756/generic-scalable-and-decentralized-fault-detection-for-robot-swarms
#1
Danesh Tarapore, Anders Lyhne Christensen, Jon Timmis
Robot swarms are large-scale multirobot systems with decentralized control which means that each robot acts based only on local perception and on local coordination with neighboring robots. The decentralized approach to control confers number of potential benefits. In particular, inherent scalability and robustness are often highlighted as key distinguishing features of robot swarms compared with systems that rely on traditional approaches to multirobot coordination. It has, however, been shown that swarm robotics systems are not always fault tolerant...
2017: PloS One
https://www.readbyqxmd.com/read/28806716/efficient-hardware-implementation-of-the-subthalamic-nucleus-external-globus-pallidus-oscillation-system-and-its-dynamics-investigation
#2
Shuangming Yang, Xile Wei, Jiang Wang, Bin Deng, Chen Liu, Haitao Yu, Huiyan Li
Modeling and implementation of the nonlinear neural system with physiologically plausible dynamic behaviors are considerably meaningful in the field of computational neuroscience. This study introduces a novel hardware platform to investigate the dynamical behaviors within the nonlinear subthalamic nucleus-external globus pallidus system. In order to reduce the implementation complexities, a hardware-oriented conductance-based subthalamic nucleus (STN) model is presented, which can reproduce accurately the dynamical characteristics of biological conductance-based STN cells...
July 26, 2017: Neural Networks: the Official Journal of the International Neural Network Society
https://www.readbyqxmd.com/read/28805689/visual-servoing-for-an-autonomous-hexarotor-using-a-neural-network-based-pid-controller
#3
Carlos Lopez-Franco, Javier Gomez-Avila, Alma Y Alanis, Nancy Arana-Daniel, Carlos Villaseñor
In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position...
August 12, 2017: Sensors
https://www.readbyqxmd.com/read/28804712/virtual-and-actual-humanoid-robot-control-with-four-class-motor-imagery-based-optical-brain-computer-interface
#4
Alyssa M Batula, Youngmoo E Kim, Hasan Ayaz
Motor-imagery tasks are a popular input method for controlling brain-computer interfaces (BCIs), partially due to their similarities to naturally produced motor signals. The use of functional near-infrared spectroscopy (fNIRS) in BCIs is still emerging and has shown potential as a supplement or replacement for electroencephalography. However, studies often use only two or three motor-imagery tasks, limiting the number of available commands. In this work, we present the results of the first four-class motor-imagery-based online fNIRS-BCI for robot control...
2017: BioMed Research International
https://www.readbyqxmd.com/read/28804454/an-evaluation-of-the-design-and-usability-of-a-novel-robotic-bilateral-arm-rehabilitation-device-for-patients-with-stroke
#5
Yu-Cheng Pei, Jean-Lon Chen, Alice M K Wong, Kevin C Tseng
STUDY DESIGN: Case series. EVIDENCE LEVEL: IV (case series). INTRODUCTION: Robot-assisted therapy for upper limb rehabilitation is an emerging research topic and its design process must integrate engineering, neurological pathophysiology, and clinical needs. PURPOSE OF THE STUDY: This study developed/evaluated the usefulness of a novel rehabilitation device, the MirrorPath, designed for the upper limb rehabilitation of patients with hemiplegic stroke...
2017: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/28803535/robotic-assistance-for-training-finger-movement-using-a-hebbian-model-a-randomized-controlled-trial
#6
Justin B Rowe, Vicky Chan, Morgan L Ingemanson, Steven C Cramer, Eric T Wolbrecht, David J Reinkensmeyer
BACKGROUND: Robots that physically assist movement are increasingly used in rehabilitation therapy after stroke, yet some studies suggest robotic assistance discourages effort and reduces motor learning. OBJECTIVE: To determine the therapeutic effects of high and low levels of robotic assistance during finger training. METHODS: We designed a protocol that varied the amount of robotic assistance while controlling the number, amplitude, and exerted effort of training movements...
August 2017: Neurorehabilitation and Neural Repair
https://www.readbyqxmd.com/read/28803533/corrigendum
#7
(no author information available yet)
Kuczynski AM, Dukelow SP, Semerau JA, Kirton A. Robotic quantification of position sense in children with perinatal stroke. Neurorehabil Neural Repair. 2016;30:762-772. doi:10.1177/1545968315624781.
August 2017: Neurorehabilitation and Neural Repair
https://www.readbyqxmd.com/read/28803514/investigation-sensitivity-analysis-and-multi-objective-optimization-of-effective-parameters-on-temperature-and-force-in-robotic-drilling-cortical-bone
#8
Vahid Tahmasbi, Majid Ghoreishi, Mojtaba Zolfaghari
The bone drilling process is very prominent in orthopedic surgeries and in the repair of bone fractures. It is also very common in dentistry and bone sampling operations. Due to the complexity of bone and the sensitivity of the process, bone drilling is one of the most important and sensitive processes in biomedical engineering. Orthopedic surgeries can be improved using robotic systems and mechatronic tools. The most crucial problem during drilling is an unwanted increase in process temperature (higher than 47 °C), which causes thermal osteonecrosis or cell death and local burning of the bone tissue...
August 1, 2017: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
https://www.readbyqxmd.com/read/28803481/autonomous-collision-free-navigation-of-microvehicles-in-complex-and-dynamically-changing-environments
#9
Tianlong Li, Xiaocong Chang, Zhiguang Wu, Jinxing Li, Guangbin Shao, Xinghong Deng, Jianbin Qiu, Bin Guo, Guangyu Zhang, Qiang He, Longqiu Li, Joseph Wang
Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro-/nanorobotics in complex and dynamically-changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator...
August 12, 2017: ACS Nano
https://www.readbyqxmd.com/read/28803344/outcome-one-year-after-robot-assisted-rectal-cancer-surgery-a-consecutive-cohort-study
#10
Sanne Harsløf, Anders Stouge, Niels Thomassen, Sissel Ravn, Søren Laurberg, Lene Hjerrild Iversen
PURPOSE: The aim of this study was to investigate outcome after robot-assisted rectal cancer surgery (RARCS). We focused on conversion rate, postoperative complications, pathological evaluation (adequacy of resection margins), and bowel function (low anterior resection syndrome (LARS)) 1 year after surgery. METHODS: An observational study of prospectively registered patients with data obtained from medical records. Data comprise the initial 208 rectal cancer patients operated with robot-assisted surgery at a single Danish university hospital from October 2011 to October 2014...
August 13, 2017: International Journal of Colorectal Disease
https://www.readbyqxmd.com/read/28803034/variations-in-the-costs-of-radical-cystectomy-for-bladder-cancer-in-the-usa
#11
Jeffrey J Leow, Alexander P Cole, Thomas Seisen, Joaquim Bellmunt, Matthew Mossanen, Mani Menon, Mark A Preston, Toni K Choueiri, Adam S Kibel, Benjamin I Chung, Maxine Sun, Steven L Chang, Quoc-Dien Trinh
BACKGROUND: Radical cystectomy (RC) for muscle-invasive bladder cancer (BCa) has potential for serious complications, prolonged length of stay and readmissions-all of which may increase costs. Although variations in outcomes are well described, less is known about determinants driving variation in costs. OBJECTIVE: To assess surgeon- and hospital-level variations in costs and predictors of high- and low-cost RC. DESIGN, SETTING, AND PARTICIPANTS: Cohort study of 23 173 patients who underwent RC for BCa in 208 hospitals in the USA from 2003 to 2015 in the Premier Healthcare Database...
August 9, 2017: European Urology
https://www.readbyqxmd.com/read/28802708/robotic-excision-of-large-retroperitoneal-schwannoma-with-video
#12
R Ragu, C Blanchard, G Meurette
No abstract text is available yet for this article.
August 9, 2017: Journal of Visceral Surgery
https://www.readbyqxmd.com/read/28802443/controlling-robots-in-the-home-factors-that-affect-the-performance-of-novice-robot-operators
#13
Conor McGinn, Aran Sena, Kevin Kelly
For robots to successfully integrate into everyday life, it is important that they can be effectively controlled by laypeople. However, the task of manually controlling mobile robots can be challenging due to demanding cognitive and sensorimotor requirements. This research explores the effect that the built environment has on the manual control of domestic service robots. In this study, a virtual reality simulation of a domestic robot control scenario was developed. The performance of fifty novice users was evaluated, and their subjective experiences recorded through questionnaires...
November 2017: Applied Ergonomics
https://www.readbyqxmd.com/read/28801918/motion-compensation-in-the-region-of-the-coronary-arteries-based-on-partial-angle-reconstructions-from-short-scan-ct-data
#14
Juliane Hahn, Herbert Bruder, Christopher Rohkohl, Thomas Allmendinger, Karl Stierstorfer, Thomas Flohr, Marc Kachelrieß
PURPOSE: In order to mitigate motion-induced artifacts, several motion compensation (MoCo) methods have been developed, which are either able to a) compensate for severe artifacts, but utilize the data for the reconstruction of several cardiac phases, or b) improve image quality of a single reconstruction with only moderate motion artifacts. We propose a method combining both benefits: dose efficiency by utilizing only the data needed for a single short-scan reconstruction while still being able to compensate for severe artifacts...
August 12, 2017: Medical Physics
https://www.readbyqxmd.com/read/28801820/lymph-node-evaluation-in-robot-assisted-versus-video-assisted-thoracoscopic-esophagectomy-for-esophageal-squamous-cell-carcinoma-a-propensity-matched-analysis
#15
Yin-Kai Chao, Ming-Ju Hsieh, Yun-Hen Liu, Hui-Ping Liu
OBJECTIVE: Radical lymph node dissection (LND) along the bilateral recurrent laryngeal nerve (RLN) is a surgically challenging procedure with a high rate of morbidity. Here, we assessed in a retrospective manner the adequacy of LND along the RLN performed with robot-assisted thoracoscopic esophagectomy (RATE) versus video-assisted thoracoscopic esophagectomy (VATE) in patients with esophageal squamous cell carcinoma (ESCC). METHODS: This was a single-center, retrospective, propensity-matched study...
August 11, 2017: World Journal of Surgery
https://www.readbyqxmd.com/read/28801793/robotic-technique-improves-entry-point-alignment-for-intramedullary-nailing-of-femur-fractures-compared-to-the-conventional-technique-a-cadaveric-study
#16
Eduardo M Suero, Ralf Westphal, Musa Citak, Nael Hawi, Emmanouil Liodakis, Christian Krettek, Timo Stuebig
We aimed to test whether a robotic technique would offer more accurate access to the proximal femoral medullary cavity for insertion of an intramedullary nail compared to the conventional manual technique. The medullary cavity of ten femur specimens was accessed in a conventional fashion using fluoroscopic control. In ten additional femur specimens, ISO-C 3D scans were obtained and a computer program calculated the ideal location of the cavity opening based on the trajectory of the medullary canal. In both techniques, the surgeon opened the cavity using a drill and inserted a radiopaque tube that matched the diameter of the cavity...
August 11, 2017: Journal of Robotic Surgery
https://www.readbyqxmd.com/read/28801710/randomized-controlled-trial-of-endowrist-enabled-robotic-versus-human-laparoendoscopic-single-site-access-surgery-less-in-the-porcine-model
#17
Anthony Yuen Bun Teoh, Shannon Melissa Chan, Hon Chi Yip, Vivien Wai Yin Wong, Philip Wai Yan Chiu, Enders Kwok Wai Ng
INTRODUCTION: A robotic laparoendoscopic single-site access surgery (R-LESS) platform that incorporates the EndoWrist function of robotic instruments may provide better triangulation and retraction during LESS. The aim of the study is to assess if R-LESS is feasible with standard robotic instruments via a single incision and whether the approach could reduce the difficulty of the procedure and confer additional benefits over conventional LESS. METHODS: This was a prospective randomized controlled study investigating the workload performance, efficacy, and risks of performing R-LESS when compared with human LESS (H-LESS) in a survival porcine model for cholecystectomy and gastrojejunostomy...
August 11, 2017: Surgical Endoscopy
https://www.readbyqxmd.com/read/28801217/evaluation-of-unplanned-hospital-readmissions-after-major-urologic-inpatient-surgery-in-the-era-of-accountable-care
#18
Benjamin V Stone, Matthew R Cohn, Nicholas M Donin, Michael Schulster, James S Wysock, Danil V Makarov, Marc A Bjurlin
OBJECTIVE: To provide a multi-institutional analysis of clinical factors predicting unplanned hospital readmission after major inpatient urologic surgery. MATERIALS AND METHODS: The American College of Surgeons National Surgical Quality Improvement Program (NSQIP) is a risk-adjusted data collection mechanism for analyzing clinical outcomes data including 30-day perioperative readmissions and complications. We identified 23,108 patients who underwent major inpatient urologic surgery from 2011 to 2012...
August 8, 2017: Urology
https://www.readbyqxmd.com/read/28801078/on-position-force-tracking-control-problem-of-cooperative-robot-manipulators-using-adaptive-fuzzy-backstepping-approach
#19
Barmak Baigzadehnoe, Zahra Rahmani, Alireza Khosravi, Behrooz Rezaie
In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed...
August 8, 2017: ISA Transactions
https://www.readbyqxmd.com/read/28800341/robotic-assisted-gait-training-combined-with-transcranial-direct-current-stimulation-in-chronic-stroke-patients-a-pilot-double-blind-randomized-controlled-trial
#20
Han Gil Seo, Woo Hyung Lee, Seung Hak Lee, Youbin Yi, Kwang Dong Kim, Byung-Mo Oh
BACKGROUND: Although robotic-assisted gait training (RAGT) is becoming a standard method in stroke rehabilitation, its effect on chronic stroke patients is uncertain. OBJECTIVE: This study aimed to investigate whether anodal tDCS (transcranial direct current stimulation) enhances the effect of RAGT on functional ambulation in chronic stroke patients. METHODS: Chronic hemiplegic stroke patients with a Functional Ambulatory Category (FAC) score≤4 were randomly assigned to either the RAGT with anodal tDCS (Anodal) group or the sham tDCS (Sham) group...
August 11, 2017: Restorative Neurology and Neuroscience
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