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This chapter focuses on the technological and scientific state of the art about information technology advances. It discusses the scientific improvements transforming the production lines and machines in intelligent systems following the logic of Industry 5.0. The chapter provides elements useful to comprehend how technologies can be implemented in flexible information architectures for innovative industrialization processes. The main flexible technologies are integrated in robotic systems. The chapter also provides different examples to comprehend how innovative tools, including artificial intelligence (AI), can be applied in a new production scenario. Intelligent systems are implemented by AI algorithms, applied also for the intelligent movements of robotic arms. The production process control is usually performed by image vision techniques and by Internet of Things sensors placed inside the machines or outside. Technological approaches able to transform the production into an auto‐adaptive system are horizontal, vertical, and end to end integration.

© 2021 The Authors. This paper presents the novel design of an ambidextrous robot arm that offers double range of motion as compared to dexterous arms. The arm is unique in terms of design (ambidextrous feature), actuation (use of two different actuators simultaneously: Pneumatic Artificial Muscle (PAM) and Electric Motors)) and control (combined use of Proportional Integral Derivative (PID) with Neural Network (NN) and Multiple Adaptive Neuro-fuzzy Inference System (MANFIS) controller with selector block). In terms of ambidextrous robot arm control, a solution based on forward kinematic and inverse kinematic approach is presented, and results are verified using the derived equation in MATLAB. Since solving inverse kinematics analytically is difficult, Adaptive Neuro Fuzzy Inference system (ANFIS) is developed using ANFIS MATLAB toolbox. When generic ANFIS failed to produce satisfactory results due to ambidextrous feature of the arm, MANFIS with a selector block is proposed. The efficiency of the ambidextrous arm has been tested by comparing its performance with a conventional robot arm. The results obtained from experiments proved the efficiency of the ambidextrous arm when compared with conventional arm in terms of power consumption and stability.

In this paper, the hidden Markov model method is used to represent the asynchronous mode variations between the original systems and the fault estimator. The robust H∞ performance index is...

PURPOSE This study aimed to develop a six degrees-of-freedom (6DoF) robotic moving phantom for evaluating the dosimetric impact of intrafraction rotation during respiratory-gated radiotherapy with real-time tumor monitoring in the lung. MATERIALS AND METHODS Fifteen patients who had undergone respiratory-gated stereotactic body radiotherapy (SBRT) with the SyncTraX system for lung tumors were enrolled in this study. A water-equivalent phantom (WEP) was set at the tip of the robotic arm. A log file that recorded the three-dimensional positions of three fiducial markers implanted near the lung tumor was used as the input to the 6DoF robotic moving phantom. Respiratory-gated radiotherapy was performed for the WEP, which was driven using translational and rotational motions of the lung tumor. The accuracy of the 6DoF robotic moving phantom was calculated as the difference between the actual and the measured positions. To evaluate the dosimetric impact of intrafraction rotation, the absolute dose distributions under conditions involving gating and movement were compared with those under static conditions. RESULTS For the sinusoidal patterns, the mean ± standard deviation (SD) of the root mean square errors (RMSEs) of the translation and rotation positional errors was

Purpose Robotic radiosurgery offers the flexibility of a robotic arm to enable high conformity to the target and a steep dose gradient. However, treatment planning becomes a computationally challenging task as the search space for potential beam directions for dose delivery is arbitrarily large. We propose an approach based on deep learning to improve the search for treatment beams. Methods In clinical practice, a set of candidate beams generated by a randomized heuristic forms the basis for treatment planning. We use a convolutional neural network to identify promising candidate beams. Using radiological features of the patient, we predict the influence of a candidate beam on the delivered dose individually and let this prediction guide the selection of candidate beams. Features are represented as projections of the organ structures which are relevant during planning. Solutions to the inverse planning problem are generated for random and CNN-predicted candidate beams. Results The coverage increases from 95.35% to 97.67% for 6000 heuristically and CNN-generated candidate beams, respectively. Conversely, a similar coverage can be achieved for treatment plans with half the number of candidate beams. This results in a patient-dependent reduced averaged computation time of 20.28%-45.69%. The number of active treatment beams can be reduced by 11.35% on average, which reduces treatment time. Constraining the maximum number of candidate beams per beam node can further improve the average coverage by 0.75 percentage points for 6000 candidate beams. Conclusions We show that deep learning based on radiological features can substantially improve treatment plan quality, reduce computation runtime, and treatment time compared to the heuristic approach used in clinics.

Background There is a lack of data concerning the use of robotic devices in more complex total hip arthroplasty (THA) cases, such as hip dysplasia, ankylosing spondylolysis, and post-traumatic arthritis. Case presentation This case study presented three cases in which the Mako robotic device was used to help accurately implement the surgical plan. The operations went smoothly. The position and angle of the acetabular shells were placed as planned without any complications related to the operation. Postoperative Harris Hip Scores were good in two patients and poor in the patient with ankylosing spondylitis. Robotic-arm assisted surgery may be considered for complex THA cases in order to optimize the accuracy of the reconstruction, especially in the absence of conventional boney landmarks.

BACKGROUND We systematically reviewed the radiological outcomes of studies comparing robotic-assisted (RA-THA) and manual total hip arthroplasty (mTHA). METHODS The PubMed, Embase, and Cochrane databases were queried from 1994-2021 for articles comparing radiographic outcomes between RA-THA and mTHA cohorts. A meta-analysis was conducted whenever sufficient data was present for common outcomes. RESULTS Our analysis included 20 articles reporting on 4140 patients (RA-THA: n = 1228; mTHA: n = 2912). No differences were demonstrated for acetabular inclination or anteversion. However, RA-THA demonstrated higher rates of cup orientation within the Lewinnek and Callanan safe zones, improved femoral stem alignment, and lower global offset difference (GOD) and limb length discrepancy (all p-values

A novel motion planning algorithm for robotic bush trimming is presented. The algorithm is based on an optimal route search over a graph. Differently from other works in robotic surface coverage, it entails both accuracy in the surface sweeping task and smoothness in the motion of the robot arm. The proposed method requires the selection of a custom objective function in the joint space for optimal node traversal scheduling, as well as a kinematically constrained time interpolation. The algorithm was tested in simulation using a model of the Jaco arm and three target bush shapes. Analysis of the simulated motions showed how, differently from classical coverage techniques, the proposed algorithm is able to ensure high tool positioning accuracy while avoiding excessive arm motion jerkiness. It was reported that forbidding manipulation posture changes during the cutting phase of the motion is a key element for task accuracy, leading to a decrease of the tool positioning error up to 90%. Furthermore, the algorithm was validated in a real-world trimming scenario with boxwood bushes. A target of 20 mm accuracy was proposed for a trimming result to be considered successful. Results showed that on average 82% of the bush surface was affected by trimming, and 51% of the trimmed surface was cut within the desired level of accuracy. Despite the fact that the trimming accuracy turned out to be lower than the stated requirements, it was found out this was mainly a consequence of the inaccurate, early stage vision system employed to compute the target trimming surface. By contrast, the trimming motion planning algorithm generated trajectories that smoothly followed their input target and allowed effective branch cutting.

Background Cosmetic outcome after submandibular gland (SMG) surgery has greatly improved since the development of robotic surgery through a trans-hairline approach. However, the bulky sizes of robotic arms and the rigid design of camera and instruments in the current multiarm robotic systems increased the surgical difficulty. Methods Clinical and preclinical studies demonstrated the surgical configuration and procedures of robotic trans-hairline SMG resection using a flexible, single-port, and multiarm systems. Results The surgical procedures of trans-hairline approach for SMG resection could be successfully performed using the flexible single-port (SP) robotic system in the preclinical study. The unique features include an easier docking procedure, different viewing angles, the use of the third arm, and coordination of instrument positions without a bedside assistant, which are unavailable in current multiarm robotic systems. Conclusions This study demonstrates the feasibility and the advantages of applying the flexible, SP robotic system in SMG resection through the trans-hairline approach.

Background The feasibility, safety and advantages of minimally invasive or robotic repair of atrial septal defect (ASD) in adults were reported previously. However, there is limited data for the application of these systems in paediatric patients. Although current robotic systems still have large instruments for surgical repair in children, some appropriate patients may benefit from this technology. Method A 6-year-old child with ASD underwent robotic assistant repair via Da-Vinci Robotic Systems. Venous cannulation was achieved by internal jugular and femoral veins (10F-14F) and arterial cannulation was performed via femoral artery under transesophageal echocardiography (TEE) guidance (10F). A 3 cm incision was made in the right fourth intercostal space, used for working and the camera port in the same time. The ports were placed considering not to damage the potential developing breast tissue. After the port implantation (8F) and cardiac arrest, the ASD repair was completed with primary closure technique. Result The perioperative period was uneventful and the patient was discharged from hospital 5 days after surgery. Conclusion ASD closure with robotic assistant was achieved in a large enough sized paediatric patient. With the development of thinner and shorter robotic arms, it will be possible to use robotic assistance more common during the repair of congenital heart diseases.

PurposeTumor motion during radiotherapy can cause a reduction in target dose coverage and an increase in healthy tissue exposure. Tumor motion is not strictly translational and often exhibits complex six degree-of-freedom (6DoF) translational and rotational motion. Although the dosimetric impact of prostate tumor translational motion is well investigated, the dosimetric impact of 6DoF motion has only been studied with simulations or dose reconstruction. This study aims to experimentally quantify the dose error caused by 6DoF motion. The experiment was designed to test the hypothesis that 6DoF motion would cause larger dose errors than translational motion alone through gamma analyses of two-dimensional film measurements.MethodsFour patient-measured intrafraction prostate motion traces and four VMAT 7.25 Gy/Fx SBRT treatment plans were selected for the experiment. The traces represented typical motion patterns, including small-angle rotations (6°). Gafchromic film was placed inside a custom-designed phantom, held by a high-precision 6DoF robotic arm for dose measurements in the coronal plane during treatment delivery. For each combination of the motion trace and treatment plan, two film measurements were made, one with 6DoF motion and the other with the three-dimensional (3D) translation components of the same trace. A gamma pass rate criteria of 2% relative dose/2 mm distance-to-agreement was used in this study and evaluated for each measurement with respect to the static reference film. Two test thresholds, 90% and 50% of the reference dose, were applied to investigate the difference in dose coverage for the PTV region and surrounding areas, respectively. The hypothesis was tested using a Wilcoxon signed-rank test.ResultsFor each of the 16 plan and motion trace pairs, a reduction in the gamma pass rate was observed for 6DoF motion compared with 3D translational motion. With 90% gamma-test threshold, the reduction was 5.8% ± 7.1% (P ConclusionFor the first time, the dosimetric impact of intrafraction prostate rotation during SBRT treatment was measured experimentally. The experimental results support the hypothesis that 6DoF tumor motion causes higher dose error than translation motion alone.

Introduction To provide an update on the current status of robotic systems for surgery and the companies that produce these systems. Methods A non-systematic literature review was performed by using the PubMED/MEDLINE electronic search engines. Existing patents for robotic companies and devices were researched by using the Google search engine. Results Since the da Vinci Surgical System's patent expired, we have been able to predict the future of robotic companies based on the various robotic systems being developed. Currently, various attempts are being made to create consoles, robotic arms, cameras, handles, and instruments and to implement specific functions (e.g. haptic feedback, eye tracking). Herein, the benefits and limitations of each technology are identified, and likely future developments are described. Conclusions The robotic surgical systems are continually being developed by various companies around the world. New technologies have been increasingly implemented to improve on the capabilities of previously established systems and surgical ergonomics. Future studies may need to evaluate the strengths and weaknesses of each robotic surgical system.

The research achieved to control the mechanical arm by using real-time dynamic gesture recognition based on Kinect. It uses the unmarked gesture segmentation algorithm based on the palm neighbourhood and the threshold detection algorithm based on the palmar contour to identify the operator's gestures and moving trajectories, and to convert it into the specific action of the mechanical arm. Through wireless network, this system sends control instructions to the mechanical arm to realise teleoperation control. The system also provides video feedback of mechanical arm operation site. It improves the teleoperation telepresence and interactivity and avoids operation error such as grasp nothing or fall. The results of the experiment indicate that the operation of the gesture control system is simple and easy, the response of mechanical arm is quick and accurate and the human–machine interaction is intuitive and friendly.

Summary This paper investigates the control of a single‐link flexible robot manipulator with a tip payload appointed to rotate about 2 perpendicular axes in space. The control objective is to regul...

Real-life work operations of industrial robotic manipulators are performed within a constrained state space. Such operations most often require accurate planning and tracking a desired trajectory, where all the characteristics of the dynamic model are taken into consideration. This paper presents a general method and an efficient computational procedure for path planning with respect to state space constraints. Given a dynamic model of a robotic manipulator, the proposed solution takes into consideration the influence of all imprecisely measured model parameters, making use of iterative learning control (ILC). A major advantage of this solution is that it resolves the well-known problem of interrupting the learning procedure due to a high transient tracking error or when the desired trajectory is planned closely to the state space boundaries. The numerical procedure elaborated here computes the robot arm motion to accurately track a desired trajectory in a constrained state space taking into consideration all the dynamic characteristics that influence the motion. Simulation results with a typical industrial robot arm demonstrate the robustness of the numerical procedure. In particular, the results extend the applicability of ILC in robot motion control and provide a means for improving the overall trajectory tracking performance of most robotic systems.

Summary This study is concerned with the rigorous solution of worst-case robust optimal control problems having bounded time-varying uncertainty and nonlinear dynamics with affine uncertainty dependence. We propose an algorithm that combines existing uncertainty set-propagation and moment-expansion approaches. Specifically, we consider a high-order moment expansion of the time-varying uncertainty, and we bound the effect of the infinite-dimensional remainder term on the system state, in a rigorous manner, using ellipsoidal calculus. We prove that the error introduced by the expansion converges to zero as more moments are added. Moreover, we describe a methodology to construct a conservative, yet more computationally tractable, robust optimization problem, whose solution values are also shown to converge to those of the original robust optimal control problem. We illustrate the applicability and accuracy of this approach with the robust time-optimal control of a motorized robot arm.

Inspired by the structure and functions of the human skin, a highly sensitive capacitive‐piezoelectric flexible sensing skin with fingerprint‐like patterns to detect and discriminate between spatiotemporal tactile stimuli including static and dynamic pressures and textures is presented. The capacitive‐piezoelectric tandem sensing structure is embedded in the phalange of a 3D‐printed robotic hand, and a tempotron classifier system is used for tactile exploration. The dynamic tactile sensor, interfaced with an extended gate configuration to a common source metal oxide semiconductor field effect transistor (MOSFET), exhibits a sensitivity of 2.28 kPa−1. The capacitive sensing structure has nonlinear characteristics with sensitivity varying from 0.25 kPa−1 in the low‐pressure range (

Impact and the resulting contact forces can be determined by dynamic simulation once a validated model for the robot and of the contact area of the human is available. Methods for the identification of relevant geometric and dynamic parameters of the robot model are well established. While the experimental validation of constitutive models for human body contact is still topic of ongoing research, which gave rise to the ISO/TS 15066 guidelines, adequate models are already available for computational simulation of humanrobot contact scenarios. However, dynamical simulations cannot be applied to exhaustively explore and assess all possible contact scenarios with the robot workspace. In this paper, first the model used for impact simulation is described and simulation as well experimental results are reported for contact at a predefined location. Then, the ability of the presented model to predict the measured contact force is discussed. (VLID)4844318 Version of record

This paper describes a robot system for the automatic pruning of grape vines. A mobile platform straddles the row of vines, and it images them with trinocular stereo cameras as it moves. A computer vision system builds a three-dimensional (3D) model of the vines, an artificial intelligence (AI) system decides which canes to prune, and a six degree-of-freedom robot arm makes the required cuts. The system is demonstrated cutting vines in the vineyard. The main contributions of this paper are the computer vision system that builds 3D vine models, and the test of the complete-integrated system. The vine models capture the structure of the plants so that the AI system can decide where to prune, and they are accurate enough that the robot arm can reach the required cuts. Vine models are reconstructed by matching features between images, triangulating feature matches to give a 3D model, then optimizing the model and the robot's trajectory jointly (incremental bundle adjustment). Trajectories are estimated online at 0.25 m/s, and they have errors below 1% when modeling a 96 m row of 59 vines. Pruning each vine requires the robot arm to cut an average of 8.4 canes. A collision-free trajectory for the arm is planned in intervals of 1.5 s/vine with a rapidly exploring random tree motion planner. The total time to prune one vine is 2 min in field trials, which is similar to human pruners, and it could be greatly reduced with a faster arm. Trials also show that the long chain of interdependent components limits reliability. A commercially feasible pruning robot should stop and prune each vine in turn.

Flexible/soft tactile sensors enable the robotic arms to gain real‐time mechanical responses, which are of utmost importance for future deep learning in robotic sciences and technologies. Learning from nature will inspire the advances of soft tactile sensors as mother nature is proficient in achieving unique functionality at the simplest construction. Herein, the fabrication of self‐powered soft tactile sensors is reported. The shape of flexible sensors mimics Merkel's disks, allowing for a well tactile perceptual functionality. Due to the use of flexible magnetoelectric materials, the sensors are self‐powered without external power supply. This unique functionality is explained by Maxwell's numerical simulation, allowing for further improvement of their performance by adjusting diverse fabrication factors. Furthermore, such self‐powered soft tactile sensors are attached to the tips of a robotic arm, enabling the arm to distinguish different objects after smart learning. The soft sensor design reported here is expected to manifest in a range of self‐powered sensing systems, opening up as yet unexplored avenues for the development and the exploitation of future intelligent robots and their deep learning.

Rapid-prototyping processes are being extended to increasingly large scales, including 3D printing from gantries, and robotic arms for cutting, milling and winding. These all use designs that are digital, but materials that are not: they are continuously deposited or removed. Neil Gershenfeld, Matthew Carney, Benjamin Jenett, Sam Calisch and Spencer Wilson of the MIT Center for Bits and Atoms explore the implications of the use of digital materials, reversibly assembled from a discrete set of parts with a discrete set of relative positions and orientations, for applications on scales ranging from aerostructures to geoprinting. Here, they discuss the production of the parts, the modelling of structures made with them, and their automated assembly.

In this paper, real-time results for a novel continuous-time adaptive tracking controller algorithm for nonlinear multiple input multiple output systems are presented. The control algorithm includes the combination of a recurrent high order neural network with block control transformation using a high order sliding modes technique as control law. A neural network is used to identify the dynamic plant behavior where a filtered error algorithm is used to train the neural identifier. A decentralized high order sliding mode, named the twisting algorithm, is used to design chattering-reduced independent controllers to solve the trajectory tracking problem for a robot arm with three degrees of freedom. Stability analyses are given via a Lyapunov approach.

This paper presents a new toolbox focussed on the teaching of robotic manipulators. The library works under Matlab and has been designed to strengthen the theoretical concepts explained during the theory lectures. The educational approach is focussed on teaching the main concepts through developing math modeling and simulation. In order to do this, the toolbox aims at the fulfillment of a set of practical sessions that allow the students to test most of the concepts of an introductory course in robotic manipulators. In addition, the library possessesfeaturesthattypicallyneededtheusageofproprietarysoftware,suchasthevisualizationofarealistic3D representation of commercial robotic arms and the programming of those arms in an industrial language. The practices include the concepts of direct and inverse kinematics, inverse and direct dynamics, path planning and robot programming. As a transversal practice, during the sessions, the student is asked to choose and integrate a new robotic arm in the library, proposing a particular solution to the direct and inverse kinematic problem, as well as the inclusion of other important parameters. The library has been deployed during the last year in bachelor and master studies and has received a nice acceptance. Finally, the library has been assessed in terms of usefulness, design and usage by means of a student survey. In addition, the surveys were designed to establish a relation betweenthe studentperceptionof the system,the time spenton thetool and their learningachievements. 2014

Summary In this paper, we address the problem of hierarchical control for nonlinear systems and design two dynamic output feedback hierarchical control laws in a semiglobal sense and in a global sense, respectively. With the controllers applied to a class of nonlinear systems, some transient and steady properties of the system output trajectories can be satisfied simultaneously. Furthermore, the corresponding result in the global sense for linear systems is naturally derived. Finally, the effectiveness of our approach is illustrated by a single-link robot arm system. Copyright © 2017 John Wiley & Sons, Ltd.

An interactive human-machine interface (iHMI) enables humans to control hardware and collect feedback information. In particular, wearable iHMI systems have attracted tremendous attention owing to their potential for use in personal mobile electronics and the Internet of Things. Although significant progress has been made in the development of iHMI systems, those based on rigid electronics have constraints in terms of wearability, comfortability, signal-to-noise ratio (SNR), and aesthetics. Herein the fabrication of a transparent and stretchable iHMI system composed of wearable mechanical sensors and stimulators is reported. The ultrathin and lightweight design of the system allows superior wearability and high SNR. The use of conductive/piezoelectric graphene heterostructures, which consist of poly(l-lactic acid), single-walled carbon nanotubes, and silver nanowires, results in high transparency, excellent performance, and low power consumption as well as mechanical deformability. The control of a robot arm for various motions and the feedback stimulation upon successful executions of commands are demonstrated using the wearable iHMI system.

Background In traditional laparoscopic surgery, the laparoscope is handled by a camera assistant according to verbal instructions from the surgeon. Thus there is a strong need for a laparoscope holder who intuitively provides the appropriate view with excellent stability. Methods A pneumatically driven robotic arm was developed to hold and manipulate a laparoscope. The robotic arm is operated by the user's head movement, which is measured with gyroscopes attached to the operator's head and body. Results We confirmed experimentally that head tracking can be performed accurately using the proposed method. The experimental results indicated that the robotic camera holder has sufficient dynamic characteristics to quickly follow the operator's head movement. Conclusions A laparoscope holder control system has been developed. In this system, a laparoscope is held by a pneumatically driven robotic arm that is controlled to follow the operator's head movement. The experimental results prove the effectiveness of the system. Copyright © 2014 John Wiley & Sons, Ltd.

Background Robot-assisted surgery is growing in popularity; however, robotic totally endoscopic coronary artery surgery (TECAB) remains challenging, particularly in multi-vessel disease. Methods A review of the current literature surrounding TECAB using the da Vinci® system. Results The da Vinci robot is the only commercially available system, operating on a master–slave paradigm with the surgeon controlling the robotic arms from a remote console. Conclusions Robotic surgery today is presented with challenges, including dealing with a non-perfect robot without haptic control, a steep learning curve, lack of established training criteria and high cost. Strategies such as structured, simulated training and novel anastomotic devices may potentially shorten the learning curve, improve patency and facilitate grafting in multi-vessel disease. Future challenges will include the ability to demonstrate long-term patency, morbidity and mortality at least comparable to conventional CABG, whilst also offering cost effectiveness in this increasingly difficult economic environment. Copyright © 2014 John Wiley & Sons, Ltd.

Multi-dimensional data originate from many different sources and are relevant for many applications. One specific sub-type of such data is continuous trajectory data in multi-dimensional state spaces of complex systems. We adapt the concept of spatially continuous scatterplots and spatially continuous parallel coordinate plots to such trajectory data, leading to continuous-time scatterplots and continuous-time parallel coordinates. Together with a temporal heat map representation, we design coordinated views for visual analysis and interactive exploration. We demonstrate the usefulness of our visualization approach for three case studies that cover examples of complex dynamic systems: cyber-physical systems consisting of heterogeneous sensors and actuators networks the collection of time-dependent sensor network data of an exemplary smart home environment, the dynamics of robot arm movement and motion characteristics of humanoids.

This paper presents a new image-based servo control scheme that endows an unmanned aerial vehicle (UAV) equipped with a robotic arm with the capability of automatically positioning elements on target objects. Through a new formalism, the proposed visual servo scheme controls both the UAV and the manipulator simultaneously. It takes into account the whole system redundancy as well as the peculiarity of under-actuation related to rotary-wing crafts. While it controls the system at the velocity level, it makes use of the mobility afforded by the UAV and the dexterity inherent to robot manipulators. The case of large initial errors is explicitly addressed. Results of simulations are reported to verify the effectiveness of the proposed approach.

Background Anterior resection with total mesorectal excision (TME) is the standard method of rectal cancer resection. However, this procedure remains technically difficult. A robotic transanal approach could overcome some of these limitations. An initial laboratory experience with robotic transanal TME using a new designed port on human cadavers is reported. Methods The feasibility of robotic transanal TME and ideal set-up were evaluated in human cadavers. For the da Vinci Si HD system transanal access and total mesorectal excision, a specifically designed port was used. Results It was possible to complete a proctectomy with transanal total mesorectal excision. The port proved to be very reliable and facilitated docking of the robotic arms. Conclusion Using the robotic technology and a specifically designed port for robotic transanal access, TME was shown to be feasible and one specific preferred set-up was determined. Further clinical trials will be necessary to assess the safety and efficacy of this technique. Copyright © 2014 John Wiley & Sons, Ltd.

Working with forestry machines requires a great deal of training to be sufficiently skilled to operate forestry cranes. In view of this, it would be desirable within the forestry industry to introduce automated motions, such as those seen in robotic arms, to shorten the training time and make the work of the operator easier. Motivated by this fact, we have developed two experimental platforms for testing control systems and motion-planning algorithms in real time. They correspond to a laboratory setup and a commercial version of a hydraulic manipulator used in forwarder machines. The aim of this article is to present the results of this development by providing an overview of our trajectory-planning algorithm and motion-control method, with a subsequent view of the experimental results. For motion control, we design feedback controllers that are able to track reference trajectories based on sensor measurements. Likewise, we provide arguments to design controllers in an open-loop for machines that lack sensing devices. Relying on the tracking efficiency of these controllers, we design time-efficient reference trajectories of motions that correspond to logging tasks. To demonstrate performance, we provide an overview of extensive testing done on these machines.

Background Surgical robotic systems have been proven to be accurate and dexterous during minimally invasive surgery (MIS). However, single incision laparoscopic surgery (SILS) requires more compact robotic arms with sufficient dexterity and output. Methods A shape memory alloy (SMA)-actuated instrument was adopted to assist operations. The instrument fixed at the slave site had three degrees of freedom (DOFs) and was driven by SMA wires, pitch, yaw, and grip, with an 8 mm diameter; a passive hydraulic support mechanism was placed in vitro. Results In vitro, the maximum force, velocity and accuracy were proven to be sufficient for medical application. In an animal study, the system was inserted into the abdomen; three more generic constraints were tested: medical gesture, safety, and implementation. Conclusions The robot was feasible and safe for multi-angle monitoring, grasping, and holding an organ. The SMA-actuated system was accurate and dexterous with minimal system volume. Copyright © 2013 John Wiley & Sons, Ltd.

Our research group recently demonstrated that a person with tetraplegia could use a brain-computer interface (BCI) to control a sophisticated anthropomorphic robotic arm with skill and speed approaching that of an able-bodied person. This multiyear study exemplifies important principles in translating research from foundational theory and animal experiments into a clinical study. We present a roadmap that may serve as an example for other areas of clinical device research as well as an update on study results. Prior to conducting a multiyear clinical trial, years of animal research preceded BCI testing in an epilepsy monitoring unit, and then in a short-term (28 days) clinical investigation. Scientists and engineers developed the necessary robotic and surgical hardware, software environment, data analysis techniques, and training paradigms. Coordination among researchers, funding institutes, and regulatory bodies ensured that the study would provide valuable scientific information in a safe environment for the study participant. Finally, clinicians from neurosurgery, anesthesiology, physiatry, psychology, and occupational therapy all worked in a multidisciplinary team along with the other researchers to conduct a multiyear BCI clinical study. This teamwork and coordination can be used as a model for others attempting to translate basic science into real-world clinical situations.

Background The retroperitoneal approach is generally avoided because of the reduced working space, the difficulties in robot positioning and the risk of arms conflict. A new robotic retroperitoneal approach is presented that can be applied for upper urinary tract pathology and adrenal pathology. Methods Between November 2009 and November 2011, 34 out of 114 robotic procedures were performed by the retroperitoneal approach using a triangle shaped trocar placement and the robotic cart positioned at the patient's head. Results All of the 34 retroperitoneal procedures were performed using this type of approach, with no conflict between the robotic arms and no conversions. The average operating time was 50 min for simple nephrectomies and 180 min for partial nephrectomies. The blood loss was not relevant. Conclusion This approach enables excellent mobility for the robotic arms, generating no conflict and providing good maneuvering space for the bedside assistant. Copyright © 2013 John Wiley & Sons, Ltd.

Background The da Vinci robotic surgical telemanipulator has been utilized in several surgical specialties for varied procedures, and the users' experiences have been widely published. To date, no detailed system technical analyses have been performed. Methods A detailed review was performed of all publications and patents about the technical aspects of the da Vinci robotic system. Results Published technical literature on the da Vinci system highlight strengths and weaknesses of the robot design. While the system facilitates complex surgical operations and has a low malfunction rate, the lack of haptic (especially tactile) feedback and collisions between the robotic arms remain the major limitations of the system. Accurate, preplanned positioning of access ports is essential. Conclusion Knowledge of the technical aspects of the da Vinci robot is important for optimal use. We confirmed the excellent system functionality and ease of use for surgeons without an engineering background. Research and development of the surgical robot has been predominant in the literature. Future trends address robot miniaturization and intelligent control design. Copyright © 2012 John Wiley & Sons, Ltd.

This paper describes the use of an objective fuzzy approach for fast and accurate vision-based inspection. An inspection problem faced by a Canadian automotive parts manufacturer is being used as a case study. The problem is related to a vision system that is being operated to confirm the placement of metal fastening clips on a structural member that supports a truck dash panel. The manufacturer was interested in identifying the presence or absence of metal clips inserted by a robot arm. It took the manufacturer over 8 months to tune its commercial machine vision system to detect missing clips and yet the accuracy and efficiency of the system are being questioned. Five different universities across Canada have been working in parallel on this problem over a time span of 2 years. To this end, we developed an efficient fuzzy model after trying various statistical approaches. The proposed model properly identifies all the images in a database containing 1910 images. The robustness of the fuzzy model is confirmed by its strong performance on the entire database.

Approaching object detector structure has been recently identified in mouse retina, and its neural circuit model has been successfully built. A discrete-type mathematical model describing the retinal structure has been synthesized and implemented on a biologically motivated focal-plane mixed-signal sensor-processor device. The model responses have been analyzed, and the critical parameters have been identified, and their roles were studied. The model has been validated in real dynamic surround of a robotic arm, where the geometrical and the kinematic parameters of the movements were known. From the mathematical and experimental analysis, it has been concluded that this retinal structure has a capacity to generate a last second warning signal to avoid collisions. Copyright © 2012 John Wiley & Sons, Ltd.

SUMMARY This paper proposes the design of an observer to estimate the velocity of an electro-hydraulic system by using pressure measurements only. The difficulties involved in the design of an observer for such a system include the highly nonlinear system dynamics, severe parametric uncertainties such as large variation of inertial load and unmatched model uncertainties. In order to address these issues, a nonlinear model-based adaptive robust observer is designed to estimate the velocity. The contributions of the proposed work is twofold. First, it introduces a novel coordinate transformation to reconstruct the velocity estimate. And second, from a structural viewpoint, the design has two important features: (i) an underlying robust filter structure, which can attenuate the effect of uncertain nonlinearities such as friction and disturbances on the velocity estimation, and (ii) an adaptation mechanism to reduce the extent of parametric uncertainties. Experimental results on the swing motion control of an electro-hydraulic robot arm demonstrate the effectiveness of the proposed observer. Copyright © 2012 John Wiley & Sons, Ltd.

Objectives: To analyze the incidence of malfunction of the da Vinci robotic system in a single center and to provide potential solutions. Methods: A total of 400 patients underwent da Vinci robotic urological surgery at Taichung Veterans General Hospital in Taichung, Taiwan, from December 2005 to April 2011. Episodes of malfunction of the robotic system were analyzed by period of operation, type of procedure, type of malfunction and management of the event. Results: Overall, 14 cases of malfunction occurred (3.5% of the entire series). Among them, five (1.25%) occurred before the surgery and nine (2.25%) intraoperatively. Operative procedures included radical prostatectomy, bilateral pelvic lymph node dissection, dismembered pyeloplasty, partial nephrectomy, nephroureterectomy, and radical and partial cystectomies. Areas of malfunctions included the robotic arm system and joint (11/14), optical system (1/14), power system and connector (1/14), endoscopic instrument (1/14), and software (1/14). In 10 cases, the failure was recoverable, whereas in four cases there was a critical failure, requiring a conversion to standard laparoscopy in three of them, and the rescheduling of the surgery in one case. Conclusions: The da Vinci robotic system is extremely reliable for use in urology. Malfunction is rare and the risk of critical failure is very low. Managing mechanical failure before or during the surgery is the key to maintaining the safety of patients undergoing robotic surgical procedures.

Background The paper describes specific technical requirements, limitations, anthropometrical, docking and suturing considerations on the performance of robotic hysterectomy using the da Vinci® Single-Site Platform in the cadaver model Methods A data set was collected for each procedure including port placement, docking sequence, robotic arms placement and angles, robotic instrumentation, optimal ergonomics, operative time, and cadaver anthropometrical measurements. Pearson correlation coefficients were calculated to determine whether age, BMI or docking approach were correlated with docking difficulty and likelihood of successful procedure completion. Analysis of the data was performed using SPSS v19.0.0. Results The planned surgical procedure was successfully completed with single-port robotics in 87.5% of cases. High BMI was correlated with difficulty docking the robot, correlation coefficient 0.98. Conclusions Further work is needed in the development and advancement of single-site robotic platforms, articulated instrumentation, and optics. Copyright © 2012 John Wiley & Sons, Ltd.