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Through innovatively introducing the receding horizon into probabilistic model checking, an online strategy synthesis method for multi-robot systems from local automatons is proposed to complete complex tasks that are assigned to each robot. Firstly, each robot is modeled as a Markov decision process which models both probabilistic and nondeterministic behavior. Secondly, the task specification of each robot is expressed as a linear temporal logic formula. For some tasks that robots cannot complete by themselves, the collaboration requirements take the form of atomic proposition into the LTL specifications. And the LTL specifications are transformed to deterministic rabin automatons over which a task progression metric is defined to determine the local goal states in the finite-horizon product systems. Thirdly, two horizons are set to determine the running steps in automatons and MDPs. By dynamically building local finite-horizon product systems, the collaboration strategies are synthesized iteratively for each robot to satisfy the task specifications with maximum probability. Finally, through simulation experiments in an indoor environment, the results show that the method can synthesize correct strategies online for multi-robot systems which has no restriction on the LTL operators and reduce the computational burden brought by the automaton-based approach.

While traditional robotic systems come with a monolithic system design, reconfigurable multirobot systems can share and shift physical resources in an on-demand fashion. Multirobot operations can benefit from this flexibility by actively managing system redundancies depending on current tasks and having more options to respond to failure events. To support this active exploitation of redundancies in robotic systems, this article details an organization model as basis for planning with reconfigurable multirobot systems. The model allows us to exploit redundancies when optimizing a multirobot system’s probability of survival with respect to a desired mission. The resulting planning approach trades safety against efficiency in robotic operations and thereby offers a new perspective and tool to design and improve multirobot missions. We use a simulated multirobot planetary exploration mission to evaluate this approach and highlight an exemplary performance landscape. Our implementation of the organization model is open-source available (https://github.com/rock-knowledge-reasoning/knowledge-reasoning-moreorg).

As a cross-cutting field between ocean development and multi-robot system (MRS), the underwater multi-robot system (UMRS) has gained increasing attention from researchers and engineers in recent decades. In this paper, we present a comprehensive survey of cooperation issues, one of the key components of UMRS, from the perspective of the emergence of new functions. More specifically, we categorize the cooperation in terms of task-space, motion-space, measurement-space, as well as their combination. Further, we analyze the architecture of UMRS from three aspects, i.e., the performance of the individual underwater robot, the new functions of underwater robots, and the technical approaches of MRS. To conclude, we have discussed related promising directions for future research. This survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

In this article, assistance to bone cement in- jection is studied, with a focus on vertebroplasty, a procedure dedicated to the treatment of painful vertebral compression fractures. A robotic system that can remotely be operated at pressures up to 140 bar is presented. It is specifically designed to improve cement polymerization control, combining a cold passive exchanger that slows down the cement curing in the syringe, and an active exchanger that controls the injected cement temperature. The cement remote injection uses a rate control teleoperation strategy, particularly well suited for very slow injection speeds. During the injection, force feedback is rendered to the radiologist to help monitor the cement viscosity increase. A first assessment in laboratory conditions has been achieved to quantify the performance of the thermal exchanger. Then, cadaver experiments have been performed to illustrate the satisfactory operation of the whole system.

Recently, flexible robotic systems are developed to enhance minimally invasive interventions on internal organs located in confined areas of human body. These surgical devices are designed to navigate anatomical pathways via single-port access, such as natural orifices or minimal incisions and intraluminal interventions. With improved precision, spatial flexibility and dexterity, the robotic technology can enhance surgery such that minimally invasive flexible access would become a faster, safer, and more convenient method for intra-body interventions without multiple or wide incisions. However, a lot of works are still required for global acceptance of existing flexible robotic surgical platforms. This review provides extended insights on the design details of two types of flexible robotic systems used for endoscopic and endovascular procedures. As of today, several prototypes of both platforms have been proposed; however, their global acceptability and applicability remains very low. To address these, we present an extensive review on design constraints and control methods which are vital for safer, faster, and better operation of the flexible robotic systems in minimally invasive surgery (MIS). Finally, research trends of flexible robotic systems and their clinical application status in MIS are discussed along with some of the technical and technological challenges hindering their prominence.

Information about the internal position and velocity of a robotic system is crucial for its control. Especially, under uncertain models, changing dynamic parameters and noisy position measurement signals, an adaptive differentiation is needed combining structural knowledge of the model with adequate filtering of the sensor data. To this end, the Modulating Function Method is applied to the Lagrange formulation of the robotic system to preserve the structure while enabling to incorporate nonlinear terms into the integral transform methodology. Different types of Modulating Functions and the function projection approach are used to develop a simultaneous parameter and state estimation procedure for the general structure of open kinematic chains. The developed algorithm for an adaptive velocity estimation is capable of robustly reconstructing the generalized state and consists of an efficient Finite Impulse Response (FIR) filter type implementation. The resulting architecture is demonstrated on a two-link robot setup.

The Robot Operating System (ROS) has become the de-facto standard framework for robotics software, and a great part of commercial robots is expected to have at least one ROS package on board in the coming years. For good quality, robotics software should rely on strong software engineering principles. In this paper, we perform a systematic mapping study on several works in software engineering on ROS, published at the top software engineering and robotics venues. Our goal is to analyze and evaluate such state-of-the-art regarding its relevance to the robotics software industry. The potentially-relevant studies are subject to a rigorously defined selection process. This results in a set of 63 primary studies on software engineering research on ROS. Those primary studies are then qualitatively analyzed according to a rigorously-defined classification framework. The results are of interest to both researchers and practitioners: (i) we provide an up-to-date overview of the state of the art on software engineering research on ROS and its potential for industrial adoption, (ii) a broad discussion of the research area as a whole, and (iii) point out routes of action for a better alignment between research and industry.

The development of robotic-based agricultural machinery systems has significantly increased in recent years. Many autonomous systems have not yet been measured based on sustainability and economic performances, even though automation is regarded as an opportunity to increase safety, dependability, productivity, and efficiency. The operational aspect, economic viability, and environmental impact of replacing conventional machinery with robotized alternatives are the primary focus of this study. The robot considered in this research is designed for extensive fieldwork, where PTO and external hydraulics are required. This robot is equipped with two 75 (hp) Kubota diesel engines with a total engine gross power of up to 144 (hp). Both robotic system and conventional machinery were described, and different scenarios were used to examine various operational and environmental indicators, as well as individual cost elements, considering various field sizes and working widths of implements used in seeding and weeding operations. The findings demonstrate that the robotic system outperforms conventional machinery in terms of operational efficiency by as much as 9%. However, the effective field capacity comparison reveals that the conventional system has a field capacity that is up to 3.6 times greater than that of the robotic system. Additionally, the total cost per hour of the robotic system is up to 57% lower than that of the conventional system. The robotic system can save up to 63.3% of fuel during operation, resulting in the same percentage reduction in CO2 emissions as the conventional system, according to a comparison of fuel consumption.

Robotic navigation is a new and rapidly emerging niche within minimally invasive spine surgery. The robotic arms-race began in 2004 and has resulted in no less than four major robotic surgical adjuncts. Current Food and Drug Administration (FDA)-approved applications of robotic navigation are limited to pedicle screw instrumentation, but new indications and experimental applications are rapidly emerging. As with any new technology, robotic navigation must be vetted for clinical efficacy, efficiency, safety, and cost-effectiveness. Given the rapid advancements made on a yearly basis, it is important to make frequent and objective assessments of the available technology. Thus, the authors seek to provide the most up-to-date review of the history, currently available technology, learning curve, novel applications, and cost effectiveness of today’s available robotic systems as it relates to spine surgery.

Robotics has become an essential part of the surgical armamentarium for a growing number of surgeons around the world. New companies seek to compete with established robotic systems that have dominated the market to date. Evolving robotic surgery platforms have introduced technologic and design advancements to optimize ergonomics, improve visualization, provide haptic feedback, and make systems smaller and cheaper. With the introduction of any new technology in the operating room, it is imperative that safeguards be in place to ensure its appropriate use. Current processes for granting of hospital robotic surgery privileges are inadequate and must be strengthened and standardized.

The study design is retrospective, multi-surgeon, single-center review. The objective is to evaluate complication rates, revision rates, and accuracy grading for robotic-guided S2 alar-iliac (S2AI) screws. Sixty-five consecutive patients underwent S2AI fixation (118 screws) as part of a posterior spine fusion using robotic-guidance. Screws were placed percutaneously in 14 cases and 51 were placed in an open fashion by three board-certified spine surgeons using the Mazor core technology robotic systems (Mazor X, n = 42; Mazor XSE, n = 23). Medical charts were retrospectively reviewed for revisions and complications. All patients were followed for 90 days or greater. Postoperative CT scans were obtained in 22 of the 51 patients, allowing for 46 screws to be reviewed by an independent neuroradiologist who graded the screws for accuracy. There were no intraoperative or postoperative complications associated with S2AI screw placement. There were no revisions found to be related to the S2AI screw placement. All 46 screws evaluated with postoperative CT scans were reported as being at the highest level of accuracy, grade A, with a breach distance of 0 mm (no breach). The robotic-guided technique for S2AI screw placement is a reliable method to achieving pelvic fixation with low complication and revision rates. In addition, a high degree of accuracy can be achieved without relying on visible and tactile landmarks needed for the freehand technique or the additional radiation associated with fluoroscopic-guidance.

Localisation, i.e. estimation of one’s position in a given environment is a crucial element of many mobile systems, manned and unmanned. Due to the high demand for autonomous exploration, patrolling and inspection services and a rapid improvement of batteries, sensors and machine learning algorithms, the quality of localisation becomes even more important for smart robotic systems. The underwater domain is a very challenging environment due to the water blocking most of the signals over short distances. Recent results in localisation techniques for underwater vehicles are summarised in two principal categories: passive techniques, which strive to provide the best estimation of the vehicle’s position (global or local) given the past and current information from sensors, and active techniques, which additionally produce guidance output that is expected to minimise the uncertainty of estimated position.

New classes of functional soft materials show promise to revolutionize robotics. Now materials scientists must focus on realizing the predicted performance of these materials and developing effective and robust interfaces to integrate them into highly functional robotic systems that have a positive impact on human life.

Most robotic systems consist of heavy machine elements that help reduce the vibrations generated by motion and that support good positional accuracy. Large-sized actuators are needed for such systems. Energy consumption significantly increases in oversized robotic systems. The proposed solution to which is to design robotic systems in lightweight and flexible forms. This makes possible smaller overall structure and actuator sizes. However, such systems suffer from residual vibrations. One well-known control solution to residual vibration problem could be input shaping techniques. In this study, a new Fuzzy Logic-based intelligent input shaping selection technique has been proposed. With this proposed approach, it is possible to set optimum settling time, positioning accuracy of robotic systems, and minimum residual vibrations by implementing the crucial open-loop control approach. Comprehensive experience is needed to overcome design issues on command shaping and system modeling. Based on these design criteria constraints and extensive knowledge requirements, the recommended solution is a Fuzzy Logic-based intelligent input shaping technique for accurate modeling and parameter estimation of the systems. The proposed approach is a Fuzzy Logic-based intelligent input shaper selection and input shaper setting determination algorithm. The applicability of the proposed method was verified on the Quanser Flexible Link experimental setup.

The article presents a self-propelled aerosol hot fog generator robotic platform developed at the All-Russian Research Institute of Agricultural Mechanisation. The study aimed to assess the distribution quality of hot fog in the fruit tree crown during technological plant protection procedures and to determine the platform’s effective motion modes. Field studies established the causes of chemicals loss during technological plant protective measures in the crown. We determined the effect of droplet size on leaf cover density and plotted the solution droplet penetration into the crown. In field experiments, we plotted the crown permeability by aerosol in transverse projection. A statistical analysis of factorial trials of the fog generator robotic platform for chemical plant protection revealed its most effective operation modes as follows: robotic platform speed 2.1 km/h, fog nozzle -- tree crown distance 1.28 m, working fluid flow rate 39.75 L/h. One-pass droplet density in equal penetration plane crossing the inter-row axis is 480 pcs/cm2. The row treatment from the other side doubles the droplet estimate. The study pinpoints and verifies advantages of the developed aerosol hot fog generator robotic platform in an orchard setting. The field data analyses suggest that this robotic system meets the technological requirements of fluid chemical plant protection at a high standard level.

International audience; Objective Annual countrywide data are scarce when comparing surgical approaches in terms of hospital stay outcomes and costs for radical prostatectomy (RP). We aimed to assess the impact of surgical approach on post-operative outcomes and costs after RP by comparing open (ORP), laparoscopic (LRP), and robot-assisted (RARP) RP in the French healthcare system. Patients and methods Data from all patients undergoing RP in France in 2020 were extracted from the central database of the national healthcare system. Primary endpoints were length of hospital stay (LOS including intensive care unit (ICU) stay if present), complications (estimated by severity index), hospital readmission rates (at 30 and 90 days), and direct costs of initial stay. Results and limitations A total of 19,018 RPs were performed consisting in ORP in 21.1%, LRP in 27.6%, and RARP in 51.3% of cases. RARP was associated with higher center volume (p < 0.001), lower complication rates (p < 0.001), shorter LOS (p < 0.001), and lower readmission rates (p = 0.004). RARP was associated with reduced direct stay costs (2286 euros) compared with ORP (4298 euros) and LRP (3101 euros). The main cost driver was length of stay. The main limitations were the lack of mid-term data, readmission details, and cost variations due to surgery system. Conclusions This nationwide analysis demonstrates the benefits of RARP in terms of post-operative short-term outcomes. Higher costs related to the robotic system appear to be balanced by patient care improvements and reduced direct costs due to shorter LOS.

In order to improve the operation effect of the railway train inspection robot, this paper applies image recognition technology to the robot system. The hardware part of the robot system includes: data acquisition station, data processing transfer station and inspection analysis center. First of all, this paper improves the traditional image recognition algorithm and builds an image recognition system suitable for railway train inspection requirements. Secondly, this paper combines the operating requirements of the railway train inspection robot to collect multiple sets of data through the vision system to establish a database, and collects trust data from the railway department to construct a standard database. In addition, this paper builds the intelligent identification system of this paper through simulation, obtains the railway train inspection robot, verifies the recognition performance of the railway train inspection robot through multiple sets of data, and counts the recognition accuracy rate. Finally, this paper verifies the reliability of the intelligent robot system constructed in this paper through experimental research.

This year we celebrate the 70-th year of the chair founded in BMSTU in 1951 which name today is "Robotic Systems and Mechatronics". Evolution of the chair during the last 70 years is completely reflected the technical progress in the field of automation. From automatic drives to autonomous robots. Again with the improvement of the educational programs in accordance with the vital demands the chair managed to keep the basic traditions of the Russian engineering school based on the combination of the fundamental scientific background with the practical competence in the new technical systems design. The prominent scientists and engineers made a major contribution to the content and methods of training of future specialists in robotics and mechatronics which are acknowledged both in Russia and abroad. Nowadays robotics is transforming from perspective direction to urgent needs. The chair "Robotic Systems and Mechatronics" is completely ready to reply the new challenge of time.

In order to search and rescue injured during earthquake, we proposed a method for multi-robots motion planning and distributed control in this paper. At first, we have created two probabilistic search models to considering the search area and the characteristics of sensors, which we used to search the injured targets. And after finding the targets, they are assigned to the mobile robots on the land to afford emergency rescue. In order to reach to the targets, a path planning method based on map matching is proposed. There are three parts here. Firstly, to obtain the global and local map: continuous ground images are first collected using the UAV’s vision system, and subsequently, a global map of the ground environment is created by processing the collected images. The local map of the ground environment is obtained using the 2D laser radar sensor of the leader (UGA). Established the coordinate conversion relationship between UAV and UGV, unknown values during map matching are determined via the least square method. Secondly, our robots moved by group (leader-follower). The leader’s path was planned globally and locally. The other multi-robots moved along the path planned by the leader. Thirdly, in order to plan and coordinate the robots in the group, the finite state machine is used to describe the logical level of control system for each robot in the group. After that, at the tactical level of the control system, the movement control law of formation maintaining mode and formation switching mode is designed.

This paper presents the findings of a study that used applied ethics to evaluate autonomous robotic systems practically. Using a theoretical tool developed by a team of researchers in 2017, which one of the authors contributed to, we conducted a study of four existing autonomous robotic systems in July 2020. The methods used to carry out the study and the results are highlighted by examining the specific example of ANYmal, an autonomous robotic system that is one component of the CERBERUS team that won first place in DARPA’s Subterranean Challenge Systems Competition in September 2021.

Sri Lanka has a precious traditional drum music culture that is mainly based on traditional drums. At present, this drum culture is in decline due to a lack of talented drum players. As a result, many Buddhist temples are facing a serious and tragic problem. This article presents the design and implementation of a robotic system named ThamRobot contains two robotic arms that were designed to play pre-programmed three drum tunes of the Thammattama correctly and efficiently like a drum player without any intervention of a human. In the research, nine major characteristics factors of the Thammattama such as music notes, drum locations, approximate stress, frequencies, pitch, drum type, number of sticks, playing technique, distance from stick to drum face were identified. The entire system is comprised of four main modules named motion module, user-operation module, processing module, power supply module. Finally, the system has been tested in a laboratory environment and encouraging results were obtained.

Robotic systems are becoming increasingly present in every aspect of our daily private as well as working environments. The more these systems enter into our spheres of action, the more they are intended to support humans in dangerous, dull and dirty tasks, and the more flexibility is expected from them. In order to prepare robotic systems for such duties, they need to be able to perceive their environment. In robotic systems, a perception of the environment can either be achieved through internal sensors, i.e., joint angle and torque sensors, or through external sensors, e.g., vision or tactile sensors. While the use of such internal sensors may seem advantageous because no additional system has to be added, the information that can be obtained from them is rather undifferentiated when we want to gather information about the environment. Thus, this information is in most cases augmented by external sensors. Considering exteroception, the most often used technology to analyze the environment is vision. However, due to general deficiencies of the system such as their dependence on lighting conditions and the necessary line of sight, the information accessible through vision alone [1] is not sufficient to accomplish differentiated manipulation tasks [2].

Robot-assisted pancreatoduodenectomy (RPD) has shown some advantages over open pancreatoduodenectomy (OPD) but few studies have reported a cost analysis between the two techniques. We conducted a structured cost-analysis comparing pancreatoduodenectomy performed with the use of the da Vinci Xi, and the traditional open approach, and considering healthcare direct costs associated with the intervention and the short-term post-operative course. Twenty RPD and 194 OPD performed between January 2011 and December 2020 by the same operator at our high-volume multidisciplinary center for robot-assisted surgery and for pancreatic surgery, were retrospectively analyzed. Two comparable groups of 20 patients (Xi-RPD-group) and 40 patients (OPD-group) were obtained matching 1:2 the RPD-group with the OPD-group. Perioperative data and overall costs, including overall variable costs (OVCs) and fixed costs, were compared. No difference was reported in mean operative time: 428 min for Xi-RPD-group versus 404 min for OPD, p = 0.212. The median overall length of hospital stay was significantly lower in the Xi-RPD-group: 10 days versus 16 days, p = 0.001. In the Xi-RPD-group, consumable costs were significantly higher (€6149.2 versus €1267.4, p

The review describes the treatment methods for skull base meningiomas and promising modern trends in this area. The most significant events in the development of meningiomas’ surgical treatment are described. The current research and scientific approaches to the skull base meningiomas’ treatment are presented: medical robotic systems, targeted therapy, radiosurgery, and proton therapy.

This paper considers a multi-robot formation control scheme for high-order bipartite consensus under time-varying delays. First, a third-order bipartite consensus protocol under time-varying delays is presented, and then a high-order bipartite consensus protocol is extended from it. Then, necessary and sufficient conditions for third-order and high-order multi-agent systems without time-delays are given to attain bipartite consensus following the protocols. Communication time-delays are added to the protocols, and the theory of Lyapunov asymptotic stability is used to obtain sufficient conditions for the multi-agent systems with communication delays to ultimately attain a bipartite consensus. Furthermore, the given protocol is employed for the formation control of multi-robot systems, and a formation control scheme for multi-robot systems with time-varying delays is proposed. Finally, a few simulations are implemented to demonstrate the rationality and availability of the method.

Micro incision vitrectomy system (MIVS) is considered to be one of the most difficult tasks of eye surgery, due to its requirements of high accuracy and delicate operation under blurred vision environment. Therefore, robot-assisted ophthalmic surgery is a potential and efficient solution. Based on that consideration, a novel master-slave system for vitreoretinal surgery is realized. A 4-DOF remote center of motion (RCM) mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented. The forward and inverse kinematics are analyzed for the controller implementation. Then, algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon’s operation accuracy. Finally, Experiments on an eye model are conducted. The results show that the eye robotic system can fulfill surgeon’s motion following and simulate operation of vitrectomy, demonstrating the feasibility of this system.

Radiofrequency ablation (RFA) guided by X-ray images aims to relieve herniated disc pain with minimal invasiveness and fast recovery. It requires an accurate and fast positioning of the puncture needle. We propose a teleoperated robotic system for percutaneous puncture to support RFA. We report the kinematics modelling and workspace analysis of the proposed system, which comprises preliminary and accurate positioning mechanisms. Preliminary positioning mechanism automatically drives the needle to the puncture area, and accurate positioning is then achieved by teleoperation under the guidance of X-ray images. We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace. The workspace of the proposed robot system complies with clinical requirements to support RFA.

Purpose The purpose of this paper is to detail the design and prototyping of a smart automation solution for de-strapping plastic bonding straps on shipping pallets, which are loaded with multiple containers secured by a top-cover as they move on a conveyor belt. Design/methodology/approach The adopted design methodology to have the system perform its function entails using the least number of sensors and actuators to arrive at an economic solution from a system design viewpoint. Two prototypes of the robotic structure are designed and built, one in a research laboratory and another in an industrial plant, to perform localized cutting and grabbing of the plastic straps, with the help of a custom-designed passive localizing structure. The proposed structure is engineered to locate the plastic straps using one degree of freedom (DOF) only. An additional strap removal mechanism is designed to collect the straps and prevent them from interfering with the conveyor. Findings The functionality of the system is validated by performing full-process tests on the developed prototypes in a laboratory setting and under real-life operating conditions at BMW Group facilities. Testing showed that the proposed localization system meets the specified requirements and can be generalized and adapted to other industrial processes with similar requirements. Practical implications The proposed automated system for de-strapping pallets can be deployed in assembly or manufacturing facilities that receive parts in standard shipping pallets that are used worldwide. Originality/value To the best of the authors’ knowledge, this is the first mechanically smart system that is used for the automated removal of straps from shipping pallets used in assembly facilities. The two main novelties of the proposed design are the robustness of the strap localization without the need for computer vision and a large number of DOF, and the critical placement and choice of the cutting and gripping tools to minimize the number of needed actuators.

Multi-robot systems have many potential applications; however, the available results for coordination were based on qualitative information. Fuzzy logic reasoning has a feature of human being thinking, so a novel coordinated algorithm is proposed. The algorithm utilizes sharing sensing information of rooms and semantic robots to coordinating robots in a structured environment exploration. The approach divides all teammate robots into two classes according to robot exploration performance, and divides rooms into large, medium and small ones according to estimations of the individual areas. On the purpose of minimizing exploration time of the system, the reasoning coordination assigns large room to good performance robot, and vice versa. A parameter update law is introduced for fuzzy membership functions. Finally, the results are validated by computer simulations for a structured environment.

The problem of finding the optimal solution in a self-organizing autonomous group robotic system under conditions of uncertainty is considered. A method for assessing the quality of group management based on a statistical and probabilistic decision-making criterion under uncertainty conditions has been developed. A distinctive feature of the method is the use of trust metrics. This approach allows us to identify and reduce the influence of destabilizing factors in the process of information interaction in an autonomous group of cyber-physical objects. The results can be used in the development of algorithms for group control of swarms of autonomous robotic complexes.

Since the outbreak of COVID-19, the public health agencies have been seriously challenged by the pandemic;countries tried to accelerate the quality and quantity of PCR test and tried to improve the storage of testing reagent with different solutions. In Taiwan, TFDA authorized case-by-case on the importation of test reagent for the emergency use and assisted the domestically produced test reagent. In Japan, the robot manufacturer developed an automated PCR viral testing robot system in crowded places, such as airports and stadiums to speed up the test and ceased the infection risk when the health professionals collected the sample. There was also an automated system for the analysis of the novel coronavirus, which the pre-process could automatically conduct the gene analysis to the positive sample, monitor the infection status of the sample and detect new variants. In the Netherlands, the research institute developed a pioneering automated test robot, which claimed to be the fastest and most accurate robotic test system.

Minimally invasive procedures have been increasing in spine surgery, and interest in robotic systems has inclined. In this study, we aimed to evaluate feasibility of a robotic-assisted thoracic spine interbody fusion in a swine model. Neurosurgeons performed the surgical procedures with robotic surgery certificates on the Da Vinci Xi Surgical System. Surgical approaches were applied using four ports while the swine was in the left lateral position. The surgical procedure was accomplished in 70 min including positioning and preparation of robotic system (20 min), placement of ports and thoracic dissection and confirmation of level with the C-arm system (10 min), discectomy and cage insertion (15 min), control of cage position via the C-arm system and closure (10 min). This study showed the anterior thoracic approach with robotic surgery is safe and feasible with providing a wide working area and high image quality.

Constraint-based robot programming allows for implementing sensor-based skills that react to disturbances on the one hand, and composable skills that dynamically create and reconfigure complex robot behaviors on the other hand. In this letter, we address a class of problems where composing appropriate skills prior to execution is inconvenient due to unpredictable events of disturbances. To this end, we propose an autonomous replanning and acting framework that computes and executes reactive composed skills at runtime. We formulate a model of constraint-based skills and present methods for executing concurrent skill compositions at runtime without interrupting the ongoing task execution. In order to autonomously compute reactive composed skills at runtime, we propose a temporal description of planning actions, corresponding to robot skills, that ensures concurrency at the task planning level. We validate our work on a dual-arm robot system that performs an industrial assembly task while reacting to obstacle and human-induced disturbances at runtime.

The highly infectious and serious nature of coronavirus disease 2019 (COVID-19) has highlighted the need for hospital space disinfection technology and the prevention of human exposure to pathogenic environments. This research developed novel chlorine dioxide (ClO2) sterilization technology to reduce bacteria and viruses in the air and on surfaces. A smart sterilization robot system was also developed to spray disinfectants in operating theaters or patients’ rooms, designed according to the results of controlled experiments and the requirements for hospital disinfection. The system was built incorporated a semi-automatic remote-controlled module and an automatic intelligent disinfection function; that is, it could operate independently according to specific epidemic prevention strategies, which were implemented using a combination of Internet of Things (IoT) applications and a gesture recognition function. The elimination of Escherichia coli ( E. coli ) bacteria on sample plates was 99.8 % effective. This paper reviews the evolution of various disinfection technologies and describes a disinfection robot system in detail.

Cell rotation has great significance for cell manipulation, which is applied to intracytoplasmic sperm injection, preimplantation genetic screening and diagnosis, somatic cell nuclear transfer, etc. In this letter, an automatic cell rotation method is proposed based on real-time detection and tracking of the polar body. Image segmentation and visual tracking are combined to detect the polar body accurately and robustly during cell rotation. Both out-of-plane and in-plane rotation are realized by utilizing a pair of standard glass micropipettes. In experiments, two kinds of oocytes, which are quite different in appearance, are used to validate the system. For mouse oocytes, the robotic system achieved a 98% success rate of out-of-plane rotation and a 93% success rate of in-plane rotation. For porcine oocytes, the robotic system achieved an 80% success rate of out-of-plane rotation and a 93% success rate of in-plane rotation. The average time of cell rotation is approximately 9.1s for mouse oocytes and 12.8s for porcine oocytes. The experiment results demonstrate that the proposed method is effective, stable and high speed for automatic cell rotation in 3D.

Svrha ovog rada je dobivanje detaljnijih informacija o dobrobitima odnosno utjecajima suvremene tehnologije na ponašanje krava te njihovu produktivnost u intenzivnim uvjetima uzgoja. Isto tako ovaj rad prikazuje koje su prepreke u primjeni takvih robotiziranih sustava. Cilj rada se svodi na pobliže upoznavanje o robotiziranim sustavima, ponašanju muznih krava i njihovom fiziologijom. Ovaj se rad temelji na informacijama dobivenih iz prijašnjih istraživanja koji su uzeti iz pouzdanih izvora. Način primjene ove tehno logije te njezin utjecaj na funkciju životinje je tema koja je više auktualna u stranim izvorima. No, postoje i pouzdani izvori iz istraživanja koji su sprovedeni na domaćim farmama. Rezultat pokazuje da unatoč nedostacima ovakve tehnologije postoji opravdani razlog za korištenje robotiziranih sustava. Dobrobiti su mnogobrojne u smislu povećanja produktivnosti mlijeka, poboljšavanje zdravlja životinje i omogućavanja pogodnijih uvjeta za život na farmi same životinje. Potencijalni nedostaci primjene robota na farmi su veliki troškovi i duže prilagođavanje životinje na robota. No, ispostavlja se da primjena ovakve tehnologije dugoročno postaje isplativa kako ekonomski tako i za samu dobrobit životinje., The purpose of this paper is to obtain more detailed information on the benefits and impacts of modern technology on the behavior of dairy cows and their productivity in intensive breeding conditions. Also, this paper shows what are the obstacles in the application of such robotic systems. The aim of this paper is to get acquaintes with dairy robotic systems, the behavior of dairy cows and their physiology. This paper is based on information obtained from previous research taken from realiable sources. The methos od application of this technology and its impact on the function of the animal is a topic tht is more current in foreign sources. But there are also reliable sosurces from research conducted in domestic farms. The result shows that despite the short comings of this technology, there is a good reason to use robotic systems. The beenfits are numerous in terms of increasing milk productivity, improving animal health and providing more favorable living conditions on the farm itself. Potential disadvantages of using a robot on a farm are high costs and potentially longer adaptation of the animal to the robot. However, it turns out that the application of such technology becomes profitable in the long run, both economically and for the welfare of the animal.