A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

http://ieeexplore.ieee.org/iel2/815/3148/00100651.pdf

Robot vision

Lignocellulosic biomass pyrolysis mechanism: A state-of-the-art review

Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applications, coordinate frame choices, and analytical formalisms employed. In this paper we review several modeling approaches in a common frame and notational convention, illustrating that for piecewise constant curvature, they produce identical results. This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific. These mappings are then developed both for the single-section and for the multi-section case. Similarly, we discuss the decomposition of differential kinematics (the robotâ??s Jacobian) into robot-specific and robot-independent portions. The paper concludes with a perspective on several of the themes of current research that are shaping the future of continuum robotics.

/pdf/design-and-kinematic-modeling-of-constant-curvature-4wrx5stlzx.pdf

Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats e.g. octopus arms and elephant trunks are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

/pdf/soft-robotics-biological-inspiration-state-of-the-art-and-1esuws0p9g.pdf

Soft robotics: Biological inspiration, state of the art, and future research

In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges.

Continuum Robots for Medical Applications: A Survey

The invention provides a refrigeration module based on annular refrigeration pieces and an efficient fluid rapid cooling device. Rapid cooling and refrigerating of fluid in a pipe can be achieved, therefrigeration module is characterized by comprising two refrigeration units and a thermal conduction piece clamped between the two refrigeration units, each refrigeration unit comprises a liquid cooling cover, a liquid cooling base and the refrigeration piece, a circulation hole allowing fluid to pass through is formed in the middle of each liquid cooling cover, the middle of each liquid coolingbase is provided with a flow way corresponding to the circulation hole, the periphery area of each flow way is sunken inwards to form a liquid cooling groove, each liquid cooling groove is provided with a liquid inlet and a liquid outlet, the rear end of each flow way extends outwards from the bottom wall of the corresponding liquid cooling groove to form a supporting pipe, the liquid cooling bases are covered with the liquid cooling covers, the liquid cooling covers and the liquid cooling grooves form sealed liquid cooling cavities, the circulation holes and the flow ways form sealed fluid channels, the refrigeration pieces are arranged on the periphery face of the supporting pipe in a sleeving manner, the thermal conduction piece is located between the refrigeration pieces of the two refrigeration units, and a flow dividing area in closed communication with the supporting pipe is arranged in the middle.

Refrigeration module based on annular refrigeration pieces and in-pipe fluid rapid cooling device

SPL (Single Port Laparoscopy) might bring improved surgical outcomes but this new procedure needs effective and functional next-generation surgical tools. Although several robotic systems for SPL have been constructed, only manual SPL tools are currently used in clinical SPL procedures. This paper presents the design, construction and experimental characterizations of a stereo handheld camera tool with integrated illumination for SPL. The camera tool can be folded for the insertion into abdomen through a O12mm trocar. Besides providing 3D visualization and illumination of the surgical scene, it can also be unfolded to spare an additional access port for other surgical tools. The actual effectiveness of this camera tool could be further gauged in a surgical setting with other manual SPL tools.

/pdf/design-of-a-stereo-handheld-camera-tool-for-single-port-400oqr8hiz.pdf

Design of a Stereo Handheld Camera Tool for Single Port Laparoscopy

The present study investigated a combination of prostate cancer-targeting doxorubicin (DOX) nanomicelles with photothermal therapy of castration-resistant prostate cancer (CRPC) in vitro and in vivo. Nanomicelles formed by the self-assembly of superparamagnetic ferrite,
 polyethyleneimine, and polyethylene glycol were used as the carriers, and the chemotherapy drug DOX was embedded in the nanomicelles. The photothermal properties of the nanomicelles and the toxic effects of prostate cancer-targeting nanomicelles were evaluated. The therapeutic effects in the
 BP@PGE, BP@PGE+NIR, BP@PGE-dox, and BP@PGE-dox+NIR groups were compared. Prostate cancer-targeting DOX nanomicelles were successfully formed. The drug release was stable, and the cytotoxicity and blood compatibility tests demonstrated that the prostate cancer-targeting DOX nanomicelles were
 safe for normal cells. The temperature of BP@PEG was increased to 52 °C upon a laser irradiation of 808 nm at a power density of 1.5 W/cm2; however, the temperature of BP-DOX was increased to 48 °C within 5 min. DOX loading did not influence the photothermal performance
 of the nanomaterials. The in vitro and in vivo studies showed that the prostate cancer-targeting DOX nanomicelles combined with photothermal therapy were an effective treatment for CRPC. Prostate cancer-targeting DOX nanomicelles had no systemic toxicity to the organism and ensured
 safe biological application of these agents.

The Effect of Prostate Cancer-Targeting Doxorubicin Nanomicelles Combined with Photothermal Therapy on Castration-Resistant Prostate Cancer

The invention relates to a system for catalyzing graphitization of coal by utilizing solar concentration. The system comprises a tower type solar concentrating component and a catalytic graphitizationcomponent; the solar concentrating component comprises a heliostat array and a receiving tower; and the catalytic graphitization component comprises a graphitization reactor disposed on the upper part of the receiving tower. The invention also provides a method for graphitizing pulverized coal by using the system, and the method comprises the following steps: S1, adding pulverized coal and a catalyst into the reactor, introducing inert gas to isolate the reaction raw materials from air; and S2, heating the graphitization reactor to a specified temperature through solar concentration by the heliostat array, and carrying out a reaction for 1-3 hours to obtain a graphitized material. The beneficial effects are as follows that according to the invention, the solar condensation and the catalytic graphitization of coal are effectively combined, and the secondary energy electric energy is replaced by the concentration of the primary energy solar energy to produce a high temperature for catalyzing the graphitization; and according to the requirement of the use of graphite, the solar concentration degree can be appropriately adjusted to change the reaction temperature, so as to reduce theproduction cost of the graphite.

System and method for catalyzing graphitization of coal by utilizing solar concentration

The invention relates to a method for catalytic preparation of graphitized particles by cationic resin for treating industrial inorganic wastewater. The method includes steps: S1, subjecting industrial inorganic wastewater to pretreatment of filtration and concentration, adding cationic resin into pretreated industrial inorganic wastewater, and well mixing for ion exchange reaction; S2, filteringa mixture after reaction, and subjecting obtained solid to high-temperature calcination under inert gas shielding to obtain a crude product; S3, subjecting the crude product obtained in the step S2 towashing, filtering and drying to obtain graphite particles. The method has advantages that efficient recycling of industrial inorganic wastewater is realized to some extent, and high-attached-value graphite is produced.

Kai Xu

Papers

Refrigeration module based on annular refrigeration pieces and in-pipe fluid rapid cooling device

Design of a Stereo Handheld Camera Tool for Single Port Laparoscopy

The Effect of Prostate Cancer-Targeting Doxorubicin Nanomicelles Combined with Photothermal Therapy on Castration-Resistant Prostate Cancer

System and method for catalyzing graphitization of coal by utilizing solar concentration

Method for catalytic preparation of graphitized particles by cationic resin for treating industrial inorganic wastewater