Advances in Robotics & Automation

This 44-year-old nulliparous female patient had suffered from lower abdominal pain and urinary frequency for the past month. Ultrasound and CT showed two uteri myoma about 6.5 cm and 4 cm in size and an adnexal cystic lesion around 9 cm in size. She received several pelvic surgeries previously including abdominal myomectomy, laparoscopic left cystectomy and failed abdominal hysterectomy due to severe pelvic adhesion. Her symptoms persisted and, after seeking multiple consultations with different gynecologists, she was not suggested to have repeat surgery. Finally, she went to our hospital for robotic total hysterectomy surgery and it was performed successfully

The production of isotopes for diagnosis and treatment of cancer patients involves handling and processing of irradiated materials. This process is performed inside heavily shielded workstations termed Hot Cells. A modular robotic design for handling irradiated materials inside hot cells is introduced. The new robotic system is reconfigurable in order to enhance versatility of applications and precision of its tasks. The reliability of the introduced robot control system is assessed using Failure Trees (FT) Methodology. The technology developed in the present work allows for improving productivity and cost effectiveness for production of medical isotopes.

In this paper we are concerned with ∫Γ3λ I statistical convergence of pre-cauchy triple sequences. ∫Γ3λ I statistical convergence implies ∫Γ3λ I statistical pre-Cauchy condition and examine some properties of these concepts. We examine some properties of these concepts, if the triple entire sequence spaces is statistically convergent then statistically pre-Cauchy and also triple sequence of ideal (I3)- is statistically pre-Cauchy

This paper presents a comprehensive analysis of PID controller and implementation of PID by the microcontroller of PIC and the use of PWM in the DC controlling processes. First of all we use the PID controller to control a continuous process by using reasonable factors (P, I, D) in PID and PIC (18f452) will help us during this period of time and after that producing an adequate PWM signal for the use of our pomp to take the motor under our control. We have to use an appropriate IC such as L298 which is a motor driver.

Online gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent navigation. Admittance Controller performs well on flat terrain walking in human-powered exoskeleton systems for acceleration and slowdown. We are the first who proposed Variable Admittance Controller (VAC) for smooth stair climbing control in Human-Powered Exoskeleton Systems. Trajectory correction technique transforms the interaction forces exerted on the exoskeleton from the pilot to appropriate intended joint flexion angles through dynamic viscoelastic models. We demonstrate the proposed control strategy on one degree-of-freedom (1-DOF) platform first, and then extend to the Human power Augmentation Lower Exoskeleton (HUALEX). The experimental results show that the proposed gait transition control strategy can minimize the interaction dynamics with less interaction force between the pilot and the exoskeleton compared to the traditional admittance controller. Compared to Ordinary Admittance Controller, the proposed VAC significantly improve the normalized Mean Squared Error (nMSE) of trajectory tracking from 2.751° to1.105°.

On-line gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent indoor and outdoor navigation. It is still a big challenge to develop a control strategy which makes the exoskeleton supply an efficient tracking for pilot intended trajectories on-line. Considering the number of degrees of freedom the lower limb exoskeletons are simpler to design, compared to upper limb. The comparison between lower limb and upper limb is useless when consider the control issues, because of the differences in missions and applications. Based on the literature, we aim to give an overview about control strategies of some famous lower limb human power exoskeleton systems. In the state of the art, different control strategies and approaches for different types of lower limb exoskeletons will be compared consider the efficiency and economic issues. Exact estimation of needed joints torques to execute human intended motions on-line with efficient performance, low cost and reliable way is the main goal of studied system’s control strategies. We have study different control strategies used for wide known human power augmentation exoskeletons and compare between them in graphs and tables.

Robotic assisted staging surgery has been increasingly employed for a variety of gynecological malignancies such as ovarian, endometrial, and cervical cancers. Here we demonstrate a hand-assisted robotic approach for managing ovarian cancer with large tumor mass and predominantly solid components, where mini-laparotomy is performed followed by robotic surgical staging procedures. In this retrospective descriptive analysis of 29 ovarian cancer patients, admitted from December 2011 to May 2014, who had a large tumor mass (≥ 7 cm) and received laparoscopic surgical staging, traditional robotic surgical staging or hand-assisted robotic procedures, we reviewed for patient demographics, surgical procedures, and perioperative parameters. The results were comparable and we conclude the hand-assisted robotic approach offers a safe and feasible way to perform ovarian cancer surgical staging for patients with large tumor masses.