This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

OBJECTIVES Laparoscopic partial nephrectomy requires advanced training to accomplish tumor resection and renal reconstruction while minimizing warm ischemia times. Complex renal tumors add an additional challenge to a minimally invasive approach to nephron-sparing surgery. We describe our technique, illustrated with video, of robotic partial nephrectomy for complex renal tumors, including hilar...

Automation of cell microinjection greatly reduces operational difficulty, but cell fixation remains a challenge. Here, we describe an innovative device that solves the fixation problem without single-cell operation. The microarray cylinder is designed with a polydimethylsiloxane (PDMS) material surface to control the contact force between cells and the material. Data show that when the injectio...

This paper presents a technology for robotic assembly of Polymer Electrolyte Membrane Fuel Cells (PEMFCs). We describe the most recent configuration of the end-effector used for robotic assembly of PEMFCs, the robot workcell, the fuel cell components and the method of automated assembling fuel cell stacks. In this second generation of end-effector and workcell designs, the productivity of the a...

A robotic cell is a manufacturing system that is widely used in industry. Our research concerns scheduling of multiple products in a robotic cell served by a dual-gripper robot. The cell contains two robot-served machines repetitively producing a set of multiple parts in a steady state. The processing constraints specify the cell to be a flow shop. The purpose is to find simultaneously a robot ...

In this manuscript, the reliability of a robotic system has been analyzed using the available data (containing vagueness, uncertainty, etc). Quantification of involved uncertainties is done through data fuzzification using triangular fuzzy numbers with known spreads as suggested by system experts. With fuzzified data, if the existing fuzzy lambda–tau (FLT) technique is employed, then the comput...

BACKGROUND Few studies have described robotic sleeve resection with pulmonary resection. Here, we report the successful implementation of a completely portal robotic sleeve resection with or without pulmonary resection using a modified suture mode. METHODS In total, 339 patients underwent curative robotic pulmonary surgery at Ruijin Hospital between May 2015 and September 2017. Three of these...

Currently, most renal masses are detected incidentally while still small in size because of the widespread use of radiological imaging, and most pheochromocytomas are localized in the adrenal glands as unilateral lesions. A 5 × 4-cm right adrenal mass and a 19 × 13-mm exophytic left renal mass were synchronously detected by contrast enhancement on computed tomography and magnetic resonance imag...

flapping-wing robotic insects are small, highly maneuverable flying robots inspired by biologicalinsects and useful for a wide range of tasks, including exploration, environmental monitoring, searchand rescue, and surveillance. recently, robotic insects driven by piezoelectric actuators have achievedthe important goal of taking off with external power; however, fully autonomous operation requir...