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As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists...
The Ship manoeuvring is a closed-loop control system, consisting the ships itself, driving personnel and the navigation environment. with the thought of separate model establishment, the paper makes mathematical models for ships with four degree-of-freedom movement to simulate the rolling angle ships under effect of different environments, such as wind, wave, current and so on, then we find that In...
We propose a method for synthesizing decentralized feedback controllers for a team of multiple heterogeneous agents navigating a known environment with obstacles. The controllers are designed to drive agents with limited team state information to goal sets while avoiding collisions and maintaining specified proximity constraints. The method, its successful application to nonholonomic agents in dynamic...
In allusion to the autonomous behavior of autonomous underwater vehicle (AUV), it is difficult to research its adaptability and reaction to the environment at present. According to the problems of motion planning in uncertain environment, behavior models were proposed and explained for AUV horizontal motion. Models for goal forward behavior, obstacle avoiding behavior and macro-behavior for horizontal...
In pelvic-acetabular surgery, it is extremely important to position the tools accurately and precisely for drilling and milling operations. Thanks to the advanced robotics technology in recent years, some of the industrial robotics arms are able to achieve good repeatability and dexterity while positioning the surgical tools. Compatibility in the operation room is another concern while using the commercial...
This paper presents a new method for reactive collision avoidance for mobile robots in complex and cluttered environments. Our technique is to adapt the ldquodivide and conquerrdquo approach of the nearness-diagram+ navigation (ND+) method to generate a single motion law which applies for all navigational situations. The resulting local path planner considers all the visible obstacles surrounding...
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