Avances en robótica y automatización

Objetivo: Analizar nuestra experiencia de nueve años en el manejo quirúrgico del reflujo vesicoureteral (RVU) con reimplantación ureteral abierta, reimplantación robótica y corrección endoscópica con Deflux. Métodos: Revisamos retrospectivamente todos los pacientes sometidos a intervención quirúrgica por RVU primario en nuestra institución entre 2001 y 2010. El éxito del tratamiento se definió como la resolución completa del RVU en la cistouretrografía miccional postoperatoria. Las cirugías fueron realizadas por cuatro urólogos pediátricos. Todas las reimplantaciones robóticas fueron realizadas por un solo cirujano. Las comparaciones categóricas se realizaron utilizando la prueba de Chi-cuadrado de Pearson o la prueba exacta de Fisher, y las variables continuas se compararon utilizando la U de Mann-Whitney. Resultados: Se incluyeron ciento ochenta y tres pacientes (287 uréteres). Catorce pacientes se sometieron a cirugía robótica, mientras que las cohortes de cirugía abierta y Deflux incluyeron 93 y 76 pacientes, respectivamente. Debido al tamaño de muestra significativamente menor de la cohorte robótica, se realizaron comparaciones estadísticas solo entre las cohortes de cirugía abierta y Deflux. La tasa de resolución de RVU posoperatoria fue del 100 % (abierta), 85 % (robótica) y 78,4 % (Deflux). La reimplantación abierta tuvo una tasa de resolución de RVU significativamente mayor que Deflux (p < 0,001). En general, el 13,9 % de los pacientes desarrolló reflujo contralateral, sin diferencias significativas entre las cohortes abierta y Deflux. Conclusiones: En este estudio, encontramos tasas de éxito significativamente mayores con la reimplantación abierta en comparación con Deflux. Si bien la reimplantación robótica tuvo altas tasas de éxito y estadías hospitalarias cortas, el tamaño de muestra más pequeño limitó la comparación estadística de esta modalidad con la cirugía abierta o Deflux. Continuamos inscribiendo pacientes en una serie prospectiva de todos los procedimientos de RVU en nuestra institución, lo que dará como resultado comparaciones más sólidas.

In industries, measuring the parameters of machines is still a tedious process which is carried out by some human personnel. This paper mainly focuses on the remedial measures made to reduce human interaction with machines by using Industrial monitoring robot. This robot is hanged over the ropes to measure the parameters of machines in aerial mode. During its travel, the robot collects the parameters from the machines and transmits to control room using ZIG-BEE protocol. The control room interface with the robot is designed using MATLAB GUI model. MATLAB GUI interface shows the parameter readings from the robot and plotted in graph. The robot mainly observes temperature, smoke, toxic gases, Light intensity, defect in manufacturing machines, security purposes using cameras. Any abnormal change in the parameters can be viewed in the graph and remedial measures can be made immediately without any delay, this prevents machine damage to a greater extent. This robot is also used to indicate hazardous conditions like fire, leakage of pipes etc. to the control room using buzzers.

Internet of things is becoming the most growing technology in recent days. Main idea behind the IoT is to extract the various values from various sensors which are attached to various objects by connecting them to the network and automating the actions performed by the object or a system. In this review paper, a study is made to understand the importance of use of IoT in humanoid robots. In order to appreciate this growing technology, this technology should be implemented to as many objects as possible so that everything will get connected in future. Along with other hardware developments, 5G internet technology is also getting developed rapidly. Use of IoT in humanoid will make many things easier to monitor and control in many ways which is discussed further in this paper. Case studies are also involved in this study to get the brief idea about how the hardware development is being done in this area. Comparison of various hardwares available to make the system work is done considering the factors like cost, ease of development, simplicity, etc.

It is well known that the inverse kinematics problem for the spherical serial manipulator has been solved in the past by diverse methods; but this problem for a generalized architecture based on the Denavit-Hartenberg parameters has not been treated. Therefore, this paper considers such treatment in a geometric analysis to derive a closed-form solution of the inverse kinematics problem, whose algorithm is validated by simulating pick and place operations. With the code implementation of a novel linear tracking algorithm introduced here, this application is accomplished in real time with the aid of a development software devoted to simulate robotic applications in real time, allowing the visualization of the performance of all possible architectures including the eight types defined in this paper; It is also shown that the Stanford arm is comprised within this classification. In order to demonstrate the great potential offered by combining the algorithms released here in simulations for industrial applications requiring a quick response, a case study is presented by taking as examples, the Stanford manipulator and a spherical manipulator with generalized architecture.

Aerospace manufacturing industry is unique in that production typically focuses on high variety and quality but extremely low volume. Manufacturing processes are also sometimes unique and not repeatable and, hence, costly. Production is getting more expensive with the introduction of industrial robots and their cells. This paper describes the development of the Flexa Cell Coordinator (FCC), a system that is providing a solution to manage resources at assembly cell level. It can control, organise and coordinate between the resources and is capable of controlling remote cells and resources because of its distributed nature. It also gives insight of a system to the higher management via its rich reporting facility and connectivity with company systems e.g., Enterprise Resource Planner (ERP). It is able to control various kinds of cells and resources (network based) which are not limited to robots and machines. It is extendable and capable of adding multiple numbers of cells inside the system. It also provides the facility of scheduling the task to avoid the deadlocking in the process. In FCC resources (e.g., tracker) can also be shared between cells.

A system for cooperation of two robot system was developed to solve the problem of shortage of labor and to improve efficiency of field work. A safety model of a robot tractor was proposed for coordination and cooperation of two robots. Each robot has its own pre-determined path, and tracking the path is independent of the other robot. Thus, by controlling the velocity of each robot, the robots can keep a certain shape when working due to radio communication between the two robots. As for headland turn, the two robots turn together as long as they are in a safe condition. Computer simulation was conducted to confirm the effectiveness of this system. The results showed that it is possible for two robots to work safely together applying the developed safety model. Compared with work by a single robot, this system using two robots can improve work efficiency by at least 80 percent.