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Automatic generation of controllers for embodied legged organisms: a Pareto evolutionary multi-objective approach

Teo J, Abbass HA

Evol Comput, 2004;12(3):355-94.
PMID: 15355605

In this paper, we investigate the use of a self-adaptive Pareto evolutionary multi-objective optimization (EMO) approach for evolving the controllers of virtual embodied organisms. The objective of this paper is to demonstrate the trade-off between quality of solutions and computational cost. We show empirically that evolving controllers using the proposed algorithm incurs significantly less computational cost when compared to a self-adaptive weighted sum EMO algorithm, a self-adaptive single-objective evolutionary algorithm (EA) and a hand-tuned Pareto EMO algorithm. The main contribution of the self-adaptive Pareto EMO approach is its ability to produce sufficiently good controllers with different locomotion capabilities in a single run, thereby reducing the evolutionary computational cost and allowing the designer to explore the space of good solutions simultaneously. Our results also show that self-adaptation was found to be highly beneficial in reducing redundancy when compared against the other algorithms. Moreover, it was also shown that genetic diversity was being maintained naturally by virtue of the system's inherent multi-objectivity.

Matched MeSH terms: Robotics
Robotic repair of vesicovaginal fistula: case series of five patients

Sundaram BM, Kalidasan G, Hemal AK

Urology, 2006 May;67(5):970-3.
PMID: 16698357

To describe a technique of robotic repair of vesicovaginal fistula (VVF) and present our experience with 5 such patients.

Matched MeSH terms: Robotics*
Development of robotic program: an Asian experience

Sahabudin RM, Arni T, Ashani N, Arumuga K, Rajenthran S, Murali S, et al.

World J Urol, 2006 Jun;24(2):161-4.
PMID: 16607550

Robotic surgery was started in the Department of Urology, Hospital Kuala Lumpur, in April 2004. We present our experience in developing the program and report the results of our first 50 cases of robotic radical prostatectomy. A three-arm da Vinci robotic system was installed in our hospital in March 2004. Prior to installation, the surgeons underwent training at various centers in the United States and Paris. The operating theatre was renovated to house the system. Subsequently, the initial few cases were done with the help of proctors. Data were prospectively collected on all patients who underwent robot-assisted radical prostatectomy for localized carcinoma of the prostate. Fifty patients underwent robot assisted radical prostatectomy from March 2004 to June 2005. Their ages ranged from 52 to 75 years, (average age 60.2 years). PSA levels ranged from 2.5 to 35 ng/ml (mean 10.6 ng/ml). Prostate volume ranged from 18 to 130 cc (average 32.4 cc). Average operating time for the first 20 cases was 4 h and for the next 30 cases was 2.5 h. Patients were discharged 1-3 days post-operatively. Catheters were removed on the fifth day following a cystogram. The positive margin rate as defined by the presence of cancer cells at the inked margin was 30%. Twenty-one patients had T1c disease and one had T1b on clinical staging. Of these, two were apical margin positive. Twenty-six patients had T2 disease and eight of them were apical margin positive. Two patients had T3 disease, one of whom was apical margin positive. Five patients (10%) had PSA recurrence. Five patients had a poorly differentiated carcinoma and the rest had Gleason 6 or 7. Eighty percent of the patients were continent on follow-up at 3 months. Of those who were potent before the surgery, 50% were potent at 3-6 months. The robotic surgery program was successfully implemented at our center on the lines of a structured program, developed at Vattikuti Urology Institute (VUI). We succeeded in creating a team and safely implemented the robotic program in our system. Adequate funding and extensive training followed by a short term proctoring are essential for this implementation.

Matched MeSH terms: Robotics*
Robotic-assisted laparoscopic ureteral reimplantation with psoas hitch: a multi-institutional, multinational evaluation

Patil NN, Mottrie A, Sundaram B, Patel VR

Urology, 2008 Jul;72(1):47-50; discussion 50.
PMID: 18384858 DOI: 10.1016/j.urology.2007.12.097

To report the collective experience of three multinational institutions with the use of robotics to evaluate and treat complex distal ureteral obstruction.

Matched MeSH terms: Robotics/methods*
Fulltext A practical model for endodontic radiography teaching

Che Ab Aziz, Z.A.

Ann Dent, 2008;15(2):67-70.
MyJurnal

Aim: To manufacture a clinical simulation apparatus for the undergraduates' endodontic radiography teaching Objectives: • To provide a model for teaching of parallax method using Kelly's forcep • To provide a model for undergraduates to practice radiographic localization employing parallax method. • To allow students to practice taking radiographs in a way that simulates the clinical situations with a good diagnostic quality Methods: Impressions of a dentate arch (maxillary and mandibullary) were used to form a stone cast. A section of the cast, in the area where the natural teeth were to be placed, is sectioned and removed. Three maxillary extracted teeth (canine, first and second premolar) were selected and mounted with acrylic resin at the sectioned area. The resin was cured in a light box. The arches were mounted in a phantom head with a placement of rubber cheek. The first premolar was isolated with rubber dam. The intraoral holder (Kelly's forcep) was attached to a robotic arm. The students were taught the correct angulations of the x-ray cone for the paralleling technique and parallax method using Kelly's forcep during root canal treatment. Results: All students managed to complete the exercise and were considered competent when they produced acceptable quality of radiographs. Conclusion: The model described was improvised from a model that has been used during the past 2 years for undergraduates' endodontic courses. It has been well accepted as it simulates the clinical situation more closely than was possible previously.

Matched MeSH terms: Robotics
Fulltext Robotic surgery: where are we today?

Obaid, Kadhim Jawad, Sood, Suneet

Medical Health Reviews, 2009;2009(1):59-73.
MyJurnal

Robotic surgery is a technique that uses mechanical, computercontrolled arms to conduct surgical operations. It carries the advantages of minimal access associated with laparoscopic surgery, and of precision associated with open surgery. It is also feasible to conduct robotic surgery with the surgeon far away, by “telerobotics”. The robot is more versatile than the human arm, and less susceptible to tremors. The view is excellent, and it is possible to conduct more intricate procedures than are possible with the human hand. Robotics has been in use for over seven years, and the initial experience shows that the success rate is over 90%, with only about 10% of cases needing to be converted to open surgery. Blood loss is low, and tumour margins in cancer surgery are satisfactory. Surgeons have used robotics for procedures in urology, gastrointestinal surgery, gynecology, cardiac surgery, neurosurgery, orthopedics, and other specialties. Presently, robotics suffers from two major disadvantages: one, that it is very expensive, and two, that robotic procedures take significantly longer than do open or laparoscopic procedures.

Matched MeSH terms: Robotics
Laparoscopic approach to small renal mass

Teh GC

Urol Oncol, 2010 Nov-Dec;28(6):682-5.
PMID: 21062652 DOI: 10.1016/j.urolonc.2010.03.017

With maturing functional and oncologic outcomes data, open partial nephrectomy (OPN) has become the standard of care for T1a renal tumor. Laparoscopic approach can provide a speedier recovery with less blood loss and postoperative pain. Presuming adequate laparoscopic expertise, laparoscopic partial nephrectomy can provide equivalent oncologic outcome as for OPN albeit with higher urologic complications rate and longer warm ischemia time. With refinement of technique and use of robotic assistant, the shortcomings of laparoscopic approach can be further reduced. This article is a mini-review on the current status of laparoscopic approach to partial nephrectomy in the management of small renal mass.

Matched MeSH terms: Robotics
Asian robotic experience

Sundram M

Urol Oncol, 2010 Nov-Dec;28(6):677-81.
PMID: 21062651 DOI: 10.1016/j.urolonc.2010.03.003
Matched MeSH terms: Robotics/trends*; Robotics/statistics & numerical data*
Fulltext Design and development of eggplant harvester for gantry system

Wan Ishak, W.I., Kit, W.H., Awwal, M. A.

Pertanika Journal of Science & Technology, 2010;18(2):-.
MyJurnal

This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PLC. Meanwhile, a PLC ladder diagram was designed and developed to control the operation of the eggplant harvester. A visual basic programme was developed to interface the harvester with a greenhouse gantry control system. A videogrammetry method was employed to calculate the distance between the stems of eggplants and the cutter of robot end effector. The end effector used electric as its power source and it was controlled via Programmable Logic Controller (PLC). Visual Basic Programme was developed to interface the harvester with the gantry control system. The accuracy of the videogrammetry was tested to be 67.2% for X-axis, 88.2% for Y-axis and 84.7% for Z-axis. Meanwhile, the speed of the end effector for harvester is 2.4 km/h and it could lift up to 55 cm. In order to determine detachment force of eggplant, 16 samples of mature eggplants were tested in a greenhouse, and as a result, more than 22.76 N force was needed to detach a mature eggplant inside the gantry system.

Matched MeSH terms: Robotics
Fulltext Robotic neurosurgery: a preliminary study using an active vision-guided robotic arm for bone drilling and endoscopic manoeuvres

Awang MS, Abdullah MZ

Malays J Med Sci, 2011 Apr;18(2):53-7.
PMID: 22135587 MyJurnal

Surgical robots have been appearing in operating rooms over the past decade, and neurosurgery has been one of the pioneers in this area. In neurosurgery, the clinical use of robots has been limited to stereotactic procedures and endoscopic manoeuvres, although the brain is a unique organ and well-suited for robotic application. The aim of this study was to assess the ability of our vision-guided robotic system to perform basic neurosurgical procedures.

Matched MeSH terms: Robotics
Extrusion based rapid prototyping technique: an advanced platform for tissue engineering scaffold fabrication

Hoque ME, Chuan YL, Pashby I

Biopolymers, 2012 Feb;97(2):83-93.
PMID: 21830198 DOI: 10.1002/bip.21701

Advances in scaffold design and fabrication technology have brought the tissue engineering field stepping into a new era. Conventional techniques used to develop scaffolds inherit limitations, such as lack of control over the pore morphology and architecture as well as reproducibility. Rapid prototyping (RP) technology, a layer-by-layer additive approach offers a unique opportunity to build complex 3D architectures overcoming those limitations that could ultimately be tailored to cater for patient-specific applications. Using RP methods, researchers have been able to customize scaffolds to mimic the biomechanical properties (in terms of structural integrity, strength, and microenvironment) of the organ or tissue to be repaired/replaced quite closely. This article provides intensive description on various extrusion based scaffold fabrication techniques and review their potential utility for TE applications. The extrusion-based technique extrudes the molten polymer as a thin filament through a nozzle onto a platform layer-by-layer and thus building 3D scaffold. The technique allows full control over pore architecture and dimension in the x- and y- planes. However, the pore height in z-direction is predetermined by the extruding nozzle diameter rather than the technique itself. This review attempts to assess the current state and future prospects of this technology.

Matched MeSH terms: Robotics
Modelling of internal architecture of kinesin nanomotor as a machine language

Khataee HR, Ibrahim MY

IET Nanobiotechnol, 2012 Sep;6(3):87-92.
PMID: 22894532 DOI: 10.1049/iet-nbt.2011.0062

Kinesin is a protein-based natural nanomotor that transports molecular cargoes within cells by walking along microtubules. Kinesin nanomotor is considered as a bio-nanoagent which is able to sense the cell through its sensors (i.e. its heads and tail), make the decision internally and perform actions on the cell through its actuator (i.e. its motor domain). The study maps the agent-based architectural model of internal decision-making process of kinesin nanomotor to a machine language using an automata algorithm. The applied automata algorithm receives the internal agent-based architectural model of kinesin nanomotor as a deterministic finite automaton (DFA) model and generates a regular machine language. The generated regular machine language was acceptable by the architectural DFA model of the nanomotor and also in good agreement with its natural behaviour. The internal agent-based architectural model of kinesin nanomotor indicates the degree of autonomy and intelligence of the nanomotor interactions with its cell. Thus, our developed regular machine language can model the degree of autonomy and intelligence of kinesin nanomotor interactions with its cell as a language. Modelling of internal architectures of autonomous and intelligent bio-nanosystems as machine languages can lay the foundation towards the concept of bio-nanoswarms and next phases of the bio-nanorobotic systems development.

Matched MeSH terms: Robotics*
Fulltext Joint torque reduction of a three dimensional redundant planar manipulator

Yahya S, Moghavvemi M, Almurib HA

Sensors (Basel), 2012;12(6):6869-92.
PMID: 22969326 DOI: 10.3390/s120606869

Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.

Matched MeSH terms: Robotics
Fulltext A review on robot motion planning approaches

Tang, S.H., Khaksar, W., Ismail, N.B., Ariffin, M.K.A.

Pertanika Journal of Science & Technology, 2012;20(1):15-29.
MyJurnal

The ability of a robot to plan its own motion seems pivotal to its autonomy, and that is why the motion planning has become part and parcel of modern intelligent robotics. In this paper, about 100 research are reviewed and briefly described to identify and classify the amount of the existing work for each motion planning approach. Meanwhile, around 200 research were used to determine the percentage of the application of each approach. The paper includes comparative tables and charts showing the application frequency of each approach in the last 30 years. Finally, some open areas and challenging topics are presented based on the reviewed papers.

Matched MeSH terms: Robotics
Comparison of air conditioning ducting measurement data and effect of indoor air data at office building

Amir Abdullah, M.D., Leman, A.M., Norhidayah, A., Syafiq Syazwan, M.M.

Journal of Occupational Safety and Health, 2012;9(3):23-30.
MyJurnal

A poor Indoor Air Quality (IAQ) is a crucial problem which produces by the improper maintenance of Mechanical Ventilation and Air Conditioning (MVAC) ducting. A budget constraint intimidates for the practise of monitoring of the MVAC ducting. Thus IAQ measurements were conducted at the room where the air supplied by centralized air conditioning. It has been performed at four different offices that supply by two different Air Handling Unit (AHU). Walkthrough survey was conducted and the area samplings were selected for data collection. This paper examines the result of comparison of air ducting and air quality at academic office building, Universiti Tun Hussein Onn Malaysia (UTHM). The parameters involved were Temperature (°C), Relative Humidity (RH), Carbon Dioxide (CO2) and Carbon Monoxide (CO). Pictures were also captured to demonstrate the real conditions inside the ducting by using Mechanical Robot. Thus, duct cleaning was recommended to be an exceptional platform for the IAQ improvement.

Matched MeSH terms: Robotics
Robotic single-incision anterior resection for sigmoid colon cancer: access port creation and operative technique

Lim MS, Melich G, Min BS

Surg Endosc, 2013 Mar;27(3):1021.
PMID: 23052525 DOI: 10.1007/s00464-012-2549-0

Potential morbidities related to multiport laparoscopic surgeries have led to the current excitement about single-incision laparoscopic techniques. However, multiport laparoscopy is technically demanding and ergonomically challenging. We present our technique of using the Alexis wound retractor and a surgical glove to fashion an access port and the da Vinci surgical robot to perform single-incision anterior resection.

Matched MeSH terms: Robotics/methods*
Lengkung peralihan licin dengan kuartik bezier satahan

Azhar Ahmad, Jamaludin Md Ali

Sains Malaysiana, 2013;42:989-997.

Kertas ini membincangkan satu keluarga lengkung peralihan satahan licin yang dibina menggunakan dua lingkaran kuartik Bezier. Lingkaran kuartik yang diperkenalkan ini mempunyai enam darjah kebebasan yang memberi kelebihan untuk mempelbagaikan rupa bentuk lingkaran di dalam selangnya. Kelicinan adalah dirujuk melalui ciri-ciri keselanjaran geometri G2 dan kelengkungan monoton yang dimiliki oleh sesuatu lengkung peralihan. Oleh sebab lengkungan ini tidak memiliki sebarang juring, gelung dan titik lengkok balas, di samping tanpa perubahan kelengkungan yang mendadak maka ia amat sesuai untuk aplikasi tertentu dalam Reka Bentuk Berbantukan Komputer (RBK) bagi memenuhi keperluan estatis serta kepentingan fungsinya seperti reka bentuk produk industri, trajektori robot tidak holonomi dan juga reka bentuk mendatar landasan kereta api serta lebuh raya. Sebagai suatu perwakilan polinomial, lingkaran kuartik Bezier ini mampu digabungjalinkan ke dalam sistem RBK yang kebanyakannya berasaskan perwakilan NURBS (nonuniform rational B-splines).

Matched MeSH terms: Robotics
Fulltext Robot-assisted radiofrequency ablation of primary and secondary liver tumours: early experience

Abdullah BJ, Yeong CH, Goh KL, Yoong BK, Ho GF, Yim CC, et al.

Eur Radiol, 2014 Jan;24(1):79-85.
PMID: 23928933 DOI: 10.1007/s00330-013-2979-7

OBJECTIVE: Computed tomography (CT)-compatible robots, both commercial and research-based, have been developed with the intention of increasing the accuracy of needle placement and potentially improving the outcomes of therapies in addition to reducing clinical staff and patient exposure to radiation during CT fluoroscopy. In the case of highly inaccessible lesions that require multiple plane angulations, robotically assisted needles may improve biopsy access and targeted drug delivery therapy by avoidance of the straight line path of normal linear needles.
METHODS: We report our preliminary experience of performing radiofrequency ablation of the liver using a robotic-assisted CT guidance system on 11 patients (17 lesions).
RESULTS/CONCLUSION: Robotic-assisted planning and needle placement appears to have high accuracy, is technically easier than the non-robotic-assisted procedure, and involves a significantly lower radiation dose to both patient and support staff.
KEY POINTS: • An early experience of robotic-assisted radiofrequency ablation is reported • Robotic-assisted RFA improves accuracy of hepatic lesion targeting • Robotic-assisted RFA makes the procedure technically easier with significant lower radiation dose.

Matched MeSH terms: Robotics*
Automatic alkaloid removal system

Yahaya MR, Hj Razali MH, Abu Bakar CA, Ismail WI, Muda WM, Mat N, et al.

Pak J Biol Sci, 2014 Jan 01;17(1):141-5.
PMID: 24783795

This alkaloid automated removal machine was developed at Instrumentation Laboratory, Universiti Sultan Zainal Abidin Malaysia that purposely for removing the alkaloid toxicity from Dioscorea hispida (DH) tuber. It is a poisonous plant where scientific study has shown that its tubers contain toxic alkaloid constituents, dioscorine. The tubers can only be consumed after it poisonous is removed. In this experiment, the tubers are needed to blend as powder form before inserting into machine basket. The user is need to push the START button on machine controller for switching the water pump ON by then creating turbulence wave of water in machine tank. The water will stop automatically by triggering the outlet solenoid valve. The powders of tubers are washed for 10 minutes while 1 liter of contaminated water due toxin mixture is flowing out. At this time, the controller will automatically triggered inlet solenoid valve and the new water will flow in machine tank until achieve the desire level that which determined by ultra sonic sensor. This process will repeated for 7 h and the positive result is achieved and shows it significant according to the several parameters of biological character ofpH, temperature, dissolve oxygen, turbidity, conductivity and fish survival rate or time. From that parameter, it also shows the positive result which is near or same with control water and assuming was made that the toxin is fully removed when the pH of DH powder is near with control water. For control water, the pH is about 5.3 while water from this experiment process is 6.0 and before run the machine the pH of contaminated water is about 3.8 which are too acid. This automated machine can save time for removing toxicity from DH compared with a traditional method while less observation of the user.

Matched MeSH terms: Robotics/instrumentation*
Recent trends for practical rehabilitation robotics, current challenges and the future

Yakub F, Md Khudzari AZ, Mori Y

Int J Rehabil Res, 2014 Mar;37(1):9-21.
PMID: 24126254 DOI: 10.1097/MRR.0000000000000035

This paper presents and studies various selected literature primarily from conference proceedings, journals and clinical tests of the robotic, mechatronics, neurology and biomedical engineering of rehabilitation robotic systems. The present paper focuses of three main categories: types of rehabilitation robots, key technologies with current issues and future challenges. Literature on fundamental research with some examples from commercialized robots and new robot development projects related to rehabilitation are introduced. Most of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars. The field of rehabilitation robot research is expanding; in light of this, some of the current issues and future challenges in rehabilitation robot engineering are recalled, examined and clarified with future directions. This paper is concluded with some recommendations with respect to rehabilitation robots.

Matched MeSH terms: Robotics/instrumentation; Robotics/trends*

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