基于网络的SOMR遥操作系统的研究

基于网络的SOMR（单操作者操作多机器人）遥操作系统可以通过网络将人的智能与多机器人系统的智能相结合，弥补多机器人自主性的不足，从而使得多机器人能够在复杂的非结构环境下执行任务，大大拓展多机器人系统的应用，因而有着广阔的应用前景。 多机器人系统的复杂性决定了操作者很难直接控制多机器人系统，因而多机器人系统需要具有一定的局部自主协调能力，同时操作者和多机器人系统之间还需要具有良好的交互能力，从而达到人机之间的协调工作。以网络作为操作者与多机器人系统进行交互的媒介，网络的时延、时延抖动、多通道传输等问题将给多机器人遥操作系统带来许多困难。目前，对于单操作者通过网络遥操作多机器人系统的研究还较少。本文在分析了现有的遥操作技术和理论的基础上，对基于网络的SOMR遥操作系统主要进行了以下深入细致的研究： 1. 根据基于网络的SOMR遥操作系统的特点，提出了基于网络的SOMR遥操作系统的体系结构ANSOMR（Architecture for Network based SOMR teleoperation system）。ANSOMR体系结构结合了自上而下和自下而上两种体系结构的优点，并充分考虑了系统中的人机交互，意义明确，易于扩展。 2. 围绕ANSOMR体系结构研究系统中多机器人的局部自主和协调，通过基于行为的方法实现了基于网络的SOMR遥操作系统中机器人的基本自主能力，并为多机器人系统的自主协调建立了分层混杂自动机模型。 3. 在ANSOMR体系结构的交互层中，应用多模式控制的方法丰富了操作者对多机器人系统的操作和控制手段，并通过集成多模式控制接口、超媒体反馈和操作界面构成了基于网络的SOMR遥操作系统的人机交互接口，实现了多机器人系统的自主与操作者能力的结合。 4. 研究了网络时延对多机器人遥操作系统的影响，应用基于事件的方法保证了系统的稳定性，并在此基础上提出了一种带有时间标记的基于事件的方法，将基于事件的方法与基于时间的多机器人系统的局部自主规划结合了起来，解决了事件之间的时延对操作者与多机器人系统之间交互的影响，从而提高了系统的效率。 5. 将网络遥操作技术应用于足球机器人系统，建立了基于网络的遥操作足球机器人系统作为实验平台，应用ANSOMR体系结构，封装了足球机器人的基本行为，分析了机器人足球比赛的状态空间，应用分层混杂自动机模型实现了足球机器人的角色分配和行为选择，并为系统设计了人机交互接口，从而使实验系统成为了一个典型的基于网络的SOMR遥操作系统。 通过在实验系统中应用各种模型和方法，对理论和方法的研究进行了实验验证，实验结果证明了所提出的方法是有效可行的，对于建立性能良好的基于网络的SOMR遥操作系统具有现实意义。

Biomechanical in vitro evaluation of three stable internal fixation techniques used in sagittal osteotomy of the mandibular ramus: a study in sheep mandibles

Among the osteotomies performed in orthognathic surgery, the sagittal osteotomy of the mandibular ramus (SOMR) is the most common, allowing a great range of movements and stable internal fixation (SIF), therefore eliminating the need of maxillomandibular block in the postoperative period. Objectives: The purpose of this study was to evaluate the biomechanical resistance of three national systems used for SIF in SOMR in sheep mandibles. Material and methods: The study was performed in 30 sheep hemi-mandibles randomly divided into 3 experimental groups, each containing 10 hemi-mandibles. The samples were measured to avoid discrepancies and then subjected to SOMR with 5-mm advancement. In group I, 2.0x12 mm screws were used for fixation, inserted in an inverted "L" pattern (inverted "L" group). In group II, fixation was performed with two 2.0x12 mm screws, positioned in a linear pattern and a 4-hole straight miniplate and four 2.0x6.0 mm monocortical screws (hybrid group). In group III, fixation was performed with two-hole straight miniplates and eight 2.0x6.0 mm monocortical screws (mini plate group). All materials used for SIF were supplied by Osteosin - SIN. The hemimandibles were subjected to vertical linear load test by Kratos K2000MP mechanical testing unit for loading registration and displacement. Results: All groups showed similar resistance during mechanical test for loading and displacement, with no statistically significant differences between groups according to analysis of variance. Conclusion: These results indicate that the three techniques of fixation are equally effective for clinical fixation of SOMR.

Biomechanical in vitro evaluation of three stable internal fixation techniques used in sagittal osteotomy of the mandibular ramus: a study in sheep mandibles

Among the osteotomies performed in orthognathic surgery, the sagittal osteotomy of the mandibular ramus (SOMR) is the most common, allowing a great range of movements and stable internal fixation (SIF), therefore eliminating the need of maxillomandibular block in the postoperative period. Objectives: The purpose of this study was to evaluate the biomechanical resistance of three national systems used for SIF in SOMR in sheep mandibles. Material and methods: The study was performed in 30 sheep hemi-mandibles randomly divided into 3 experimental groups, each containing 10 hemi-mandibles. The samples were measured to avoid discrepancies and then subjected to SOMR with 5-mm advancement. In group I, 2.0x12 mm screws were used for fixation, inserted in an inverted "L" pattern (inverted "L" group). In group II, fixation was performed with two 2.0x12 mm screws, positioned in a linear pattern and a 4-hole straight miniplate and four 2.0x6.0 mm monocortical screws (hybrid group). In group III, fixation was performed with two-hole straight miniplates and eight 2.0x6.0 mm monocortical screws (mini plate group). All materials used for SIF were supplied by Osteosin - SIN. The hemimandibles were subjected to vertical linear load test by Kratos K2000MP mechanical testing unit for loading registration and displacement. Results: All groups showed similar resistance during mechanical test for loading and displacement, with no statistically significant differences between groups according to analysis of variance. Conclusion: These results indicate that the three techniques of fixation are equally effective for clinical fixation of SOMR.