Decentralized navigation and collision avoidance for robotic swarm with heterogeneous abilities

This paper proposes a decentralized navigation method with collision avoidance for a robotic swarm whose individuals possess heterogeneous abilities, such as sensing range and maximum speed. In this method, each agent distributedly constructs and maintains a local directed connection with another agent using only local information, which is relative distance. Moreover, all agents always maintain some distance from other agents to avoid collision. As a result, one leader robot can guide an entire swarm of robots to their destination, and the other robots can follow the leader while maintaining connectivity and not colliding with others. We prove the above mathematically, and we demonstrate the validity of the proposed method by numerical simulation and experimentation

Bounding of a two-legged robot using CPG-based controller inspired by a cheetah simple model

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P

Endoscopic Findings of Post-wedge Bronchoplastic Lobectomy

It is speculated that the advantage of wedge bronchoplastic lobectomy lies in the reduction in the incidence of major anastomotic complications. On the other hand, wedge bronchoscopic lobectomy can result in kinking at the anastomosis site. This study was performed to evaluate the operative outcomes and the postoperative endoscopic findings for wedge resection of the bronchus. From 2004 to 2012, nine patients underwent wedge bronchoplastic lobectomy for lung carcinoma. We evaluated the angles of the wedge and the distance of the preserved parts to the cut line of the bronchus (the so-called bronchial bridge). There were six right upper lobectomies, two middle and lower lobectomies, and one left lower lobectomy. Regarding bronchoscopic findings, five patients who underwent right upper lobectomy showed bulging into the bronchial lumen. There were no anastomotic strictures. Intraoperatively it was noted in these five patients that the bronchial bridge tended to be relatively long and/or the angle of the wedge resection tended to be relatively wide. To prevent bulging into the bronchial lumen after right upper wedge bronchoplastic lobectomy, bronchial wedge excisions should be shaped in order to reduce the length of the bronchial bridge