This paper proposes a master-slave operated robotic system that features the novel slave manipulator with a modular distal continuum section to address the shortcomings of traditional transanal endoscopic microsurgery (TEM). The slave manipulator consists of two 7-DoF surgical instruments and a 5-DoF endoscopic arm that are designed with distal continuum structures and unfolded … [Read more...] about A Robotic System for Transanal Endoscopic Microsurgery: Design, Dexterity Optimization, and Prototyping
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Reinforcement Learning for Outdoor Balloon Navigation: A Successful Controller for an Autonomous Balloon
Autonomous ballooning allows for energy-efficient long-range missions but introduces significant challenges for planning and control algorithms, due to their single degree of actuation: vertical rate control through either buoyancy or vertical thrust. Lateral motion is typically due to the wind; thus, balloon flight is both nonholonomic and often stochastic. Finally, wind is … [Read more...] about Reinforcement Learning for Outdoor Balloon Navigation: A Successful Controller for an Autonomous Balloon
