PROJECT OF RFBR No. 12-08-00415a
"Scientific and engineering foundations of functioning of medical service robots in clinics"
(May 2012 - December 2013)
Abstract
This fundamental research Project
is directed on the solution of the fundamental scientific problem - research and creation of
a scientific and engineering bases of the theory of functioning of the mobile service medical robots (SMR) in actual medical institution.
The first expert assessment
of perspective role functions of SMR in clinics was received on the basis of
which the generalized concept of functioning of SMR in clinics was formulated.
The thesis about the existence of a limited set of elementary algorithms
composing any situational behavior of SMR was put forward, theoretically
reasoned and checked experimentally. The paradigm of the object-oriented
description of habitat of SMR in clinic was formulated and proved. The set of
variables of habitat in clinic was investigated. The thesis about defining role
of sense organs of the robot in formation of a set of variables of habitat as
well as a set of variables of the internal environment of the robot was
formulated. The first working version of the computer imitating model of the
habitat of SMR in clinics on the basis of a programming platform "LabView"
was developed. The formal technical description of objective functions of
appointment, self-preservation and support objective functions of SMR was
developed. The hierarchy was investigated and priorities of the objective
functions of SMR were proved. The set of significant and insignificant variables
for the objective functions of SMR was investigated. The generalized
block-diagram of the considered SMR was developed and the general approach to
the methodology and stages of their design were formulated. The
hardware-software module of the navigation and orientation in space system of
SMR on the basis of the combined application of methods of an ultrasonic
location and an odometry was developed. Patent search was carried out and the
patent application form on the new version of the SMR navigation and orientation
system, based on the results of the project was submitted. By modeling of
movement of the robot according to the offered patent idea the experimental
confirmation of the thesis of possibility of splitting any multiple-parameter
objective functions on a row one-parametrical functions and about possibility of
their representation in the form of a logical condition of the
continuation/termination of the cyclic algorithmic procedures were received. The
first version of the list of specialized medico-technical requirements to SMR
was developed and proved. The executed research on the fundamental statement and
systemic coverage of a problem of creation of scientific and engineering bases
of the theory of SMR advances similar approaches of other authors, as in Russia,
and abroad.