Flexible Carbon Dioxide Laser Fiber Versus Ultrasonic Scalpel in Robot-Assisted Laparoscopic Myomectomy.

PubMed

Choussein, Souzana; Srouji, Serene S; Farland, Leslie V; Gargiulo, Antonio R

2015-01-01

To compare the effectiveness and safety of a flexible carbon dioxide (CO2) laser fiber to the ultrasonic scalpel when employed through a robotic surgical system. Retrospective cohort study. Level II-2 evidence. Reproductive surgery practice at an academic hospital. Two hundred thirty-six women who had undergone robot-assisted laparoscopic myomectomy with either CO2 laser (n = 85) or the ultrasonic scalpel (n = 151). Robot-assisted laparoscopic myomectomy employing either a flexible CO2 laser fiber or a robotic ultrasonic scalpel as the primary energy tool. Perioperative outcomes (estimated blood loss, operative time, length of hospital stay) of patients undergoing robot-assisted myomectomy with a flexible laser fiber or ultrasonic scalpel. Estimated blood loss and operative time were comparable (p = .95 and p = .55, respectively) between the 2 groups after adjusting for all confounders, whereas length of hospital stay remained significantly different (p = .004). Odds ratio for complications was 0.35 (95% confidence interval 0.08-1.56; p = .17), which denotes no difference in the risk for complications between the 2 groups. Robot-assisted laparoscopic myomectomy with a flexible CO2 laser fiber is safe and has comparable operative outcomes to the ultrasonic scalpel. The small size and flexibility of this device allows robotic surgeons to employ safe focal energy without sacrificing operative ergonomics. Copyright © 2015 AAGL. Published by Elsevier Inc. All rights reserved.

Experiments in advanced control concepts for space robotics - An overview of the Stanford Aerospace Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hollars, M. G.; Cannon, R. H., Jr.; Alexander, H. L.; Morse, D. F.

1987-01-01

The Stanford University Aerospace Robotics Laboratory is actively developing and experimentally testing advanced robot control strategies for space robotic applications. Early experiments focused on control of very lightweight one-link manipulators and other flexible structures. The results are being extended to position and force control of mini-manipulators attached to flexible manipulators and multilink manipulators with flexible drive trains. Experimental results show that end-point sensing and careful dynamic modeling or adaptive control are key to the success of these control strategies. Free-flying space robot simulators that operate on an air cushion table have been built to test control strategies in which the dynamics of the base of the robot and the payload are important.

Experimental Studies of Joint Flexibility for PUMA 560 Robot.

DTIC Science & Technology

1987-03-01

the robot and plant equipment be set up prior to the programming. With the advent of higher level programming languages such as VAL II and the ...SCHOOL I Monterey, California THESIS EC" ft EXPERIMENTAL STUDIES OF JOINT FLEXIBILITY FOR PUNA 560 ROBOT by Dennis K. Gonyier March 1987 Thesis Advisor ...9ABSTRACT (ContInUe on revene ff neccual) and odent’ f by block num~ber) This paper investigates flexibility of the PUMA 560 industrial robot arm. The

[Emotional robots in a nursing context : Empirical analysis of the present use and the effects of Paro and Pleo].

PubMed

Baisch, Stefanie; Kolling, Thorsten; Rühl, Saskia; Klein, Barbara; Pantel, Johannes; Oswald, Frank; Knopf, Monika

2018-01-01

It has been questioned by researchers in robotics as well in the general public to what extent companion-type robots can support the elderly with the fulfillment of their psychological and social needs. Although these robots have already been used in care settings in Germany, research has referred little to this practical experience in order to analyze their impact and benefit. To start to close this gap, the current article reports on the current use of companion-type robots in care settings, on the effects reported by professional caregivers as well as on the role of psychosocial needs in the acceptance and use of companion-type robots by the elderly. In the first study, 30 professional caregivers with experience in the use of the robot seal Paro in care settings were interviewed regarding Paro's application and the observed effects on their clients. In the second study, three case examples are presented from an interaction study in which vulnerable elderly persons had the robot dinosaur Pleo at their disposal for a maximum period of 15 days. Paro is used very flexibly in a variety of settings and with a broad range of user groups (study 1). The reported psychosocial effects were mainly positive but short term. The case examples (study 2) show that psychosocial needs can both foster or hinder robot acceptance and use. They also emphasize the important role of caregivers in the interaction between the elderly and emotional robots in the context of eldercare. The beneficial and ethical use of companion-type robots in care settings demands a high commitment on the part of the caregivers. Given this prerequisite, emotional robots can be a valuable therapeutic tool.

Research in free-flying robots and flexible manipulators at the Stanford Aerospace Robotics Laboratory

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.; Wilson, E.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modeling and control of extremely flexible space structures.

Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot

NASA Astrophysics Data System (ADS)

Lei, Jingtao; Yu, Huangying; Wang, Tianmiao

2016-01-01

The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures' kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.

Flexible Tactile Sensing Based on Piezoresistive Composites: A Review

PubMed Central

Stassi, Stefano; Cauda, Valentina; Canavese, Giancarlo; Pirri, Candido Fabrizio

2014-01-01

The large expansion of the robotic field in the last decades has created a growing interest in the research and development of tactile sensing solutions for robot hand and body integration. Piezoresistive composites are one of the most widely employed materials for this purpose, combining simple and low cost preparation with high flexibility and conformability to surfaces, low power consumption, and the use of simple read-out electronics. This work provides a review on the different type of composite materials, classified according to the conduction mechanism and analyzing the physics behind it. In particular piezoresistors, strain gauges, percolative and quantum tunnelling devices are reviewed here, with a perspective overview on the most used filler types and polymeric matrices. A description of the state-of-the-art of the tactile sensor solutions from the point of view of the architecture, the design and the performance is also reviewed, with a perspective outlook on the main promising applications. PMID:24638126

Simplifying applications software for vision guided robot implementation

NASA Technical Reports Server (NTRS)

Duncheon, Charlie

1994-01-01

A simple approach to robot applications software is described. The idea is to use commercially available software and hardware wherever possible to minimize system costs, schedules and risks. The U.S. has been slow in the adaptation of robots and flexible automation compared to the fluorishing growth of robot implementation in Japan. The U.S. can benefit from this approach because of a more flexible array of vision guided robot technologies.

Miniaturized soft bio-hybrid robotics: a step forward into healthcare applications.

PubMed

Patino, T; Mestre, R; Sánchez, S

2016-10-07

Soft robotics is an emerging discipline that employs soft flexible materials such as fluids, gels and elastomers in order to enhance the use of robotics in healthcare applications. Compared to their rigid counterparts, soft robotic systems have flexible and rheological properties that are closely related to biological systems, thus allowing the development of adaptive and flexible interactions with complex dynamic environments. With new technologies arising in bioengineering, the integration of living cells into soft robotic systems offers the possibility of accomplishing multiple complex functions such as sensing and actuating upon external stimuli. These emerging bio-hybrid systems are showing promising outcomes and opening up new avenues in the field of soft robotics for applications in healthcare and other fields.

A review on the mechanical design elements of ankle rehabilitation robot.

PubMed

Khalid, Yusuf M; Gouwanda, Darwin; Parasuraman, Subramanian

2015-06-01

Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings. © IMechE 2015.

Hedonic quality or reward? A study of basic pleasure in homeostasis and decision making of a motivated autonomous robot.

PubMed

Lewis, Matthew; Cañamero, Lola

2016-10-01

We present a robot architecture and experiments to investigate some of the roles that pleasure plays in the decision making (action selection) process of an autonomous robot that must survive in its environment. We have conducted three sets of experiments to assess the effect of different types of pleasure-related versus unrelated to the satisfaction of physiological needs-under different environmental circumstances. Our results indicate that pleasure, including pleasure unrelated to need satisfaction, has value for homeostatic management in terms of improved viability and increased flexibility in adaptive behavior.

Design of a Compact Actuation and Control System for Flexible Medical Robots.

PubMed

Morimoto, Tania K; Hawkes, Elliot Wright; Okamura, Allison M

2017-07-01

Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications.

Development of a flexible test-bed for robotics, telemanipulation and servicing research

NASA Technical Reports Server (NTRS)

Davies, Barry F.

1989-01-01

The development of a flexible operation test-bed, based around a commercially available ASEA industrial robot is described. The test-bed was designed to investigate fundamental human factors issues concerned with the unique problems of robotic manipulation in the hostile environment of Space.

Dynamics modeling and adaptive control of flexible manipulators

NASA Technical Reports Server (NTRS)

Sasiadek, J. Z.

1991-01-01

An application of Model Reference Adaptive Control (MRAC) to the position and force control of flexible manipulators and robots is presented. A single-link flexible manipulator is analyzed. The problem was to develop a mathematical model of a flexible robot that is accurate. The objective is to show that the adaptive control works better than 'conventional' systems and is suitable for flexible structure control.

Distributed flow sensing for closed-loop speed control of a flexible fish robot.

PubMed

Zhang, Feitian; Lagor, Francis D; Yeo, Derrick; Washington, Patrick; Paley, Derek A

2015-10-23

Flexibility plays an important role in fish behavior by enabling high maneuverability for predator avoidance and swimming in turbulent flow. This paper presents a novel flexible fish robot equipped with distributed pressure sensors for flow sensing. The body of the robot is molded from soft, hyperelastic material, which provides flexibility. Its Joukowski-foil shape is conducive to modeling the fluid analytically. A quasi-steady potential-flow model is adopted for real-time flow estimation, whereas a discrete-time vortex-shedding flow model is used for higher-fidelity simulation. The dynamics for the flexible fish robot yield a reduced model for one-dimensional swimming. A recursive Bayesian filter assimilates pressure measurements to estimate flow speed, angle of attack, and foil camber. The closed-loop speed-control strategy combines an inverse-mapping feedforward controller based on an average model derived for periodic actuation of angle-of-attack and a proportional-integral feedback controller utilizing the estimated flow information. Simulation and experimental results are presented to show the effectiveness of the estimation and control strategy. The paper provides a systematic approach to distributed flow sensing for closed-loop speed control of a flexible fish robot by regulating the flapping amplitude.

Stanford Aerospace Research Laboratory research overview

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Biomask: An Advanced Robotic System for the Real-time, Autonomous Monitoring and Treatment of Facial Burns of Wounded Soldiers

DTIC Science & Technology

2013-04-01

bioreactor systems, a microfluidic -based flexible fluid exchange patch was developed for porcine wound models. A novel design and fabrication process...to be established. 15. SUBJECT TERMS Biomask, burn injury, facial reconstruction, wound-healing, bioreactor, flexible microfluidic , and...and layers of facial skin using different cell types and matrices to produce a reliable, physiologic facial and skin construct to restore functional

A control approach for robots with flexible links and rigid end-effectors

NASA Technical Reports Server (NTRS)

Barbieri, Enrique; Ozguner, Umit

1989-01-01

Multiarm flexible robots with dexterous end effectors are currently being considered in such tasks as satellite retrieval, servicing and repair where a two phase problem can be identified: Phase 1, robot positioning in space; Phase 2, object retrieval. Some issues in Phase 1 regarding modelling and control strategies for a robotic system comprised of along flexible arm and a rigid three-link end effector are presented. The control objective is to maintain the last (rigid) link stationary in space in the presence of an additive disturbance caused by the flexible energy in the first link after a positioning maneuver has been accomplished. Several configuration strategies can be considered, and optimal decentralized servocompensators can be designed. Preliminary computer simulations are included for a simple proportional controller to illustrate the approach.

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1991-01-01

Motion planning and control for the joints of flexible manipulators are discussed. Specific topics covered include control of a flexible braced manipulator, control of a small working robot on a large flexible manipulator to suppress vibrations, control strategies for ensuring cooperation among disparate manipulators, and motion planning for robots in free-fall.

Characteristics of Behavior of Robots with Emotion Model

NASA Astrophysics Data System (ADS)

Sato, Shigehiko; Nozawa, Akio; Ide, Hideto

Cooperated multi robots system has much dominance in comparison with single robot system. It is able to adapt to various circumstances and has a flexibility for variation of tasks. However it has still problems to control each robot, though methods for control multi robots system have been studied. Recently, the robots have been coming into real scene. And emotion and sensitivity of the robots have been widely studied. In this study, human emotion model based on psychological interaction was adapt to multi robots system to achieve methods for organization of multi robots. The characteristics of behavior of multi robots system achieved through computer simulation were analyzed. As a result, very complexed and interesting behavior was emerged even though it has rather simple configuration. And it has flexiblity in various circumstances. Additional experiment with actual robots will be conducted based on the emotion model.

The mechanical design of a humanoid robot with flexible skin sensor for use in psychiatric therapy

NASA Astrophysics Data System (ADS)

Burns, Alec; Tadesse, Yonas

2014-03-01

In this paper, a humanoid robot is presented for ultimate use in the rehabilitation of children with mental disorders, such as autism. Creating affordable and efficient humanoids could assist the therapy in psychiatric disability by offering multimodal communication between the humanoid and humans. Yet, the humanoid development needs a seamless integration of artificial muscles, sensors, controllers and structures. We have designed a human-like robot that has 15 DOF, 580 mm tall and 925 mm arm span using a rapid prototyping system. The robot has a human-like appearance and movement. Flexible sensors around the arm and hands for safe human-robot interactions, and a two-wheel mobile platform for maneuverability are incorporated in the design. The robot has facial features for illustrating human-friendly behavior. The mechanical design of the robot and the characterization of the flexible sensors are presented. Comprehensive study on the upper body design, mobile base, actuators selection, electronics, and performance evaluation are included in this paper.

Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery.

PubMed

Abidi, Haider; Gerboni, Giada; Brancadoro, Margherita; Fras, Jan; Diodato, Alessandro; Cianchetti, Matteo; Wurdemann, Helge; Althoefer, Kaspar; Menciassi, Arianna

2018-02-01

For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack the flexibility to safely maneuver and reach difficult surgical targets. This paper answers this need through designing, fabricating and modelling a highly dexterous 2-module soft robot for minimally invasive surgery (MIS). A soft robotic approach is proposed that uses flexible fluidic actuators (FFAs) allowing highly dexterous and inherently safe navigation. Dexterity is provided by an optimized design of fluid chambers within the robot modules. Safe physical interaction is ensured by fabricating the entire structure by soft and compliant elastomers, resulting in a squeezable 2-module robot. An inner free lumen/chamber along the central axis serves as a guide of flexible endoscopic tools. A constant curvature based inverse kinematics model is also proposed, providing insight into the robot capabilities. Experimental tests in a surgical scenario using a cadaver model are reported, demonstrating the robot advantages over standard systems in a realistic MIS environment. Simulations and experiments show the efficacy of the proposed soft robot. Copyright © 2017 John Wiley & Sons, Ltd.

Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator.

PubMed

Kim, Sung Hoon; Shin, Kyoosik; Hashi, Shuichiro; Ishiyama, Kazushi

2012-09-01

This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities.

A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals.

PubMed

Wang, Hesheng; Zhang, Runxi; Chen, Weidong; Wang, Xiaozhou; Pfeifer, Rolf

2017-08-01

Minimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart. The soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine. Through the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations. Compared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.

Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics

PubMed Central

Herrero, Héctor; Outón, Jose Luis; Puerto, Mildred; Sallé, Damien; López de Ipiña, Karmele

2017-01-01

This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques. PMID:28561750

Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics.

PubMed

Herrero, Héctor; Outón, Jose Luis; Puerto, Mildred; Sallé, Damien; López de Ipiña, Karmele

2017-05-31

This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.

Determination of the robot location in a workcell of a flexible production line

NASA Astrophysics Data System (ADS)

Banas, W.; Sekala, A.; Gwiazda, A.; Foit, K.; Hryniewicz, P.; Kost, G.

2015-11-01

Location of components of a manufacturing cell is apparently an easy task but even during the constructing of a manufacturing cell, in which is planned a production of one, simple component it is necessary, among others, to check access to all required points. The robot in a manufacturing cell must handle both machine tools located in a manufacturing cell and parts store (input and output one). It handles also transport equipment and auxiliary stands. Sometimes, during the design phase, the changes of robot location are necessary due to the limitation of access to its required working positions. Often succeeding changes of a manufacturing cell configuration are realized. They occur at the stages of visualization and simulation of robot program functioning. In special cases, it is even necessary to replace the planned robot with a robot of greater range or of a different configuration type. This article presents and describes the parameters and components which should be taken into consideration during designing robotised manufacturing cells. The main idea bases on application of advanced engineering programs to adding the designing process. Using this approach it could be possible to present the designing process of an exemplar flexible manufacturing cell intended to manufacture two similar components. The proposed model of such designed manufacturing cell could be easily extended to the manufacturing cell model in which it is possible to produce components belonging the one technological group of chosen similarity level. In particular, during the design process, one should take into consideration components which limit the ability of robot foundation. It is also important to show the method of determining the best location of robot foundation. The presented design method could also support the designing process of other robotised manufacturing cells.

Nonlinear adaptive control of an elastic robotic arm

NASA Technical Reports Server (NTRS)

Singh, S. N.

1986-01-01

An approach to control of a class of nonlinear flexible robotic systems is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. An adaptive torquer control law is derived for controlling the joint angles. This controller includes a dynamic system in the feedback path, requires only joint angle and rate for feedback, and asymptotically decomposes the elastic dynamics into two subsystems representing the transverse vibrations of the elastic link in two orthogonal planes. To damp out the elastic vibration, a force control law using modal feedback is synthesized. The combination of the torque and force control laws accomplishes joint angle control and elastic mode stabilization.

Adaptive Control Strategies for Flexible Robotic Arm

NASA Technical Reports Server (NTRS)

Bialasiewicz, Jan T.

1996-01-01

The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

Experimental validation of flexible robot arm modeling and control

NASA Technical Reports Server (NTRS)

Ulsoy, A. Galip

1989-01-01

Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Goal driven kinematic simulation of flexible arm robot for space station missions

NASA Technical Reports Server (NTRS)

Janssen, P.; Choudry, A.

1987-01-01

Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

A telerobotic digital controller system

NASA Technical Reports Server (NTRS)

Brown, Richard J.

1992-01-01

This system is a network of joint mounted dual axes digital servo-controllers (DDSC), providing control of various joints and end effectors of different robotic systems. This report provides description of and user required information for the Digital Controller System Network (DSCN) and, in particular, the DDSC, Model DDSC-2, developed to perform the controller functions. The DDSC can control 3 phase brushless or brush type DC motors, requiring up to 8 amps. Only four wires, two for power and 2 for serial communication, are required, except for local sensor and motor connections. This highly capable, very flexible, programmable servo-controller, contained on a single, compact printed circuit board measuring only 4.5 x 5.1 inches, is applicable to control systems of all types from sub-arc second precision pointing to control of robotic joints and end effectors. This document concentrates on the robotic applications for the DDSC.

RCTS: A flexible environment for sensor integration and control of robot systems; the distributed processing approach

NASA Technical Reports Server (NTRS)

Allard, R.; Mack, B.; Bayoumi, M. M.

1989-01-01

Most robot systems lack a suitable hardware and software environment for the efficient research of new control and sensing schemes. Typically, engineers and researchers need to be experts in control, sensing, programming, communication and robotics in order to implement, integrate and test new ideas in a robot system. In order to reduce this time, the Robot Controller Test Station (RCTS) has been developed. It uses a modular hardware and software architecture allowing easy physical and functional reconfiguration of a robot. This is accomplished by emphasizing four major design goals: flexibility, portability, ease of use, and ease of modification. An enhanced distributed processing version of RCTS is described. It features an expanded and more flexible communication system design. Distributed processing results in the availability of more local computing power and retains the low cost of microprocessors. A large number of possible communication, control and sensing schemes can therefore be easily introduced and tested, using the same basic software structure.

Initial experiments on the end-point control of a flexible one-link robot

NASA Technical Reports Server (NTRS)

Cannon, R. H., Jr.; Schmitz, E.

1984-01-01

The present investigation is concerned with initial experiments regarding a specific unsolved control problem which appeared to be central to advances in the art of robotics. This problem involves the control of a flexible member (one link of a robot system). The position of the end-effector, called the end point or tip, is controlled by measuring that position and using the measurement as a basis for applying control torque to the other end of the flexible member, as for instance, the robot's elbow joint. A description is presented of the features of the first experimental arm which has been made, and an outline is provided of the general strategy for controlling it using its tip sensor and shoulder torquer.

An efficient representation of spatial information for expert reasoning in robotic vehicles

NASA Technical Reports Server (NTRS)

Scott, Steven; Interrante, Mark

1987-01-01

The previous generation of robotic vehicles and drones was designed for a specific task, with limited flexibility in executing their mission. This limited flexibility arises because the robotic vehicles do not possess the intelligence and knowledge upon which to make significant tactical decisions. Current development of robotic vehicles is toward increased intelligence and capabilities, adapting to a changing environment and altering mission objectives. The latest techniques in artificial intelligence (AI) are being employed to increase the robotic vehicle's intelligent decision-making capabilities. This document describes the design of the SARA spatial database tool, which is composed of request parser, reasoning, computations, and database modules that collectively manage and derive information useful for robotic vehicles.

Control of flexible robots with prismatic joints and hydraulic drives

DOE Office of Scientific and Technical Information (OSTI.GOV)

Love, L.J.; Kress, R.L.; Jansen, J.F.

1997-03-01

The design and control of long-reach, flexible manipulators has been an active research topic for over 20 years. Most of the research to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long-reach systems. One example is the Modified Light Duty Utility Arm (MLDUA) designed and built by Spar Aerospace for Oak Ridge National Laboratory (ORNL). This arm operates in larger, underground waste storage tanks located at ORNL. The size and nature of the tanksmore » require that the robot have a reach of approximately 15 ft and a payload capacity of 250 lb. In order to achieve these criteria, each joint is hydraulically actuated. Furthermore, the robot has a prismatic degree-of-freedom to ease deployment. When fully extended, the robot`s first natural frequency is 1.76 Hz. Many of the projected tasks, coupled with the robot`s flexibility, present an interesting problem. How will many of the existing flexure control algorithms perform on a hydraulic, long-reach manipulator with prismatic links? To minimize cost and risk of testing these algorithms on the MLDUA, the authors have designed a new test bed that contains many of the same elements. This manuscript described a new hydraulically actuated, long-reach manipulator with a flexible prismatic link at ORNL. Focus is directed toward both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.« less

Robot-based additive manufacturing for flexible die-modelling in incremental sheet forming

NASA Astrophysics Data System (ADS)

Rieger, Michael; Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

2017-10-01

The paper describes the application concept of additive manufactured dies to support the robot-based incremental sheet metal forming process (`Roboforming') for the production of sheet metal components in small batch sizes. Compared to the dieless kinematic-based generation of a shape by means of two cooperating industrial robots, the supporting robot models a die on the back of the metal sheet by using the robot-based fused layer manufacturing process (FLM). This tool chain is software-defined and preserves the high geometrical form flexibility of Roboforming while flexibly generating support structures adapted to the final part's geometry. Test series serve to confirm the feasibility of the concept by investigating the process challenges of the adhesion to the sheet surface and the general stability as well as the influence on the geometric accuracy compared to the well-known forming strategies.

Diffraction on heavy samples at STRESS-SPEC using a robot system

NASA Astrophysics Data System (ADS)

Al-Hamdany, N.; Gan, W. M.; Randau, C.; Brokmeier, H.-G.; Hofmann, M.

2015-04-01

The material science diffractometer STRESS-SPEC has high flux and a high flexible monochromator arrangement to optimize the needed wavelength. Many specific sample handling stages and sample environments are available. One of them is a Staubli RX 160 robot with nominal load capacity of 20 kg and more freedom for texture mapping than the Huber 512 Eulerian type cradle. Demonstration experiments of non-destructive pole figures and strain measurements of Cu-tube segments weighing 12 kg weight and 250 mm in length and 140 mm diameter have been carried out. The residual strains measured by the robot and by the XYZ- stage fit quite well, that means the robot is reliable for strain measurements. The texture of the Cu-tube has dominant recrystallization texture components represented by the cube and the rotated cube.

Gesture-Based Robot Control with Variable Autonomy from the JPL Biosleeve

NASA Technical Reports Server (NTRS)

Wolf, Michael T.; Assad, Christopher; Vernacchia, Matthew T.; Fromm, Joshua; Jethani, Henna L.

2013-01-01

This paper presents a new gesture-based human interface for natural robot control. Detailed activity of the user's hand and arm is acquired via a novel device, called the BioSleeve, which packages dry-contact surface electromyography (EMG) and an inertial measurement unit (IMU) into a sleeve worn on the forearm. The BioSleeve's accompanying algorithms can reliably decode as many as sixteen discrete hand gestures and estimate the continuous orientation of the forearm. These gestures and positions are mapped to robot commands that, to varying degrees, integrate with the robot's perception of its environment and its ability to complete tasks autonomously. This flexible approach enables, for example, supervisory point-to-goal commands, virtual joystick for guarded teleoperation, and high degree of freedom mimicked manipulation, all from a single device. The BioSleeve is meant for portable field use; unlike other gesture recognition systems, use of the BioSleeve for robot control is invariant to lighting conditions, occlusions, and the human-robot spatial relationship and does not encumber the user's hands. The BioSleeve control approach has been implemented on three robot types, and we present proof-of-principle demonstrations with mobile ground robots, manipulation robots, and prosthetic hands.

Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression

NASA Astrophysics Data System (ADS)

Meng, Deshan; Wang, Xueqian; Xu, Wenfu; Liang, Bin

2017-05-01

For a space robot with flexible appendages, vibrations of flexible structure can be easily excited during both orbit and/or attitude maneuvers of the base and the operation of the manipulators. Hence, the pose (position and attitude) of the manipulator's end-effector will greatly deviate from the desired values, and furthermore, the motion of the manipulator will trigger and exacerbate vibrations of flexible appendages. Given lack of the atmospheric damping in orbit, the vibrations will last for quite a while and cause the on-orbital tasks to fail. We derived the rigid-flexible coupling dynamics of a space robot system with flexible appendages and established a coupling model between the flexible base and the space manipulator. A specific index was defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Then, we analyzed the dynamic coupling for different conditions, such as modal displacements, joint angles (manipulator configuration), and mass properties. Moreover, the coupling map was adopted and drawn to represent the coupling motion. Based on this map, a trajectory planning method was addressed to suppress structure vibration. Finally, simulation studies of typical cases were performed, which verified the proposed models and method. This work provides a theoretic basis for the system design, performance evaluation, trajectory planning, and control of such space robots.

Control of a small working robot on a large flexible manipulator for suppressing vibrations: Development of a robust control law for flexible robot and it's stability analysis

NASA Technical Reports Server (NTRS)

Soo, Han Lee

1991-01-01

Researchers developed a robust control law for slow motions for the accurate trajectory control of a flexible robot. The control law does not need larger velocity gains than position gains, which some researchers need to ensure the stability of a rigid robot. Initial experimentation for the Small Articulated Manipulator (SAM) shows that control laws that use smaller velocity gains are more robust to signal noise than the control laws that use larger velocity gains. Researchers analyzed the stability of the composite control law, the robust control for the slow motion, and the strain rate feedback for the fast control. The stability analysis was done by using a quadratic Liapunov function. Researchers found that the flexible motion of links could be controlled by relating the input force to the flexible signals which are sensed at the near tip of each link. The signals are contaminated by the time delayed input force. However, the effect of the time delayed input force can be reduced by giving a certain configuration to the SAM.

The need for artificial intelligence as an aid in controlling a manufacturing operation

NASA Astrophysics Data System (ADS)

Weyand, J.

AI applications to industrial production and planning are discussed and illustrated with diagrams and drawings. Applications examined include flexible automation of manufacturing processes (robots with open manual control, robots programmable to meet product specifications, self-regulated robots, and robots capable of learning), flexible fault detection and diagnostics, production control, and overall planning and management (product strategies, marketing, determination of development capacity, site selection, project organization, and technology investment strategies). For the case of robots, problems in the design and operation of a state-of-the-art machine-tool cell (for hole boring, milling, and joining) are analyzed in detail.

Flexible integration of robotics, ultrasonics and metrology for the inspection of aerospace components

NASA Astrophysics Data System (ADS)

Mineo, Carmelo; MacLeod, Charles; Morozov, Maxim; Pierce, S. Gareth; Summan, Rahul; Rodden, Tony; Kahani, Danial; Powell, Jonathan; McCubbin, Paul; McCubbin, Coreen; Munro, Gavin; Paton, Scott; Watson, David

2017-02-01

Improvements in performance of modern robotic manipulators have in recent years allowed research aimed at development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well adaptable to new tasks. Several robotic inspection prototype systems and a number of commercial products have been developed worldwide. This paper describes the latest progress in research focused at large composite aerospace components. A multi-robot flexible inspection cell is used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for the future industrial exploitation. The robot cell is equipped with high accuracy and high payload robots, mounted on 7 meter tracks, and an external rotary axis. A robotically delivered photogrammetry technique is first used to assess the position of the components placed within the robot working envelope and their deviation to CAD. Offline programming is used to generate a scan path for phased array ultrasonic testing (PAUT). PAUT is performed using a conformable wheel probe, with high data rate acquisition from PAUT controller. Real-time robot path-correction, based on force-torque control (FTC), is deployed to achieve the optimum ultrasonic coupling and repeatable data quality. New communication software is developed that enabled simultaneous control of the multiple robots performing different tasks and the acquisition of accurate positional data. All aspects of the system are controlled through a purposely developed graphic user interface that enables the flexible use of the unique set of hardware resources, the data acquisition, visualization and analysis.

Measurement of Flexed Posture for Flexible Mono-Tread Mobile Track

NASA Astrophysics Data System (ADS)

Kinugasa, Tetsuya; Akagi, Tetsuya; Ishii, Kuniaki; Haji, Takafumi; Yoshida, Koji; Amano, Hisanori; Hayashi, Ryota; Tokuda, Kenichi; Iribe, Masatsugu; Osuka, Koichi

We have proposed Flexible Mono-tread mobile Track (FMT) as a mobile mechanism on rough terrain for rescue activity, environmental investigation and planetary explorer, etc. Generally speaking, one has to teleoperate robots under invisible condition. In order to operate the robots skillfully, it is necessary to detect not only condition around the robots and its position but also posture of the robots at any time. Since flexed posture of FMT decides turning radius and direction, it is important to know its posture. FMT has vertebral structure composed of vertebrae as rigid body and intervertebral disks made by flexible devices such as rubber cylinder and spring. Since the intervertebral disks flex in three dimension, traditional sensors such as potentiometers, rotary encoders and range finders can hardly use for measurement of its deformation. The purpose of the paper, therefore, is to measure flexed posture of FMT using a novel flexible displacement sensor. We prove that the flexed posture of FMT with five intervertebral disks can be detected through experiment.

Toward the Design of Personalized Continuum Surgical Robots.

PubMed

Morimoto, Tania K; Greer, Joseph D; Hawkes, Elliot W; Hsieh, Michael H; Okamura, Allison M

2018-05-31

Robot-assisted minimally invasive surgical systems enable procedures with reduced pain, recovery time, and scarring compared to traditional surgery. While these improvements benefit a large number of patients, safe access to diseased sites is not always possible for specialized patient groups, including pediatric patients, due to their anatomical differences. We propose a patient-specific design paradigm that leverages the surgeon's expertise to design and fabricate robots based on preoperative medical images. The components of the patient-specific robot design process are a virtual reality design interface enabling the surgeon to design patient-specific tools, 3-D printing of these tools with a biodegradable polyester, and an actuation and control system for deployment. The designed robot is a concentric tube robot, a type of continuum robot constructed from precurved, elastic, nesting tubes. We demonstrate the overall patient-specific design workflow, from preoperative images to physical implementation, for an example clinical scenario: nonlinear renal access to a pediatric kidney. We also measure the system's behavior as it is deployed through real and artificial tissue. System integration and successful benchtop experiments in ex vivo liver and in a phantom patient model demonstrate the feasibility of using a patient-specific design workflow to plan, fabricate, and deploy personalized, flexible continuum robots.

A secure and easy-to-implement web-based communication framework for caregiving robot teams

NASA Astrophysics Data System (ADS)

Tuna, G.; Daş, R.; Tuna, A.; Örenbaş, H.; Baykara, M.; Gülez, K.

2016-03-01

In recent years, robots have started to become more commonplace in our lives, from factory floors to museums, festivals and shows. They have started to change how we work and play. With an increase in the population of the elderly, they have also been started to be used for caregiving services, and hence many countries have been investing in the robot development. The advancements in robotics and wireless communications has led to the emergence of autonomous caregiving robot teams which cooperate to accomplish a set of tasks assigned by human operators. Although wireless communications and devices are flexible and convenient, they are vulnerable to many risks compared to traditional wired networks. Since robots with wireless communication capability transmit all data types, including sensory, coordination, and control, through radio frequencies, they are open to intruders and attackers unless protected and their openness may lead to many security issues such as data theft, passive listening, and service interruption. In this paper, a secure web-based communication framework is proposed to address potential security threats due to wireless communication in robot-robot and human-robot interaction. The proposed framework is simple and practical, and can be used by caregiving robot teams in the exchange of sensory data as well as coordination and control data.

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

NASA Astrophysics Data System (ADS)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

Research to Assembly Scheme for Satellite Deck Based on Robot Flexibility Control Principle

NASA Astrophysics Data System (ADS)

Guo, Tao; Hu, Ruiqin; Xiao, Zhengyi; Zhao, Jingjing; Fang, Zhikai

2018-03-01

Deck assembly is critical quality control point in final satellite assembly process, and cable extrusion and structure collision problems in assembly process will affect development quality and progress of satellite directly. Aimed at problems existing in deck assembly process, assembly project scheme for satellite deck based on robot flexibility control principle is proposed in this paper. Scheme is introduced firstly; secondly, key technologies on end force perception and flexible docking control in the scheme are studied; then, implementation process of assembly scheme for satellite deck is described in detail; finally, actual application case of assembly scheme is given. Result shows that compared with traditional assembly scheme, assembly scheme for satellite deck based on robot flexibility control principle has obvious advantages in work efficiency, reliability and universality aspects etc.

Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments.

PubMed

Song, Shuang; Zhang, Changchun; Liu, Li; Meng, Max Q-H

2018-02-01

Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation. We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved. Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm. The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method.

Comparison of manual steering and steering via joystick of a flexible rhino endoscope.

PubMed

Eckl, R; Gumprecht, J J; Strauss, G; Hofer, M; Dietz, A; Lueth, T C

2010-01-01

Flexible endoscopes are used in ENT surgery for examination tasks in cases wherever rigid endoscopes are unsuitable to reach certain positions in the nasal cavity. Until today they are steered by hand and no robotized system has been put into clinical practice. One qualification a robot manipulator system has to fulfill to be accepted is not to create new disadvantages compared to the conventional method in surgery. An important factor is the time needed to steer the new system compared to the time needed to steer the conventional system. In this article a robot manipulator system and an experiment are presented to compare the particular times test persons need to perform a certain task. This approach offers the possibility to benchmark the developed robot manipulator system and future systems for flexible rhino endoscopes.

Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts.

PubMed

Carreño, Francisco; Post, Mark A

2018-01-01

Efforts in the research of tensegrity structures applied to mobile robots have recently been focused on a purely tensegrity solution to all design requirements. Locomotion systems based on tensegrity structures are currently slow and complex to control. Although wheeled locomotion provides better efficiency over distances there is no literature available on the value of wheeled methods with respect to tensegrity designs, nor on how to transition from a tensegrity structure to a fixed structure in mobile robotics. This paper is the first part of a larger study that aims to combine the flexibility, light weight, and strength of a tensegrity structure with the efficiency and simple control of a wheeled locomotion system. It focuses on comparing different types of tensegrity structure for applicability to a mobile robot, and experimentally finding an appropriate transitional region from a tensegrity structure to a conventional fixed structure on mobile robots. It applies this transitional structure to what is, to the authors' knowledge, the design of the world's first wheeled tensegrity robot that has been designed with the goal of traversing air ducts.

Application of robotics in gastrointestinal endoscopy: A review

PubMed Central

Yeung, Baldwin Po Man; Chiu, Philip Wai Yan

2016-01-01

Multiple robotic flexible endoscope platforms have been developed based on cross specialty collaboration between engineers and medical doctors. However, significant number of these platforms have been developed for the natural orifice transluminal endoscopic surgery paradigm. Increasing amount of evidence suggest the focus of development should be placed on advanced endolumenal procedures such as endoscopic submucosal dissection instead. A thorough literature analysis was performed to assess the current status of robotic flexible endoscopic platforms designed for advanced endolumenal procedures. Current efforts are mainly focused on robotic locomotion and robotic instrument control. In the future, advances in actuation and servoing technology, optical analysis, augmented reality and wireless power transmission technology will no doubt further advance the field of robotic endoscopy. Globally, health systems have become increasingly budget conscious; widespread acceptance of robotic endoscopy will depend on careful design to ensure its delivery of a cost effective service. PMID:26855540

Evolutionary multiobjective design of a flexible caudal fin for robotic fish.

PubMed

Clark, Anthony J; Tan, Xiaobo; McKinley, Philip K

2015-11-25

Robotic fish accomplish swimming by deforming their bodies or other fin-like appendages. As an emerging class of embedded computing system, robotic fish are anticipated to play an important role in environmental monitoring, inspection of underwater structures, tracking of hazardous wastes and oil spills, and the study of live fish behaviors. While integration of flexible materials (into the fins and/or body) holds the promise of improved swimming performance (in terms of both speed and maneuverability) for these robots, such components also introduce significant design challenges due to the complex material mechanics and hydrodynamic interactions. The problem is further exacerbated by the need for the robots to meet multiple objectives (e.g., both speed and energy efficiency). In this paper, we propose an evolutionary multiobjective optimization approach to the design and control of a robotic fish with a flexible caudal fin. Specifically, we use the NSGA-II algorithm to investigate morphological and control parameter values that optimize swimming speed and power usage. Several evolved fin designs are validated experimentally with a small robotic fish, where fins of different stiffness values and sizes are printed with a multi-material 3D printer. Experimental results confirm the effectiveness of the proposed design approach in balancing the two competing objectives.

Modeling and Experiments with a High-Performance Flexible Swimming Robot

NASA Astrophysics Data System (ADS)

Wiens, Alexander; Hosoi, Anette

2017-11-01

Conventionally, fish-like swimming robots consist of a chain of rigid links connected by a series of rigid actuators. Devices of this nature have demonstrated impressive speeds and maneuverability, but from a practical perspective, their mechanical complexity makes them expensive to build and prone to failure. To address this problem, we present an alternative design approach which employs a single actuator to generate undulatory waves along a passive flexible structure. Through simulations and experiments we find that our robot can match the speed and agility of its rigid counterparts, while being simple, robust, and significantly less expensive. Physically, our robot consists of a small ellipsoidal head connected to a long flexible beam. Actuation is provided by a motor-driven flywheel within the head, which oscillates to produce a periodic torque. This torque propagates along the beam to generate an undulatory wave and propel the robot forwards. We construct a numerical model of the system using Lighthill's large-amplitude elongated-body theory coupled with a nonlinear model of elastic beam deformation. We then use this simulation to optimize the velocity and efficiency of the robot. The optimized design is validated through experiments with a prototype device. NSF DMS-1517842.

Mathematical Modeling For Control Of A Flexible Manipulator

NASA Technical Reports Server (NTRS)

Hu, Anren

1996-01-01

Improved method of mathematical modeling of dynamics of flexible robotic manipulators developed for use in controlling motions of manipulators. Involves accounting for effect, upon modes of vibration of manipulator, of changes in configuration of manipulator and manipulated payload(s). Flexible manipulator has one or more long, slender articulated link(s), like those used in outer space, method also applicable to terrestrial industrial robotic manipulators with relatively short, stiff links, or to such terrestrial machines as construction cranes.

Personnel occupied woven envelope robot power

NASA Technical Reports Server (NTRS)

Wessling, F. C.

1988-01-01

The Personnel Occupied Woven Envelope Robot (POWER) concept has evolved over the course of the study. The goal of the project was the development of methods and algorithms for solid modeling for the flexible robot arm.

Single-site access robot-assisted epicardial mapping with a snake robot: preparation and first clinical experience.

PubMed

Neuzil, Petr; Cerny, Stepan; Kralovec, Stepan; Svanidze, Oleg; Bohuslavek, Jan; Plasil, Petr; Jehlicka, Pavel; Holy, Frantisek; Petru, Jan; Kuenzler, Richard; Sediva, Lucie

2013-06-01

CardioARM, a highly flexible "snakelike" medical robotic system (Medrobotics, Raynham, MA), has been developed to allow physicians to view, access, and perform complex procedures intrapericardially on the beating heart through a single-access port. Transthoracic epicardial catheter mapping and ablation has emerged as a strategy to treat arrhythmias, particularly ventricular arrhythmias, originating from the epicardial surface. The aim of our investigation was to determine whether the CardioARM could be used to diagnose and treat ventricular tachycardia (VT) of epicardial origin. Animal and clinical studies of the CardioARM flexible robot were performed in hybrid surgical-electrophysiology settings. In a porcine model study, single-port pericardial access, navigation, mapping, and ablation were performed in nine animals. The device was then used in a small, single-center feasibility clinical study. Three patients, all with drug-refractory VT and multiple failed endocardial ablation attempts, underwent epicardial mapping with the flexible robot. In all nine animals, navigation, mapping, and ablation were successful without hemodynamic compromise. In the human study, all three patients demonstrated a favorable safety profile, with no major adverse events through a 30-day follow-up. Two cases achieved technical success, in which an electroanatomic map of the epicardial ventricle surface was created; in the third case, blood obscured visualization. These results, although based on a limited number of experimental animals and patients, show promise and suggest that further clinical investigation on the use of the flexible robot in patients requiring epicardial mapping of VT is warranted.

A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD.

PubMed

Zorn, Lucile; Nageotte, Florent; Zanne, Philippe; Legner, Andras; Dallemagne, Bernard; Marescaux, Jacques; de Mathelin, Michel

2018-04-01

Minimally invasive surgical interventions in the gastrointestinal tract, such as endoscopic submucosal dissection (ESD), are very difficult for surgeons when performed with standard flexible endoscopes. Robotic flexible systems have been identified as a solution to improve manipulation. However, only a few such systems have been brought to preclinical trials as of now. As a result, novel robotic tools are required. We developed a telemanipulated robotic device, called STRAS, which aims to assist surgeons during intraluminal surgical endoscopy. This is a modular system, based on a flexible endoscope and flexible instruments, which provides 10 degrees of freedom (DoFs). The modularity allows the user to easily set up the robot and to navigate toward the operating area. The robot can then be teleoperated using master interfaces specifically designed to intuitively control all available DoFs. STRAS capabilities have been tested in laboratory conditions and during preclinical experiments. We report 12 colorectal ESDs performed in pigs, in which large lesions were successfully removed. Dissection speeds are compared with those obtained in similar conditions with the manual Anubiscope platform from Karl Storz. We show significant improvements ( ). These experiments show that STRAS (v2) provides sufficient DoFs, workspace, and force to perform ESD, that it allows a single surgeon to perform all the surgical tasks and those performances are improved with respect to manual systems. The concepts developed for STRAS are validated and could bring new tools for surgeons to improve comfort, ease, and performances for intraluminal surgical endoscopy.

Spatial-Operator Algebra For Flexible-Link Manipulators

NASA Technical Reports Server (NTRS)

Jain, Abhinandan; Rodriguez, Guillermo

1994-01-01

Method of computing dynamics of multiple-flexible-link robotic manipulators based on spatial-operator algebra, which originally applied to rigid-link manipulators. Aspects of spatial-operator-algebra approach described in several previous articles in NASA Tech Briefs-most recently "Robot Control Based on Spatial-Operator Algebra" (NPO-17918). In extension of spatial-operator algebra to manipulators with flexible links, each link represented by finite-element model: mass of flexible link apportioned among smaller, lumped-mass rigid bodies, coupling of motions expressed in terms of vibrational modes. This leads to operator expression for modal-mass matrix of link.

Robotic Lunar Landers for Science and Exploration

NASA Technical Reports Server (NTRS)

Cohen, Barbara A.

2012-01-01

The MSFC/APL Robotic Lunar Landing Project (RLLDP) team has developed lander concepts encompassing a range of mission types and payloads for science, exploration, and technology demonstration missions: (1) Developed experience and expertise in lander systems, (2) incorporated lessons learned from previous efforts to improve the fidelity of mission concepts, analysis tools, and test beds Mature small and medium lander designs concepts have been developed: (1) Share largely a common design architecture. (2) Flexible for a large number of mission and payload options. High risk development areas have been successfully addressed Landers could be selected for a mission with much of the concept formulation phase work already complete

Adaptive control strategies for flexible robotic arm

NASA Technical Reports Server (NTRS)

Bialasiewicz, Jan T.

1993-01-01

The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

Direct model reference adaptive control with application to flexible robots

NASA Technical Reports Server (NTRS)

Steinvorth, Rodrigo; Kaufman, Howard; Neat, Gregory W.

1992-01-01

A modification to a direct command generator tracker-based model reference adaptive control (MRAC) system is suggested in this paper. This modification incorporates a feedforward into the reference model's output as well as the plant's output. Its purpose is to eliminate the bounded model following error present in steady state when previous MRAC systems were used. The algorithm was evaluated using the dynamics for a single-link flexible-joint arm. The results of these simulations show a response with zero steady state model following error. These results encourage further use of MRAC for various types of nonlinear plants.

System For Research On Multiple-Arm Robots

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Hayati, Samad; Tso, Kam S.; Hayward, Vincent

1991-01-01

Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

Human-robot skills transfer interfaces for a flexible surgical robot.

PubMed

Calinon, Sylvain; Bruno, Danilo; Malekzadeh, Milad S; Nanayakkara, Thrishantha; Caldwell, Darwin G

2014-09-01

In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

A Novel Concept for Safe, Stiffness-Controllable Robot Links.

PubMed

Stilli, Agostino; Wurdemann, Helge A; Althoefer, Kaspar

2017-03-01

The recent decade has seen an astounding increase of interest and advancement in a new field of robotics, aimed at creating structures specifically for the safe interaction with humans. Softness, flexibility, and variable stiffness in robotics have been recognized as highly desirable characteristics for many applications. A number of solutions were proposed ranging from entirely soft robots (such as those composed mainly from soft materials such as silicone), via flexible continuum and snake-like robots, to rigid-link robots enhanced by joints that exhibit an elastic behavior either implemented in hardware or achieved purely by means of intelligent control. Although these are very good solutions paving the path to safe human-robot interaction, we propose here a new approach that focuses on creating stiffness controllability for the linkages between the robot joints. This article proposes a replacement for the traditionally rigid robot link-the new link is equipped with an additional capability of stiffness controllability. With this added feature, a robot can accurately carry out manipulation tasks (high stiffness), but can virtually instantaneously reduce its stiffness when a human is nearby or in contact with the robot. The key point of the invention described here is a robot link made of an airtight chamber formed by a soft and flexible, but high-strain resistant combination of a plastic mesh and silicone wall. Inflated with air to a high pressure, the mesh silicone chamber behaves like a rigid link; reducing the air pressure, softens the link and rendering the robot structure safe. This article investigates a number of link prototypes and shows the feasibility of the new concept. Stiffness tests have been performed, showing that a significant level of stiffness can be achieved-up to 40 N reaction force along the axial direction, for a 25-mm-diameter sample at 60 kPa, at an axial deformation of 5 mm. The results confirm that this novel concept to linkages for robot manipulators exhibits the beam-like behavior of traditional rigid links when fully pressurized and significantly reduced stiffness at low pressure. The proposed concept has the potential to easily create safe robots, augmenting traditional robot designs.

Flexible and Stretchable Optoelectronic Devices using Silver Nanowires and Graphene.

PubMed

Lee, Hanleem; Kim, Meeree; Kim, Ikjoon; Lee, Hyoyoung

2016-06-01

Many studies have accompanied the emergence of a great interest in flexible or/and stretchable devices for new applications in wearable and futuristic technology, including human-interface devices, robotic skin, and biometric devices, and in optoelectronic devices. Especially, new nanodimensional materials enable flexibility or stretchability to be brought based on their dimensionality. Here, the emerging field of flexible devices is briefly introduced using silver nanowires and graphene, which are famous nanomaterials for the use of transparent conductive electrodes, as examples, and their unique functions originating from the intrinsic property of these nanomaterials are highlighted. It is thought that this work will evoke more interest and idea exchanges in this emerging field and hopefully can trigger a breakthrough on a new type of optoelectronics and optogenetic devices in the near future. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A new mechatronic assistance system for the neurosurgical operating theatre: implementation, assessment of accuracy and application concepts.

PubMed

Rachinger, Jens; Bumm, Klaus; Wurm, Jochen; Bohr, Christopher; Nissen, Urs; Dannenmann, Tim; Buchfelder, Michael; Iro, Heinrich; Nimsky, Christopher

2007-01-01

To introduce a new robotic system to the field of neurosurgery and report on a preliminary assessment of accuracy as well as on envisioned application concepts. Based on experience with another system (Evolution 1, URS Inc., Schwerin, Germany), technical advancements are discussed. The basic module is an industrial 6 degrees of freedom robotic arm with a modified control element. The system combines frameless stereotaxy, robotics, and endoscopy. The robotic reproducibility error and the overall error were evaluated. For accuracy testing CT markers were placed on a cadaveric head and pinpointed with the robot's tool tip, both fully automated and telemanipulatory. Applicability in a clinical setting, user friendliness, safety and flexibility were assessed. The new system is suitable for use in the neurosurgical operating theatre. Hard- and software are user-friendly and flexible. The mean reproducibility error was 0.052-0.062 mm, the mean overall error was 0.816 mm. The system is less cumbersome and much easier to use than the Evolution 1. With its user-friendly interface and reliable safety features, its high application accuracy and flexibility, the new system is a versatile robotic platform for various neurosurgical applications. Adaptations for different applications are currently being realized. Copyright (c) 2007 S. Karger AG, Basel.

Vibrations in a moving flexible robot arm

NASA Technical Reports Server (NTRS)

Wang, P. K. C.; Wei, Jin-Duo

1987-01-01

The vibration in a flexible robot arm modeled by a moving slender prismatic beam is considered. It is found that the extending and contracting motions have destabilizing and stabilizing effects on the vibratory motions, respectively. The vibration analysis is based on a Galerkin approximation with time-dependent basis functions. Typical numerical results are presented to illustrate the qualitative features of vibrations.

Future of robotic surgery in urology.

PubMed

Rassweiler, Jens J; Autorino, Riccardo; Klein, Jan; Mottrie, Alex; Goezen, Ali Serdar; Stolzenburg, Jens-Uwe; Rha, Koon H; Schurr, Marc; Kaouk, Jihad; Patel, Vipul; Dasgupta, Prokar; Liatsikos, Evangelos

2017-12-01

To provide a comprehensive overview of the current status of the field of robotic systems for urological surgery and discuss future perspectives. A non-systematic literature review was performed using PubMed/Medline search electronic engines. Existing patents for robotic devices were researched using the Google search engine. Findings were also critically analysed taking into account the personal experience of the authors. The relevant patents for the first generation of the da Vinci platform will expire in 2019. New robotic systems are coming onto the stage. These can be classified according to type of console, arrangement of robotic arms, handles and instruments, and other specific features (haptic feedback, eye-tracking). The Telelap ALF-X robot uses an open console with eye-tracking, laparoscopy-like handles with haptic feedback, and arms mounted on separate carts; first clinical trials with this system were reported in 2016. The Medtronic robot provides an open console using three-dimensional high-definition video technology and three arms. The Avatera robot features a closed console with microscope-like oculars, four arms arranged on one cart, and 5-mm instruments with six degrees of freedom. The REVO-I consists of an open console and a four-arm arrangement on one cart; the first experiments with this system were published in 2016. Medicaroid uses a semi-open console and three robot arms attached to the operating table. Clinical trials of the SP 1098-platform using the da Vinci Xi for console-based single-port surgery were reported in 2015. The SPORT robot has been tested in animal experiments for single-port surgery. The SurgiBot represents a bedside solution for single-port surgery providing flexible tube-guided instruments. The Avicenna Roboflex has been developed for robotic flexible ureteroscopy, with promising early clinical results. Several console-based robots for laparoscopic multi- and single-port surgery are expected to come to market within the next 5 years. Future developments in the field of robotic surgery are likely to focus on the specific features of robotic arms, instruments, console, and video technology. The high technical standards of four da Vinci generations have set a high bar for upcoming devices. Ultimately, the implementation of these upcoming systems will depend on their clinical applicability and costs. How these technical developments will facilitate surgery and whether their use will translate into better outcomes for our patients remains to be determined. © 2017 The Authors BJU International © 2017 BJU International Published by John Wiley & Sons Ltd.

A comparison of force control algorithms for robots in contact with flexible environments

NASA Technical Reports Server (NTRS)

Wilfinger, Lee S.

1992-01-01

In order to perform useful tasks, the robot end-effector must come into contact with its environment. For such tasks, force feedback is frequently used to control the interaction forces. Control of these forces is complicated by the fact that the flexibility of the environment affects the stability of the force control algorithm. Because of the wide variety of different materials present in everyday environments, it is necessary to gain an understanding of how environmental flexibility affects the stability of force control algorithms. This report presents the theory and experimental results of two force control algorithms: Position Accommodation Control and Direct Force Servoing. The implementation of each of these algorithms on a two-arm robotic test bed located in the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) is discussed in detail. The behavior of each algorithm when contacting materials of different flexibility is experimentally determined. In addition, several robustness improvements to the Direct Force Servoing algorithm are suggested and experimentally verified. Finally, a qualitative comparison of the force control algorithms is provided, along with a description of a general tuning process for each control method.

An event-based vibration control for a two-link flexible robotic arm: Numerical and experimental observations

NASA Astrophysics Data System (ADS)

Özer, Abdullah; Eren Semercigil, S.

2008-06-01

Flexible robot manipulators have numerous advantages over their rigid counterparts. They have increased payload-to-weight ratio, they run at higher speeds, use less energy and smaller actuators, and they are safer during interaction with their environments. On the other hand, light design combined with external effects result in components which can oscillate with excessive amplitudes. These oscillations cause deviation from the desired path and long idle periods between tasks in order to perform the intended operation safely and accurately. This paper is on an investigation into the effectiveness of a vibration control technique for a two-link flexible robotic arm. Variable stiffness control (VSC) technique is used to control the excessive oscillations. Owing to its dissipative nature, the technique is stable, it is relatively insensitive to significant parameter changes and suitable to be implemented on existing robots. This research considers that the source of the flexibility is either the joints or the links or both. Simulation results of the response of the arm are presented to show the versatility of the proposed control technique. Experiments are performed on a laboratory prototype and the results are presented to test the validity of simulations.

Flexible Virtual Structure Consideration in Dynamic Modeling of Mobile Robots Formation

NASA Astrophysics Data System (ADS)

El Kamel, A. Essghaier; Beji, L.; Lerbet, J.; Abichou, A.

2009-03-01

In cooperative mobile robotics, we look for formation keeping and maintenance of a geometric configuration during movement. As a solution to these problems, the concept of a virtual structure is considered. Based on this idea, we have developed an efficient flexible virtual structure, describing the dynamic model of n vehicles in formation and where the whole formation is kept dependant. Notes that, for 2D and 3D space navigation, only a rigid virtual structure was proposed in the literature. Further, the problem was limited to a kinematic behavior of the structure. Hence, the flexible virtual structure in dynamic modeling of mobile robots formation presented in this paper, gives more capabilities to the formation to avoid obstacles in hostile environment while keeping formation and avoiding inter-agent collision.

Enhancing Perception with Tactile Object Recognition in Adaptive Grippers for Human-Robot Interaction.

PubMed

Gandarias, Juan M; Gómez-de-Gabriel, Jesús M; García-Cerezo, Alfonso J

2018-02-26

The use of tactile perception can help first response robotic teams in disaster scenarios, where visibility conditions are often reduced due to the presence of dust, mud, or smoke, distinguishing human limbs from other objects with similar shapes. Here, the integration of the tactile sensor in adaptive grippers is evaluated, measuring the performance of an object recognition task based on deep convolutional neural networks (DCNNs) using a flexible sensor mounted in adaptive grippers. A total of 15 classes with 50 tactile images each were trained, including human body parts and common environment objects, in semi-rigid and flexible adaptive grippers based on the fin ray effect. The classifier was compared against the rigid configuration and a support vector machine classifier (SVM). Finally, a two-level output network has been proposed to provide both object-type recognition and human/non-human classification. Sensors in adaptive grippers have a higher number of non-null tactels (up to 37% more), with a lower mean of pressure values (up to 72% less) than when using a rigid sensor, with a softer grip, which is needed in physical human-robot interaction (pHRI). A semi-rigid implementation with 95.13% object recognition rate was chosen, even though the human/non-human classification had better results (98.78%) with a rigid sensor.

Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

NASA Technical Reports Server (NTRS)

Park, Yong-Lae; Black, Richard; Moslehi, Behzad; Cutkosky, Mark; Chau, Kelvin

2012-01-01

Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection.

Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

NASA Astrophysics Data System (ADS)

Zarafshan, P.; Moosavian, S. Ali A.

2013-10-01

Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors and perturb the object manipulation task. So, it is shown that these effects can be significantly eliminated by the proposed Hybrid Suppression Control algorithm.

Bending continuous structures with SMAs: a novel robotic fish design.

PubMed

Rossi, C; Colorado, J; Coral, W; Barrientos, A

2011-12-01

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.

Elastic MCF Rubber with Photovoltaics and Sensing for Use as Artificial or Hybrid Skin (H-Skin): 1st Report on Dry-Type Solar Cell Rubber with Piezoelectricity for Compressive Sensing.

PubMed

Shimada, Kunio

2018-06-05

Ordinary solar cells are very difficult to bend, squash by compression, or extend by tensile strength. However, if they were to possess elastic, flexible, and extensible properties, in addition to piezo-electricity and resistivity, they could be put to effective use as artificial skin installed over human-like robots or humanoids. Further, it could serve as a husk that generates electric power from solar energy and perceives any force or temperature changes. Therefore, we propose a new type of artificial skin, called hybrid skin (H-Skin), for a humanoid robot having hybrid functions. In this study, a novel elastic solar cell is developed from natural rubber that is electrolytically polymerized with a configuration of magnetic clusters of metal particles incorporated into the rubber, by applying a magnetic field. The material thus produced is named magnetic compound fluid rubber (MCF rubber) that is elastic, flexible, and extensible. The present report deals with a dry-type MCF rubber solar cell that uses photosensitized dye molecules. First, the photovoltaic mechanism in the material is investigated. Next, the changes in the photovoltaic properties of its molecules due to irradiation by visible light are measured under compression. The effect of the compression on its piezoelectric properties is investigated.

Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2006-12-01

A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides the ability to overcome the "explosion of complexity" problem in backstepping controllers. The SRWNNs are used to observe the arbitrary model uncertainties of FJ robots, and all their weights are trained online. From the Lyapunov stability analysis, their adaptation laws are induced, and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a three-link FJ robot are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the proposed control system.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

PubMed Central

Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Liu, Quan; Xie, Sheng Q.; Yang, Ming

2017-01-01

A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions. PMID:29283406

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

PubMed

Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

2017-12-28

A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

Task path planning, scheduling and learning for free-ranging robot systems

NASA Technical Reports Server (NTRS)

Wakefield, G. Steve

1987-01-01

The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

Industrial Robots For Measurement And Inspection Purposes

NASA Astrophysics Data System (ADS)

Ahlers, R.-J.

1989-02-01

The use of industrial robots for measuring and testing is becoming increasingly significant as a component of flexible production. In the early stages of their development robots were used mainly for monotonous and repetitive tasks such as handling and spot welding. Thanks to improvements in the precision with which they work and also in control and regulation technologies, it is possible today to employ robots as flexible, sensor-assisted and even "intellligent" tools for measuring and testing. As a result, however, much higher accuracy is demanded of the robots used for such purposes. In addition, robot measurement and acceptance test requirements have become more exacting. The present paper is based on recommendations that have been developed by cooperative work of the Association of German-Engineers (VDI/GMA). The appropriate working group is entitled "Industrial Robots -Measurement and Inspection". The author is the chairman of this working group. Apart from the technical equipment involved, the use of industrial robots for measuring purposes also calls for the devi-sing and programming of appropriate measuring strategies. In this context the planning and implementation of measuring projects have to be discussed along with software reliability and on-line/off-line programming strategies. Four different utilizations of robots for measuring and testing are presented and illustrated by examples.

A technical review of flexible endoscopic multitasking platforms.

PubMed

Yeung, Baldwin Po Man; Gourlay, Terence

2012-01-01

Further development of advanced therapeutic endoscopic techniques and natural orifice translumenal endoscopic surgery (NOTES) requires a powerful flexible endoscopic multitasking platform. Medline search was performed to identify literature relating to flexible endoscopic multitasking platform from year 2004-2011 using keywords: Flexible endoscopic multitasking platform, NOTES, Instrumentation, Endoscopic robotic surgery, and specific names of various endoscopic multitasking platforms. Key articles from articles references were reviewed. Flexible multitasking platforms can be classified as either mechanical or robotic. Purely mechanical systems include the dual channel endoscope (DCE) (Olympus), R-Scope (Olympus), the EndoSamurai (Olympus), the ANUBIScope (Karl-Storz), Incisionless Operating Platform (IOP) (USGI), and DDES system (Boston Scientific). Robotic systems include the MASTER system (Nanyang University, Singapore) and the Viacath (Hansen Medical). The DCE, the R-Scope, the EndoSamurai and the ANUBIScope have integrated visual function and instrument manipulation function. The IOP and DDES systems rely on the conventional flexible endoscope for visualization, and instrument manipulation is integrated through the use of a flexible, often lockable, multichannel access device. The advantage of the access device concept is that it allows optics and instrument dissociation. Due to the anatomical constrains of the pharynx, systems are designed to have a diameter of less than 20 mm. All systems are controlled by traction cable system actuated either by hand or by robotic machinery. In a flexible system, this method of actuation inevitably leads to significant hysteresis. This problem will be accentuated with a long endoscope such as that required in performing colonic procedures. Systems often require multiple operators. To date, the DCE, the R-Scope, the IOP, and the Viacath system have data published relating to their application in human. Alternative forms of instrument actuation, camera control and master console ergonomics should be explored to improve instrument precision, sphere of action, size and minimize assistance required. Copyright © 2012 Surgical Associates Ltd. Published by Elsevier Ltd. All rights reserved.

A flexible slip sensor using triboelectric nanogenerator approach

NASA Astrophysics Data System (ADS)

Wang, Xudong; Liang, Jiaming; Xiao, Yuxiang; Wu, Yichuan; Deng, Yang; Wang, Xiaohao; Zhang, Min

2018-03-01

With the rapid development of robotic technology, tactile sensors for robots have gained great attention from academic and industry researchers. Tactile sensors for slip detection are essential for human-like steady control in dexterous robot hand. In this paper, we propose and demonstrate a flexible slip sensor based on triboelectric nanogenerator with a seesaw structure. The sensor is composed of two porous PDMS layers separated by an inverted trapezoid structure with a height of 500 μm. In order to customize the sensitivity of the sensor, porous PDMS was fabricated by mixing PDMS with deionized water thoroughly and then removing water with heat. Laser-induced porous graphene and aluminium are served as the pair of contact materials. To detect slip from different directions, two sets of the electrode pair were used. Experimental results show a distinct difference between static state and the moment when a slip happens was detected. In addition, the output voltage of the sensors increased as the increase of slip velocity from 0.25 mm/s to 2.5 mm/s. The flexible slip sensor proposed here shows the potential applications in smart robotics and prosthesis.

Small Dog-Like Quadruped Robot Powered With McKibben Air Muscles

NASA Technical Reports Server (NTRS)

Lacy, John M.

2005-01-01

Planetary surface robotic exploration is typically done by wheeled robots, which are limited to traveling on relatively flat terrain. The goal of this project was to design a bio-inspired robot to mimic the movements and agility of animals to navigate in various types of natural terrain, such as found on Mars. My objective for the summer was to design and construct a quadruped robot with a locomotion gait similar to a small dog. The design includes four legs and an actuated flexible spine for added mobility and performance; each leg has three joints - hip, knee, and ankle. I created 3D CAD models and machined the pieces for the assemblies of each part. One of the key areas of concern is weight vs. power issues for the driving force of locomotion. To maximize the power-to-weight ratio, I used McKibben air muscles to drive the motion of the quadruped. The prototype went through several iterations to analyze performance, with adjustments made to each assembly. We expect the final working prototype will be capable of standing unassisted and pronking into the air without active control. It will serve as a research platform for future bio-inspired control algorithms.

Microrobotics surveillance: discrete and continuous starbot

NASA Astrophysics Data System (ADS)

Mayyas, M.; Lee, W. H.; Stephanou, Harry

2011-05-01

This paper focuses on robotic technologies and operational capabilities of multiscale robots that demonstrate a unique class of Microsystems with the ability to navigate diverse terrains and environments. We introduce two classes of robots which combine multiple locomotion modalities including centimeter scale Discrete and Continuous robots which are referred here by D-Starbot and C-Starbot, respectively. The first generation of the robots were obtained to allow rapid shape reconfiguration and flipping recovery to accomplish tasks such as lowering and raising to dexterously go over and under obstacles, deform to roll over hostile location as well as squeezing through opening smaller than its sizes. The D-Starbot is based on novel mechanisms that allow shape reconfiguration to accomplish tasks such as lowering and raising to go over and under obstacles as well as squeezing through small voids. The CStarbot is a new class of foldable robots that is generally designed to provide a high degree of manufacturability. It consists of flexible structures that are built out of composite laminates with embedded microsystems. The design concept of C-Starbot are suitable for robots that could emulate and combine multiple locomotion modalities such as walking, running, crawling, gliding, clinging, climbing, flipping and jumping. The first generation of C-Starbot has centimeter scale structure consisting of flexible flaps, each being coupled with muscle-like mechanism. Untethered D-Starbot designs are prototyped and tested for multifunctional locomotion capabilities in indoor and outdoor environments. We present foldable mechanism and initial prototypes of C-Starbot capable of hopping and squeezing at different environments. The kinematic performance of flexible robots is thoroughly presented using the large elastic deflection of a single arm which is actuated by pulling force acting at variable angles and under payload and friction forces.

Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

NASA Technical Reports Server (NTRS)

Phillips, Warren F.

1989-01-01

The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

Video. Natural Orifice Translumenal Endoscopic Surgery with a miniature in vivo surgical robot.

PubMed

Lehman, Amy C; Dumpert, Jason; Wood, Nathan A; Visty, Abigail Q; Farritor, Shane M; Varnell, Brandon; Oleynikov, Dmitry

2009-07-01

The application of flexible endoscopy tools for Natural Orifice Translumenal Endoscopic Surgery (NOTES) is constrained due to limitations in dexterity, instrument insertion, navigation, visualization, and retraction. Miniature endolumenal robots can mitigate these constraints by providing a stable platform for visualization and dexterous manipulation. This video demonstrates the feasibility of using an endolumenal miniature robot to improve vision and to apply off-axis forces for task assistance in NOTES procedures. A two-armed miniature in vivo robot has been developed for NOTES. The robot is remotely controlled, has on-board cameras for guidance, and grasper and cautery end effectors for manipulation. Two basic configurations of the robot allow for flexibility during insertion and rigidity for visualization and tissue manipulation. Embedded magnets in the body of the robot and in an exterior surgical console are used for attaching the robot to the interior abdominal wall. This enables the surgeon to arbitrarily position the robot throughout a procedure. The visualization and task assistance capabilities of the miniature robot were demonstrated in a nonsurvivable NOTES procedure in a porcine model. An endoscope was used to create a transgastric incision and advance an overtube into the peritoneal cavity. The robot was then inserted through the overtube and into the peritoneal cavity using an endoscope. The surgeon successfully used the robot to explore the peritoneum and perform small-bowel dissection. This study has demonstrated the feasibility of inserting an endolumenal robot per os. Once deployed, the robot provided visualization and dexterous capabilities from multiple orientations. Further miniaturization and increased dexterity will enhance future capabilities.

Evaluation of a novel flexible snake robot for endoluminal surgery.

PubMed

Patel, Nisha; Seneci, Carlo A; Shang, Jianzhong; Leibrandt, Konrad; Yang, Guang-Zhong; Darzi, Ara; Teare, Julian

2015-11-01

Endoluminal therapeutic procedures such as endoscopic submucosal dissection are increasingly attractive given the shift in surgical paradigm towards minimally invasive surgery. This novel three-channel articulated robot was developed to overcome the limitations of the flexible endoscope which poses a number of challenges to endoluminal surgery. The device enables enhanced movement in a restricted workspace, with improved range of motion and with the accuracy required for endoluminal surgery. To evaluate a novel flexible robot for therapeutic endoluminal surgery. Bench-top studies. Research laboratory. Targeting and navigation tasks of the robot were performed to explore the range of motion and retroflexion capabilities. Complex endoluminal tasks such as endoscopic mucosal resection were also simulated. Successful completion, accuracy and time to perform the bench-top tasks were the main outcome measures. The robot ranges of movement, retroflexion and navigation capabilities were demonstrated. The device showed significantly greater accuracy of targeting in a retroflexed position compared to a conventional endoscope. Bench-top study and small study sample. We were able to demonstrate a number of simulated endoscopy tasks such as navigation, targeting, snaring and retroflexion. The improved accuracy of targeting whilst in a difficult configuration is extremely promising and may facilitate endoluminal surgery which has been notoriously challenging with a conventional endoscope.

Automatic Robotic Steering of Flexible Needles from 3D Ultrasound Images in Phantoms and Ex Vivo Biological Tissue.

PubMed

Mignon, Paul; Poignet, Philippe; Troccaz, Jocelyne

2018-05-29

Robotic control of needle bending aims at increasing the precision of percutaneous procedures. Ultrasound feedback is preferable for its clinical ease of use, cost and compactness but raises needle detection issues. In this paper, we propose a complete system dedicated to robotized guidance of a flexible needle under 3D ultrasound imaging. This system includes a medical robot dedicated to transperineal needle positioning and insertion, a rapid path planning for needle steering using bevel-tip needle natural curvature in tissue, and an ultrasound-based automatic needle detection algorithm. Since ultrasound-based automatic needle steering is often made difficult by the needle localization in biological tissue, we quantify the benefit of using flexible echogenic needles for robotized guidance under 3D ultrasound. The "echogenic" term refers to the etching of microstructures on the needle shaft. We prove that these structures improve needle visibility and detection robustness in ultrasound images. We finally present promising results when reaching targets using needle steering. The experiments were conducted with various needles in different media (synthetic phantoms and ex vivo biological tissue). For instance, with nitinol needles the mean accuracy is 1.2 mm (respectively 3.8 mm) in phantoms (resp. biological tissue).

3D Printed Wearable Sensors with Liquid Metals for the Pose Detection of Snakelike Soft Robots.

PubMed

Zhou, Luyu; Gao, Qing; Zhan, Jun-Fu; Xie, Chao-Qi; Fu, Jianzhong; He, Yong

2018-06-18

Liquid metal-based flexible sensors, which utilize advanced liquid conductive material to serve as sensitive element, is emerging as a promising solution to measure large deformations. Nowadays, one of the biggest challenges for precise control of soft robots is the detection of their real time positions. Existing fabrication methods are unable to fabricate flexible sensors that match the shape of soft robots. In this report, we firstly described a novel 3D printed multi-function inductance flexible and stretchable sensor with liquid metals (LMs), which is capable of measuring both axial tension and curvature. This sensor is fabricated with a developed coaxial liquid metal 3D printer by co-printing of silicone rubber and LMs. Due to the solenoid shape, this sensor can be easily installed on snakelike soft robots and can accurately distinguish different degrees of tensile and bending deformation. We determined the structural parameters of the sensor and proved its excellent stability and reliability. As a demonstration, we used this sensor to measure the curvature of a finger and feedback the position of endoscope, a typical snakelike structure. Because of its bending deformation form consistent with the actual working status of the soft robot and unique shape, this sensor has better practical application prospects in the pose detection.

Robot vibration control using inertial damping forces

NASA Technical Reports Server (NTRS)

Lee, Soo Han; Book, Wayne J.

1991-01-01

This paper concerns the suppression of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale model. The controller does not need to calculate the quasi-steady variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

Robot vibration control using inertial damping forces

NASA Technical Reports Server (NTRS)

Lee, Soo Han; Book, Wayne J.

1989-01-01

The suppression is examined of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale mode. The controller does not need to calculate the quasi-steady state variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

Topics in Chemical Instrumentation: Robots in the Laboratory--An Overview.

ERIC Educational Resources Information Center

Strimaitis, Janet R.

1989-01-01

Describes the current use of automation in the laboratory. Discusses the need, flexibility, and benefits of automation. Presents a generic system description. Lists commercially available laboratory robots. (MVL)

Flexible Robotic Entry Device for nuclear materials production reactor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Heckendorn, F.M.

1988-01-01

The Savannah River Laboratory (SRL) has developed and is implementing a Flexible Robotic Entry Device (FRED) for the nuclear materials production reactors at the Savannah River Plant (SRP). FRED is designed for rapid deployment into confinement areas of operating reactors to assess unknown conditions. A unique ''smart tether'' method has been incorporated into FRED for simultaneous bidirectional transmission of multiple video/audio/control/power signals over a single coaxial cable. 3 figs.

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

NASA Astrophysics Data System (ADS)

Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick

2017-08-01

In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

Fourth NASA Workshop on Computational Control of Flexible Aerospace Systems, part 2

NASA Technical Reports Server (NTRS)

Taylor, Lawrence W., Jr. (Compiler)

1991-01-01

A collection of papers presented at the Fourth NASA Workshop on Computational Control of Flexible Aerospace Systems is given. The papers address modeling, systems identification, and control of flexible aircraft, spacecraft and robotic systems.

Surgery of the Future App

MedlinePlus

... Action Featured Research Robert Webster Vanderbilt University Flexible Robot for Pituitary Tumor Removal Steven Hetts University of ... Georgia Institute of Technology Minimally Invasive Neurosurgical Intracranial Robot David Kaplan Tufts University Silk Screws Duncan Maitland , ...

Blurring the boundaries between frame-based and frameless stereotaxy: feasibility study for brain biopsies performed with the use of a head-mounted robot.

PubMed

Grimm, Florian; Naros, Georgios; Gutenberg, Angelika; Keric, Naureen; Giese, Alf; Gharabaghi, Alireza

2015-09-01

Frame-based stereotactic interventions are considered the gold standard for brain biopsies, but they have limitations with regard to flexibility and patient comfort because of the bulky head ring attached to the patient. Frameless image guidance systems that use scalp fiducial markers offer more flexibility and patient comfort but provide less stability and accuracy during drilling and biopsy needle positioning. Head-mounted robot-guided biopsies could provide the advantages of these 2 techniques without the downsides. The goal of this study was to evaluate the feasibility and safety of a robotic guidance device, affixed to the patient's skull through a small mounting platform, for use in brain biopsy procedures. This was a retrospective study of 37 consecutive patients who presented with supratentorial lesions and underwent brain biopsy procedures in which a surgical guidance robot was used to determine clinical outcomes and technical procedural operability. The portable head-mounted device was well tolerated by the patients and enabled stable drilling and needle positioning during surgery. Flexible adjustments of predefined paths and selection of new trajectories were successfully performed intraoperatively without the need for manual settings and fixations. The patients experienced no permanent deficits or infections after surgery. The head-mounted robot-guided approach presented here combines the stability of a bone-mounted set-up with the flexibility and tolerability of frameless systems. By reducing human interference (i.e., manual parameter settings, calibrations, and adjustments), this technology might be particularly useful in neurosurgical interventions that necessitate multiple trajectories.

Development of intelligent robots - Achievements and issues

NASA Astrophysics Data System (ADS)

Nitzan, D.

1985-03-01

A flexible, intelligent robot is regarded as a general purpose machine system that may include effectors, sensors, computers, and auxiliary equipment and, like a human, can perform a variety of tasks under unpredictable conditions. Development of intelligent robots is essential for increasing the growth rate of today's robot population in industry and elsewhere. Robotics research and development topics include manipulation, end effectors, mobility, sensing (noncontact and contact), adaptive control, robot programming languages, and manufacturing process planning. Past achievements and current issues related to each of these topics are described briefly.

A simple 5-DOF walking robot for space station application

NASA Technical Reports Server (NTRS)

Brown, H. Benjamin, Jr.; Friedman, Mark B.; Kanade, Takeo

1991-01-01

Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams.

Adaptive output feedback control of flexible-joint robots using neural networks: dynamic surface design approach.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2008-10-01

In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.

Demonstration of transoral robotic supraglottic laryngectomy and total laryngectomy in cadaveric specimens using the Medrobotics Flex System.

PubMed

Funk, Emily; Goldenberg, David; Goyal, Neerav

2017-06-01

Current management of laryngeal malignancies is associated with significant morbidity. Application of minimally invasive transoral techniques may reduce the morbidity associated with traditional procedures. The purpose of this study was to present our investigation of the utility of a novel flexible robotic system for transoral supraglottic laryngectomy and total laryngectomy. Transoral total laryngectomy and transoral supraglottic laryngectomy were performed in cadaveric specimens using the Flex Robotic System (Medrobotics, Raynham, MA). All procedures were completed successfully in the cadaveric models. The articulated endoscope allowed for access to the desired surgical site. Flexible instruments enabled an atraumatic approach and allowed for precise surgical technique. Access to deep anatomic structures remains problematic using current minimally invasive robotic approaches. Improvements in visualization and access to the laryngopharyngeal complex offered by this system may improve surgical applications to the larynx. This study demonstrates the technical feasibility using the Flex Robotic System for transoral robotic supraglottic laryngectomy and total laryngectomy. © 2017 Wiley Periodicals, Inc. Head Neck 39: 1218-1225, 2017. © 2017 Wiley Periodicals, Inc.

Passive mapping and intermittent exploration for mobile robots

NASA Technical Reports Server (NTRS)

Engleson, Sean P.

1994-01-01

An adaptive state space architecture is combined with diktiometric representation to provide the framework for designing a robot mapping system with flexible navigation planning tasks. This involves indexing waypoints described as expectations, geometric indexing, and perceptual indexing. Matching and updating the robot's projected position and sensory inputs with indexing waypoints involves matchers, dynamic priorities, transients, and waypoint restructuring. The robot's map learning can be opganized around the principles of passive mapping.

In vivo miniature robots for natural orifice surgery: State of the art and future perspectives.

PubMed

Tiwari, Manish M; Reynoso, Jason F; Lehman, Amy C; Tsang, Albert W; Farritor, Shane M; Oleynikov, Dmitry

2010-06-27

Natural orifice translumenal endoscopic surgery (NOTES) is the integration of laparoscopic minimally invasive surgery techniques with endoscopic technology. Despite the advances in NOTES technology, the approach presents several unique instrumentation and technique-specific challenges. Current flexible endoscopy platforms for NOTES have several drawbacks including limited stability, triangulation and dexterity, and lack of adequate visualization, suggesting the need for new and improved instrumentation for this approach. Much of the current focus is on the development of flexible endoscopy platforms that incorporate robotic technology. An alternative approach to access the abdominal viscera for either a laparoscopic or NOTES procedure is the use of small robotic devices that can be implanted in an intracorporeal manner. Multiple, independent, miniature robots can be simultaneously inserted into the abdominal cavity to provide a robotic platform for NOTES surgery. The capabilities of the robots include imaging, retraction, tissue and organ manipulation, and precise maneuverability in the abdominal cavity. Such a platform affords several advantages including enhanced visualization, better surgical dexterity and improved triangulation for NOTES. This review discusses the current status and future perspectives of this novel miniature robotics platform for the NOTES approach. Although these technologies are still in pre-clinical development, a miniature robotics platform provides a unique method for addressing the limitations of minimally invasive surgery, and NOTES in particular.

Preliminary experience in transoral laryngeal surgery with a flexible robotic system for benign lesions of the vocal folds.

PubMed

Remacle, Marc; Prasad, Vyas M N

2018-03-01

This purpose of this case series is to present the first four cases utilizing micro-phonosurgical instrumentation designed specifically for use with a semi-flexible 'robotic' system-the Medrobotics Flex system and to evaluate the accessibility and feasibility of this platform in the context of transoral robotic surgery (TORS) for laryngeal surgery. Four patients (3 female, 1 male; age range 49-79 years) were operated by the senior author at CHL-a tertiary hospital centre between 2016 and 2017. The 'robot' was deployed in all cases to assess its accessibility and ability to perform surgery in the larynx. All four patients were successfully treated using the system along with newly developed instrumentation specifically focused on phonosurgery. This series has demonstrated accessibility and ability for laryngeal surgery using a novel semi-rigid operator-controlled 'robotic' system. We encountered no device failures and were able to perform all the selected cases uneventfully.

Design and development an insect-inspired humanoid gripper that is structurally sound, yet very flexible

NASA Astrophysics Data System (ADS)

Hajjaj, S.; Pun, N.

2013-06-01

One of the biggest challenges in mechanical robotics design is the balance between structural integrity and flexibility. An industrial robotic gripper could be technically advanced, however it contains only 1 Degree of Freedom (DOF). If one is to add more DOFs the design would become complex. On the other hand, the human wrist and fingers contain 23 DOFs, and is very lightweight and highly flexible. Robotics are becoming more and more part of our social life, they are more and more being incorporated in social, medical, and personal application. Therefore, for such robots to be effective, they need to mimic human performance, both in performance as well as in mechanical design. In this work, a Humanoid Gripper is designed and built to mimic a simplified version of a human wrist and fingers. This is attempted by mimicking insect and human designs of grippes. The main challenge was to insure that the gripper is structurally sound, but at the same time flexible and lightweight. A combination of light weight material and a unique design of finger actuators were applied. The gripper is controlled by a PARALLAX servo controller 28823 (PSCI), which mounted on the assembly itself. At the end, a 6 DOF humanoid gripper made of lightweight material, similar in size to the human arm, and is able to carry a weight of 1 Kg has been designed and built.

Flexible circuits with integrated switches for robotic shape sensing

NASA Astrophysics Data System (ADS)

Harnett, C. K.

2016-05-01

Digital switches are commonly used for detecting surface contact and limb-position limits in robotics. The typical momentary-contact digital switch is a mechanical device made from metal springs, designed to connect with a rigid printed circuit board (PCB). However, flexible printed circuits are taking over from the rigid PCB in robotics because the circuits can bend while carrying signals and power through moving joints. This project is motivated by a previous work where an array of surface-mount momentary contact switches on a flexible circuit acted as an all-digital shape sensor compatible with the power resources of energy harvesting systems. Without a rigid segment, the smallest commercially-available surface-mount switches would detach from the flexible circuit after several bending cycles, sometimes violently. This report describes a low-cost, conductive fiber based method to integrate electromechanical switches into flexible circuits and other soft, bendable materials. Because the switches are digital (on/off), they differ from commercially-available continuous-valued bend/flex sensors. No amplification or analog-to-digital conversion is needed to read the signal, but the tradeoff is that the digital switches only give a threshold curvature value. Boundary conditions on the edges of the flexible circuit are key to setting the threshold curvature value for switching. This presentation will discuss threshold-setting, size scaling of the design, automation for inserting a digital switch into the flexible circuit fabrication process, and methods for reconstructing a shape from an array of digital switch states.

Remote Control and Children's Understanding of Robots

ERIC Educational Resources Information Center

Somanader, Mark C.; Saylor, Megan M.; Levin, Daniel T.

2011-01-01

Children use goal-directed motion to classify agents as living things from early in infancy. In the current study, we asked whether preschoolers are flexible in their application of this criterion by introducing them to robots that engaged in goal-directed motion. In one case the robot appeared to move fully autonomously, and in the other case it…

Identification and control of structures in space

NASA Technical Reports Server (NTRS)

Meirovitch, Leonard

1994-01-01

During the last phase of the project, emphasis has changed to flexible space robotics, by mutual agreement between Dr. R. C. Montgomery, NASA Technical Officer, and the Principal Investigator. Significant advances have been achieved over the period covered by this report. Research has been concerned with two main subjects: (1) the maneuvering and control of freely floating flexible space robots, and (2) the development of a theory for the motion of flexible multibody systems. Work on the first subject has resulted in two papers, both of them concerned with planar maneuvers. The first is concerned with the maneuvering and delivery of a payload to a certain point and in a certain orientation in space. The second is concerned with the docking maneuver with a target whose motion is not known a priori. Both papers will appear in the 'Journal of Guidance, Control, and Dynamics.' The second subject is concerned with the development of hybrid (ordinary and partial) differential equations for the three dimensional motion of flexible multibody systems, a subject of vital interest in flexible space robotics. The paper will appear in the 'Journal of Guidance, Control and Dynamics' in an issue dedicated to the memory of Lawrence W. Taylor, Jr. Abstracts and copies of the papers are hereby included.

Transformers: Shape-Changing Space Systems Built with Robotic Textiles

NASA Technical Reports Server (NTRS)

Stoica, Adrian

2013-01-01

Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.

Implementing real-time robotic systems using CHIMERA II

NASA Technical Reports Server (NTRS)

Stewart, David B.; Schmitz, Donald E.; Khosla, Pradeep K.

1990-01-01

A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME-backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control, such as NASREM, to be implemented with minimal programming time and effort.

CRUX: a Compliant Robotic Upper-Extremity eXosuit for Lightweight, Portable, Multi-DoF Muscular Augmentation

NASA Technical Reports Server (NTRS)

Lessard, Steven; Pansodtee, Pattawong; Robbins, Ash; Baltaxe-Admony, Leya Breanna; Teodorescu, Mircea; Kurniawan,Sri; Agogino, Adrian; Kurniawan, Sri

2017-01-01

Wearable robots can potentially offer their users enhanced stability and strength. These augmentations are ideally designed to actuate harmoniously with the users movements and provide extra force as needed. The creation of such robots, however, is particularly challenging due to the complexity of the underlying human body. In this paper, we present a compliant, robotic exosuit for upper-extremities called CRUX. This exosuit, inspired by tensegrity models of the human arm, features a lightweight (1.3 kg), flexible design for portability. We also show how CRUX maintains full flexibility of the upper-extremities for its users while providing multi- DoF augmentative strength to the major muscles of the arm, as evident by tracking the heart rate of an individual exercising said arm. Exosuits such as CRUX may be useful in physical therapy and in extreme environments where users are expected to exert their bodies to the fullest extent.

Proceedings of the Workshop on Computational Aspects in the Control of Flexible Systems, part 1

NASA Technical Reports Server (NTRS)

Taylor, Lawrence W., Jr. (Compiler)

1989-01-01

Control/Structures Integration program software needs, computer aided control engineering for flexible spacecraft, computer aided design, computational efficiency and capability, modeling and parameter estimation, and control synthesis and optimization software for flexible structures and robots are among the topics discussed.

Manipulation and handling processes off-line programming and optimization with use of K-Roset

NASA Astrophysics Data System (ADS)

Gołda, G.; Kampa, A.

2017-08-01

Contemporary trends in development of efficient, flexible manufacturing systems require practical implementation of modern “Lean production” concepts for maximizing customer value through minimizing all wastes in manufacturing and logistics processes. Every FMS is built on the basis of automated and robotized production cells. Except flexible CNC machine tools and other equipments, the industrial robots are primary elements of the system. In the studies, authors look for wastes of time and cost in real tasks of robots, during manipulation processes. According to aspiration for optimization of handling and manipulation processes with use of the robots, the application of modern off-line programming methods and computer simulation, is the best solution and it is only way to minimize unnecessary movements and other instructions. The modelling process of robotized production cell and offline programming of Kawasaki robots in AS-Language will be described. The simulation of robotized workstation will be realized with use of virtual reality software K-Roset. Authors show the process of industrial robot’s programs improvement and optimization in terms of minimizing the number of useless manipulator movements and unnecessary instructions. This is realized in order to shorten the time of production cycles. This will also reduce costs of handling, manipulations and technological process.

Reversal Learning Task in Children with Autism Spectrum Disorder: A Robot-Based Approach.

PubMed

Costescu, Cristina A; Vanderborght, Bram; David, Daniel O

2015-11-01

Children with autism spectrum disorder (ASD) engage in highly perseverative and inflexible behaviours. Technological tools, such as robots, received increased attention as social reinforces and/or assisting tools for improving the performance of children with ASD. The aim of our study is to investigate the role of the robotic toy Keepon in a cognitive flexibility task performed by children with ASD and typically developing (TD) children. The number of participants included in this study is 81 children: 40 TD children and 41 children with ASD. Each participant had to go through two conditions: robot interaction and human interaction in which they had performed the reversal learning task. Our primary outcomes are the number of errors from acquisition phase and from reversal phase of the task; as secondary outcomes we have measured attentional engagement and positive affect. The results of this study showed that children with ASD are more engaged in the task and they seem to enjoy more the task when interacting with the robot compared with the interaction with the adult. On the other hand their cognitive flexibility performance is, in general, similar in the robot and the human conditions with the exception of the learning phase where the robot can interfere with the performance. Implication for future research and practice are discussed.

The effect of inertial coupling in the dynamics and control of flexible robotic manipulators

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Curran, Carol Cockrell; Graves, Philip Lee

1988-01-01

A general model of the dynamics of flexible robotic manipulators is presented, including the gross motion of the links, the vibrations of the links and joints, and the dynamic coupling between the gross motions and vibrations. The vibrations in the links may be modeled using lumped parameters, truncated modal summation, a component mode synthesis method, or a mixture of these methods. The local link inertia matrix is derived to obtain the coupling terms between the gross motion of the link and the vibrations of the link. Coupling between the motions of the links results from the kinematic model, which utilizes the method of kinematic influence. The model is used to simulate the dynamics of a flexible space-based robotic manipulator which is attached to a spacecraft, and is free to move with respect to the inertial reference frame. This model may be used to study the dynamic response of the manipulator to the motions of its joints, or to externally applied disturbances.

Compensation for positioning error of industrial robot for flexible vision measuring system

NASA Astrophysics Data System (ADS)

Guo, Lei; Liang, Yajun; Song, Jincheng; Sun, Zengyu; Zhu, Jigui

2013-01-01

Positioning error of robot is a main factor of accuracy of flexible coordinate measuring system which consists of universal industrial robot and visual sensor. Present compensation methods for positioning error based on kinematic model of robot have a significant limitation that it isn't effective in the whole measuring space. A new compensation method for positioning error of robot based on vision measuring technique is presented. One approach is setting global control points in measured field and attaching an orientation camera to vision sensor. Then global control points are measured by orientation camera to calculate the transformation relation from the current position of sensor system to global coordinate system and positioning error of robot is compensated. Another approach is setting control points on vision sensor and two large field cameras behind the sensor. Then the three dimensional coordinates of control points are measured and the pose and position of sensor is calculated real-timely. Experiment result shows the RMS of spatial positioning is 3.422mm by single camera and 0.031mm by dual cameras. Conclusion is arithmetic of single camera method needs to be improved for higher accuracy and accuracy of dual cameras method is applicable.

Electrically Driven Microengineered Bioinspired Soft Robots.

PubMed

Shin, Su Ryon; Migliori, Bianca; Miccoli, Beatrice; Li, Yi-Chen; Mostafalu, Pooria; Seo, Jungmok; Mandla, Serena; Enrico, Alessandro; Antona, Silvia; Sabarish, Ram; Zheng, Ting; Pirrami, Lorenzo; Zhang, Kaizhen; Zhang, Yu Shrike; Wan, Kai-Tak; Demarchi, Danilo; Dokmeci, Mehmet R; Khademhosseini, Ali

2018-03-01

To create life-like movements, living muscle actuator technologies have borrowed inspiration from biomimetic concepts in developing bioinspired robots. Here, the development of a bioinspired soft robotics system, with integrated self-actuating cardiac muscles on a hierarchically structured scaffold with flexible gold microelectrodes is reported. Inspired by the movement of living organisms, a batoid-fish-shaped substrate is designed and reported, which is composed of two micropatterned hydrogel layers. The first layer is a poly(ethylene glycol) hydrogel substrate, which provides a mechanically stable structure for the robot, followed by a layer of gelatin methacryloyl embedded with carbon nanotubes, which serves as a cell culture substrate, to create the actuation component for the soft body robot. In addition, flexible Au microelectrodes are embedded into the biomimetic scaffold, which not only enhance the mechanical integrity of the device, but also increase its electrical conductivity. After culturing and maturation of cardiomyocytes on the biomimetic scaffold, they show excellent myofiber organization and provide self-actuating motions aligned with the direction of the contractile force of the cells. The Au microelectrodes placed below the cell layer further provide localized electrical stimulation and control of the beating behavior of the bioinspired soft robot. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Technological advances in robotic-assisted laparoscopic surgery.

PubMed

Tan, Gerald Y; Goel, Raj K; Kaouk, Jihad H; Tewari, Ashutosh K

2009-05-01

In this article, the authors describe the evolution of urologic robotic systems and the current state-of-the-art features and existing limitations of the da Vinci S HD System (Intuitive Surgical, Inc.). They then review promising innovations in scaling down the footprint of robotic platforms, the early experience with mobile miniaturized in vivo robots, advances in endoscopic navigation systems using augmented reality technologies and tracking devices, the emergence of technologies for robotic natural orifice transluminal endoscopic surgery and single-port surgery, advances in flexible robotics and haptics, the development of new virtual reality simulator training platforms compatible with the existing da Vinci system, and recent experiences with remote robotic surgery and telestration.

Flexible robotic catheters in the visceral segment of the aorta: advantages and limitations.

PubMed

Li, Mimi M; Hamady, Mohamad S; Bicknell, Colin D; Riga, Celia V

2018-06-01

Flexible robotic catheters are an emerging technology which provide an elegant solution to the challenges of conventional endovascular intervention. Originally developed for interventional cardiology and electrophysiology procedures, remotely steerable robotic catheters such as the Magellan system enable greater precision and enhanced stability during target vessel navigation. These technical advantages facilitate improved treatment of disease in the arterial tree, as well as allowing execution of otherwise unfeasible procedures. Occupational radiation exposure is an emerging concern with the use of increasingly complex endovascular interventions. The robotic systems offer an added benefit of radiation reduction, as the operator is seated away from the radiation source during manipulation of the catheter. Pre-clinical studies have demonstrated reduction in force and frequency of vessel wall contact, resulting in reduced tissue trauma, as well as improved procedural times. Both safety and feasibility have been demonstrated in early clinical reports, with the first robot-assisted fenestrated endovascular aortic repair in 2013. Following from this, the Magellan system has been used to successfully undertake a variety of complex aortic procedures, including fenestrated/branched endovascular aortic repair, embolization, and angioplasty.

The KALI multi-arm robot programming and control environment

NASA Technical Reports Server (NTRS)

Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

1989-01-01

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Establishing a Robotic, LEO-to-GEO Satellite Servicing Infrastructure as an Economic Foundation for Exploration

NASA Technical Reports Server (NTRS)

Horsham, Gary A. P.; Schmidt, George R.; Gilland, James H.

2010-01-01

The strategy for accomplishing civilian exploration goals and objectives is in the process of a fundamental shift towards a potential new approach called Flexible Path. This paper suggests that a government-industry or public-private partnership in the commercial development of low Earth orbit to geostationary orbit (LEO-to-GEO (LTG)) space, following or in parallel with the commercialization of Earth-to-LEO and International Space Station (ISS) operations, could serve as a necessary, logical step that can be incorporated into the flexible path approach. A LTG satellite-servicing infrastructure and architecture concept is discussed within this new strategic context. The concept consists of a space harbor that serves as a transport facility for a fleet of specialized, fully- or semi-autonomous robotic servicing spacecraft. The baseline, conceptual system architecture is composed of a space harbor equipped with specialized servicer spacecraft; a satellite command, communication, and control system; a parts station; a fuel station or depot; and a fuel/parts replenishment transport. The commercial servicer fleet would consist of several types of spacecraft, each designed with specialized robotic manipulation subsystems to provide services such as refueling, upgrade, repair, inspection, relocation, and removal. The space harbor is conceptualized as an ISS-type, octagonal truss structure equipped with radiation tolerant subsystems. This space harbor would be primarily capable of serving as an operational platform for various commercially owned and operated servicer spacecraft positioned and docked symmetrically on four of the eight sides. Several aspects of this concept are discussed, such as: system-level feasibility in terms of ISS-truss-type infrastructure and subsystems emplacement and maintenance between LEO and GEO; infrastructure components assembly in LEO, derived from ISS assembly experience, and transfer to various higher orbital locations; the evolving Earth-to-orbit (ETO) capability to deliver humans and cargo to LEO for assembly purposes; system architectural definition, optimal orbital parameters, mass estimations, delta velocity ( V) estimations, power and propulsion options, and assessments of various critical technologies. Large-scale, robotic, LTG satellite servicing is considered as an essential economic pre-condition and next parallel or sequential step on the road toward exploration beyond LEO. Such a step might produce the necessary pre-requisite economic value that can be used by future decision makers to justify further investment in exploration beyond LEO.

The Aerosonde Robotic Aircraft: A New Paradigm for Environmental Observations.

NASA Astrophysics Data System (ADS)

Holland, G. J.; Webster, P. J.; Curry, J. A.; Tyrell, G.; Gauntlett, D.; Brett, G.; Becker, J.; Hoag, R.; Vaglienti, W.

2001-05-01

The Aerosonde is a small robotic aircraft designed for highly flexible and inexpensive operations. Missions are conducted in a completely robotic mode, with the aircraft under the command of a ground controller who monitors the mission. Here we provide an update on the Aerosonde development and operations and expand on the vision for the future, including instrument payloads, observational strategies, and platform capabilities. The aircraft was conceived in 1992 and developed to operational status in 1995-98, after a period of early prototyping. Continuing field operations and development since 1998 have led to the Aerosonde Mark 3, with ~2000 flight hours completed. A defined development path through to 2002 will enable the aircraft to become increasingly more robust with increased flexibility in the range and type of operations that can be achieved. An Aerosonde global reconnaissance facility is being developed that consists of launch and recovery sites dispersed around the globe. The use of satellite communications and internet technology enables an operation in which all aircraft around the globe are under the command of a single center. During operation, users will receive data at their home institution in near-real time via the virtual field environment, allowing the user to update the mission through interaction with the global command center. Sophisticated applications of the Aerosonde will be enabled by the development of a variety of interchangeable instrument payloads and the operation of Smart Aerosonde Clusters that allow a cluster of Aerosondes to interact intelligently in response to the data being collected.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Continuum limbed robots for locomotion

NASA Astrophysics Data System (ADS)

Mutlu, Alper

This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

Investment Justification of Robotic Technology in Aerospace Manufacturing. User’s Manual

DTIC Science & Technology

1984-10-01

assessing the economic attractiveness of investments in robotics and/or flexible manufacturing systems (FMS). It models the cash flows...relative. 5. RIDM assesses the inherent economic attractiveness of robotic/FMS implementation. The model is based on real economic events and not...provided for an optional analysis of state and local tax impacts, to be custom designed by the user. (2) Computation of Depreciation

High-Precision Coupling Mechanism Operable By Robots

NASA Technical Reports Server (NTRS)

Voellmer, George

1992-01-01

Coupling mechanism has features making it easily operable by hand and suitable for operation by robots: tolerates some initial misalignment, imposes precise final alignment, and protects itself against overtightening. Typically used to mount equipment module on structure. Mechanism includes kinematic mounts, which tolerate small initial misalignment and enforce precise final alignment as two assemblies brought together. Clamping force applied to kinematic mounts via two flexible plates. Bolt and nut tightened on flexible plates to impose spring clamping load. Repeatability of interface tested and found to be better than forty-millionths of inch.

Robotic Processing Of Rocket-Engine Nozzles

NASA Technical Reports Server (NTRS)

Gilbert, Jeffrey L.; Maslakowski, John E.; Gutow, David A.; Deily, David C.

1994-01-01

Automated manufacturing cell containing computer-controlled robotic processing system developed to implement some important related steps in fabrication of rocket-engine nozzles. Performs several tedious and repetitive fabrication, measurement, adjustment, and inspection processes and subprocesses now performed manually. Offers advantages of reduced processing time, greater consistency, excellent collection of data, objective inspections, greater productivity, and simplified fixturing. Also affords flexibility: by making suitable changes in hardware and software, possible to modify process and subprocesses. Flexibility makes work cell adaptable to fabrication of heat exchangers and other items structured similarly to rocket nozzles.

Calibration of a flexible measurement system based on industrial articulated robot and structured light sensor

NASA Astrophysics Data System (ADS)

Mu, Nan; Wang, Kun; Xie, Zexiao; Ren, Ping

2017-05-01

To realize online rapid measurement for complex workpieces, a flexible measurement system based on an articulated industrial robot with a structured light sensor mounted on the end-effector is developed. A method for calibrating the system parameters is proposed in which the hand-eye transformation parameters and the robot kinematic parameters are synthesized in the calibration process. An initial hand-eye calibration is first performed using a standard sphere as the calibration target. By applying the modified complete and parametrically continuous method, we establish a synthesized kinematic model that combines the initial hand-eye transformation and distal link parameters as a whole with the sensor coordinate system as the tool frame. According to the synthesized kinematic model, an error model is constructed based on spheres' center-to-center distance errors. Consequently, the error model parameters can be identified in a calibration experiment using a three-standard-sphere target. Furthermore, the redundancy of error model parameters is eliminated to ensure the accuracy and robustness of the parameter identification. Calibration and measurement experiments are carried out based on an ER3A-C60 robot. The experimental results show that the proposed calibration method enjoys high measurement accuracy, and this efficient and flexible system is suitable for online measurement in industrial scenes.

Frequency-tuning input-shaped manifold-based switching control for underactuated space robot equipped with flexible appendages

NASA Astrophysics Data System (ADS)

Kojima, Hirohisa; Ieda, Shoko; Kasai, Shinya

2014-08-01

Underactuated control problems, such as the control of a space robot without actuators on the main body, have been widely investigated. However, few studies have examined attitude control problems of underactuated space robots equipped with a flexible appendage, such as solar panels. In order to suppress vibration in flexible appendages, a zero-vibration input-shaping technique was applied to the link motion of an underactuated planar space robot. However, because the vibrational frequency depends on the link angles, simple input-shaping control methods cannot sufficiently suppress the vibration. In this paper, the dependency of the vibrational frequency on the link angles is measured experimentally, and the time-delay interval of the input shaper is then tuned based on the frequency estimated from the link angles. The proposed control method is referred to as frequency-tuning input-shaped manifold-based switching control (frequency-tuning IS-MBSC). The experimental results reveal that frequency-tuning IS-MBSC is capable of controlling the link angles and the main body attitude to maintain the target angles and that the vibration suppression performance of the proposed frequency-tuning IS-MBSC is better than that of a non-tuning IS-MBSC, which does not take the frequency variation into consideration.

Robot arm apparatus

DOEpatents

Nachbar, Henry D.

1992-12-01

A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

Robot arm apparatus

DOEpatents

Nachbar, Henry D.

1992-01-01

A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

ODYSSEUS autonomous walking robot: The leg/arm design

NASA Technical Reports Server (NTRS)

Bourbakis, N. G.; Maas, M.; Tascillo, A.; Vandewinckel, C.

1994-01-01

ODYSSEUS is an autonomous walking robot, which makes use of three wheels and three legs for its movement in the free navigation space. More specifically, it makes use of its autonomous wheels to move around in an environment where the surface is smooth and not uneven. However, in the case that there are small height obstacles, stairs, or small height unevenness in the navigation environment, the robot makes use of both wheels and legs to travel efficiently. In this paper we present the detailed hardware design and the simulated behavior of the extended leg/arm part of the robot, since it plays a very significant role in the robot actions (movements, selection of objects, etc.). In particular, the leg/arm consists of three major parts: The first part is a pipe attached to the robot base with a flexible 3-D joint. This pipe has a rotated bar as an extended part, which terminates in a 3-D flexible joint. The second part of the leg/arm is also a pipe similar to the first. The extended bar of the second part ends at a 2-D joint. The last part of the leg/arm is a clip-hand. It is used for selecting several small weight and size objects, and when it is in a 'closed' mode, it is used as a supporting part of the robot leg. The entire leg/arm part is controlled and synchronized by a microcontroller (68CH11) attached to the robot base.

Line trace micro-opto-electro-device

NASA Astrophysics Data System (ADS)

Yi, Deer; Lu, Si; Yan, Yingbai; Pang, Lin; Jin, Guofan

2001-05-01

Since micro robot has merits on small size and flexible movements, it could be used under many situations. A lot of novel designs of micro-robot have been developed recently. However, as miniaturizing the size of the micro-robot, the number of its sensor gets restricted. Then the information from the detectors becomes lack. This makes the micro robot difficult to acquire its status. A micro robot tracing a line has been designed in our lab. With the help of optoelectronic detection and logical algorithm, the micro robot could follow a black line printed on the white ground exactly. The micro robot's intelligence is realized through the program in its microprocessor. The technical details of the micro robot are as follows: dimensions: 30mm*25mm*35**; velocity: 60mm/s.

Development and Validation of a Low Cost, Flexible, Open Source Robot for Use as a Teaching and Research Tool across the Educational Spectrum

ERIC Educational Resources Information Center

Howell, Abraham L.

2012-01-01

In the high tech factories of today robots can be used to perform various tasks that span a wide spectrum that encompasses the act of performing high-speed, automated assembly of cell phones, laptops and other electronic devices to the compounding, filling, packaging and distribution of life-saving pharmaceuticals. As robot usage continues to…

International attitudes of early adopters to current and future robotic technologies in pediatric surgery.

PubMed

Cundy, Thomas P; Marcus, Hani J; Hughes-Hallett, Archie; Najmaldin, Azad S; Yang, Guang-Zhong; Darzi, Ara

2014-10-01

Perceptions toward surgical innovations are critical to the social processes that drive technology adoption. This study aims to capture attitudes of early adopter pediatric surgeons toward robotic technologies in order to clarify 1) specific features that are driving appeal, 2) limiting factors that are acting as diffusion barriers, and 3) future needs. Electronic surveys were distributed to pediatric surgeons with personal experience or exposure in robotic surgery. Participants were classified as experts or nonexperts for subgroup analysis. Coded Likert scale responses were analyzed using the Friedman or Mann-Whitney test. A total of 48 responses were received (22 experts, 26 nonexperts), with 14 countries represented. The most highly rated benefits of robot assistance were wristed instruments, stereoscopic vision, and magnified view. The most highly rated limitations were capital outlay expense, instrument size, and consumables/maintenance expenses. Future technologies of greatest interest were microbots, image guidance, and flexible snake robots. Putative benefits and limitations of robotic surgery are perceived with widely varied weightings. Insight provided by these responses will inform relevant clinical, engineering, and industry groups such that unambiguous goals and priorities may be assigned for the future. Pediatric surgeons seem most receptive toward technology that is smaller, less expensive, more intelligent and flexible. Copyright © 2014 Elsevier Inc. All rights reserved.

A Preliminary Study of Peer-to-Peer Human-Robot Interaction

NASA Technical Reports Server (NTRS)

Fong, Terrence; Flueckiger, Lorenzo; Kunz, Clayton; Lees, David; Schreiner, John; Siegel, Michael; Hiatt, Laura M.; Nourbakhsh, Illah; Simmons, Reid; Ambrose, Robert

2006-01-01

The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance.

A Flexible Temperature Sensor Based on Reduced Graphene Oxide for Robot Skin Used in Internet of Things.

PubMed

Liu, Guanyu; Tan, Qiulin; Kou, Hairong; Zhang, Lei; Wang, Jinqi; Lv, Wen; Dong, Helei; Xiong, Jijun

2018-05-02

Flexible electronics, which can be distributed on any surface we need, are highly demanded in the development of Internet of Things (IoT), robot technology and electronic skins. Temperature is a fundamental physical parameter, and it is an important indicator in many applications. Therefore, a flexible temperature sensor is required. Here, we report a simple method to fabricate three lightweight, low-cost and flexible temperature sensors, whose sensitive materials are reduced graphene oxide (r-GO), single-walled carbon nanotubes (SWCNTs) and multi-wall carbon nanotubes (MWCNTs). By comparing linearity, sensitive and repeatability, we found that the r-GO temperature sensor had the most balanced performance. Furthermore, the r-GO temperature sensor showed good mechanical properties and it could be bent in different angles with negligible resistance change. In addition, the performance of the r-GO temperature sensor remained stable under different kinds of pressure and was unaffected by surrounding environments, like humidity or other gases, because of the insulating layer on its sensitive layer. The easy-fabricated process and economy, together with the remarkable performance of the r-GO temperature sensor, suggest that it is suitable for use as a robot skin or used in the environment of IoT.

Kinematic synthesis of adjustable robotic mechanisms

NASA Astrophysics Data System (ADS)

Chuenchom, Thatchai

1993-01-01

Conventional hard automation, such as a linkage-based or a cam-driven system, provides high speed capability and repeatability but not the flexibility required in many industrial applications. The conventional mechanisms, that are typically single-degree-of-freedom systems, are being increasingly replaced by multi-degree-of-freedom multi-actuators driven by logic controllers. Although this new trend in sophistication provides greatly enhanced flexibility, there are many instances where the flexibility needs are exaggerated and the associated complexity is unnecessary. Traditional mechanism-based hard automation, on the other hand, neither can fulfill multi-task requirements nor are cost-effective mainly due to lack of methods and tools to design-in flexibility. This dissertation attempts to bridge this technological gap by developing Adjustable Robotic Mechanisms (ARM's) or 'programmable mechanisms' as a middle ground between high speed hard automation and expensive serial jointed-arm robots. This research introduces the concept of adjustable robotic mechanisms towards cost-effective manufacturing automation. A generalized analytical synthesis technique has been developed to support the computational design of ARM's that lays the theoretical foundation for synthesis of adjustable mechanisms. The synthesis method developed in this dissertation, called generalized adjustable dyad and triad synthesis, advances the well-known Burmester theory in kinematics to a new level. While this method provides planar solutions, a novel patented scheme is utilized for converting prescribed three-dimensional motion specifications into sets of planar projections. This provides an analytical and a computational tool for designing adjustable mechanisms that satisfy multiple sets of three-dimensional motion specifications. Several design issues were addressed, including adjustable parameter identification, branching defect, and mechanical errors. An efficient mathematical scheme for identification of adjustable member was also developed. The analytical synthesis techniques developed in this dissertation were successfully implemented in a graphic-intensive user-friendly computer program. A physical prototype of a general purpose adjustable robotic mechanism has been constructed to serve as a proof-of-concept model.

Modeling and optimal design of an optical MEMS tactile sensor for use in robotically assisted surgery

NASA Astrophysics Data System (ADS)

Ahmadi, Roozbeh; Kalantari, Masoud; Packirisamy, Muthukumaran; Dargahi, Javad

2010-06-01

Currently, Minimally Invasive Surgery (MIS) performs through keyhole incisions using commercially available robotic surgery systems. One of the most famous examples of these robotic surgery systems is the da Vinci surgical system. In the current robotic surgery systems like the da Vinci, surgeons are faced with problems such as lack of tactile feedback during the surgery. Therefore, providing a real-time tactile feedback from interaction between surgical instruments and tissue can help the surgeons to perform MIS more reliably. The present paper proposes an optical tactile sensor to measure the contact force between the bio-tissue and the surgical instrument. A model is proposed for simulating the interaction between a flexible membrane and bio-tissue based on the finite element methods. The tissue is considered as a hyperelastic material with the material properties similar to the heart tissue. The flexible membrane is assumed as a thin layer of silicon which can be microfabricated using the technology of Micro Electro Mechanical Systems (MEMS). The simulation results are used to optimize the geometric design parameters of a proposed MEMS tactile sensor for use in robotic surgical systems to perform MIS.

Stretchable, Flexible, Scalable Smart Skin Sensors for Robotic Position and Force Estimation.

PubMed

O'Neill, John; Lu, Jason; Dockter, Rodney; Kowalewski, Timothy

2018-03-23

The design and validation of a continuously stretchable and flexible skin sensor for collaborative robotic applications is outlined. The skin consists of a PDMS skin doped with Carbon Nanotubes and the addition of conductive fabric, connected by only five wires to a simple microcontroller. The accuracy is characterized in position as well as force, and the skin is also tested under uniaxial stretch. There are also two examples of practical implementations in collaborative robotic applications. The stationary position estimate has an RMSE of 7.02 mm, and the sensor error stays within 2.5 ± 1.5 mm even under stretch. The skin consistently provides an emergency stop command at only 0.5 N of force and is shown to maintain a collaboration force of 10 N in a collaborative control experiment.

Nitride-Based Materials for Flexible MEMS Tactile and Flow Sensors in Robotics

PubMed Central

Abels, Claudio; Mastronardi, Vincenzo Mariano; Guido, Francesco; Dattoma, Tommaso; Qualtieri, Antonio; Megill, William M.; De Vittorio, Massimo; Rizzi, Francesco

2017-01-01

The response to different force load ranges and actuation at low energies is of considerable interest for applications of compliant and flexible devices undergoing large deformations. We present a review of technological platforms based on nitride materials (aluminum nitride and silicon nitride) for the microfabrication of a class of flexible micro-electro-mechanical systems. The approach exploits the material stress differences among the constituent layers of nitride-based (AlN/Mo, SixNy/Si and AlN/polyimide) mechanical elements in order to create microstructures, such as upwardly-bent cantilever beams and bowed circular membranes. Piezoresistive properties of nichrome strain gauges and direct piezoelectric properties of aluminum nitride can be exploited for mechanical strain/stress detection. Applications in flow and tactile sensing for robotics are described. PMID:28489040

Social and Labour Implications of Flexible Manufacturing Systems.

ERIC Educational Resources Information Center

Ebel, Karl-H.

1985-01-01

The flexible manufacturing system (FMS), a new way of organizing the production process by means of numerical control machines, robots, and computerized workstations, is described. The author examines some of the implications of FMS and the challenges it poses. (Author/CT)

Designing a Social Environment for Human-Robot Cooperation.

ERIC Educational Resources Information Center

Amram, Fred M.

Noting that work is partly a social activity, and that workers' psychological and emotional needs influence their productivity, this paper explores avenues for improving human-robot cooperation and for enhancing worker satisfaction in the environment of flexible automation. The first section of the paper offers a brief overview of the…

Robots Teaching Other Little Robots: Neoliberalism, CCSS, and Teacher Professionalism

ERIC Educational Resources Information Center

Endacott, Jason L.; Wright, Ginney P.; Goering, Christian Z.; Collet, Vicki S.; Denny, George S.; Davis, Jennifer Jennings

2015-01-01

Recent quantitative research on the implementation of the Common Core State Standards (CCSS) in schools across Arkansas has discovered that teachers' perceptions of job satisfaction, agency, and professionalism are significantly affected by their school leaders' openness towards autonomy, flexibility, and opinions of teachers (Matlock et al.…

Increasing Students' Interest with Low-Cost CellBots

ERIC Educational Resources Information Center

Aroca, R. V.; Gomes, R. B.; Tavares, D. M.; Souza, A. A. S; Burlamaqui, A. M. F.; Caurin, G. A. P.; Goncalves, L. M. G.

2013-01-01

This paper introduces the use of a flexible and affordable educational robot specifically developed for the practical experimentation inherent to technological disciplines. The robot has been designed to be reconfigurable and extendible, serving as an experimental platform across several undergraduate courses. As most students have a mobile cell…

Towards a Location-based Service for Early Mental Health Interventions in Disaster Response Using Minimalistic Tele-operated Android Robots Technology

NASA Astrophysics Data System (ADS)

Vahidi, H.; Mobasheri, A.; Alimardani, M.; Guan, Q.; Bakillah, M.

2014-04-01

Providing early mental health services during disaster is a great challenge in the disaster response phase. Lack of access to adequate mental-health professionals in the early stages of large-scale disasters dramatically influences the trend of a successful mental health aid. In this paper, a conceptual framework has been suggested for adopting cellphone-type tele-operated android robots in the early stages of disasters for providing the early mental health services for disaster survivors by developing a locationbased and participatory approach. The techniques of enabling GI-services in a Peer-to-Peer (P2P) environment were studied to overcome the limitations of current centralized services. Therefore, the aim of this research study is to add more flexibility and autonomy to GI web services (WMS, WFS, WPS, etc.) and alleviate to some degree the inherent limitations of these centralized systems. A P2P system Architecture is presented for the location-based service using minimalistic tele-operated android robots, and some key techniques of implementing this service using BestPeer were studied for developing this framework.

Serpentine Robot Model and Gait Design Using Autodesk Inventor and Simulink SimMechanics

NASA Astrophysics Data System (ADS)

Daniel; Iman Alamsyah, Mohammad; Erwin; Tan, Sofyan

2014-03-01

The authors introduce gaits of a serpentine robot with linear expansion mechanism where the robot varies its length using joints with three degrees of freedom. The 3D model of the serpentine robot is drawed in Autocad Inventor® and exported to SimMechanics® for straighforward modeling of the kinematics. The gaits are important for robots designed to explore ruins of disasters where the working spaces are very tight. For maximum flexibility of the serpentine robot, we adopted a joint design with three parallel actuators, where the joint is capable of linear movement in the forward axis, and rotational movements around two other axes. The designed linear expansion gaits is calculated for forward movement when the robot is posing straight or turning laterally.

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot.

PubMed

Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei

2017-08-01

Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal surgery through minimal invasion or natural orifices. The study showed that the proposed geometric method can resolve IK of the snake-like robot with negligible error offset. Evaluation against well-known methods shows that the proposed method can reach several points in the robot's workspace with high accuracy and shorter computational time, simultaneously.

Situationally driven local navigation for mobile robots. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Slack, Marc Glenn

1990-01-01

For mobile robots to autonomously accommodate dynamically changing navigation tasks in a goal-directed fashion, they must employ navigation plans. Any such plan must provide for the robot's immediate and continuous need for guidance while remaining highly flexible in order to avoid costly computation each time the robot's perception of the world changes. Due to the world's uncertainties, creation and maintenance of navigation plans cannot involve arbitrarily complex processes, as the robot's perception of the world will be in constant flux, requiring modifications to be made quickly if they are to be of any use. This work introduces navigation templates (NaT's) which are building blocks for the construction and maintenance of rough navigation plans which capture the relationship that objects in the world have to the current navigation task. By encoding only the critical relationship between the objects in the world and the navigation task, a NaT-based navigation plan is highly flexible; allowing new constraints to be quickly incorporated into the plan and existing constraints to be updated or deleted from the plan. To satisfy the robot's need for immediate local guidance, the NaT's forming the current navigation plan are passed to a transformation function. The transformation function analyzes the plan with respect to the robot's current location to quickly determine (a few times a second) the locally preferred direction of travel. This dissertation presents NaT's and the transformation function as well as the needed support systems to demonstrate the usefulness of the technique for controlling the actions of a mobile robot operating in an uncertain world.

Magnetic propulsion of robotic sperms at low-Reynolds number

NASA Astrophysics Data System (ADS)

Khalil, Islam S. M.; Fatih Tabak, Ahmet; Klingner, Anke; Sitti, Metin

2016-07-01

We investigate the microswimming behaviour of robotic sperms in viscous fluids. These robotic sperms are fabricated from polystyrene dissolved in dimethyl formamide and iron-oxide nanoparticles. This composition allows the nanoparticles to be concentrated within the bead of the robotic sperm and provide magnetic dipole, whereas the flexibility of the ultra-thin tail enables flagellated locomotion using magnetic fields in millitesla range. We show that these robotic sperms have similar morphology and swimming behaviour to those of sperm cells. Moreover, we show experimentally that our robotic sperms swim controllably at an average speed of approximately one body length per second (around 125 μm s-1), and they are relatively faster than the microswimmers that depend on planar wave propulsion in low-Reynolds number fluids.

Soft Sensors and Actuators based on Nanomaterials

NASA Astrophysics Data System (ADS)

Yao, Shanshan

The focus of this research is using novel bottom-up synthesized nanomaterials and structures to build up devices for wearable sensors and soft actuators. The applications of the wearable sensors towards motion detection and health monitoring are investigated. In addition, flexible heaters for bimorph actuators and stretchable patches made of microgel depots containing drug-loaded nanoparticles (NPs) for stretch-triggered wearable drug delivery are studied. Considerable efforts have been made to achieve highly sensitive and wearable sensors that can simultaneously detect multiple stimuli such as stretch, pressure, temperature or touch. Highly stretchable multifunctional sensors that can detect strain (up to 50%), pressure (up to 1 MPa) and finger touch with good sensitivity, fast response time ( 40 ms) and good pressure mapping function were developed. The sensors were demonstrated for several wearable applications including monitoring thumb movements and knee motions, illustrating the potential utilities of such sensors in robotic systems, prosthetics, healthcare and flexible touch panels. In addition to mechanical sensors, a wearable skin hydration sensor made of silver nanowires (AgNWs) in a polydimethylsiloxane (PDMS) matrix was demonstrated based on skin impedance measurement. The hydration sensors were packaged into a flexible wristband for skin hydration monitoring and a chest patch consisting of a strain sensor, three electrocardiogram (ECG) electrodes and a skin hydration sensor for multimodal sensing. The wearable wristband and chest patch may be used for low-cost, wireless and continuous sensing of skin hydration and other health parameters. Two representative applications of the nanomaterials for soft actuators were investigated. In the first application on bimorph actuation, low-voltage and extremely flexible electrothermal bimorph actuators were fabricated in a simple, efficient and scalable process. The bimorph actuators were made of flexible AgNW based heaters, which exhibited a fast heating rate of 18°C/s and stable heating performance under large bending. The actuators offered the largest bending angle (720°) or curvature (2.6 cm-1) at a very low actuation voltage (0.2 V sq-1 or 4.5 V) among all types of bimorph actuators that have been reported. The actuators can be designed and fabricated in different configurations that can achieve complex patterns and shapes upon actuation. Two applications of this type of soft actuators were demonstrated towards biomimetic robotics - a crawling robot that can walk spontaneously on ratchet surfaces and a soft gripper that is capable of manipulating lightweight and delicate objects. In another application towards wearable drug delivery, a wearable, tensile strain-triggered drug delivery device consisting of a stretchable elastomer and microgel depots containing drug loaded nanoparticles is described. By applying a tensile strain to the elastomer film, the release of drug from the micro-depot is promoted. Correspondingly, both sustained drug release by daily body motions and pulsatile release by intentional administration can be conveniently achieved. The work demonstrated that the tensile strain, applied to the stretchable device, facilitated release of therapeutics from micro-depots for anticancer and antibacterial treatments, respectively. Moreover, polymeric microneedles were further integrated with the stretch-responsive device for transcutaneous delivery of insulin and regulation of blood glucose levels of chemically-induced type 1 diabetic mice.

Homeostasis lighting control based on relationship between lighting environment and human behavior

NASA Astrophysics Data System (ADS)

Ueda, Risa; Mita, Akira

2015-03-01

Although each person has own preferences, living spaces which can respond to various preferences and needs have not become reality. Focusing on the lighting environments which influence on the impression of living spaces, this research aims to offer comfortable lighting environments for each resident by a flexible control. This research examines the relationship between lighting environments and human behaviors considering colored lights. In accord with the relationship, this research proposes an illuminance-color control system which flexibly changes spatial environments responding to human conditions. Firstly, the psychological evaluation was conducted in order to build human models for various environments. As a result, preferred lighting environments for each examinee were determined for particular behaviors. Moreover, satisfaction levels of lighting environments were calculated by using seven types of impression of the environments as parameters. The results were summarized as human models. Secondly, this research proposed "Homeostasis Lighting Control System", which employs the human models. Homeostasis lighting control system embodies the algorithm of homeostasis, which is one of the functions of the physiological adaptation. Human discomfort feelings are obtained automatically by the sensor agent robot. The system can offer comfortable lighting environments without controlling environments by residents autonomously based on the information from the robot. This research takes into accounts both illuminance and color. The robot communicates with the server which contains human models, then the system corresponds to individuals. Combining these three systems, the proposed system can effectively control the lighting environment. At last, the feasibility of the proposed system was verified by simulation experiments.

Modular robotic assembly of small devices.

PubMed

Frauenfelder, M

2000-01-01

The use of robots for the automatic assembly of devices of up to 100 x 100 x 100 mm is relatively uncommon today. Insufficient return on investment and the long lead times that are required have been limiting factors. Innovations in vision technology have led to the development of robotic assembly systems that employ flexible part-feeding. The benefits of these systems are described, which suggest that better ratios of price to productivity and deployment times are now achievable.

Building adaptive connectionist-based controllers: review of experiments in human-robot interaction, collective robotics, and computational neuroscience

NASA Astrophysics Data System (ADS)

Billard, Aude

2000-10-01

This paper summarizes a number of experiments in biologically inspired robotics. The common feature to all experiments is the use of artificial neural networks as the building blocks for the controllers. The experiments speak in favor of using a connectionist approach for designing adaptive and flexible robot controllers, and for modeling neurological processes. I present 1) DRAMA, a novel connectionist architecture, which has general property for learning time series and extracting spatio-temporal regularities in multi-modal and highly noisy data; 2) Robota, a doll-shaped robot, which imitates and learns a proto-language; 3) an experiment in collective robotics, where a group of 4 to 15 Khepera robots learn dynamically the topography of an environment whose features change frequently; 4) an abstract, computational model of primate ability to learn by imitation; 5) a model for the control of locomotor gaits in a quadruped legged robot.

Proceedings of the Goddard Space Flight Center Workshop on Robotics for Commercial Microelectronic Processes in Space

NASA Technical Reports Server (NTRS)

1987-01-01

Potential applications of robots for cost effective commercial microelectronic processes in space were studied and the associated robotic requirements were defined. Potential space application areas include advanced materials processing, bulk crystal growth, and epitaxial thin film growth and related processes. All possible automation of these processes was considered, along with energy and environmental requirements. Aspects of robot capabilities considered include system intelligence, ROM requirements, kinematic and dynamic specifications, sensor design and configuration, flexibility and maintainability. Support elements discussed included facilities, logistics, ground support, launch and recovery, and management systems.

Novel dielectric elastomer structure of soft robot

NASA Astrophysics Data System (ADS)

Li, Chi; Xie, Yuhan; Huang, Xiaoqiang; Liu, Junjie; Jin, Yongbin; Li, Tiefeng

2015-04-01

Inspired from the natural invertebrates like worms and starfish, we propose a novel elastomeric smart structure. The smart structure can function as a soft robot. The soft robot is made from a flexible elastomer as the body and driven by dielectric elastomer as the muscle. Finite element simulations based on nonlinear field theory are conducted to investigate the working condition of the structure, and guide the design of the smart structure. The effects of the prestretch, structural stiffness and voltage on the performance of the smart structure are investigated. This work can guide the design of soft robot.

New Developments in Robotics and Single-site Gynecologic Surgery.

PubMed

Matthews, Catherine A

2017-06-01

Within the last 10 years there have been significant advances in minimal-access surgery. Although no emerging technology has demonstrated improved outcomes or fewer complications than standard laparoscopy, the introduction of the robotic surgical platform has significantly lowered abdominal hysterectomy rates. While operative time and cost were higher in robotic-assisted procedures when the technology was first introduced, newer studies demonstrate equivalent or improved robotic surgical efficiency with increased experience. Single-port hysterectomy has not improved postoperative pain or subjective cosmetic results. Emerging platforms with flexible, articulating instruments may increase the uptake of single-port procedures including natural orifice transluminal endoscopic cases.

A Joyful Classroom Learning System with Robot Learning Companion for Children to Learn Mathematics Multiplication

ERIC Educational Resources Information Center

Wei, Chun-Wang; Hung, I-Chun; Lee, Ling; Chen, Nian-Shing

2011-01-01

This research demonstrates the design of a Joyful Classroom Learning System (JCLS) with flexible, mobile and joyful features. The theoretical foundations of this research include the experiential learning theory, constructivist learning theory and joyful learning. The developed JCLS consists of the robot learning companion (RLC), sensing input…

The walking robot project

NASA Technical Reports Server (NTRS)

Williams, P.; Sagraniching, E.; Bennett, M.; Singh, R.

1991-01-01

A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight.

Coordination of dual robot arms using kinematic redundancy

NASA Technical Reports Server (NTRS)

Suh, Il Hong; Shin, Kang G.

1988-01-01

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

Robotic aortic surgery.

PubMed

Duran, Cassidy; Kashef, Elika; El-Sayed, Hosam F; Bismuth, Jean

2011-01-01

Surgical robotics was first utilized to facilitate neurosurgical biopsies in 1985, and it has since found application in orthopedics, urology, gynecology, and cardiothoracic, general, and vascular surgery. Surgical assistance systems provide intelligent, versatile tools that augment the physician's ability to treat patients by eliminating hand tremor and enabling dexterous operation inside the patient's body. Surgical robotics systems have enabled surgeons to treat otherwise untreatable conditions while also reducing morbidity and error rates, shortening operative times, reducing radiation exposure, and improving overall workflow. These capabilities have begun to be realized in two important realms of aortic vascular surgery, namely, flexible robotics for exclusion of complex aortic aneurysms using branched endografts, and robot-assisted laparoscopic aortic surgery for occlusive and aneurysmal disease.

Sprint: The first flight demonstration of the external work system robots

NASA Technical Reports Server (NTRS)

Price, Charles R.; Grimm, Keith

1995-01-01

The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.

Towards a new modality-independent interface for a robotic wheelchair.

PubMed

Bastos-Filho, Teodiano Freire; Cheein, Fernando Auat; Müller, Sandra Mara Torres; Celeste, Wanderley Cardoso; de la Cruz, Celso; Cavalieri, Daniel Cruz; Sarcinelli-Filho, Mário; Amaral, Paulo Faria Santos; Perez, Elisa; Soria, Carlos Miguel; Carelli, Ricardo

2014-05-01

This work presents the development of a robotic wheelchair that can be commanded by users in a supervised way or by a fully automatic unsupervised navigation system. It provides flexibility to choose different modalities to command the wheelchair, in addition to be suitable for people with different levels of disabilities. Users can command the wheelchair based on their eye blinks, eye movements, head movements, by sip-and-puff and through brain signals. The wheelchair can also operate like an auto-guided vehicle, following metallic tapes, or in an autonomous way. The system is provided with an easy to use and flexible graphical user interface onboard a personal digital assistant, which is used to allow users to choose commands to be sent to the robotic wheelchair. Several experiments were carried out with people with disabilities, and the results validate the developed system as an assistive tool for people with distinct levels of disability.

Sensitive and Flexible Polymeric Strain Sensor for Accurate Human Motion Monitoring

PubMed Central

Khan, Hassan; Kottapalli, Ajay; Asadnia, Mohsen

2018-01-01

Flexible electronic devices offer the capability to integrate and adapt with human body. These devices are mountable on surfaces with various shapes, which allow us to attach them to clothes or directly onto the body. This paper suggests a facile fabrication strategy via electrospinning to develop a stretchable, and sensitive poly (vinylidene fluoride) nanofibrous strain sensor for human motion monitoring. A complete characterization on the single PVDF nano fiber has been performed. The charge generated by PVDF electrospun strain sensor changes was employed as a parameter to control the finger motion of the robotic arm. As a proof of concept, we developed a smart glove with five sensors integrated into it to detect the fingers motion and transfer it to a robotic hand. Our results shows that the proposed strain sensors are able to detect tiny motion of fingers and successfully run the robotic hand. PMID:29389851

User interface for a tele-operated robotic hand system

DOEpatents

Crawford, Anthony L

2015-03-24

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

Wake structures behind a swimming robotic lamprey with a passively flexible tail

PubMed Central

Leftwich, Megan C.; Tytell, Eric D.; Cohen, Avis H.; Smits, Alexander J.

2012-01-01

SUMMARY A robotic lamprey, based on the silver lamprey, Ichthyomyzon unicuspis, was used to investigate the influence of passive tail flexibility on the wake structure and thrust production during anguilliform swimming. A programmable microcomputer actuated 11 servomotors that produce a traveling wave along the length of the lamprey body. The waveform was based on kinematic studies of living lamprey, and the shape of the tail was taken from a computer tomography scan of the silver lamprey. The tail was constructed of flexible PVC gel, and nylon inserts were used to change its degree of flexibility. Particle image velocimetry measurements using three different levels of passive flexibility show that the large-scale structure of the wake is dominated by the formation of two pairs of vortices per shedding cycle, as seen in the case of a tail that flexed actively according to a pre-defined kinematic pattern, and did not bend in response to fluid forces. When the tail is passively flexible, however, the large structures are composed of a number of smaller vortices, and the wake loses coherence as the degree of flexibility increases. Momentum balance calculations indicate that, at a given tailbeat frequency, increasing the tail flexibility yields less net force, but changing the cycle frequency to match the resonant frequency of the tail increases the force production. PMID:22246250

Modeling and control of a flexible space robot to capture a tumbling debris

NASA Astrophysics Data System (ADS)

Dubanchet, Vincent

After 60 years of intensive satellite launches, the number of drifting objects in Earth orbits is reaching a shifting point, where human intervention is becoming necessary to reduce the threat of collision. Indeed, a 200 year forecast, known as the "Kessler syndrome", states that space access will be greatly compromised if nothing is done to address the proliferation of these debris. Scientist J.-C. Liou from the National Aeronautics and Space Administration (NASA) has shown that the current trend could be reversed if at least five massive objects, such as dead satellites or rocket upper stages, were de-orbited each year. Among the various technical concepts considered for debris removal, robotics has emerged, over the last 30 years, as one of the most promising solutions. The International Space Station (ISS) already possesses fully operational robotic arms, and other missions have explored the potential of a manipulator embedded onto a satellite. During two of the latter, key capabilities have been demonstrated for on-orbit servicing, and prove to be equally useful for the purpose of debris removal. This thesis focuses on the close range capture of a tumbling debris by a robotic arm with light-weight flexible segments. This phase includes the motion planning and the control of a space robot, in order to smoothly catch a target point on the debris. The validation of such technologies is almost impossible on Earth and leads to prohibitive costs when performed on orbit. Therefore, the modeling and simulation of flexible multi-body systems has been investigated thoroughly, and is likewise a strong contribution of the thesis. Based on these models, an experimental validation is proposed by reproducing the on-orbit kinematics on a test bench made up of two industrial manipulators and driven by a real-time dynamic simulation. In a nutshell, the thesis is built around three main parts: the modeling of a space robot, the design of control laws, and their validation on a test case. (Abstract shortened by ProQuest.).

Flexible robotic entry device for a nuclear materials production reactor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Heckendorn, F.M. II

1988-01-01

The Savannah River Laboratory has developed and is implementing a flexible robotic entry device (FRED) for the nuclear materials production reactors now operating at the Savannah River Plant (SRP). FRED is designed for rapid deployment into confinement areas of operating reactors to assess unknown conditions. A unique smart tether method has been incorporated into FRED for simultaneous bidirectional transmission of multiple video/audio/control/power signals over a single coaxial cable. This system makes it possible to use FRED under all operating and standby conditions, including those where radio/microwave transmissions are not possible or permitted, and increases the quantity of data available.

A Flexible Path for Human and Robotic Space Exploration

NASA Technical Reports Server (NTRS)

Korsmeyer, David J.; Landis, Robert; Merrill, Raymond Gabriel; Mazanek, Daniel D.; Falck, Robert D.; Adams, Robert B.

2010-01-01

During the summer of 2009, a flexible path scenario for human and robotic space exploration was developed that enables frequent, measured, and publicly notable human exploration of space beyond low-Earth orbit (LEO). The formulation of this scenario was in support of the Exploration Beyond LEO subcommittee of the Review of U.S. Human Space Flight Plans Committee that was commissioned by President Obama. Exploration mission sequences that allow humans to visit a wide number of inner solar system destinations were investigated. The scope of destinations included the Earth-Moon and Earth-Sun Lagrange points, near-Earth objects (NEOs), the Moon, and Mars and its moons. The missions examined assumed the use of Constellation Program elements along with existing launch vehicles and proposed augmentations. Additionally, robotic missions were envisioned as complements to human exploration through precursor missions, as crew emplaced scientific investigations, and as sample gathering assistants to the human crews. The focus of the flexible path approach was to gain ever-increasing operational experience through human exploration missions ranging from a few weeks to several years in duration, beginning in deep space beyond LEO and evolving to landings on the Moon and eventually Mars.

Spatial operator algebra for flexible multibody dynamics

NASA Technical Reports Server (NTRS)

Jain, A.; Rodriguez, G.

1993-01-01

This paper presents an approach to modeling the dynamics of flexible multibody systems such as flexible spacecraft and limber space robotic systems. A large number of degrees of freedom and complex dynamic interactions are typical in these systems. This paper uses spatial operators to develop efficient recursive algorithms for the dynamics of these systems. This approach very efficiently manages complexity by means of a hierarchy of mathematical operations.

Flexible Design and Manufacturing Systems for Automotive Components and Sheet Metal Parts

DTIC Science & Technology

1999-10-01

sometimes shocking discoveries you will make, discoveries that can help you avoid potential crises down the road if you take the necessary steps now...ISSUE Guest Lecture John Swanson, VP Qualcomm 10-Feb Fast, Flexible, Lilly, US Robotics, Economist, Upton & Agile Manufacturing Readings

FMS: The New Wave of Manufacturing Technology.

ERIC Educational Resources Information Center

Industrial Education, 1986

1986-01-01

Flexible manufacturing systems (FMS) are described as a marriage of all of the latest technologies--robotics, numerical control, CAD/CAM (computer-assisted design/computer-assisted manufacturing), etc.--into a cost-efficient, optimized production process yielding the greatest flexibility in making various parts. A typical curriculum to teach FMS…

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

PubMed

Singh, Inderjeet; Amara, Yacine; Melingui, Achille; Mani Pathak, Pushparaj; Merzouki, Rochdi

2018-05-10

Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility, which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior; quantitative methods describe a model-based method, and qualitative methods describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean hodograph (PH) curves. The aim is to obtain a three-dimensional reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model (IKM). It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction, and time/cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to the compact bionic handling assistant (CBHA) manipulator for validation. The results are compared with other IKMs developed in case of CBHA manipulator.

A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications †

PubMed Central

Shao, Chenzhong; Tanaka, Shuji; Nakayama, Takahiro; Hata, Yoshiyuki; Bartley, Travis; Muroyama, Masanori

2017-01-01

Robot tactile sensation can enhance human–robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as “sensor platform LSI”) as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated. PMID:29061954

A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications.

PubMed

Shao, Chenzhong; Tanaka, Shuji; Nakayama, Takahiro; Hata, Yoshiyuki; Bartley, Travis; Nonomura, Yutaka; Muroyama, Masanori

2017-08-28

Robot tactile sensation can enhance human-robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as "sensor platform LSI") as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated.

Robotically assisted MRgFUS system

NASA Astrophysics Data System (ADS)

Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

2010-03-01

Magnetic resonance imaging guided focus ultrasound surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. The objective of this ongoing work is to establish an MRgFUS therapy unit consisting of a specially designed FUS applicator as an add-on to a commercial robotic assistance system originally designed for percutaneous needle interventions in whole-body MRI systems. The fully MR compatible robotic assistance system InnoMotion™ (Synthes Inc., West Chester, USA; formerly InnoMedic GmbH, Herxheim, Germany) offers six degrees of freedom. The developed add-on FUS treatment applicator features a fixed focus ultrasound transducer (f = 1.7 MHz; f' = 68 mm, NA = 0.44, elliptical shaped -6-dB-focus: 8.1 mm length; O/ = 1.1 mm) embedded in a water-filled flexible bellow. A Mylar® foil is used as acoustic window encompassed by a dedicated MRI loop coil. For FUS application, the therapy unit is directly connected to the head of the robotic system, and the treatment region is targeted from above. A newly in-house developed software tool allowed for complete remote control of the MRgFUS-robot system and online analysis of MRI thermometry data. The system's ability for therapeutic relevant focal spot scanning was tested in a closed-bore clinical 1.5 T MR scanner (Magnetom Symphony, Siemens AG, Erlangen, Germany) in animal experiments with pigs. The FUS therapy procedure was performed entirely under MRI guidance including initial therapy planning, online MR-thermometry, and final contrast enhanced imaging for lesion detection. In vivo trials proved the MRgFUS-robot system as highly MR compatible. MR-guided focal spot scanning experiments were performed and a well-defined pattern of thermal tissue lesions was created. A total in vivo positioning accuracy of the US focus better than 2 mm was estimated which is comparable to existing MRgFUS systems. The newly developed FUS-robotic system offers an accurate, highly flexible focus positioning. With its access to the patient from above, it provides a wide range of flexibility for acoustic target access. In the next step, motion correction unit should be integrated.

Comparison of Human and Humanoid Robot Control of Upright Stance

PubMed Central

Peterka, Robert J.

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to ~1 Hz) dynamic characteristics of human stance control. These subsystems are 1) a “sensory integration” mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions, and 2) an “effort control” mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions were humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different. PMID:19665564

Comparison of human and humanoid robot control of upright stance.

PubMed

Peterka, Robert J

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to approximately 1Hz) dynamic characteristics of human stance control. These subsystems are (1) a "sensory integration" mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an "effort control" mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.

Teleoperated Modular Robots for Lunar Operations

NASA Technical Reports Server (NTRS)

Globus, Al; Hornby, Greg; Larchev, Greg; Hancher, Matt; Cannon, Howard; Lohn, Jason

2004-01-01

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

A Software Architecture for Adaptive Modular Sensing Systems

PubMed Central

Lyle, Andrew C.; Naish, Michael D.

2010-01-01

By combining a number of simple transducer modules, an arbitrarily complex sensing system may be produced to accommodate a wide range of applications. This work outlines a novel software architecture and knowledge representation scheme that has been developed to support this type of flexible and reconfigurable modular sensing system. Template algorithms are used to embed intelligence within each module. As modules are added or removed, the composite sensor is able to automatically determine its overall geometry and assume an appropriate collective identity. A virtual machine-based middleware layer runs on top of a real-time operating system with a pre-emptive kernel, enabling platform-independent template algorithms to be written once and run on any module, irrespective of its underlying hardware architecture. Applications that may benefit from easily reconfigurable modular sensing systems include flexible inspection, mobile robotics, surveillance, and space exploration. PMID:22163614

A software architecture for adaptive modular sensing systems.

PubMed

Lyle, Andrew C; Naish, Michael D

2010-01-01

By combining a number of simple transducer modules, an arbitrarily complex sensing system may be produced to accommodate a wide range of applications. This work outlines a novel software architecture and knowledge representation scheme that has been developed to support this type of flexible and reconfigurable modular sensing system. Template algorithms are used to embed intelligence within each module. As modules are added or removed, the composite sensor is able to automatically determine its overall geometry and assume an appropriate collective identity. A virtual machine-based middleware layer runs on top of a real-time operating system with a pre-emptive kernel, enabling platform-independent template algorithms to be written once and run on any module, irrespective of its underlying hardware architecture. Applications that may benefit from easily reconfigurable modular sensing systems include flexible inspection, mobile robotics, surveillance, and space exploration.

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1991-01-01

The industrial and environmental applications for robots with a relatively large workspace has increased significantly in the last few years. To accommodate the demands, the manipulator is usually designed with long, lightweight links that are inherently flexible. Ongoing research at Georgia Tech into the behavior and design of these flexible links is discussed.

Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with Uncertainty.

PubMed

Anderson, Patrick L; Mahoney, Arthur W; Webster, Robert J

2017-07-01

This paper examines shape sensing for a new class of surgical robot that consists of parallel flexible structures that can be reconfigured inside the human body. Known as CRISP robots, these devices provide access to the human body through needle-sized entry points, yet can be configured into truss-like structures capable of dexterous movement and large force application. They can also be reconfigured as needed during a surgical procedure. Since CRISP robots are elastic, they will deform when subjected to external forces or other perturbations. In this paper, we explore how to combine sensor information with mechanics-based models for CRISP robots to estimate their shapes under applied loads. The end result is a shape sensing framework for CRISP robots that will enable future research on control under applied loads, autonomous motion, force sensing, and other robot behaviors.

Development of a task-level robot programming and simulation system

NASA Technical Reports Server (NTRS)

Liu, H.; Kawamura, K.; Narayanan, S.; Zhang, G.; Franke, H.; Ozkan, M.; Arima, H.; Liu, H.

1987-01-01

An ongoing project in developing a Task-Level Robot Programming and Simulation System (TARPS) is discussed. The objective of this approach is to design a generic TARPS that can be used in a variety of applications. Many robotic applications require off-line programming, and a TARPS is very useful in such applications. Task level programming is object centered in that the user specifies tasks to be performed instead of robot paths. Graphics simulation provides greater flexibility and also avoids costly machine setup and possible damage. A TARPS has three major modules: world model, task planner and task simulator. The system architecture, design issues and some preliminary results are given.

Automation and Robotics for Space-Based Systems, 1991

NASA Technical Reports Server (NTRS)

Williams, Robert L., II (Editor)

1992-01-01

The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

Experimental Test Rig for Optimal Control of Flexible Space Robotic Arms

DTIC Science & Technology

2016-12-01

was used to refine the test bed design and the experimental workflow. Three concepts incorporated various strategies to design a robust flexible link...used to refine the test bed design and the experimental workflow. Three concepts incorporated various strategies to design a robust flexible link... designed to perform the experimentation . The first and second concepts use traditional elastic springs in varying configurations while a third uses a

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Chen, Alexander Y. K.

1991-01-01

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Interactive multi-objective path planning through a palette-based user interface

NASA Astrophysics Data System (ADS)

Shaikh, Meher T.; Goodrich, Michael A.; Yi, Daqing; Hoehne, Joseph

2016-05-01

n a problem where a human uses supervisory control to manage robot path-planning, there are times when human does the path planning, and if satisfied commits those paths to be executed by the robot, and the robot executes that plan. In planning a path, the robot often uses an optimization algorithm that maximizes or minimizes an objective. When a human is assigned the task of path planning for robot, the human may care about multiple objectives. This work proposes a graphical user interface (GUI) designed for interactive robot path-planning when an operator may prefer one objective over others or care about how multiple objectives are traded off. The GUI represents multiple objectives using the metaphor of an artist's palette. A distinct color is used to represent each objective, and tradeoffs among objectives are balanced in a manner that an artist mixes colors to get the desired shade of color. Thus, human intent is analogous to the artist's shade of color. We call the GUI an "Adverb Palette" where the word "Adverb" represents a specific type of objective for the path, such as the adverbs "quickly" and "safely" in the commands: "travel the path quickly", "make the journey safely". The novel interactive interface provides the user an opportunity to evaluate various alternatives (that tradeoff between different objectives) by allowing her to visualize the instantaneous outcomes that result from her actions on the interface. In addition to assisting analysis of various solutions given by an optimization algorithm, the palette has additional feature of allowing the user to define and visualize her own paths, by means of waypoints (guiding locations) thereby spanning variety for planning. The goal of the Adverb Palette is thus to provide a way for the user and robot to find an acceptable solution even though they use very different representations of the problem. Subjective evaluations suggest that even non-experts in robotics can carry out the planning tasks with a great deal of flexibility using the adverb palette.

Fully printed flexible fingerprint-like three-axis tactile and slip force and temperature sensors for artificial skin.

PubMed

Harada, Shingo; Kanao, Kenichiro; Yamamoto, Yuki; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

2014-12-23

A three-axis tactile force sensor that determines the touch and slip/friction force may advance artificial skin and robotic applications by fully imitating human skin. The ability to detect slip/friction and tactile forces simultaneously allows unknown objects to be held in robotic applications. However, the functionalities of flexible devices have been limited to a tactile force in one direction due to difficulties fabricating devices on flexible substrates. Here we demonstrate a fully printed fingerprint-like three-axis tactile force and temperature sensor for artificial skin applications. To achieve economic macroscale devices, these sensors are fabricated and integrated using only printing methods. Strain engineering enables the strain distribution to be detected upon applying a slip/friction force. By reading the strain difference at four integrated force sensors for a pixel, both the tactile and slip/friction forces can be analyzed simultaneously. As a proof of concept, the high sensitivity and selectivity for both force and temperature are demonstrated using a 3×3 array artificial skin that senses tactile, slip/friction, and temperature. Multifunctional sensing components for a flexible device are important advances for both practical applications and basic research in flexible electronics.

ROBOSIGHT: Robotic Vision System For Inspection And Manipulation

NASA Astrophysics Data System (ADS)

Trivedi, Mohan M.; Chen, ChuXin; Marapane, Suresh

1989-02-01

Vision is an important sensory modality that can be used for deriving information critical to the proper, efficient, flexible, and safe operation of an intelligent robot. Vision systems are uti-lized for developing higher level interpretation of the nature of a robotic workspace using images acquired by cameras mounted on a robot. Such information can be useful for tasks such as object recognition, object location, object inspection, obstacle avoidance and navigation. In this paper we describe efforts directed towards developing a vision system useful for performing various robotic inspection and manipulation tasks. The system utilizes gray scale images and can be viewed as a model-based system. It includes general purpose image analysis modules as well as special purpose, task dependent object status recognition modules. Experiments are described to verify the robust performance of the integrated system using a robotic testbed.

Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application

NASA Astrophysics Data System (ADS)

Deng, Sihao; Liang, Hong; Cai, Zhenhua; Liao, Hanlin; Montavon, Ghislain

2014-12-01

Industrial robots are widely used in the field of thermal spray nowadays. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. This approach allows to optimize the robot trajectory generation in a limited working envelop. It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying.

Fallout from the Shuttle Arm

NASA Technical Reports Server (NTRS)

1990-01-01

Vadeko International, Inc., Mississauga, Ontario developed for the Canadian National Railways (CN) the Robotic Paint Application System. The robotic paint shop has two parallel paint booths, allowing simultaneous painting of two hopper cars. Each booth has three robots, two that move along wall-mounted rails to spray-paint the exterior, a third that is lowered through a hatch in the railcar's top to paint the interior. A fully computerized system controls the movement of the robots and the painting process. The robots can do in four hours a job that formerly took 32 hours. The robotic system applies a more thorough coating and CN expects that will double the useful life of its hoppers and improve cost efficiency. Human painters no longer have to handle the difficult and hazardous job. CN paint shop employees have been retrained to operate the computer system that controls the robots. In addition to large scale robotic systems, Vadeko International is engaged in such other areas of technology as flexible automation, nuclear maintenance, underwater vehicles, thin film deposition and wide band monitoring.

Emergent of Burden Sharing of Robots with Emotion Model

NASA Astrophysics Data System (ADS)

Kusano, Takuya; Nozawa, Akio; Ide, Hideto

Cooperated multi robots system has much dominance in comparison with single robot system. Multi robots system is able to adapt to various circumstances and has a flexibility for variation of tasks. Robots are necessary that build a cooperative relations and acts as an organization to attain a purpose in multi robots system. Then, group behavior of insects which doesn't have advanced ability is observed. For example, ants called a sociality insect emerge systematic activities by the interaction with using a very simple way. Though ants make a communication with chemical matter, a human plans a communication by words and gestures. In this paper, we paid attention to the interaction based on psychological viewpoint. And a human's emotion model was used for the parameter which became a base of the motion planning of robots. These robots were made to do both-way action in test field with obstacle. As a result, a burden sharing like guide or carrier was seen even though those had a simple setup.

Soft Robotic Grippers.

PubMed

Shintake, Jun; Cacucciolo, Vito; Floreano, Dario; Shea, Herbert

2018-05-07

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Stability control of a flexible maneuverable tethered space net robot

NASA Astrophysics Data System (ADS)

Zhang, Fan; Huang, Panfeng

2018-04-01

As a promising solution for active space debris capture and removal, a maneuverable Tethered Space Net Robot (TSNR) is proposed as an improved Space Tethered Net (TSN). In addition to the advantages inherit to the TSN, the TSNR's maneuverability expands the capture's potential. However, oscillations caused by the TSNR's flexibility and elasticity of make higher requests of the control scheme. Based on the dynamics model, a modified adaptive super-twisting sliding mode control scheme is proposed in this paper for TSNR stability control. The proposed continuous control force can effectively suppress oscillations. Theoretical verification and numerical simulations demonstrate that the desired trajectory can be tracked steadily and efficiently by employing the proposed control scheme.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

PubMed Central

Mateo, Carlos M.; Gil, Pablo; Torres, Fernando

2016-01-01

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments. PMID:27164102

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands.

PubMed

Mateo, Carlos M; Gil, Pablo; Torres, Fernando

2016-05-05

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object's surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand's fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

A robotic approach to understanding the role and the mechanism of vicarious trial-and-error in a T-maze task.

PubMed

Matsuda, Eiko; Hubert, Julien; Ikegami, Takashi

2014-01-01

Vicarious trial-and-error (VTE) is a behavior observed in rat experiments that seems to suggest self-conflict. This behavior is seen mainly when the rats are uncertain about making a decision. The presence of VTE is regarded as an indicator of a deliberative decision-making process, that is, searching, predicting, and evaluating outcomes. This process is slower than automated decision-making processes, such as reflex or habituation, but it allows for flexible and ongoing control of behavior. In this study, we propose for the first time a robotic model of VTE to see if VTE can emerge just from a body-environment interaction and to show the underlying mechanism responsible for the observation of VTE and the advantages provided by it. We tried several robots with different parameters, and we have found that they showed three different types of VTE: high numbers of VTE at the beginning of learning, decreasing numbers afterward (similar VTE pattern to experiments with rats), low during the whole learning period, and high numbers all the time. Therefore, we were able to reproduce the phenomenon of VTE in a model robot using only a simple dynamical neural network with Hebbian learning, which suggests that VTE is an emergent property of a plastic and embodied neural network. From a comparison of the three types of VTE, we demonstrated that 1) VTE is associated with chaotic activity of neurons in our model and 2) VTE-showing robots were robust to environmental perturbations. We suggest that the instability of neuronal activity found in VTE allows ongoing learning to rebuild its strategy continuously, which creates robust behavior. Based on these results, we suggest that VTE is caused by a similar mechanism in biology and leads to robust decision making in an analogous way.

Design and Implementation of Sound Searching Robots in Wireless Sensor Networks

PubMed Central

Han, Lianfu; Shen, Zhengguang; Fu, Changfeng; Liu, Chao

2016-01-01

A sound target-searching robot system which includes a 4-channel microphone array for sound collection, magneto-resistive sensor for declination measurement, and a wireless sensor networks (WSN) for exchanging information is described. It has an embedded sound signal enhancement, recognition and location method, and a sound searching strategy based on a digital signal processor (DSP). As the wireless network nodes, three robots comprise the WSN a personal computer (PC) in order to search the three different sound targets in task-oriented collaboration. The improved spectral subtraction method is used for noise reduction. As the feature of audio signal, Mel-frequency cepstral coefficient (MFCC) is extracted. Based on the K-nearest neighbor classification method, we match the trained feature template to recognize sound signal type. This paper utilizes the improved generalized cross correlation method to estimate time delay of arrival (TDOA), and then employs spherical-interpolation for sound location according to the TDOA and the geometrical position of the microphone array. A new mapping has been proposed to direct the motor to search sound targets flexibly. As the sink node, the PC receives and displays the result processed in the WSN, and it also has the ultimate power to make decision on the received results in order to improve their accuracy. The experiment results show that the designed three-robot system implements sound target searching function without collisions and performs well. PMID:27657088

Design and Implementation of Sound Searching Robots in Wireless Sensor Networks.

PubMed

Han, Lianfu; Shen, Zhengguang; Fu, Changfeng; Liu, Chao

2016-09-21

A sound target-searching robot system which includes a 4-channel microphone array for sound collection, magneto-resistive sensor for declination measurement, and a wireless sensor networks (WSN) for exchanging information is described. It has an embedded sound signal enhancement, recognition and location method, and a sound searching strategy based on a digital signal processor (DSP). As the wireless network nodes, three robots comprise the WSN a personal computer (PC) in order to search the three different sound targets in task-oriented collaboration. The improved spectral subtraction method is used for noise reduction. As the feature of audio signal, Mel-frequency cepstral coefficient (MFCC) is extracted. Based on the K-nearest neighbor classification method, we match the trained feature template to recognize sound signal type. This paper utilizes the improved generalized cross correlation method to estimate time delay of arrival (TDOA), and then employs spherical-interpolation for sound location according to the TDOA and the geometrical position of the microphone array. A new mapping has been proposed to direct the motor to search sound targets flexibly. As the sink node, the PC receives and displays the result processed in the WSN, and it also has the ultimate power to make decision on the received results in order to improve their accuracy. The experiment results show that the designed three-robot system implements sound target searching function without collisions and performs well.

Model reference adaptive control of robots

NASA Technical Reports Server (NTRS)

Steinvorth, Rodrigo

1991-01-01

This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load.

Bioinspired legged-robot based on large deformation of flexible skeleton.

PubMed

Mayyas, Mohammad

2014-11-11

In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot's leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot.

High productivity mould robotic milling in Al-5083

NASA Astrophysics Data System (ADS)

Urresti, Iker; Arrazola, Pedro Jose; Ørskov, Klaus Bonde; Pelegay, Jose Angel

2018-05-01

Industrial serial robots were usually limited to welding, handling or spray painting operations until very recent years. However, some industries have already realized about their important capabilities in terms of flexibility, working space, adaptability and cost. Hence, currently they are seriously being considered to carry out certain metal machining tasks. Therefore, robot based machining is presented as a cost-saving and flexible manufacturing alternative compared to conventional CNC machines especially for roughing or even pre-roughing of large parts. Nevertheless, there are still some drawbacks usually referred as low rigidity, accuracy and repeatability. Thus, the process productivity is usually sacrificed getting low Material Removal Rates (MRR), and consequently not being competitive. Nevertheless, in this paper different techniques to obtain increased productivity are presented, though an appropriate selection of cutting strategies and parameters that are essential for it. During this research some rough milling tests in Al-5083 are presented where High Feed Milling (HFM) is implemented as productive cutting strategy and the experimental modal analysis named Tap-testing is used for the suitable choice of cutting conditions. Competitive productivity rates are experienced while process stability is checked through the cutting forces measurements in order to prove the effectiveness of the experimental modal analysis for robotic machining.

Hypopharyngeal applications of a new flexible robotic system in otolaryngology.

PubMed

Chao, Janet Ren; Goodman, Joseph; Fuson, Andrew; Romero, Nahir J; Joshi, Arjun

2017-09-27

This case report describes the use a new flexible robotic system in otolaryngology, the FlexRobot ® for cricopharyngeal myotomy in cadaver dissections, and for the treatment of a patient with esophageal stenosis and secondary dysphagia and dysphonia. The Flexrobot ® facilitates access to the hypopharynx with increased proximity to the surgical field and improved optics, allowing more exact dilatation and injection in our patient. It also would allow surgeons to reach deep inside the cavity of the hypopharynx into anatomical regions that are typically inaccessible without an open approach, as shown in our cadaveric procedure, where full exposure of the posterior aspect of the cricopharyngeus and isolation of the muscle belly were achieved. While esophageal dysmotility can be treated through botulinum toxin injection and esophageal dilation as demonstrated in our patient, for longer term results, operative cricopharyngeal myotomy is superior. Surgical complications include infection, hematoma, mucosal damage, fistula, and recurrent laryngeal nerve paralysis. While endoscopic procedures avoid the risk of recurrent laryngeal nerve or great vessel injury and lower the risk of perforation and fistula, they create the potential for mediastinitis as a consequence of opening the pharyngoesophageal muscosa and violating the buccopharyngeal fascia. Based on the cadaveric procedure, we believe that the robotic approach would reduce the risk of mediastinitis as a result of better visualization of the buccopharyngeal fascia and the robot's precise instrument control.

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

PubMed Central

Feliu-Batlle, Vicente; Feliu-Talegon, Daniel; Castillo-Berrio, Claudia Fernanda

2017-01-01

Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations. PMID:28406449

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control.

PubMed

Feliu-Batlle, Vicente; Feliu-Talegon, Daniel; Castillo-Berrio, Claudia Fernanda

2017-04-13

Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations.

A cortically-inspired model for inverse kinematics computation of a humanoid finger with mechanically coupled joints.

PubMed

Gentili, Rodolphe J; Oh, Hyuk; Kregling, Alissa V; Reggia, James A

2016-05-19

The human hand's versatility allows for robust and flexible grasping. To obtain such efficiency, many robotic hands include human biomechanical features such as fingers having their two last joints mechanically coupled. Although such coupling enables human-like grasping, controlling the inverse kinematics of such mechanical systems is challenging. Here we propose a cortical model for fine motor control of a humanoid finger, having its two last joints coupled, that learns the inverse kinematics of the effector. This neural model functionally mimics the population vector coding as well as sensorimotor prediction processes of the brain's motor/premotor and parietal regions, respectively. After learning, this neural architecture could both overtly (actual execution) and covertly (mental execution or motor imagery) perform accurate, robust and flexible finger movements while reproducing the main human finger kinematic states. This work contributes to developing neuro-mimetic controllers for dexterous humanoid robotic/prosthetic upper-extremities, and has the potential to promote human-robot interactions.

Compensation for Unconstrained Catheter Shaft Motion in Cardiac Catheters

PubMed Central

Degirmenci, Alperen; Loschak, Paul M.; Tschabrunn, Cory M.; Anter, Elad; Howe, Robert D.

2016-01-01

Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires extensive training. Existing work has demonstrated robotic catheter steering in constrained bench top environments. Closed-loop control in an unconstrained setting, such as patient vasculature, remains a significant challenge due to friction, backlash, and physiological disturbances. In this paper we present a new method for closed-loop control of the catheter tip that can accurately and robustly steer 4-DOF cardiac catheters and other flexible manipulators despite these effects. The performance of the system is demonstrated in a vasculature phantom and an in vivo porcine animal model. During bench top studies the robotic system converged to the desired US imager pose with sub-millimeter and sub-degree-level accuracy. During animal trials the system achieved 2.0 mm and 0.65° accuracy. Accurate and robust robotic navigation of flexible manipulators will enable enhanced visualization and treatment during procedures. PMID:27525170

A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure

PubMed Central

Donati, Marco; Vitiello, Nicola; De Rossi, Stefano Marco Maria; Lenzi, Tommaso; Crea, Simona; Persichetti, Alessandro; Giovacchini, Francesco; Koopman, Bram; Podobnik, Janez; Munih, Marko; Carrozza, Maria Chiara

2013-01-01

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes and shapes, and to measure different pressure ranges. In this work we present the main application areas for this technology. A first generation of the system was used to monitor human-robot interaction in upper- (NEUROExos; Scuola Superiore Sant'Anna) and lower-limb (LOPES; University of Twente) exoskeletons for rehabilitation. A second generation, with increased resolution and wireless connection, was used to develop a pressure-sensitive foot insole and an improved human-robot interaction measurement systems. The experimental characterization of the latter system along with its validation on three healthy subjects is presented here for the first time. A perspective on future uses and development of the technology is finally drafted. PMID:23322104

Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

NASA Astrophysics Data System (ADS)

Yang, Z. X.; Yang, W. L.; Du, Z. J.

2018-03-01

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

Bio-inspired flexible joints with passive feathering for robotic fish pectoral fins.

PubMed

Behbahani, Sanaz Bazaz; Tan, Xiaobo

2016-05-04

In this paper a novel flexible joint is proposed for robotic fish pectoral fins, which enables a swimming behavior emulating the fin motions of many aquatic animals. In particular, the pectoral fin operates primarily in the rowing mode, while undergoing passive feathering during the recovery stroke to reduce hydrodynamic drag on the fin. The latter enables effective locomotion even with symmetric base actuation during power and recovery strokes. A dynamic model is developed to facilitate the understanding and design of the joint, where blade element theory is used to calculate the hydrodynamic forces on the pectoral fins, and the joint is modeled as a paired torsion spring and damper. Experimental results on a robotic fish prototype are presented to illustrate the effectiveness of the joint mechanism, validate the proposed model, and indicate the utility of the proposed model for the optimal design of joint depth and stiffness in achieving the trade-off between swimming speed and mechanical efficiency.

Control of a small working robot on a large flexible manipulator for suppressing vibrations

NASA Technical Reports Server (NTRS)

Lee, Soo Han

1991-01-01

The short term objective of this research is the completion of experimental configuration of the Small Articulated Robot (SAM) and the derivations of the actuator dynamics of the Robotic Arm, Large and Flexible (RALF). In order to control vibrations SAM should have larger bandwidth than that of the vibrations. The bandwidth of SAM consist of 3 parts; structural rigidity, processing speed of controller, and motor speed. The structural rigidity was increased to a reasonably high value by attaching aluminum angles at weak points and replacing thin side plates by thicker ones. The high processing speed of the controller was achieved by using parallel processors (three 68000 process, three interface board, and one main processor (IBM-XT)). Maximum joint speed and acceleration of SAM is known as about 4 rad/s and 15 rad/sq s. Hence SAM can move only .04 rad at 3 Hz which is the natural frequency of RALF. This will be checked by experiment.

Metalevel programming in robotics: Some issues

NASA Technical Reports Server (NTRS)

Kumarn, A.; Parameswaran, N.

1987-01-01

Computing in robotics has two important requirements: efficiency and flexibility. Algorithms for robot actions are implemented usually in procedural languages such as VAL and AL. But, since their excessive bindings create inflexible structures of computation, it is proposed that Logic Programming is a more suitable language for robot programming due to its non-determinism, declarative nature, and provision for metalevel programming. Logic Programming, however, results in inefficient computations. As a solution to this problem, researchers discuss a framework in which controls can be described to improve efficiency. They have divided controls into: (1) in-code and (2) metalevel and discussed them with reference to selection of rules and dataflow. Researchers illustrated the merit of Logic Programming by modelling the motion of a robot from one point to another avoiding obstacles.

Reducing the uncertainty in robotic machining by modal analysis

NASA Astrophysics Data System (ADS)

Alberdi, Iñigo; Pelegay, Jose Angel; Arrazola, Pedro Jose; Ørskov, Klaus Bonde

2017-10-01

The use of industrial robots for machining could lead to high cost and energy savings for the manufacturing industry. Machining robots offer several advantages respect to CNC machines such as flexibility, wide working space, adaptability and relatively low cost. However, there are some drawbacks that are preventing a widespread adoption of robotic solutions namely lower stiffness, vibration/chatter problems and lower accuracy and repeatability. Normally due to these issues conservative cutting parameters are chosen, resulting in a low material removal rate (MRR). In this article, an example of a modal analysis of a robot is presented. For that purpose the Tap-testing technology is introduced, which aims at maximizing productivity, reducing the uncertainty in the selection of cutting parameters and offering a stable process free from chatter vibrations.

A plant-inspired robot with soft differential bending capabilities.

PubMed

Sadeghi, A; Mondini, A; Del Dottore, E; Mattoli, V; Beccai, L; Taccola, S; Lucarotti, C; Totaro, M; Mazzolai, B

2016-12-20

We present the design and development of a plant-inspired robot, named Plantoid, with sensorized robotic roots. Natural roots have a multi-sensing capability and show a soft bending behaviour to follow or escape from various environmental parameters (i.e., tropisms). Analogously, we implement soft bending capabilities in our robotic roots by designing and integrating soft spring-based actuation (SSBA) systems using helical springs to transmit the motor power in a compliant manner. Each robotic tip integrates four different sensors, including customised flexible touch and innovative humidity sensors together with commercial gravity and temperature sensors. We show how the embedded sensing capabilities together with a root-inspired control algorithm lead to the implementation of tropic behaviours. Future applications for such plant-inspired technologies include soil monitoring and exploration, useful for agriculture and environmental fields.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

PubMed

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

2017-01-01

Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

Flexible and Accessible Automated Operation of Miniature Chromatography Columns on a Liquid Handling Station.

PubMed

Konstantinidis, Spyridon; Goh, Hai-Yuan; Martin Bufájer, José M; de Galbert, Paul; Parau, Maria; Velayudhan, Ajoy

2018-03-01

The High Throughput (HT) investigation of chromatographic separations is an important element of downstream bioprocess development due to the importance of chromatography as a technique for achieving stringent regulatory requirements on product purity. Various HT formats for chromatography exist, but the miniature column approach has characteristics resembling large scale packed bed column chromatography the most. The operation of such columns on robotic stations can be automated, but this is not always a straightforward procedure; the robotic manipulations are highly dependent on the settings of each experiment and the standard commands of the supporting software may not provide readily the required flexibility and accessibility for "plug and play" functionality. These can limit the potential of this technique in laboratories engaging on HT activities. In this work, we present an application which aims to overcome this challenge by providing end-users with a flexible operation of the miniature column technique on an automated liquid handler. The application includes a script which is written on Freedom EVOware, and is supplemented by custom compiled executables. Here, the manipulations carried out by the application are described in detail and its functionality is demonstrated through typical experiments based on bind and elute miniature column chromatography. The application is shown to allow for the unsupervised "on-the-fly" programming of the robotic station and to ultimately make the technique accessible to non-automation experts. This application is therefore well suited to simplifying development activities based on the robotic deployment of the miniature column chromatography technique. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Diagnostic Laparoscopy

MedlinePlus

... Series SAGES Masters Program Facebook Collaboratives Acute Care Surgery Bariatric Biliary Colorectal Flexible Endoscopy (upper or lower) Foregut Hernia Robotics The SAGES HPB/Solid Organ Program The SAGES ...

Needle puncture in rabbit functional spinal units alters rotational biomechanics.

PubMed

Hartman, Robert A; Bell, Kevin M; Quan, Bichun; Nuzhao, Yao; Sowa, Gwendolyn A; Kang, James D

2015-04-01

An in vitro biomechanical study for rabbit lumbar functional spinal units (FSUs) using a robot-based spine testing system. To elucidate the effect of annular puncture with a 16 G needle on mechanical properties in flexion/extension, axial rotation, and lateral bending. Needle puncture of the intervertebral disk has been shown to alter mechanical properties of the disk in compression, torsion, and bending. The effect of needle puncture in FSUs, where intact spinal ligaments and facet joints may mitigate or amplify these changes in the disk, on spinal motion segment stability subject to physiological rotations remains unknown. Rabbit FSUs were tested using a robot testing system whose force/moment and position precision were assessed to demonstrate system capability. Flexibility testing methods were developed by load-to-failure testing in flexion/extension, axial rotation, and lateral bending. Subsequent testing methods were used to examine a 16 G needle disk puncture and No. 11 blade disk stab (positive control for mechanical disruption). Flexibility testing was used to assess segmental range-of-motion (degrees), neutral zone stiffness (N m/degrees) and width (degrees and N m), and elastic zone stiffness before and after annular injury. The robot-based system was capable of performing flexibility testing on FSUs-mean precision of force/moment measurements and robot system movements were <3% and 1%, respectively, of moment-rotation target values. Flexibility moment targets were 0.3 N m for flexion and axial rotation and 0.15 N m for extension and lateral bending. Needle puncture caused significant (P<0.05) changes only in flexion/extension range-of-motion and neutral zone stiffness and width (N m) compared with preintervention. No. 11 blade-stab significantly increased range-of-motion in all motions, decreased neutral zone stiffness and width (N m) in flexion/extension, and increased elastic zone stiffness in flexion and lateral bending. These findings suggest that disk puncture and stab can destabilize FSUs in primary rotations.

Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task.

PubMed

Khurshid, Rebecca P; Fitter, Naomi T; Fedalei, Elizabeth A; Kuchenbecker, Katherine J

2017-01-01

The multifaceted human sense of touch is fundamental to direct manipulation, but technical challenges prevent most teleoperation systems from providing even a single modality of haptic feedback, such as force feedback. This paper postulates that ungrounded grip-force, fingertip-contact-and-pressure, and high-frequency acceleration haptic feedback will improve human performance of a teleoperated pick-and-place task. Thirty subjects used a teleoperation system consisting of a haptic device worn on the subject's right hand, a remote PR2 humanoid robot, and a Vicon motion capture system to move an object to a target location. Each subject completed the pick-and-place task 10 times under each of the eight haptic conditions obtained by turning on and off grip-force feedback, contact feedback, and acceleration feedback. To understand how object stiffness affects the utility of the feedback, half of the subjects completed the task with a flexible plastic cup, and the others used a rigid plastic block. The results indicate that the addition of grip-force feedback with gain switching enables subjects to hold both the flexible and rigid objects more stably, and it also allowed subjects who manipulated the rigid block to hold the object more delicately and to better control the motion of the remote robot's hand. Contact feedback improved the ability of subjects who manipulated the flexible cup to move the robot's arm in space, but it deteriorated this ability for subjects who manipulated the rigid block. Contact feedback also caused subjects to hold the flexible cup less stably, but the rigid block more securely. Finally, adding acceleration feedback slightly improved the subject's performance when setting the object down, as originally hypothesized; interestingly, it also allowed subjects to feel vibrations produced by the robot's motion, causing them to be more careful when completing the task. This study supports the utility of grip-force and high-frequency acceleration feedback in teleoperation systems and motivates further improvements to fingertip-contact-and-pressure feedback.

A decoupled recursive approach for constrained flexible multibody system dynamics

NASA Technical Reports Server (NTRS)

Lai, Hao-Jan; Kim, Sung-Soo; Haug, Edward J.; Bae, Dae-Sung

1989-01-01

A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.

Modeling and control of a hydraulically actuated flexible-prismatic link robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Love, L.; Kress, R.; Jansen, J.

1996-12-01

Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.

Flexibility of Bricard's linkages and other structures via resultants and computer algebra.

PubMed

Lewis, Robert H; Coutsias, Evangelos A

2016-07-01

Flexibility of structures is extremely important for chemistry and robotics. Following our earlier work, we study flexibility using polynomial equations, resultants, and a symbolic algorithm of our creation that analyzes the resultant. We show that the software solves a classic arrangement of quadrilaterals in the plane due to Bricard. We fill in several gaps in Bricard's work and discover new flexible arrangements that he was apparently unaware of. This provides strong evidence for the maturity of the software, and is a wonderful example of mathematical discovery via computer assisted experiment.

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

Alexander, H.

1986-01-01

The development of and test control strategies for self-contained, autonomous free flying space robots are discussed. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). Use of robots should reduce the expense and danger attending EVA both by providing assistance to astronauts and in many cases by eliminating altogether the need for human EVA, thus greatly enhancing the scope and flexibility of space assembly and repair activities. The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. It is planned, in a later phase, to extend the research to three dimensions by carrying out experiments in the Space Shuttle cargo bay.

An advanced rehabilitation robotic system for augmenting healthcare.

PubMed

Hu, John; Lim, Yi-Je; Ding, Ye; Paluska, Daniel; Solochek, Aaron; Laffery, David; Bonato, Paolo; Marchessault, Ronald

2011-01-01

Emerging technologies such as rehabilitation robots (RehaBot) for retraining upper and lower limb functions have shown to carry tremendous potential to improve rehabilitation outcomes. Hstar Technologies is developing a revolutionary rehabilitation robot system enhancing healthcare quality for patients with neurological and muscular injuries or functional impairments. The design of RehaBot is a safe and robust system that can be run at a rehabilitation hospital under the direct monitoring and interactive supervision control and at a remote site via telepresence operation control. RehaBot has a wearable robotic structure design like exoskeleton, which employs a unique robotic actuation--Series Elastic Actuator. These electric actuators provide robotic structural compliance, safety, flexibility, and required strength for upper extremity dexterous manipulation rehabilitation training. RehaBot also features a novel non-treadmill paddle platform capable of haptics feedback locomotion rehabilitation training. In this paper, we concern mainly about the motor incomplete patient and rehabilitation applications.

Adaptive and Resilient Soft Tensegrity Robots.

PubMed

Rieffel, John; Mouret, Jean-Baptiste

2018-04-17

Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these same properties to create resilient machines. The nature of soft materials, however, presents considerable challenges to aspects of design, construction, and control-and up until now, the vast majority of gaits for soft robots have been hand-designed through empirical trial-and-error. This article describes an easy-to-assemble tensegrity-based soft robot capable of highly dynamic locomotive gaits and demonstrating structural and behavioral resilience in the face of physical damage. Enabling this is the use of a machine learning algorithm able to discover effective gaits with a minimal number of physical trials. These results lend further credence to soft-robotic approaches that seek to harness the interaction of complex material dynamics to generate a wealth of dynamical behaviors.

Flexible robotics in pelvic disease: does the catheter increase applicability of embolic therapy?

PubMed

Rueda, Maria A; Riga, Celia; Hamady, Mohamad S

2018-06-01

Interventional radiology procedures, equipment, and techniques as well as image guidance have developed dramatically over the last few decades. The evidence for minimally invasive interventions in vascular and oncology fields is rapidly growing and several procedures are considered the first line management. However, radiation exposure, image guidance and innovative solutions to known anatomical challenges are still lagging behind. Robotic technology and its role in surgery have been developing at a steady speed. Endovascular robotics are following suit with a different set of problems and targets. This article discusses the advances and limitations in one aspects of endovascular robotic, namely pelvic pathology that includes aneurysms, fibroids, benign prostatic hypertrophy and vascular malformation.

NASA Tech Briefs, November 2005

NASA Technical Reports Server (NTRS)

2005-01-01

Topics covered include: Laser System for Precise, Unambiguous Range Measurements; Flexible Cryogenic Temperature and Liquid-Level Probes; Precision Cryogenic Dilatometer; Stroboscopic Interferometer for Measuring Mirror Vibrations; Some Improvements in H-PDLCs; Multiple-Bit Differential Detection of OQPSK; Absolute Position Encoders With Vertical Image Binning; Flexible, Carbon-Based Ohmic Contacts for Organic Transistors; GaAs QWIP Array Containing More Than a Million Pixels; AutoChem; Virtual Machine Language; Two-Dimensional Ffowcs Williams/Hawkings Equation Solver; Full Multigrid Flow Solver; Doclet To Synthesize UML; Computing Thermal Effects of Cavitation in Cryogenic Liquids; GUI for Computational Simulation of a Propellant Mixer; Control Program for an Optical-Calibration Robot; SQL-RAMS; Distributing Data from Desktop to Hand-Held Computers; Best-Fit Conic Approximation of Spacecraft Trajectory; Improved Charge-Transfer Fluorescent Dyes; Stability-Augmentation Devices for Miniature Aircraft; Tool Measures Depths of Defects on a Case Tang Joint; Two Heat-Transfer Improvements for Gas Liquefiers; Controlling Force and Depth in Friction Stir Welding; Spill-Resistant Alkali-Metal-Vapor Dispenser; A Methodology for Quantifying Certain Design Requirements During the Design Phase; Measuring Two Key Parameters of H3 Color Centers in Diamond; Improved Compression of Wavelet-Transformed Images; NASA Interactive Forms Type Interface - NIFTI; Predicting Numbers of Problems in Development of Software; Hot-Electron Photon Counters for Detecting Terahertz Photons; Magnetic Variations Associated With Solar Flares; and Artificial Intelligence for Controlling Robotic Aircraft.

Laparoscopic Spine Surgery

MedlinePlus

... Series SAGES Masters Program Facebook Collaboratives Acute Care Surgery Bariatric Biliary Colorectal Flexible Endoscopy (upper or lower) Foregut Hernia Robotics The SAGES HPB/Solid Organ Program The SAGES ...

Laparoscopic Colon Resection

MedlinePlus

... Series SAGES Masters Program Facebook Collaboratives Acute Care Surgery Bariatric Biliary Colorectal Flexible Endoscopy (upper or lower) Foregut Hernia Robotics The SAGES HPB/Solid Organ Program The SAGES ...

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

PubMed

Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

3D printing for soft robotics – a review

PubMed Central

Gul, Jahan Zeb; Sajid, Memoon; Rehman, Muhammad Muqeet; Siddiqui, Ghayas Uddin; Shah, Imran; Kim, Kyung-Hwan; Lee, Jae-Wook; Choi, Kyung Hyun

2018-01-01

Abstract Soft robots have received an increasing attention due to their advantages of high flexibility and safety for human operators but the fabrication is a challenge. Recently, 3D printing has been used as a key technology to fabricate soft robots because of high quality and printing multiple materials at the same time. Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities. This review comprises a detailed survey of 3D printing in soft robotics. The development of key 3D printing technologies and new materials along with composites for soft robotic applications is investigated. A brief summary of 3D-printed soft devices suitable for medical to industrial applications is also included. The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose. PMID:29707065

3D printing for soft robotics - a review.

PubMed

Gul, Jahan Zeb; Sajid, Memoon; Rehman, Muhammad Muqeet; Siddiqui, Ghayas Uddin; Shah, Imran; Kim, Kyung-Hwan; Lee, Jae-Wook; Choi, Kyung Hyun

2018-01-01

Soft robots have received an increasing attention due to their advantages of high flexibility and safety for human operators but the fabrication is a challenge. Recently, 3D printing has been used as a key technology to fabricate soft robots because of high quality and printing multiple materials at the same time. Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities. This review comprises a detailed survey of 3D printing in soft robotics. The development of key 3D printing technologies and new materials along with composites for soft robotic applications is investigated. A brief summary of 3D-printed soft devices suitable for medical to industrial applications is also included. The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

PubMed Central

Qian, Jun; Zi, Bin; Ma, Yangang; Zhang, Dan

2017-01-01

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields. PMID:28891964

PaR-PaR Laboratory Automation Platform

DOE Office of Scientific and Technical Information (OSTI.GOV)

Linshiz, G; Stawski, N; Poust, S

2013-05-01

Labor-intensive multistep biological tasks, such as the construction and cloning of DNA molecules, are prime candidates for laboratory automation. Flexible and biology-friendly operation of robotic equipment is key to its successful integration in biological laboratories, and the efforts required to operate a robot must be much smaller than the alternative manual lab work. To achieve these goals, a simple high-level biology-friendly robot programming language is needed. We have developed and experimentally validated such a language: Programming a Robot (PaR-PaR). The syntax and compiler for the language are based on computer science principles and a deep understanding of biological workflows. PaR-PaRmore » allows researchers to use liquid-handling robots effectively, enabling experiments that would not have been considered previously. After minimal training, a biologist can independently write complicated protocols for a robot within an hour. Adoption of PaR-PaR as a standard cross-platform language would enable hand-written or software-generated robotic protocols to be shared across laboratories.« less

PaR-PaR laboratory automation platform.

PubMed

Linshiz, Gregory; Stawski, Nina; Poust, Sean; Bi, Changhao; Keasling, Jay D; Hillson, Nathan J

2013-05-17

Labor-intensive multistep biological tasks, such as the construction and cloning of DNA molecules, are prime candidates for laboratory automation. Flexible and biology-friendly operation of robotic equipment is key to its successful integration in biological laboratories, and the efforts required to operate a robot must be much smaller than the alternative manual lab work. To achieve these goals, a simple high-level biology-friendly robot programming language is needed. We have developed and experimentally validated such a language: Programming a Robot (PaR-PaR). The syntax and compiler for the language are based on computer science principles and a deep understanding of biological workflows. PaR-PaR allows researchers to use liquid-handling robots effectively, enabling experiments that would not have been considered previously. After minimal training, a biologist can independently write complicated protocols for a robot within an hour. Adoption of PaR-PaR as a standard cross-platform language would enable hand-written or software-generated robotic protocols to be shared across laboratories.

System-level challenges in pressure-operated soft robotics

NASA Astrophysics Data System (ADS)

Onal, Cagdas D.

2016-05-01

Last decade witnessed the revival of fluidic soft actuation. As pressure-operated soft robotics becomes more popular with promising recent results, system integration remains an outstanding challenge. Inspired greatly by biology, we envision future robotic systems to embrace mechanical compliance with bodies composed of soft and hard components as well as electronic and sensing sub-systems, such that robot maintenance starts to resemble surgery. In this vision, portable energy sources and driving infrastructure plays a key role to offer autonomous many-DoF soft actuation. On the other hand, while offering many advantages in safety and adaptability to interact with unstructured environments, objects, and human bodies, mechanical compliance also violates many inherent assumptions in traditional rigid-body robotics. Thus, a complete soft robotic system requires new approaches to utilize proprioception that provides rich sensory information while remaining flexible, and motion control under significant time delay. This paper discusses our proposed solutions for each of these system-level challenges in soft robotics research.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System.

PubMed

Qian, Jun; Zi, Bin; Wang, Daoming; Ma, Yangang; Zhang, Dan

2017-09-10

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.

Flexible-Path Human Exploration

NASA Technical Reports Server (NTRS)

Sherwood, B.; Adler, M.; Alkalai, L.; Burdick, G.; Coulter, D.; Jordan, F.; Naderi, F.; Graham, L.; Landis, R.; Drake, B.;

Intelligent Control of Flexible-Joint Robotic Manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Gallegos, G.

1997-01-01

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Integral Manifold in System Design with Application to Flexible Link Robot Control

DTIC Science & Technology

1988-06-01

environment. I am very grateful to my advisor . Professor Kokotovic. whose insight and guidance in my research work led me to the beginning of my...MANIFOLD IN SVSTEM DESIGN WITH RPLICATION TT 2Z2 FLEXIBLE LINK ROBO (U) ILLINOIS UNIV AT URBANA DECISION AND CONTROL LAB H C TSENG JUN 98

Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots.

PubMed

Duarte, Miguel; Costa, Vasco; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers.

Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots

PubMed Central

Duarte, Miguel; Costa, Vasco; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers. PMID:26999614

Laparoscopic Ventral Hernia Repair

MedlinePlus

... Series SAGES Masters Program Facebook Collaboratives Acute Care Surgery Bariatric Biliary Colorectal Flexible Endoscopy (upper or lower) Foregut Hernia Robotics The SAGES HPB/Solid Organ Program The SAGES ...

Laparoscopic Spleen Removal (Splenectomy)

MedlinePlus

... Series SAGES Masters Program Facebook Collaboratives Acute Care Surgery Bariatric Biliary Colorectal Flexible Endoscopy (upper or lower) Foregut Hernia Robotics The SAGES HPB/Solid Organ Program The SAGES ...

Laparoscopic Adrenal Gland Removal

MedlinePlus

... Series SAGES Masters Program Facebook Collaboratives Acute Care Surgery Bariatric Biliary Colorectal Flexible Endoscopy (upper or lower) Foregut Hernia Robotics The SAGES HPB/Solid Organ Program The SAGES ...

Laparoscopic Inguinal Hernia Repair

MedlinePlus

... Series SAGES Masters Program Facebook Collaboratives Acute Care Surgery Bariatric Biliary Colorectal Flexible Endoscopy (upper or lower) Foregut Hernia Robotics The SAGES HPB/Solid Organ Program The SAGES ...

Dynamics and control of orbiting flexible systems: A formulation with applications

NASA Astrophysics Data System (ADS)

Ng, Chun-Ki Alfred

1992-06-01

A relatively general formulation for studying the nonlinear dynamics and control of spacecraft with interconnected flexible members in a tree-type topology is developed. The distinctive features of the formulation include the following: (1) It is applicable to a large class of present and future spacecraft with flexible beam and plate type appendages, arbitrary in number and orientation. (2) The members are free to undergo predefined slewing maneuvers to facilitate modelling of sun tracking solar panels and large angle maneuvers of space based robots. (3) Solar radiation induced thermal deformations of flexible members are incorporated in the study. (4) The governing equations of motion are highly nonlinear, nonautonomous and coupled. They are programmed in a modular fashion to help isolate the effects of flexibility, librational motion, thermal deformations, slewing maneuvers, shifting center of mass, higher modes, initial conditions, etc. The first chapter of the thesis presents a general background to the subject and a brief review of the relevant literature on multibody dynamics. This is followed by the kinematics and kinetics of the problem leading to the Lagrangian equations of motion. The third chapter focuses on methodology and development of the computer code suitable for parametric dynamical study and control. Next versatility of the general formulation is illustrated through the analysis of five spacecraft configurations of contemporary interest the next generation of multi-purpose communications spacecraft represented by the INdian SATellite II (IN-SAT II): the First Element Launch (FEL) and the Permanently Manned Configuration (PMC) of the proposed Space Station Freedom; the Mobile Servicing System (MSS) to be developed by Canada for operation on the Space Station; and the Space Flyer Unit (SFU) to be launched by Japan in mid-nineties. In the FEL study, the attention is directed towards interactions between the librational and vibrational dynamics. During the PMC investigation, effects of the thermal deformation and orbital eccentricity are introduced and the microgravity environment around the station center of mass explored. The MSS study assesses pointing errors arising from inplane and out-of-plane maneuvers of the robotic arms. The SFU represents a challenging configuration to assess deployment and retrieval dynamics associated with a solar array. Parameters considered here include symmetry, orientation, and duration of the deployment/retrieval maneuvers. Results of the dynamical study clearly shows that, under critical combinations of parameters, the systems can become unstable. Obviously, the next logical step is to explore control strategies to restore equilibrium. To that end, feasibility of the nonlinear control based on the Feedback Linearization Technique (FLT) is explored with reference to the INSAT II and the MSS. Results show the procedure to be quite promising in controlling the INSAT II over a range of disturbances, including the thermal effects. Application of the control to the MSS reduced the pointing error induced by robotic arm maneuvers significantly. The amount of information obtained through a planned parametric analysis of the system dynamics and control is indeed enormous.

Implementation of a robotic flexible assembly system

NASA Technical Reports Server (NTRS)

Benton, Ronald C.

1987-01-01

As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

Emergence of Functional Hierarchy in a Multiple Timescale Neural Network Model: A Humanoid Robot Experiment

PubMed Central

Yamashita, Yuichi; Tani, Jun

2008-01-01

It is generally thought that skilled behavior in human beings results from a functional hierarchy of the motor control system, within which reusable motor primitives are flexibly integrated into various sensori-motor sequence patterns. The underlying neural mechanisms governing the way in which continuous sensori-motor flows are segmented into primitives and the way in which series of primitives are integrated into various behavior sequences have, however, not yet been clarified. In earlier studies, this functional hierarchy has been realized through the use of explicit hierarchical structure, with local modules representing motor primitives in the lower level and a higher module representing sequences of primitives switched via additional mechanisms such as gate-selecting. When sequences contain similarities and overlap, however, a conflict arises in such earlier models between generalization and segmentation, induced by this separated modular structure. To address this issue, we propose a different type of neural network model. The current model neither makes use of separate local modules to represent primitives nor introduces explicit hierarchical structure. Rather than forcing architectural hierarchy onto the system, functional hierarchy emerges through a form of self-organization that is based on two distinct types of neurons, each with different time properties (“multiple timescales”). Through the introduction of multiple timescales, continuous sequences of behavior are segmented into reusable primitives, and the primitives, in turn, are flexibly integrated into novel sequences. In experiments, the proposed network model, coordinating the physical body of a humanoid robot through high-dimensional sensori-motor control, also successfully situated itself within a physical environment. Our results suggest that it is not only the spatial connections between neurons but also the timescales of neural activity that act as important mechanisms leading to functional hierarchy in neural systems. PMID:18989398

Ubiquitous Robotic Technology for Smart Manufacturing System.

PubMed

Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

2016-01-01

As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

Ubiquitous Robotic Technology for Smart Manufacturing System

PubMed Central

Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

2016-01-01

As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods. PMID:27446206

Flexible automation of cell culture and tissue engineering tasks.

PubMed

Knoll, Alois; Scherer, Torsten; Poggendorf, Iris; Lütkemeyer, Dirk; Lehmann, Jürgen

2004-01-01

Until now, the predominant use cases of industrial robots have been routine handling tasks in the automotive industry. In biotechnology and tissue engineering, in contrast, only very few tasks have been automated with robots. New developments in robot platform and robot sensor technology, however, make it possible to automate plants that largely depend on human interaction with the production process, e.g., for material and cell culture fluid handling, transportation, operation of equipment, and maintenance. In this paper we present a robot system that lends itself to automating routine tasks in biotechnology but also has the potential to automate other production facilities that are similar in process structure. After motivating the design goals, we describe the system and its operation, illustrate sample runs, and give an assessment of the advantages. We conclude this paper by giving an outlook on possible further developments.

Evolving locomotion for a 12-DOF quadruped robot in simulated environments.

PubMed

Klaus, Gordon; Glette, Kyrre; Høvin, Mats

2013-05-01

We demonstrate the power of evolutionary robotics (ER) by comparing to a more traditional approach its performance and cost on the task of simulated robot locomotion. A novel quadruped robot is introduced, the legs of which - each having three non-coplanar degrees of freedom - are very maneuverable. Using a simplistic control architecture and a physics simulation of the robot, gaits are designed both by hand and using a highly parallel evolutionary algorithm (EA). It is found that the EA produces, in a small fraction of the time that takes to design by hand, gaits that travel at two to four times the speed of the hand-designed one. The flexibility of this approach is demonstrated by applying it across a range of differently configured simulators. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

The NASA automation and robotics technology program

NASA Technical Reports Server (NTRS)

Holcomb, Lee B.; Montemerlo, Melvin D.

1986-01-01

The development and objectives of the NASA automation and robotics technology program are reviewed. The objectives of the program are to utilize AI and robotics to increase the probability of mission success; decrease the cost of ground control; and increase the capability and flexibility of space operations. There is a need for real-time computational capability; an effective man-machine interface; and techniques to validate automated systems. Current programs in the areas of sensing and perception, task planning and reasoning, control execution, operator interface, and system architecture and integration are described. Programs aimed at demonstrating the capabilities of telerobotics and system autonomy are discussed.

Real-time control for manufacturing space shuttle main engines: Work in progress

NASA Technical Reports Server (NTRS)

Ruokangas, Corinne C.

1988-01-01

During the manufacture of space-based assemblies such as Space Shuttle Main Engines, flexibility is required due to the high-cost and low-volume nature of the end products. Various systems have been developed pursuing the goal of adaptive, flexible manufacturing for several space applications, including an Advanced Robotic Welding System for the manufacture of complex components of the Space Shuttle Main Engines. The Advanced Robotic Welding System (AROWS) is an on-going joint effort, funded by NASA, between NASA/Marshall Space Flight Center, and two divisions of Rockwell International: Rocketdyne and the Science Center. AROWS includes two levels of flexible control of both motion and process parameters: Off-line programming using both geometric and weld-process data bases, and real-time control incorporating multiple sensors during weld execution. Both control systems were implemented using conventional hardware and software architectures. The feasibility of enhancing the real-time control system using the problem-solving architecture of Schemer is investigated and described.

Free vibration analysis of a robotic fish based on a continuous and non-uniform flexible backbone with distributed masses

NASA Astrophysics Data System (ADS)

Coral, W.; Rossi, C.; Curet, O. M.

2015-12-01

This paper presents a Differential Quadrature Element Method for free transverse vibration of a robotic fish based on a continuous and non-uniform flexible backbone with distributed masses (fish ribs). The proposed method is based on the theory of a Timoshenko cantilever beam. The effects of the masses (number, magnitude and position) on the value of natural frequencies are investigated. Governing equations, compatibility and boundary conditions are formulated according to the Differential Quadrature rules. The convergence, efficiency and accuracy are compared to other analytical solution proposed in the literature. Moreover, the proposed method has been validate against the physical prototype of a flexible fish backbone. The main advantages of this method, compared to the exact solutions available in the literature are twofold: first, smaller computational cost and second, it allows analysing the free vibration in beams whose section is an arbitrary function, which is normally difficult or even impossible with other analytical methods.

Parametric study of the swimming performance of a fish robot propelled by a flexible caudal fin.

PubMed

Low, K H; Chong, C W

2010-12-01

In this paper, we aim to study the swimming performance of fish robots by using a statistical approach. A fish robot employing a carangiform swimming mode had been used as an experimental platform for the performance study. The experiments conducted aim to investigate the effect of various design parameters on the thrust capability of the fish robot with a flexible caudal fin. The controllable parameters associated with the fin include frequency, amplitude of oscillation, aspect ratio and the rigidity of the caudal fin. The significance of these parameters was determined in the first set of experiments by using a statistical approach. A more detailed parametric experimental study was then conducted with only those significant parameters. As a result, the parametric study could be completed with a reduced number of experiments and time spent. With the obtained experimental result, we were able to understand the relationship between various parameters and a possible adjustment of parameters to obtain a higher thrust. The proposed statistical method for experimentation provides an objective and thorough analysis of the effects of individual or combinations of parameters on the swimming performance. Such an efficient experimental design helps to optimize the process and determine factors that influence variability.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

PubMed Central

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

2017-01-01

Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

Robotic Head and Neck Surgery: History, Technical Evolution and the Future.

PubMed

Garas, George; Arora, Asit

2018-06-20

The first application of robotic technology in surgery was described in 1985 when a robot was used to define the trajectory for a stereotactic brain biopsy. Following its successful application in a variety of surgical operations, the da Vinci® robot, the most widely used surgical robot at present, made its clinical debut in otorhinolaryngology and head and neck surgery in 2005 when the first transoral robotic surgery (TORS) resections of base of tongue neoplasms were reported. Subsequently, the indications for TORS rapidly expanded, and they now include tumours of the oropharynx, hypopharynx, parapharyngeal space, and supraglottic larynx, as well as obstructive sleep apnoea (OSA). The da Vinci® robot has also been successfully used for scarless-in-the-neck thyroidectomy and parathyroidectomy. At present, the main barrier to the wider uptake of robotic surgery is the prohibitive cost of the da Vinci® robotic system. Several novel, flexible surgical robots are currently being developed that are likely to not only enhance patient safety and expand current indications but also drive down costs, thus making this innovation more widely available. Future directions relate to overlay technology through augmented reality/AR that allows real-time image-guidance, miniaturisation (nanorobots), and the development of autonomous robots. © 2018 S. Karger AG, Basel.

KC-135 materials handling robotics

NASA Technical Reports Server (NTRS)

Workman, Gary L.

1991-01-01

Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

A Filtering Approach for Image-Guided Surgery With a Highly Articulated Surgical Snake Robot.

PubMed

Tully, Stephen; Choset, Howie

2016-02-01

The objective of this paper is to introduce a probabilistic filtering approach to estimate the pose and internal shape of a highly flexible surgical snake robot during minimally invasive surgery. Our approach renders a depiction of the robot that is registered to preoperatively reconstructed organ models to produce a 3-D visualization that can be used for surgical feedback. Our filtering method estimates the robot shape using an extended Kalman filter that fuses magnetic tracker data with kinematic models that define the motion of the robot. Using Lie derivative analysis, we show that this estimation problem is observable, and thus, the shape and configuration of the robot can be successfully recovered with a sufficient number of magnetic tracker measurements. We validate this study with benchtop and in-vivo image-guidance experiments in which the surgical robot was driven along the epicardial surface of a porcine heart. This paper introduces a filtering approach for shape estimation that can be used for image guidance during minimally invasive surgery. The methods being introduced in this paper enable informative image guidance for highly articulated surgical robots, which benefits the advancement of robotic surgery.

Self-Organized Multi-Camera Network for a Fast and Easy Deployment of Ubiquitous Robots in Unknown Environments

PubMed Central

Canedo-Rodriguez, Adrián; Iglesias, Roberto; Regueiro, Carlos V.; Alvarez-Santos, Victor; Pardo, Xose Manuel

2013-01-01

To bring cutting edge robotics from research centres to social environments, the robotics community must start providing affordable solutions: the costs must be reduced and the quality and usefulness of the robot services must be enhanced. Unfortunately, nowadays the deployment of robots and the adaptation of their services to new environments are tasks that usually require several days of expert work. With this in view, we present a multi-agent system made up of intelligent cameras and autonomous robots, which is easy and fast to deploy in different environments. The cameras will enhance the robot perceptions and allow them to react to situations that require their services. Additionally, the cameras will support the movement of the robots. This will enable our robots to navigate even when there are not maps available. The deployment of our system does not require expertise and can be done in a short period of time, since neither software nor hardware tuning is needed. Every system task is automatic, distributed and based on self-organization processes. Our system is scalable, robust, and flexible to the environment. We carried out several real world experiments, which show the good performance of our proposal. PMID:23271604

Self-organized multi-camera network for a fast and easy deployment of ubiquitous robots in unknown environments.

PubMed

Canedo-Rodriguez, Adrián; Iglesias, Roberto; Regueiro, Carlos V; Alvarez-Santos, Victor; Pardo, Xose Manuel

2012-12-27

To bring cutting edge robotics from research centres to social environments, the robotics community must start providing affordable solutions: the costs must be reduced and the quality and usefulness of the robot services must be enhanced. Unfortunately, nowadays the deployment of robots and the adaptation of their services to new environments are tasks that usually require several days of expert work. With this in view, we present a multi-agent system made up of intelligent cameras and autonomous robots, which is easy and fast to deploy in different environments. The cameras will enhance the robot perceptions and allow them to react to situations that require their services. Additionally, the cameras will support the movement of the robots. This will enable our robots to navigate even when there are not maps available. The deployment of our system does not require expertise and can be done in a short period of time, since neither software nor hardware tuning is needed. Every system task is automatic, distributed and based on self-organization processes. Our system is scalable, robust, and flexible to the environment. We carried out several real world experiments, which show the good performance of our proposal.

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

NASA Technical Reports Server (NTRS)

Foor, David C.

2005-01-01

The JPL Micro-Robot Explorer (MRE) Spiderbot is a robot that takes advantage of its small size to perform precision tasks suitable for space applications. The Spiderbot is a legged robot that can traverse harsh terrain otherwise inaccessible to wheeled robots. A team of Spiderbots can network and can exhibit collaborative efforts to SUCCeSSfUlly complete a set of tasks. The Spiderbot is designed and developed to demonstrate hexapods that can walk on flat surfaces, crawl on meshes, and assemble simple structures. The robot has six legs consisting of two spring-compliant joints and a gripping actuator. A hard-coded set of gaits allows the robot to move smoothly in a zero-gravity environment along the mesh. The primary objective of this project is to create a Spiderbot that traverses a flexible, deployable mesh, for use in space repair. Verification of this task will take place aboard a zero-gravity test flight. The secondary objective of this project is to adapt feedback from the joints to allow the robot to test each arm for a successful grip of the mesh. The end result of this research lends itself to a fault-tolerant robot suitable for a wide variety of space applications.

Ant-like task allocation and recruitment in cooperative robots

NASA Astrophysics Data System (ADS)

Krieger, Michael J. B.; Billeter, Jean-Bernard; Keller, Laurent

2000-08-01

One of the greatest challenges in robotics is to create machines that are able to interact with unpredictable environments in real time. A possible solution may be to use swarms of robots behaving in a self-organized manner, similar to workers in an ant colony. Efficient mechanisms of division of labour, in particular series-parallel operation and transfer of information among group members, are key components of the tremendous ecological success of ants. Here we show that the general principles regulating division of labour in ant colonies indeed allow the design of flexible, robust and effective robotic systems. Groups of robots using ant-inspired algorithms of decentralized control techniques foraged more efficiently and maintained higher levels of group energy than single robots. But the benefits of group living decreased in larger groups, most probably because of interference during foraging. Intriguingly, a similar relationship between group size and efficiency has been documented in social insects. Moreover, when food items were clustered, groups where robots could recruit other robots in an ant-like manner were more efficient than groups without information transfer, suggesting that group dynamics of swarms of robots may follow rules similar to those governing social insects.

A vision-based end-point control for a two-link flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Obergfell, Klaus

1991-01-01

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Development of novel textile and yarn actuators using plasticized PVC gel

NASA Astrophysics Data System (ADS)

Furuse, A.; Hashimoto, M.

2017-04-01

Soft actuators based on polymers are expected to be used for power sources to drive wearable robots which required in a wide range of fields such as medical, care and welfare, because they are light weight, flexible and quiet. Plasticized PVC gel which has a large deformation by applying a voltage and high driving stability in the atmosphere is considered as a suitable candidate material for development of soft actuator. Then, we proposed two kinds of novel flexible actuators constructed like yarn and textile by using plasticized PVC gel to develop soft actuator to realize a higher flexibility and low-voltage driving. In this study, we prepared prototypes of these actuators and clarify their characteristic. In addition, we considered the deformation model from its characteristics and geometric calculation. When a voltage was applied to their actuators, textile type actuator was contracted, while the twisted yarn type actuator was expanded. The deformation behavior of the proposed actuators could be found at a low voltage of 200V, the contraction strain of the textile actuator was about 27 %, and the expanding ratio of the yarn actuator was 0.4 %. Maximum contraction strain of textile actuator and expansion ratio of yarn actuator was 53% and 1.4% at 600 V, respectively. The calculation results from the proposed model were in roughly agreement with the experimental values. It indicated that deformation behavior of these actuators could estimate from models.

Flexible ferroelectric element based on van der Waals heteroepitaxy.

PubMed

Jiang, Jie; Bitla, Yugandhar; Huang, Chun-Wei; Do, Thi Hien; Liu, Heng-Jui; Hsieh, Ying-Hui; Ma, Chun-Hao; Jang, Chi-Yuan; Lai, Yu-Hong; Chiu, Po-Wen; Wu, Wen-Wei; Chen, Yi-Chun; Zhou, Yi-Chun; Chu, Ying-Hao

2017-06-01

We present a promising technology for nonvolatile flexible electronic devices: A direct fabrication of epitaxial lead zirconium titanate (PZT) on flexible mica substrate via van der Waals epitaxy. These single-crystalline flexible ferroelectric PZT films not only retain their performance, reliability, and thermal stability comparable to those on rigid counterparts in tests of nonvolatile memory elements but also exhibit remarkable mechanical properties with robust operation in bent states (bending radii down to 2.5 mm) and cycling tests (1000 times). This study marks the technological advancement toward realizing much-awaited flexible yet single-crystalline nonvolatile electronic devices for the design and development of flexible, lightweight, and next-generation smart devices with potential applications in electronics, robotics, automotive, health care, industrial, and military systems.

Flexible ferroelectric element based on van der Waals heteroepitaxy

PubMed Central

Jiang, Jie; Bitla, Yugandhar; Huang, Chun-Wei; Do, Thi Hien; Liu, Heng-Jui; Hsieh, Ying-Hui; Ma, Chun-Hao; Jang, Chi-Yuan; Lai, Yu-Hong; Chiu, Po-Wen; Wu, Wen-Wei; Chen, Yi-Chun; Zhou, Yi-Chun; Chu, Ying-Hao

2017-01-01

We present a promising technology for nonvolatile flexible electronic devices: A direct fabrication of epitaxial lead zirconium titanate (PZT) on flexible mica substrate via van der Waals epitaxy. These single-crystalline flexible ferroelectric PZT films not only retain their performance, reliability, and thermal stability comparable to those on rigid counterparts in tests of nonvolatile memory elements but also exhibit remarkable mechanical properties with robust operation in bent states (bending radii down to 2.5 mm) and cycling tests (1000 times). This study marks the technological advancement toward realizing much-awaited flexible yet single-crystalline nonvolatile electronic devices for the design and development of flexible, lightweight, and next-generation smart devices with potential applications in electronics, robotics, automotive, health care, industrial, and military systems. PMID:28630922

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1992-01-01

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

Neural self-tuning adaptive control of non-minimum phase system

NASA Technical Reports Server (NTRS)

Ho, Long T.; Bialasiewicz, Jan T.; Ho, Hai T.

1993-01-01

The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity, if not unstable, closed-loop behavior. Therefore, a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

Model reference adaptive control of flexible robots in the presence of sudden load changes

NASA Technical Reports Server (NTRS)

Steinvorth, Rodrigo; Kaufman, Howard; Neat, Gregory

1991-01-01

Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition, such MRAC procedures are designed so that a feedforward augmented output follows the reference model output, thus, resulting in an ultimately bounded rather than zero output error. Thus, modifications are suggested and tested that: (1) incorporate feedforward into the reference model's output as well as the plant's output, and (2) incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error, and thus encourage further use of MRAC for more complex flexibile robotic systems.

Weighted augmented Jacobian matrix with a variable coefficient method for kinematics mapping of space teleoperation based on human-robot motion similarity

NASA Astrophysics Data System (ADS)

Shi, Zhong; Huang, Xuexiang; Hu, Tianjian; Tan, Qian; Hou, Yuzhuo

2016-10-01

Space teleoperation is an important space technology, and human-robot motion similarity can improve the flexibility and intuition of space teleoperation. This paper aims to obtain an appropriate kinematics mapping method of coupled Cartesian-joint space for space teleoperation. First, the coupled Cartesian-joint similarity principles concerning kinematics differences are defined. Then, a novel weighted augmented Jacobian matrix with a variable coefficient (WAJM-VC) method for kinematics mapping is proposed. The Jacobian matrix is augmented to achieve a global similarity of human-robot motion. A clamping weighted least norm scheme is introduced to achieve local optimizations, and the operating ratio coefficient is variable to pursue similarity in the elbow joint. Similarity in Cartesian space and the property of joint constraint satisfaction is analysed to determine the damping factor and clamping velocity. Finally, a teleoperation system based on human motion capture is established, and the experimental results indicate that the proposed WAJM-VC method can improve the flexibility and intuition of space teleoperation to complete complex space tasks.

FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.

PubMed

Barron-Zambrano, Jose Hugo; Torres-Huitzil, Cesar

2013-09-01

Neuromorphic engineering is a discipline devoted to the design and development of computational hardware that mimics the characteristics and capabilities of neuro-biological systems. In recent years, neuromorphic hardware systems have been implemented using a hybrid approach incorporating digital hardware so as to provide flexibility and scalability at the cost of power efficiency and some biological realism. This paper proposes an FPGA-based neuromorphic-like embedded system on a chip to generate locomotion patterns of periodic rhythmic movements inspired by Central Pattern Generators (CPGs). The proposed implementation follows a top-down approach where modularity and hierarchy are two desirable features. The locomotion controller is based on CPG models to produce rhythmic locomotion patterns or gaits for legged robots such as quadrupeds and hexapods. The architecture is configurable and scalable for robots with either different morphologies or different degrees of freedom (DOFs). Experiments performed on a real robot are presented and discussed. The obtained results demonstrate that the CPG-based controller provides the necessary flexibility to generate different rhythmic patterns at run-time suitable for adaptable locomotion. Copyright © 2013 Elsevier Ltd. All rights reserved.

A highly articulated robotic surgical system for minimally invasive surgery.

PubMed

Ota, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; McGarvey, Jeremy; Choset, Howie; Zenati, Marco A

2009-04-01

We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation. CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field. In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional ("linear") left atrial ablation was successfully achieved without complications. Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.

Automated platform for designing multiple robot work cells

NASA Astrophysics Data System (ADS)

Osman, N. S.; Rahman, M. A. A.; Rahman, A. A. Abdul; Kamsani, S. H.; Bali Mohamad, B. M.; Mohamad, E.; Zaini, Z. A.; Rahman, M. F. Ab; Mohamad Hatta, M. N. H.

2017-06-01

Designing the multiple robot work cells is very knowledge-intensive, intricate, and time-consuming process. This paper elaborates the development process of a computer-aided design program for generating the multiple robot work cells which offer a user-friendly interface. The primary purpose of this work is to provide a fast and easy platform for less cost and human involvement with minimum trial and errors adjustments. The automated platform is constructed based on the variant-shaped configuration concept with its mathematical model. A robot work cell layout, system components, and construction procedure of the automated platform are discussed in this paper where integration of these items will be able to automatically provide the optimum robot work cell design according to the information set by the user. This system is implemented on top of CATIA V5 software and utilises its Part Design, Assembly Design, and Macro tool. The current outcomes of this work provide a basis for future investigation in developing a flexible configuration system for the multiple robot work cells.

Controlling legs for locomotion-insights from robotics and neurobiology.

PubMed

Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

2015-06-29

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

Shock and Vibration Control of a Golf-Swing Robot at Impacting the Ball

NASA Astrophysics Data System (ADS)

Hoshino, Yohei; Kobayashi, Yukinori

A golf swing robot is a kind of fast motion manipulator with a flexible link. A robot manipulator is greatly affected by Corioli's and centrifugal forces during fast motion. Nonlinearity due to these forces can have an adverse effect on the performance of feedback control. In the same way, ordinary state observers of a linear system cannot accurately estimate the states of nonlinear systems. This paper uses a state observer that considers disturbances to improve the performance of state estimation and feedback control. A mathematical model of the golf robot is derived by Hamilton's principle. A linear quadratic regulator (LQR) that considers the vibration of the club shaft is used to stop the robot during the follow-through action. The state observer that considers disturbances estimates accurate state variables when the disturbances due to Corioli's and centrifugal forces, and impact forces work on the robot. As a result, the performance of the state feedback control is improved. The study compares the results of the numerical simulations with experimental results.

Vibration Control Using a State Observer that Considers Disturbances of a Golf Swing Robot

NASA Astrophysics Data System (ADS)

Hoshino, Yohei; Kobayashi, Yukinori; Yamada, Gen

In this paper, optimal control of a golf swing robot that is used to evaluate the performance of golf clubs is described. The robot has two joints, a rigid link and a flexible link that is a golf club. A mathematical model of the golf club is derived by Hamilton’s principle in consideration of bending and torsional stiffness and in consideration of eccentricity of the center of gravity of the club head on the shaft axis. A linear quadratic regulator (LQR) that considers the vibration of the club shaft is used to stop the robot during the follow-through. Since the robot moves fast and has strong non-linearity, an ordinary state observer for a linear system cannot accurately estimate the states of the system. A state observer that considers disturbances accurately estimates the state variables that cannot be measured. The results of numerical simulation are compared with experimental results obtained by using a swing robot.

Design of a Soft Robot with Multiple Motion Patterns Using Soft Pneumatic Actuators

NASA Astrophysics Data System (ADS)

Miao, Yu; Dong, Wei; Du, Zhijiang

2017-11-01

Soft robots are made of soft materials and have good flexibility and infinite degrees of freedom in theory. These properties enable soft robots to work in narrow space and adapt to external environment. In this paper, a 2-DOF soft pneumatic actuator is introduced, with two chambers symmetrically distributed on both sides and a jamming cylinder along the axis. Fibers are used to constrain the expansion of the soft actuator. Experiments are carried out to test the performance of the soft actuator, including bending and elongation characteristics. A soft robot is designed and fabricated by connecting four soft pneumatic actuators to a 3D-printed board. The soft robotic system is then established. The pneumatic circuit is built by pumps and solenoid valves. The control system is based on the control board Arduino Mega 2560. Relay modules are used to control valves and pressure sensors are used to measure pressure in the pneumatic circuit. Experiments are conducted to test the performance of the proposed soft robot.

Robotic inspection for vehicle-borne contraband

NASA Astrophysics Data System (ADS)

Witus, Gary; Gerhart, Grant; Smuda, W.; Andrusz, H.

2006-05-01

Vehicle-borne smuggling is widespread because of the availability, flexibility and capacity of the cars and trucks. Inspecting vehicles at border crossings and checkpoints are key security elements. At the present time, most vehicle security inspections at home and abroad are conducted manually. Remotely operated vehicle inspection robots could be integrated into the operating procedures to improve throughput while reducing the workload burden on security personnel. The robotic inspection must be effective at detecting contraband and efficient at clearing the "clean" vehicles that make up the bulk of the traffic stream, while limiting the workload burden on the operators. In this paper, we present a systems engineering approach to robotic vehicle inspection. We review the tactics, techniques and procedures to interdict contraband. We present an operational concept for robotic vehicle inspection within this framework, and identify needed capabilities. We review the technologies currently available to meet these needs. Finally, we summarize the immediate potential and R&D challenges for effective contraband detection robots.

On the development of a reactive sensor-based robotic system

NASA Technical Reports Server (NTRS)

Hexmoor, Henry H.; Underwood, William E., Jr.

1989-01-01

Flexible robotic systems for space applications need to use local information to guide their action in uncertain environments where the state of the environment and even the goals may change. They have to be tolerant of unexpected events and robust enough to carry their task to completion. Tactical goals should be modified while maintaining strategic goals. Furthermore, reactive robotic systems need to have a broader view of their environments than sensory-based systems. An architecture and a theory of representation extending the basic cycles of action and perception are described. This scheme allows for dynamic description of the environment and determining purposive and timely action. Applications of this scheme for assembly and repair tasks using a Universal Machine Intelligence RTX robot are being explored, but the ideas are extendable to other domains. The nature of reactivity for sensor-based robotic systems and implementation issues encountered in developing a prototype are discussed.

Robot formation control in stealth mode with scalable team size

NASA Astrophysics Data System (ADS)

Yu, Hongjun; Shi, Peng; Lim, Cheng-Chew

2016-11-01

In situations where robots need to keep electromagnetic silent in a formation, communication channels become unavailable. Moreover, as passive displacement sensors are used, limited sensing ranges are inevitable due to power insufficiency and limited noise reduction. To address the formation control problem for a scalable team of robots subject to the above restrictions, a flexible strategy is necessary. In this paper, under the assumption that the data transmission among the robots is not available, a novel controller and a protocol are designed that do not rely on communication. As the controller only drives the robots to a partially desired formation, a distributed coordination protocol is proposed to resolve the imperfections. It is shown that the effectiveness of the controller and the protocol rely on the formation connectivity, and a condition is given on the sensing range. Simulations are conducted to illustrate the feasibility and advantages of the new design scheme developed.

Modelling robotic systems with DADS

NASA Technical Reports Server (NTRS)

Churchill, L. W.; Sharf, I.

1993-01-01

With the appearance of general off-the-shelf software packages for the simulation of mechanical systems, modelling and simulation of mechanisms has become an easier task. The authors have recently used one such package, DADS, to model the dynamics of rigid and flexible-link robotic manipulators. In this paper, we present this overview of our learning experiences with DADS, in the hope that it will shorten the learning process for others interested in this software.

FARMS: The Flexible Agricultural Robotics Manipulator

NASA Technical Reports Server (NTRS)

Gill, Paul S.

1991-01-01

A technology utilization project was established with the Marshall Space Flight Center and the University of Georgia to develop an Earth-based, robotic end effector to process live plant (geranium) material which will improve productivity and efficiency in agricultural systems such as commercial nurseries and greenhouse systems. The aim is to apply this technology to NASA's presence in space, including permanently manned space stations and manned planetary communities requiring large scale food production needs.

A soft robot capable of 2D mobility and self-sensing for obstacle detection and avoidance

NASA Astrophysics Data System (ADS)

Qin, Lei; Tang, Yucheng; Gupta, Ujjaval; Zhu, Jian

2018-04-01

Soft robots have shown great potential for surveillance applications due to their interesting attributes including inherent flexibility, extreme adaptability, and excellent ability to move in confined spaces. High mobility combined with the sensing systems that can detect obstacles plays a significant role in performing surveillance tasks. Extensive studies have been conducted on movement mechanisms of traditional hard-bodied robots to increase their mobility. However, there are limited efforts in the literature to explore the mobility of soft robots. In addition, little attempt has been made to study the obstacle-detection capability of a soft mobile robot. In this paper, we develop a soft mobile robot capable of high mobility and self-sensing for obstacle detection and avoidance. This robot, consisting of a dielectric elastomer actuator as the robot body and four electroadhesion actuators as the robot feet, can generate 2D mobility, i.e. translations and turning in a 2D plane, by programming the actuation sequence of the robot body and feet. Furthermore, we develop a self-sensing method which models the robot body as a deformable capacitor. By measuring the real-time capacitance of the robot body, the robot can detect an obstacle when the peak capacitance drops suddenly. This sensing method utilizes the robot body itself instead of external sensors to achieve detection of obstacles, which greatly reduces the weight and complexity of the robot system. The 2D mobility and self-sensing capability ensure the success of obstacle detection and avoidance, which paves the way for the development of lightweight and intelligent soft mobile robots.

An instrumented glove for grasp specification in virtual-reality-based point-and-direct telerobotics.

PubMed

Yun, M H; Cannon, D; Freivalds, A; Thomas, G

1997-10-01

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system will be used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. Here, an operator gives directives to a robot in the same natural way that human may direct another. Phrases such as "put that there" cause the robot to define a grasping strategy and motion strategy to complete the task on its own. In the VR-PAD concept, pointing is done using virtual tools such that an operator can appear to graphically grasp real items in live video. Rather than requiring full duplication of forces and kinesthetic movement throughout a task as is required in manual telemanipulation, hand posture and force are now specified only once. The grasp parameters then become object flavors. The robot maintains the specified force and hand posture flavors for an object throughout the task in handling the real workpiece or item of interest. In the Computer integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with Force-Sensitive Resistor (FSR) (pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach will finesse the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.

Potassium-titanyl-phosphate laser assisted robotic partial nephrectomy in a porcine model: can robotic assistance optimize the power needed for effective cutting and hemostasis?

PubMed

Boris, Ronald S; Eun, Daniel; Bhandari, Akshay; Lyall, Kathryn; Bhandari, Mahendra; Rogers, Craig; Alassi, Osama; Menon, Mani

2007-01-01

A potassium-titanyl-phosphate (KTP) laser through robotic endo-wrist instrument has been evaluated as an ablative and hemostatic tool in robotic assisted laparoscopic partial nephrectomy (RALPN). Ten RALPN were performed in five domestic female pigs. The partial nephrectomies were performed with bulldog clamping of the pedicle. Flexible glass fiber carrying 532-nm green light laser was used through a robotic endowrist instrument in two cases. Power usage from 4 to 10 W was tested. The laser probe was explored both as a cutting knife and for hemostasis. The pelvicalyceal system was closed with a running suture. Partial nephrectomies using KTP laser were performed without complications. Mean operative times and warm ischemia times for laser cases were 96 and 18 min, respectively. Mean estimated blood loss was 60 ml compared with 50 ml for non-laser cases. Complete hemostasis with the laser alone could be achieved with a power of 4 W and was found to be effective. In our hands the laser fiber powered up to 10 W was not effective as a quick cutting agent. Histopathologic analysis of the renal remnant revealed a cauterized surface effect with average laser penetration depth less than 1 mm and minimal surrounding cellular injury. The new robotic endowrist instrument carrying flexible glass fiber transmitting 532-nm green light laser is a useful addition to the armamentarium of the robotic urologic setup. Its control by the console surgeon enables quicker and more complete hemostasis of the cut surface in renal sparing surgery using a porcine model. Histologically proven lased depth of less than 1 mm suggests minimal parenchyma damage in an acute setting. Laser application as a cutting agent, however, requires further investigation with interval power settings beyond the limits of this preliminary study. We estimate that effective cutting should be possible with a setting lower than traditionally recommended for solid organs.

Selected topics in robotics for space exploration

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C. (Editor); Kaufman, Howard (Editor)

1993-01-01

Papers and abstracts included represent both formal presentations and experimental demonstrations at the Workshop on Selected Topics in Robotics for Space Exploration which took place at NASA Langley Research Center, 17-18 March 1993. The workshop was cosponsored by the Guidance, Navigation, and Control Technical Committee of the NASA Langley Research Center and the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) at RPI, Troy, NY. Participation was from industry, government, and other universities with close ties to either Langley Research Center or to CIRSSE. The presentations were very broad in scope with attention given to space assembly, space exploration, flexible structure control, and telerobotics.

Continuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimming

NASA Astrophysics Data System (ADS)

Diller, Eric; Zhuang, Jiang; Zhan Lum, Guo; Edwards, Matthew R.; Sitti, Metin

2014-04-01

We have developed a millimeter-scale magnetically driven swimming robot for untethered motion at mid to low Reynolds numbers. The robot is propelled by continuous undulatory deformation, which is enabled by the distributed magnetization profile of a flexible sheet. We demonstrate control of a prototype device and measure deformation and speed as a function of magnetic field strength and frequency. Experimental results are compared with simple magnetoelastic and fluid propulsion models. The presented mechanism provides an efficient remote actuation method at the millimeter scale that may be suitable for further scaling down in size for micro-robotics applications in biotechnology and healthcare.

Robotic thoracic surgery: technical considerations and learning curve for pulmonary resection.

PubMed

Veronesi, Giulia

2014-05-01

Retrospective series indicate that robot-assisted approaches to lung cancer resection offer comparable radicality and safety to video-assisted thoracic surgery or open surgery. More intuitive movements, greater flexibility, and high-definition three-dimensional vision overcome limitations of video-assisted thoracic surgery and may encourage wider adoption of robotic surgery for lung cancer, particularly as more early stage cases are diagnosed by screening. High capital and running costs, limited instrument availability, and long operating times are important disadvantages. Entry of competitor companies should drive down costs. Studies are required to assess quality of life, morbidity, oncologic radicality, and cost effectiveness. Copyright © 2014 Elsevier Inc. All rights reserved.

Telecare and Social Link Solution for Ambient Assisted Living Using a Robot Companion with Visiophony

NASA Astrophysics Data System (ADS)

Varène, Thibaut; Hillereau, Paul; Simonnet, Thierry

An increasing number of people are in need of help at home (elderly, isolated and/or disabled persons; people with mild cognitive impairment). Several solutions can be considered to maintain a social link while providing tele-care to these people. Many proposals suggest the use of a robot acting as a companion. In this paper we will look at an environment constrained solution, its drawbacks (such as latency) and its advantages (flexibility, integration…). A key design choice is to control the robot using a unified Voice over Internet Protocol (VoIP) solution, while addressing bandwidth limitations, providing good communication quality and reducing transmission latency

Expeditionary Operations in the Fourth Industrial Revolution

DTIC Science & Technology

2017-06-21

may radically change it. AM is inherently flexible, since the product produced depends only on the materials the printer can use, the design of...strengths: adaptability, flexibility, and responsiveness to the demands of war. Keywords: artificial intelligence, 3D manufacturing , robotics, drones...grow and process their products .13 Thus, criminal organizations can have an impact on the security of the United States, and our response may well

Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

NASA Technical Reports Server (NTRS)

Wheatley, Thomas E.; Michaloski, John L.; Lumia, Ronald

1989-01-01

Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored.

Design and Control of Concentric-Tube Robots

PubMed Central

Dupont, Pierre E.; Lock, Jesse; Itkowitz, Brandon; Butler, Evan

2010-01-01

A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient the robot’s tip, as well as to control the robot’s shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot. Since the actuators attach to the tubes at their proximal ends, the robot itself forms a slender curve that is well suited for minimally invasive medical procedures. This paper demonstrates the potential of this technology. Design principles are presented and a general kinematic model incorporating tube bending and torsion is derived. Experimental demonstration of real-time position control using this model is also described. PMID:21258648

On the stiffness analysis of a cable driven leg exoskeleton.

PubMed

Sanjeevi, N S S; Vashista, Vineet

2017-07-01

Robotic systems are being used for gait rehabilitation of patients with neurological disorder. These devices are externally powered to apply external forces on human limbs to assist the leg motion. Patients while walking with these devices adapt their walking pattern in response to the applied forces. The efficacy of a rehabilitation paradigm thus depends on the human-robot interaction. A cable driven leg exoskeleton (CDLE) use actuated cables to apply external joint torques on human leg. Cables are lightweight and flexible but can only be pulled, thus a CDLE requires redundant cables. Redundancy in CDLE can be utilized to appropriately tune a robot's performance. In this work, we present the stiffness analysis of CDLE. Different stiffness performance indices are established to study the role of system parameters in improving the human-robot interaction.

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri

1987-01-01

A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

Gait-Event-Based Synchronization Method for Gait Rehabilitation Robots via a Bioinspired Adaptive Oscillator.

PubMed

Chen, Gong; Qi, Peng; Guo, Zhao; Yu, Haoyong

2017-06-01

In the field of gait rehabilitation robotics, achieving human-robot synchronization is very important. In this paper, a novel human-robot synchronization method using gait event information is proposed. This method includes two steps. First, seven gait events in one gait cycle are detected in real time with a hidden Markov model; second, an adaptive oscillator is utilized to estimate the stride percentage of human gait using any one of the gait events. Synchronous reference trajectories for the robot are then generated with the estimated stride percentage. This method is based on a bioinspired adaptive oscillator, which is a mathematical tool, first proposed to explain the phenomenon of synchronous flashing among fireflies. The proposed synchronization method is implemented in a portable knee-ankle-foot robot and tested in 15 healthy subjects. This method has the advantages of simple structure, flexible selection of gait events, and fast adaptation. Gait event is the only information needed, and hence the performance of synchronization holds when an abnormal gait pattern is involved. The results of the experiments reveal that our approach is efficient in achieving human-robot synchronization and feasible for rehabilitation robotics application.

The Affordance Template ROS Package for Robot Task Programming

NASA Technical Reports Server (NTRS)

Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

2015-01-01

This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

Amelioration de la precision d'un bras robotise pour une application d'ebavurage

NASA Astrophysics Data System (ADS)

Mailhot, David

Process automation is a more and more referred solution when it comes to complex, tedious or even dangerous tasks for human. Flexibility, low cost and compactness make industrial robots very attractive for automation. Even if many developments have been made to enhance robot's performances, they still can not meet some industries requirements. For instance, aerospace industry requires very tight tolerances on a large variety of parts, which is not what robots were designed for at first. When it comes to robotic deburring, robot imprecision is a major problem that needs to be addressed before it can be implemented in production. This master's thesis explores different calibration techniques for robot's dimensions that could overcome the problem and make the robotic deburring application possible. Some calibration techniques that are easy to implement in production environment are simulated and compared. A calibration technique for tool's dimensions is simulated and implemented to evaluate its potential. The most efficient technique will be used within the application. Finally, the production environment and requirements are explained. The remaining imprecision will be compensated by the use of a force/torque sensor integrated with the robot's controller and by the use of a camera. Many tests are made to define the best parameters to use to deburr a specific feature on a chosen part. Concluding tests are shown and demonstrate the potential use of robotic deburring. Keywords: robotic calibration, robotic arm, robotic precision, robotic deburring

Crew Restraint Design for the International Space Station

NASA Technical Reports Server (NTRS)

Norris, Lena; Holden, Kritina; Whitmore, Mihriban

2006-01-01

With permanent human presence onboard the International Space Station (ISS), crews will be living and working in microgravity, dealing with the challenges of a weightless environment. In addition, the confined nature of the spacecraft environment results in ergonomic challenges such as limited visibility and access to the activity areas, as well as prolonged periods of unnatural postures. Without optimum restraints, crewmembers may be handicapped for performing some of the on-orbit tasks. Currently, many of the tasks on ISS are performed with the crew restrained merely by hooking their arms or toes around handrails to steady themselves. This is adequate for some tasks, but not all. There have been some reports of discomfort/calluses on the top of the toes. In addition, this type of restraint is simply insufficient for tasks that require a large degree of stability. Glovebox design is a good example of a confined workstation concept requiring stability for successful use. They are widely used in industry, university, and government laboratories, as well as in the space environment, and are known to cause postural limitations and visual restrictions. Although there are numerous guidelines pertaining to ventilation, seals, and glove attachment, most of the data have been gathered in a 1-g environment, or are from studies that were conducted prior to the early 1980 s. Little is known about how best to restrain a crewmember using a glovebox in microgravity. Another ISS task that requires special consideration with respect to restraints is robotic teleoperation. The Robot Systems Technology Branch at the NASA Johnson Space Center is developing a humanoid robot astronaut, or Robonaut. It is being designed to perform extravehicular activities (EVAs) in the hazardous environment of space. An astronaut located inside the ISS will remotely operate Robonaut through a telepresence control system. Essentially, the robot mimics every move the operator makes. This requires the operator to be stable enough to prevent inadvertent movements, while allowing the flexibility to accomplish the controlled movements of the robot. Some type of special purpose restraint will be required to operate Robonaut and similar devices.

Sliding Mode Control of a Slewing Flexible Beam

NASA Technical Reports Server (NTRS)

Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

1997-01-01

An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

Rocket Experiment on Construction of Huge Transmitting Antenna for the SPS Using Furoshiki Satellite System with Robots

NASA Astrophysics Data System (ADS)

Kaya, N.; Iwashita, M.; Nakasuka, S.; Summerer, L.; Mankins, J.

2004-12-01

Construction technology of huge structures is essential for the future space development as well as the Solar Power Satellite (SPS). The SPS needs huge antennas to transmit the generated electric power toward the ground, while the huge antenna have many useful applications in space as well as on the ground, for example, telecommunication for cellular phones, radars for remote sensing, navigation and observation, and so on. A parabola antenna was mostly used for the space antenna. However, it is very difficult for the larger parabola antenna to keep accuracy of the reflectors and the beam control, because the surfaces of the reflectors are mechanically supported and controlled. The huge space antenna with flexible and ultra-light structures is essential and necessary for the future applications. An active phased array antenna is more suitable and promising for the huge flexible antenna than the parabola antenna. We are proposing to apply the Furoshiki satellite [1] with robots for construction of the huge structures. While a web is deployed using the Furoshiki satellite in the same size of the huge antenna, all of the antenna elements crawl on the web with their own legs toward their allocated locations. We are verifying the deployment concept of the Furoshiki satellite using a sounding rocket with robots crawling on the deployed web. The robots are internationally being developed by NASA, ESA and Kobe University. The paper describes the concept of the crawling robot developed by Kobe University as well as the plan of the rocket experiment.

Manufacturing and metrology for IR conformal windows and domes

NASA Astrophysics Data System (ADS)

Ferralli, Ian; Blalock, Todd; Brunelle, Matt; Lynch, Timothy; Myer, Brian; Medicus, Kate

2017-05-01

Freeform and conformal optics have the potential to dramatically improve optical systems by enabling systems with fewer optical components, reduced aberrations, and improved aerodynamic performance. These optical components differ from standard components in their surface shape, typically a non-symmetric equation based definition, and material properties. Traditional grinding and polishing tools are unable to handle these freeform shapes. Additionally, standard metrology tools cannot measure these surfaces. Desired substrates are typically hard ceramics, including poly-crystalline alumina or aluminum oxynitride. Notwithstanding the challenges that the hardness provides to manufacturing, these crystalline materials can be highly susceptible to grain decoration creating unacceptable scatter in optical systems. In this presentation, we will show progress towards addressing the unique challenges of manufacturing conformal windows and domes. Particular attention is given to our robotic polishing platform. This platform is based on an industrial robot adapted to accept a wide range of tooling and parts. The robot's flexibility has provided us an opportunity to address the unique challenges of conformal windows. Slurries and polishing active layers can easily be changed to adapt to varying materials and address grain decoration. We have the flexibility to change tool size and shape to address the varying sizes and shapes of conformal optics. In addition, the robotic platform can be a base for a deflectometry-based metrology tool to measure surface form error. This system, whose precision is independent of the robot's positioning accuracy, will allow us to measure optics in-situ saving time and reducing part risk. In conclusion, we will show examples of the conformal windows manufactured using our developed processes.

Optimal design of a novel remote center-of-motion mechanism for minimally invasive surgical robot

NASA Astrophysics Data System (ADS)

Sun, Jingyuan; Yan, Zhiyuan; Du, Zhijiang

2017-06-01

Surgical robot with a remote center-of-motion (RCM) plays an important role in minimally invasive surgery (MIS) field. To make the mechanism has high flexibility and meet the demand of movements during processing of operation, an optimized RCM mechanism is proposed in this paper. Then, the kinematic performance and workspace are analyzed. Finally, a new optimization objective function is built by using the condition number index and the workspace index.

Mission Simulation Toolkit

NASA Technical Reports Server (NTRS)

Pisaich, Gregory; Flueckiger, Lorenzo; Neukom, Christian; Wagner, Mike; Buchanan, Eric; Plice, Laura

2007-01-01

The Mission Simulation Toolkit (MST) is a flexible software system for autonomy research. It was developed as part of the Mission Simulation Facility (MSF) project that was started in 2001 to facilitate the development of autonomous planetary robotic missions. Autonomy is a key enabling factor for robotic exploration. There has been a large gap between autonomy software (at the research level), and software that is ready for insertion into near-term space missions. The MST bridges this gap by providing a simulation framework and a suite of tools for supporting research and maturation of autonomy. MST uses a distributed framework based on the High Level Architecture (HLA) standard. A key feature of the MST framework is the ability to plug in new models to replace existing ones with the same services. This enables significant simulation flexibility, particularly the mixing and control of fidelity level. In addition, the MST provides automatic code generation from robot interfaces defined with the Unified Modeling Language (UML), methods for maintaining synchronization across distributed simulation systems, XML-based robot description, and an environment server. Finally, the MSF supports a number of third-party products including dynamic models and terrain databases. Although the communication objects and some of the simulation components that are provided with this toolkit are specifically designed for terrestrial surface rovers, the MST can be applied to any other domain, such as aerial, aquatic, or space.

Flexible Strain Sensors Fabricated by Meniscus-Guided Printing of Carbon Nanotube-Polymer Composites.

PubMed

Wajahat, Muhammad; Lee, Sanghyeon; Kim, Jung Hyun; Chang, Won Suk; Pyo, Jaeyeon; Cho, Sung Ho; Seol, Seung Kwon

2018-06-13

Printed strain sensors have promising potential as a human-machine interface (HMI) for health-monitoring systems, human-friendly wearable interactive systems, and smart robotics. Herein, flexible strain sensors based on carbon nanotube (CNT)-polymer composites were fabricated by meniscus-guided printing using a CNT ink formulated from multiwall nanotubes (MWNTs) and polyvinylpyrrolidone (PVP); the ink was suitable for micropatterning on nonflat (or curved) substrates and even three-dimensional structures. The printed strain sensors exhibit a reproducible response to applied tensile and compressive strains, having gauge factors of 13.07 under tensile strain and 12.87 under compressive strain; they also exhibit high stability during ∼1500 bending cycles. Applied strains induce a contact rearrangement of the MWNTs and a change in the tunneling distance between them, resulting in a change in the resistance (Δ R/ R 0 ) of the sensor. Printed MWNT-PVP sensors were used in gloves for finger movement detection; these can be applied to human motion detection and remote control of robotic equipment. Our results demonstrate that meniscus-guided printing using CNT inks can produce highly flexible, sensitive, and inexpensive HMI devices.

Flexible coordinate measurement system based on robot for industries

NASA Astrophysics Data System (ADS)

Guo, Yin; Yang, Xue-you; Liu, Chang-jie; Ye, Sheng-hua

2010-10-01

The flexible coordinate measurement system based on robot which is applicable to multi-model vehicle is designed to meet the needs of online measurement for current mainstream mixed body-in-white(BIW) production line. The moderate precision, good flexibility and no blind angle are the benefits of this measurement system. According to the measurement system, a monocular structured light vision sensor has been designed, which can measure not only edges, but also planes, apertures and other features. And a effective way to fast on-site calibration of the whole system using the laser tracker has also been proposed, which achieves the unity of various coordinate systems in industrial fields. The experimental results show satisfactory precision of +/-0.30mm of this measurement system, which is sufficient for the needs of online measurement for body-in-white(BIW) in the auto production line. The system achieves real-time detection and monitoring of the whole process of the car body's manufacture, and provides a complete data support in purpose of overcoming the manufacturing error immediately and accurately and improving the manufacturing precision.

Highly deformable bones: unusual deformation mechanisms of seahorse armor.

PubMed

Porter, Michael M; Novitskaya, Ekaterina; Castro-Ceseña, Ana Bertha; Meyers, Marc A; McKittrick, Joanna

2013-06-01

Multifunctional materials and devices found in nature serve as inspiration for advanced synthetic materials, structures and robotics. Here, we elucidate the architecture and unusual deformation mechanisms of seahorse tails that provide prehension as well as protection against predators. The seahorse tail is composed of subdermal bony plates arranged in articulating ring-like segments that overlap for controlled ventral bending and twisting. The bony plates are highly deformable materials designed to slide past one another and buckle when compressed. This complex plate and segment motion, along with the unique hardness distribution and structural hierarchy of each plate, provide seahorses with joint flexibility while shielding them against impact and crushing. Mimicking seahorse armor may lead to novel bio-inspired technologies, such as flexible armor, fracture-resistant structures or prehensile robotics. Copyright © 2013 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

USSR Report Machine Tools and Metalworking Equipment.

DTIC Science & Technology

1986-04-22

directors decided to teach the Bulat a new trade. This generator is now used to strengthen high-speed cutting mills by hardening them in a medium of...modules (GPM) and flexible production complexes ( GPK ). The flexible automated line is usually used for mass production of components. Here the...of programmable coordinates (x^ithout grip) 5 4 Method of programming teaching Memory capacity of robot system, points 300 Positioning error, mm

Design and Development of an Automatic Tool Changer for an Articulated Robot Arm

NASA Astrophysics Data System (ADS)

Ambrosio, H.; Karamanoglu, M.

2014-07-01

In the creative industries, the length of time between the ideation stage and the making of physical objects is decreasing due to the use of CAD/CAM systems and adicitive manufacturing. Natural anisotropic materials, such as solid wood can also be transformed using CAD/CAM systems, but only with subtractive processes such as machining with CNC routers. Whilst some 3 axis CNC routing machines are affordable to buy and widely available, more flexible 5 axis routing machines still present themselves as a too big investment for small companies. Small refurbished articulated robots can be a cheaper alternative but they require a light end-effector. This paper presents a new lightweight tool changer that converts a small 3kg payload 6 DOF robot into a robot apprentice able to machine wood and similar soft materials.

Influence of part orientation on the geometric accuracy in robot-based incremental sheet metal forming

NASA Astrophysics Data System (ADS)

Störkle, Denis Daniel; Seim, Patrick; Thyssen, Lars; Kuhlenkötter, Bernd

2016-10-01

This article describes new developments in an incremental, robot-based sheet metal forming process (`Roboforming') for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet metal forming (ISF) machines, this system offers high geometrical form flexibility without the need of any part-dependent tools. The industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors present the influence of the part orientation and the forming sequence on the geometric accuracy. Their influence is illustrated with the help of various experimental results shown and interpreted within this article.

A macro-micro robot for precise force applications

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Wang, Yulun

1993-01-01

This paper describes an 8 degree-of-freedom macro-micro robot capable of performing tasks which require accurate force control. Applications such as polishing, finishing, grinding, deburring, and cleaning are a few examples of tasks which need this capability. Currently these tasks are either performed manually or with dedicated machinery because of the lack of a flexible and cost effective tool, such as a programmable force-controlled robot. The basic design and control of the macro-micro robot is described in this paper. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system.

Control of articulated snake robot under dynamic active constraints.

PubMed

Kwok, Ka-Wai; Vitiello, Valentina; Yang, Guang-Zhong

2010-01-01

Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism.

Robot Swarms

NASA Technical Reports Server (NTRS)

Morring, Frank, Jr.

2005-01-01

Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

EPSRC Principles of Robotics: defending an obsolete human(ism)?

NASA Astrophysics Data System (ADS)

Szollosy, Michael

2017-04-01

The EPSRC Principles of Robotics (2010), whatever noble intentions, failed to create an enduring set of principles for research into and development of robotics and artificial intelligence because those participating in the workshop did not begin with an adequate understanding of what it means to be "human". Labouring under the false, outdated assumptions of humanism, the human beings that the Principles are meant to serve have never existed in such an overly-simplistic form, or are soon to be made extinct by the transformative power of new technologies, and new ways of imagining human social relations in response to technological innovation. At the heart of any principles for robotics must be a new, more flexible conception of what it means to be human, and a recognition that human beings are, and always will be, plural and contingent.

A discrete-time adaptive control scheme for robot manipulators

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

CHIMERA II - A real-time multiprocessing environment for sensor-based robot control

NASA Technical Reports Server (NTRS)

Stewart, David B.; Schmitz, Donald E.; Khosla, Pradeep K.

1989-01-01

A multiprocessing environment for a wide variety of sensor-based robot system, providing the flexibility, performance, and UNIX-compatible interface needed for fast development of real-time code is addressed. The requirements imposed on the design of a programming environment for sensor-based robotic control is outlined. The details of the current hardware configuration are presented, along with the details of the CHIMERA II software. Emphasis is placed on the kernel, low-level interboard communication, user interface, extended file system, user-definable and dynamically selectable real-time schedulers, remote process synchronization, and generalized interprocess communication. A possible implementation of a hierarchical control model, the NASA/NBS standard reference model for telerobot control system is demonstrated.

A multi-perspective evaluation of a service robot for seniors: the voice of different stakeholders.

PubMed

Bedaf, Sandra; Marti, Patrizia; Amirabdollahian, Farshid; de Witte, Luc

2017-07-31

The potential of service robots for seniors is given increasing attention as the ageing population in Western countries will continue to grow as well as the demand for home care. In order to capture the experience of living with a robot at home, a multi-perspective evaluation was conducted. Older adults (n = 10) were invited to execute an actual interaction scenario with the Care-O-bot ® robot in a home-like environment and were questioned about their experiences. Additionally, interviews were conducted with the elderly participants, informal carers (n = 7) and professional caregivers (n = 11). Seniors showed to be more keen to accept the robot than their caregivers and relatives. However, the robot in its current form was found to be too limited and participants wished the robot could perform more complex tasks. In order to be acceptable a future robot should execute these complex tasks based on the personal preferences of the user which would require the robot to be flexible and extremely smart, comparable to the care that is delivered by a human carer. Developing the functional features to perform activities is not the only challenge in robot development that deserves the attention of robot developers. The development of social behaviour and skills should be addressed as well. This is possible adopting a person-centred design approach, which relies on validation activities with actual users in realistic environments, similar to those described in this paper. Implications for rehabilitation Attitude of older adults towards service robots Potential of service robots for older adults.

Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses

PubMed Central

Roldán, Juan Jesús; Garcia-Aunon, Pablo; Garzón, Mario; de León, Jorge; del Cerro, Jaime; Barrientos, Antonio

2016-01-01

The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops) without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments. PMID:27376297

Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

NASA Astrophysics Data System (ADS)

Boku, Kazuhiko; Nakamura, Taro

2009-02-01

.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

Robotically assisted ureteroscopy for kidney exploration

NASA Astrophysics Data System (ADS)

Talari, Hadi F.; Monfaredi, Reza; Wilson, Emmanuel; Blum, Emily; Bayne, Christopher; Peters, Craig; Zhang, Anlin; Cleary, Kevin

2017-03-01

Ureteroscopy is a minimally invasive procedure for diagnosis and treatment of urinary tract pathology. Ergonomic and visualization challenges as well as radiation exposure are limitations to conventional ureteroscopy. Therefore, we have developed a robotic system to "power drive" a flexible ureteroscope with 3D tip tracking and pre-operative image overlay. The proposed system was evaluated using a kidney phantom registered to pre-operative MR images. Initial experiments show the potential of the device to provide additional assistance, precision, and guidance during urology procedures.

Multi-Robot Systems in Military Domains (Les Systemes Multi-Robots Dans les Domaines Militaires)

DTIC Science & Technology

2008-12-01

to allow him to react quickly to improve his personal safety , it is mandatory to shorten the current very long delay needed for the human operator to...Hard RT tasks 2 OS / API Process monitoring 3 H / API Flexible communication medium 4 H / API Networking capabilities 5 H / API Safety 6 API...also be considered between high level services and legacy systems. 4) This is the one of the basic requirement for CoRoDe. 5) Safety : CRC, Timeouts

Influence of facial feedback during a cooperative human-robot task in schizophrenia.

PubMed

Cohen, Laura; Khoramshahi, Mahdi; Salesse, Robin N; Bortolon, Catherine; Słowiński, Piotr; Zhai, Chao; Tsaneva-Atanasova, Krasimira; Di Bernardo, Mario; Capdevielle, Delphine; Marin, Ludovic; Schmidt, Richard C; Bardy, Benoit G; Billard, Aude; Raffard, Stéphane

2017-11-03

Rapid progress in the area of humanoid robots offers tremendous possibilities for investigating and improving social competences in people with social deficits, but remains yet unexplored in schizophrenia. In this study, we examined the influence of social feedbacks elicited by a humanoid robot on motor coordination during a human-robot interaction. Twenty-two schizophrenia patients and twenty-two matched healthy controls underwent a collaborative motor synchrony task with the iCub humanoid robot. Results revealed that positive social feedback had a facilitatory effect on motor coordination in the control participants compared to non-social positive feedback. This facilitatory effect was not present in schizophrenia patients, whose social-motor coordination was similarly impaired in social and non-social feedback conditions. Furthermore, patients' cognitive flexibility impairment and antipsychotic dosing were negatively correlated with patients' ability to synchronize hand movements with iCub. Overall, our findings reveal that patients have marked difficulties to exploit facial social cues elicited by a humanoid robot to modulate their motor coordination during human-robot interaction, partly accounted for by cognitive deficits and medication. This study opens new perspectives for comprehension of social deficits in this mental disorder.

A soft flying robot driven by a dielectric elastomer actuator (Conference Presentation)

NASA Astrophysics Data System (ADS)

Wang, Yingxi; Zhang, Hui; Godaba, Hareesh; Khoo, Boo Cheong; Zhu, Jian

2017-04-01

Modern unmanned aerial vehicles are gaining promising success because of their versatility, flexibility, and minimized risk of operations. Most of them are normally designed and constructed based on hard components. For example, the body of the vehicle is generally made of aluminum or carbon fibers, and electric motors are adopted as the main actuators. These hard materials are able to offer reasonable balance of structural strength and weight. However, they exhibit apparent limitations. For instance, such robots are fragile in even small clash with surrounding objects. In addition, their noise is quite high due to spinning of rotors or propellers. Here we aim to develop a soft flying robot using soft actuators. Due to its soft body, the robot can work effectively in unstructured environment. The robot may also exhibit interesting attributes, including low weight, low noise, and low power consumption. This robot mainly consists of a dielectric elastomer balloon made of two layers of elastomers. One is VHB (3M), and the other is natural rubber. The balloon is filled with helium, which can make the robot nearly neutral. When voltage is applied to either of the two dielectric elastomers, the balloon expands. So that the buoyance can be larger than the robot's weight, and the robot can move up. In this seminar, we will show how to harness the dielectric breakdown of natural rubber to achieve giant deformation of this soft robot. Based on this method, the robot can move up effectively in air.

HRI usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer.

PubMed

Adamides, George; Katsanos, Christos; Parmet, Yisrael; Christou, Georgios; Xenos, Michalis; Hadzilacos, Thanasis; Edan, Yael

2017-07-01

Teleoperation of an agricultural robotic system requires effective and efficient human-robot interaction. This paper investigates the usability of different interaction modes for agricultural robot teleoperation. Specifically, we examined the overall influence of two types of output devices (PC screen, head mounted display), two types of peripheral vision support mechanisms (single view, multiple views), and two types of control input devices (PC keyboard, PS3 gamepad) on observed and perceived usability of a teleoperated agricultural sprayer. A modular user interface for teleoperating an agricultural robot sprayer was constructed and field-tested. Evaluation included eight interaction modes: the different combinations of the 3 factors. Thirty representative participants used each interaction mode to navigate the robot along a vineyard and spray grape clusters based on a 2 × 2 × 2 repeated measures experimental design. Objective metrics of the effectiveness and efficiency of the human-robot collaboration were collected. Participants also completed questionnaires related to their user experience with the system in each interaction mode. Results show that the most important factor for human-robot interface usability is the number and placement of views. The type of robot control input device was also a significant factor in certain dependents, whereas the effect of the screen output type was only significant on the participants' perceived workload index. Specific recommendations for mobile field robot teleoperation to improve HRI awareness for the agricultural spraying task are presented. Copyright © 2017 Elsevier Ltd. All rights reserved.

Compact Dexterous Robotic Hand

NASA Technical Reports Server (NTRS)

Lovchik, Christopher Scott (Inventor); Diftler, Myron A. (Inventor)

2001-01-01

A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

A flexible dual-mode proximity sensor based on cooperative sensing for robot skin applications

NASA Astrophysics Data System (ADS)

Huang, Ying; Cai, Xia; Kan, Wenqing; Qiu, Shihua; Guo, Xiaohui; Liu, Caixia; Liu, Ping

2017-08-01

A flexible dual-mode proximity sensor has been designed and implemented, which is capable of combining capacitive-resistive detection in this paper. The capacitive type proximity sensor detecting is defined as mode-C, and the resistive type proximity sensor detecting is defined as mode-R. The characteristics of the proximity sensor are as follows: (1) the theoretical mode is developed which indicates that this proximity sensor can reflect proximity information accurately; (2) both sensing modes are vertically integrated into a sandwich-like chip with an 8 mm × 12 mm unit area. The thickness of a mode-R sensing material (graphene nanoplatelets) and mode-C dielectric (the mixture of carbon black and silicone rubber) is 1 mm and 2.5 mm, respectively; (3) for mode-R, the linearity of temperature-resistance curve can achieve 0.998 in the temperature range from 25°C to 65°C. And for mode-C, various materials can be successfully detected with fast response and high reversibility. Meanwhile, the study compensated the influence of object temperature to ensure mode-C properly works. A cooperative sensing test shows that R-C dual modes sense effectively which can enlarge the sensing distance compared with the single mode proximity sensor. The fabrication of this sensor is convenient, and the integrity of a flexible sandwich-like structure based on dual modes is beneficial to form arrays, which is suitable to be used in skin-like sensing applications.

Design and Control of Modular Spine-Like Tensegrity Structures

NASA Technical Reports Server (NTRS)

Mirletz, Brian T.; Park, In-Won; Flemons, Thomas E.; Agogino, Adrian K.; Quinn, Roger D.; SunSpiral, Vytas

2014-01-01

We present a methodology enabled by the NASA Tensegrity Robotics Toolkit (NTRT) for the rapid structural design of tensegrity robots in simulation and an approach for developing control systems using central pattern generators, local impedance controllers, and parameter optimization techniques to determine effective locomotion strategies for the robot. Biomimetic tensegrity structures provide advantageous properties to robotic locomotion and manipulation tasks, such as their adaptability and force distribution properties, flexibility, energy efficiency, and access to extreme terrains. While strides have been made in designing insightful static biotensegrity structures, gaining a clear understanding of how a particular structure can efficiently move has been an open problem. The tools in the NTRT enable the rapid exploration of the dynamics of a given morphology, and the links between structure, controllability, and resulting gait efficiency. To highlight the effectiveness of the NTRT at this exploration of morphology and control, we will provide examples from the designs and locomotion of four different modular spine-like tensegrity robots.

An architectural approach to create self organizing control systems for practical autonomous robots

NASA Technical Reports Server (NTRS)

Greiner, Helen

1991-01-01

For practical industrial applications, the development of trainable robots is an important and immediate objective. Therefore, the developing of flexible intelligence directly applicable to training is emphasized. It is generally agreed upon by the AI community that the fusion of expert systems, neural networks, and conventionally programmed modules (e.g., a trajectory generator) is promising in the quest for autonomous robotic intelligence. Autonomous robot development is hindered by integration and architectural problems. Some obstacles towards the construction of more general robot control systems are as follows: (1) Growth problem; (2) Software generation; (3) Interaction with environment; (4) Reliability; and (5) Resource limitation. Neural networks can be successfully applied to some of these problems. However, current implementations of neural networks are hampered by the resource limitation problem and must be trained extensively to produce computationally accurate output. A generalization of conventional neural nets is proposed, and an architecture is offered in an attempt to address the above problems.

Advanced design for orbital debris removal in support of solar system exploration

NASA Technical Reports Server (NTRS)

1991-01-01

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) is the ultimate goal. The craft will process, in situ, orbital debris using resources available in low Earth orbit (LEO). The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. This year, focus was on development of a versatile robotic manipulator to augment an existing robotic arm; incorporation of remote operation of robotic arms; and formulation of optimal (time and energy) trajectory planning algorithms for coordinating robotic arms. The mechanical design of the new arm is described in detail. The versatile work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time-optimal and energy-optimal problem. The optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamics programming.

Autonomous space processor for orbital debris

NASA Technical Reports Server (NTRS)

Ramohalli, Kumar; Marine, Micky; Colvin, James; Crockett, Richard; Sword, Lee; Putz, Jennifer; Woelfle, Sheri

1991-01-01

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) was the goal. The nature of this craft, which will process, in situ, orbital debris using resources available in low Earth orbit (LEO) is explained. The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. The focus was on the development of a versatile robotic manipulator to augment an existing robotic arm, the incorporation of remote operation of the robotic arms, and the formulation of optimal (time and energy) trajectory planning algorithms for coordinated robotic arms. The mechanical design of the new arm is described in detail. The work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time optimal and energy optimal problems. The time optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamic programming.

Robotic-Assisted Sleeve Lobectomy Using the Four-Arm Technique in the DaVinci Si® and Xi® Systems.

PubMed

Egberts, Jan-Hendrik; Möller, Thorben; Becker, Thomas

2018-06-16

Sleeve lobectomy (SL) makes it possible to resect centrally located lung carcinoma oncological correct while protecting healthy lung tissue. However, this procedure is often limited with conventional video-assisted thoracoscopic surgery, due to the limited mobility of the rigid and long instruments and the limited visualization. Therefore, these interventions are often still performed in the open conventional technique with the well-known disadvantages. Particularly in the reconstruction of the respiratory tract, precise sewing must be performed in a small space to avoid stenosis of the different diameter of the lumina. Robotic surgery offers several advantages through an enlarged three-dimensional view and flexibility of the robotic instruments, which are particularly evident when sewing. So far, there are only a few reports of robotic SL. Here, we describe our experience of performing robotic SL with four arms on both, the currently available DaVinci Xi ® and Si ® systems. Georg Thieme Verlag KG Stuttgart · New York.

An Exoskeleton Robot for Human Forearm and Wrist Motion Assist

NASA Astrophysics Data System (ADS)

Ranathunga Arachchilage Ruwan Chandra Gopura; Kiguchi, Kazuo

The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for different fundamental applications; a human-amplifier, haptic interface, rehabilitation device and assistive device sharing a portion of the external load with the operator. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper, we propose a three degree of freedom (3DOF) exoskeleton robot (W-EXOS) for the forearm pronation/ supination motion, wrist flexion/extension motion and ulnar/radial deviation. The paper describes the wrist anatomy toward the development of the exoskeleton robot, the hardware design of the exoskeleton robot and EMG-based control method. The skin surface electromyographic (EMG) signals of muscles in forearm of the exoskeletons' user and the hand force/forearm torque are used as input information for the controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipulating any other equipment. Fuzzy control method has been applied to realize the natural and flexible motion assist. Experiments have been performed to evaluate the proposed exoskeleton robot and its control method.

Experimental investigations of the effects of cutting angle on chattering of a flexible manipulator

NASA Technical Reports Server (NTRS)

Lew, J.; Huggins, J.; Magee, D.; Book, W.

1991-01-01

When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different depending on feedback gains, configurations, and direction of interest. Here, the compliance of a manipulator is derived analytically, and its magnitude is represented as a compliance ellipsoid. Then, using a two-link flexible manipulator with an abrasive cut off saw, the experimental investigation shows that the chattering varies with the saw cutting angle due to different compliance. The main work is devoted to finding a desirable cutting angle which reduces the chattering.

Dynamic photogrammetric calibration of industrial robots

NASA Astrophysics Data System (ADS)

Maas, Hans-Gerd

1997-07-01

Today's developments in industrial robots focus on aims like gain of flexibility, improvement of the interaction between robots and reduction of down-times. A very important method to achieve these goals are off-line programming techniques. In contrast to conventional teach-in-robot programming techniques, where sequences of actions are defined step-by- step via remote control on the real object, off-line programming techniques design complete robot (inter-)action programs in a CAD/CAM environment. This poses high requirements to the geometric accuracy of a robot. While the repeatability of robot poses in the teach-in mode is often better than 0.1 mm, the absolute pose accuracy potential of industrial robots is usually much worse due to tolerances, eccentricities, elasticities, play, wear-out, load, temperature and insufficient knowledge of model parameters for the transformation from poses into robot axis angles. This fact necessitates robot calibration techniques, including the formulation of a robot model describing kinematics and dynamics of the robot, and a measurement technique to provide reference data. Digital photogrammetry as an accurate, economic technique with realtime potential offers itself for this purpose. The paper analyzes the requirements posed to a measurement technique by industrial robot calibration tasks. After an overview on measurement techniques used for robot calibration purposes in the past, a photogrammetric robot calibration system based on off-the- shelf lowcost hardware components will be shown and results of pilot studies will be discussed. Besides aspects of accuracy, reliability and self-calibration in a fully automatic dynamic photogrammetric system, realtime capabilities are discussed. In the pilot studies, standard deviations of 0.05 - 0.25 mm in the three coordinate directions could be achieved over a robot work range of 1.7 X 1.5 X 1.0 m3. The realtime capabilities of the technique allow to go beyond kinematic robot calibration and perform dynamic robot calibration as well as photogrammetric on-line control of a robot in action.

Robot-assisted transnasal laryngoplasty in cadaveric models: Quantifying forces and identifying challenges.

PubMed

Groom, Kelly; Wang, Long; Simaan, Nabil; Netterville, James

2015-05-01

We expanded our prior work with transnasal robotic surgery (TNRS) in this study with the following aims: 1) use a cadaveric model to evaluate the feasibility of laryngoplasty with TNRS, 2) measure robot insertion times and forces, and 3) identify operational challenges to further guide the development of a flexible robotic system. Cadaveric study. A 5-mm robot was guided to the larynx via a transnasal approach. Insertion times and forces using TNRS and a 4-mm flexible fiberoptic laryngoscope (FFL) were measured. Target sites on the true vocal cords were marked, and the TNRS was telemanipulated to perform injection laryngoplasty. Insertion times averaged 5.05 seconds (range, 3.8-10.4 seconds) for the TNRS and 7.97 seconds (range, 6.2-11.6 seconds) for the FFL. Insertion forces averaged 2.06 newtons (range, 1.56-5.55 newtons) for the TNRS and 0.43 newtons (range, 0.157-1.138 newtons) for the FFL. The unpaired t test between times and forces revealed P values of .0024 and .0000658, respectively. Seven target injection sites on three vocal cords in two cadaveric larynxes were successfully injected. In two out of nine sites marked, we were unable to access the vocal cord due tongue base collapse that obscured the posterior airway. TNRS is able to effectively access the larynx, although in a supine model may be limited by tongue base collapse. Forces with TNRS were significantly higher than with the FFL, albeit within the same scale. Despite increased forces, there was no evidence of tissue trauma using TNRS. NA Laryngoscope, 125:1166-1168, 2015. © 2015 The American Laryngological, Rhinological and Otological Society, Inc.

Robotic lobectomy and segmentectomy for lung cancer: results and operating technique

PubMed Central

2015-01-01

Video-assisted thoracic surgery (VATS) is a minimally invasive approach with several advantages over open thoracotomy for the surgery of lung cancer but also some limitations like rigid instruments and suboptimal vision. Robot technology is an evolution of manual videothoracoscopy introduced to overcome these limitations maintaining the advantages related to low invasiveness. More intuitive movements, greater flexibility and high definition three-dimensional vision are advantages of the robotic approach. Different studies demonstrate that robotic lobectomy and segmentectomy are feasible and safe with long term outcome similar to that of open/VATS approaches, however no randomised comparison are available and benefits in terms of quality of life (QOL) and pain need to be demonstrated yet. Several different robotic techniques are currently employed and differ for number of robotic arms (three versus four), the use of CO2 insufflation, timing of utility incision and the port positioning. The four arms robotic approach with anterior utility incision is the technique described by the authors. Indications to perform robotic lung resections may be more extensive than those of traditional videothoracoscpic approach and includes patients with locally advanced disease after chemotherapy or those requiring anatomical segmentectomy. Learning curve of vats and robotic lung resection is similar. High capital and running costs are the most important disadvantages. Entry of competitor companies should drive down costs. PMID:25984357

Integrating soft sensor systems using conductive thread

NASA Astrophysics Data System (ADS)

Teng, Lijun; Jeronimo, Karina; Wei, Tianqi; Nemitz, Markus P.; Lyu, Geng; Stokes, Adam A.

2018-05-01

We are part of a growing community of researchers who are developing a new class of soft machines. By using mechanically soft materials (MPa modulus) we can design systems which overcome the bulk-mechanical mismatches between soft biological systems and hard engineered components. To develop fully integrated soft machines—which include power, communications, and control sub-systems—the research community requires methods for interconnecting between soft and hard electronics. Sensors based upon eutectic gallium alloys in microfluidic channels can be used to measure normal and strain forces, but integrating these sensors into systems of heterogeneous Young’s modulus is difficult due the complexity of finding a material which is electrically conductive, mechanically flexible, and stable over prolonged periods of time. Many existing gallium-based liquid alloy sensors are not mechanically or electrically robust, and have poor stability over time. We present the design and fabrication of a high-resolution pressure-sensor soft system that can transduce normal force into a digital output. In this soft system, which is built on a monolithic silicone substrate, a galinstan-based microfluidic pressure sensor is integrated with a flexible printed circuit board. We used conductive thread as the interconnect and found that this method alleviates problems arising due to the mechanical mismatch between conventional metal wires and soft or liquid materials. Conductive thread is low-cost, it is readily wetted by the liquid metal, it produces little bending moment into the microfluidic channel, and it can be connected directly onto the copper bond-pads of the flexible printed circuit board. We built a bridge-system to provide stable readings from the galinstan pressure sensor. This system gives linear measurement results between 500-3500 Pa of applied pressure. We anticipate that integrated systems of this type will find utility in soft-robotic systems as used for wearable technologies like virtual reality, or in soft-medical devices such as exoskeletal rehabilitation robots.

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots.

PubMed

Zhao, Jing; Li, Wei; Mao, Xiaoqian; Li, Mengfan

2015-11-24

Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in helping the disabled in their daily lives. The overall goal of our method is to establish an SSVEP-based experimental procedure by integrating multiple software programs, such as OpenViBE, Choregraph, and Central software as well as user developed programs written in C++ and MATLAB, to enable the study of brain-robot interaction with humanoid robots. This is achieved by first placing EEG electrodes on a human subject to measure the brain responses through an EEG data acquisition system. A user interface is used to elicit SSVEP responses and to display video feedback in the closed-loop control experiments. The second step is to record the EEG signals of first-time subjects, to analyze their SSVEP features offline, and to train the classifier for each subject. Next, the Online Signal Processor and the Robot Controller are configured for the online control of a humanoid robot. As the final step, the subject completes three specific closed-loop control experiments within different environments to evaluate the brain-robot interaction performance. The advantage of this approach is its reliability and flexibility because it is developed by integrating multiple software programs. The results show that using this approach, the subject is capable of interacting with the humanoid robot via brain signals. This allows the mind-controlled humanoid robot to perform typical tasks that are popular in robotic research and are helpful in assisting the disabled.

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

PubMed Central

Zhao, Jing; Li, Wei; Mao, Xiaoqian; Li, Mengfan

2015-01-01

Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in helping the disabled in their daily lives. The overall goal of our method is to establish an SSVEP-based experimental procedure by integrating multiple software programs, such as OpenViBE, Choregraph, and Central software as well as user developed programs written in C++ and MATLAB, to enable the study of brain-robot interaction with humanoid robots. This is achieved by first placing EEG electrodes on a human subject to measure the brain responses through an EEG data acquisition system. A user interface is used to elicit SSVEP responses and to display video feedback in the closed-loop control experiments. The second step is to record the EEG signals of first-time subjects, to analyze their SSVEP features offline, and to train the classifier for each subject. Next, the Online Signal Processor and the Robot Controller are configured for the online control of a humanoid robot. As the final step, the subject completes three specific closed-loop control experiments within different environments to evaluate the brain-robot interaction performance. The advantage of this approach is its reliability and flexibility because it is developed by integrating multiple software programs. The results show that using this approach, the subject is capable of interacting with the humanoid robot via brain signals. This allows the mind-controlled humanoid robot to perform typical tasks that are popular in robotic research and are helpful in assisting the disabled. PMID:26650051

A flexible 3D laser scanning system using a robotic arm

NASA Astrophysics Data System (ADS)

Fei, Zixuan; Zhou, Xiang; Gao, Xiaofei; Zhang, Guanliang

2017-06-01

In this paper, we present a flexible 3D scanning system based on a MEMS scanner mounted on an industrial arm with a turntable. This system has 7-degrees of freedom and is able to conduct a full field scan from any angle, suitable for scanning object with the complex shape. The existing non-contact 3D scanning system usually uses laser scanner that projects fixed stripe mounted on the Coordinate Measuring Machine (CMM) or industrial robot. These existing systems can't perform path planning without CAD models. The 3D scanning system presented in this paper can scan the object without CAD models, and we introduced this path planning method in the paper. We also propose a practical approach to calibrating the hand-in-eye system based on binocular stereo vision and analyzes the errors of the hand-eye calibration.

BioMot exoskeleton - Towards a smart wearable robot for symbiotic human-robot interaction.

PubMed

Bacek, Tomislav; Moltedo, Marta; Langlois, Kevin; Prieto, Guillermo Asin; Sanchez-Villamanan, Maria Carmen; Gonzalez-Vargas, Jose; Vanderborght, Bram; Lefeber, Dirk; Moreno, Juan C

2017-07-01

This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a directional-flexibility structure and a novel physical humanrobot interfacing, which allows it to deliver the required output while minimally constraining user's gait by providing passive degrees of freedom. Due to modularity, the exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combination of any of the two joints. By employing a simple torque control strategy, the exoskeleton can be used to deliver user-specific assistance, both in gait rehabilitation and in assisting people suffering musculoskeletal impairments. The result of the presented BioMot efforts is a low-footprint exoskeleton with powerful compliant actuators, simple, yet effective torque controller and easily adjustable flexible structure.

Locomotion of Amorphous Surface Robots

NASA Technical Reports Server (NTRS)

Bradley, Arthur T. (Inventor)

2018-01-01

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Locomotion of Amorphous Surface Robots

NASA Technical Reports Server (NTRS)

Bradley, Arthur T. (Inventor)

2016-01-01

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Robot Arm with Tendon Connector Plate and Linear Actuator

NASA Technical Reports Server (NTRS)

Bridgwater, Lyndon (Inventor); Millerman, Alexander (Inventor); Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Nguyen, Vienny (Inventor)

2014-01-01

A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

Locomotion of Amorphous Surface Robots

NASA Technical Reports Server (NTRS)

Bradley, Arthur T. (Inventor)

2014-01-01

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Programmable and functional electrothermal bimorph actuators based on large-area anisotropic carbon nanotube paper

NASA Astrophysics Data System (ADS)

Li, Qingwei; Liu, Changhong; Fan, Shoushan

2018-04-01

Electro-active polymer (EAP) actuators, such as electronic, ionic and electrothermal (ET) actuators, have become an important branch of next-generation soft actuators in bionic robotics. However, most reported EAP actuators could realize only simple movements, being restricted by the small area of flexible electrodes and simple designs. We prepared large-area flexible electrodes of high anisotropy, made of oriented carbon nanotube (CNT) paper, and carried out artful graphic designs and processing on the electrodes to make functional ET bimorph actuators which can realize large bending deformations (over 220°, curvature > 1.5 cm-1) and bionic movements driven by electricity. The anisotropy of CNT paper benefits electrode designs and multiform actuations for complex actuators. Based on the large-area CNT paper, more interesting and functional actuators can be designed and prepared which will have practical applications in the fields of artificial muscles, complicated actuations, and soft and bionic robotics.

I-PFO: the new technology for simple and flexible implementation of high productive on-the-fly remote processes

NASA Astrophysics Data System (ADS)

Müllegger, Andreas; Ryba, Tracey

2017-02-01

Standardized production systems which can be implemented, programmed, maintained and sourced in a simple and efficient way are key for a successful global production of automobiles or related parts at component suppliers. This is also valid for systems, which are built by laser based processes. One of the key applications is remote laser welding (RLW) of "Body in White" (BIW) parts (such as hang-on parts, B-Pillars, side frames, etc.), but also builtin components (such as car seats, batteries, etc.). The majority of RLW applications are based on the implementation of a 3-D scanner optic (e.g. the PFO 3D from TRUMPF) which positions the laser beam on the various component surfaces to be welded. Over the past 10 years it has been proven that the most efficient way to build up the RLW process is to have a system where an industrial robot and a scanner optic are combined in one production cell. They usually cooperate within an "On-The-Fly" (OTF) process as this ensures minimum cycle times. Until now there are several technologies on the market which can coordinate both the robot and scanner in the OTF mode. But none of them meet all requirements of global standardized production solutions. With the introduction of the I-PFO (Intelligent Programmable Focusing Optics) technology the situation has changed. It is now possible to program or adopt complex remote processes in a fast and easy way by the "Teach-in" function via the robot teach pendant. Additionally a 3D offline designer software is an option for this system. It automatically creates the ideal remote process based on the part, fixture, production cell and required process parameters. The I-PFO technology doesn't need additional hardware due to the fact that it runs on the controller within the PFO 3D. Furthermore it works together with different types of industrial robots (e.g. ABB, Fanuc and KUKA) which allow highest flexibility for the production planning phase. Finally a single TRUMPF laser source can supply up to six I-PFOs. This guarantees maximum beam-on time at the production line. Within this report the concept of the I-PFO technology (with mentioned functions) is described and is compared to the other existing ways for Remote Laser processing.

Development of autonomous eating mechanism for biomimetic robots

NASA Astrophysics Data System (ADS)

Jeong, Kil-Woong; Cho, Ik-Jin; Lee, Yun-Jung

2005-12-01

Most of the recently developed robots are human friendly robots which imitate animals or humans such as entertainment robot, bio-mimetic robot and humanoid robot. Interest for these robots are being increased because the social trend is focused on health, welfare, and graying. Autonomous eating functionality is most unique and inherent behavior of pets and animals. Most of entertainment robots and pet robots make use of internal-type battery. Entertainment robots and pet robots with internal-type battery are not able to operate during charging the battery. Therefore, if a robot has an autonomous function for eating battery as its feeds, the robot is not only able to operate during recharging energy but also become more human friendly like pets. Here, a new autonomous eating mechanism was introduced for a biomimetic robot, called ELIRO-II(Eating LIzard RObot version 2). The ELIRO-II is able to find a food (a small battery), eat and evacuate by itself. This work describe sub-parts of the developed mechanism such as head-part, mouth-part, and stomach-part. In addition, control system of autonomous eating mechanism is described.

Development and Analysis of Bending Actuator Using McKibben Artificial Muscle

NASA Astrophysics Data System (ADS)

Zhao, Feifei; Dohta, Shujiro; Akagi, Tetsuya

Recent years, the number of nuclear families is rapidly growing. So the development of a human-friendly-robot which can take care of human daily life is strongly desired. This robot has to work just like a human, so, it is needed to have a dexterous soft hand in the robot. Therefore, we have developed an artificial soft gripper. This robot hand which has five fingers is made of silicone rubber. We also developed the hand which could be used to achieve several works just like a human hand. For example, it can grasp some objects that have the different shape and stiffness. Since it is made of silicone rubber, there is little damage to the object. However, the finger could not generate a larger force, less than 3N. In addition, it needs a skill and time to make the finger. In this study, we proposed and tested a bending actuator that could be easily constructed by putting the McKibben artificial muscle into the flexible tube. We also investigated the generated force and bending angle of the actuator. As a result, the generated force of the actuator was improved about 8.5 times as large as previous one. We also improved the bending actuator by changing the tube and the slit of the flexible tube. And the analytical model for the bending actuator was proposed and the calculated results were compared with the experimental ones.

Development of a truss joint for robotic assembly of space structures

NASA Technical Reports Server (NTRS)

Parma, George F.

1992-01-01

This report presents the results of a detailed study of mechanical fasteners which were designed to facilitate robotic assembly of structures. Design requirements for robotic structural assembly were developed, taking into account structural properties and overall system design, and four candidate fasteners were designed to meet them. These fasteners were built and evaluated in the laboratory, and the Hammer-Head joint was chosen as superior overall. It had a high reliability of fastening under misalignments of 2.54 mm (0.1 in) and 3 deg, the highest end fixity (2.18), the simplest end effector, an integral capture guide, good visual verification, and the lightest weight (782 g, 1.72 lb). The study found that a good design should incorporate chamfers sliding on chamfers, cylinders sliding on chamfers, and hard surface finishes on sliding surfaces. The study also comments on robot flexibility, sag, hysteresis, thermal expansion, and friction which were observed during the testing.

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics.

PubMed

Noh, Yohan; Bimbo, Joao; Sareh, Sina; Wurdemann, Helge; Fraś, Jan; Chathuranga, Damith Suresh; Liu, Hongbin; Housden, James; Althoefer, Kaspar; Rhode, Kawal

2016-11-17

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

Robust tuning of robot control systems

NASA Technical Reports Server (NTRS)

Minis, I.; Uebel, M.

1992-01-01

The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

Astrobee: A New Platform for Free-Flying Robotics on the International Space Station

NASA Technical Reports Server (NTRS)

Smith, Trey; Barlow, Jonathan; Bualat, Maria; Fong, Terrence; Provencher, Christopher; Sanchez, Hugo; Smith, Ernest

2016-01-01

The Astrobees are next-generation free-flying robots that will operate in the interior of the International Space Station (ISS). Their primary purpose is to provide a flexible platform for research on zero-g freeflying robotics, with the ability to carry a wide variety of future research payloads and guest science software. They will also serve utility functions: as free-flying cameras to record video of astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. The Astrobee system includes two robots, a docking station, and a ground data system (GDS). It is developed by the Human Exploration Telerobotics 2 (HET-2) Project, which began in Oct. 2014, and will deliver the Astrobees for launch to ISS in 2017. This paper covers selected aspects of the Astrobee design, focusing on capabilities relevant to potential users of the platform.

Location-Driven Image Retrieval for Images Collected by a Mobile Robot

NASA Astrophysics Data System (ADS)

Tanaka, Kanji; Hirayama, Mitsuru; Okada, Nobuhiro; Kondo, Eiji

Mobile robot teleoperation is a method for a human user to interact with a mobile robot over time and distance. Successful teleoperation depends on how well images taken by the mobile robot are visualized to the user. To enhance the efficiency and flexibility of the visualization, an image retrieval system on such a robot’s image database would be very useful. The main difference of the robot’s image database from standard image databases is that various relevant images exist due to variety of viewing conditions. The main contribution of this paper is to propose an efficient retrieval approach, named location-driven approach, utilizing correlation between visual features and real world locations of images. Combining the location-driven approach with the conventional feature-driven approach, our goal can be viewed as finding an optimal classifier between relevant and irrelevant feature-location pairs. An active learning technique based on support vector machine is extended for this aim.

The universal robot

NASA Technical Reports Server (NTRS)

Moravec, Hans

1993-01-01

Our artifacts are getting smarter, and a loose parallel with the evolution of animal intelligence suggests one future course for them. Computerless industrial machinery exhibits the behavioral flexibility of single-celled organisms. Today's best computer-controlled robots are like the simpler invertebrates. A thousand-fold increase in computer power in the next decade should make possible machines with reptile-like sensory and motor competence. Properly configured, such robots could do in the physical world what personal computers now do in the world of data - act on our behalf as literal-minded slaves. Growing computer power over the next half-century will allow this reptile stage to be surpassed, in stages producing robots that learn like mammals, model their world like primates, and eventually reason like humans. Depending on your point of view, humanity will then have produced a worthy successor, or transcended some of its inherited limitations and so transformed itself into something quite new.

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

PubMed Central

Noh, Yohan; Bimbo, Joao; Sareh, Sina; Wurdemann, Helge; Fraś, Jan; Chathuranga, Damith Suresh; Liu, Hongbin; Housden, James; Althoefer, Kaspar; Rhode, Kawal

2016-01-01

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests. PMID:27869689

Nanoliter-Scale Protein Crystallization and Screening with a Microfluidic Droplet Robot

PubMed Central

Zhu, Ying; Zhu, Li-Na; Guo, Rui; Cui, Heng-Jun; Ye, Sheng; Fang, Qun

2014-01-01

Large-scale screening of hundreds or even thousands of crystallization conditions while with low sample consumption is in urgent need, in current structural biology research. Here we describe a fully-automated droplet robot for nanoliter-scale crystallization screening that combines the advantages of both automated robotics technique for protein crystallization screening and the droplet-based microfluidic technique. A semi-contact dispensing method was developed to achieve flexible, programmable and reliable liquid-handling operations for nanoliter-scale protein crystallization experiments. We applied the droplet robot in large-scale screening of crystallization conditions of five soluble proteins and one membrane protein with 35–96 different crystallization conditions, study of volume effects on protein crystallization, and determination of phase diagrams of two proteins. The volume for each droplet reactor is only ca. 4–8 nL. The protein consumption significantly reduces 50–500 fold compared with current crystallization stations. PMID:24854085

Nanoliter-scale protein crystallization and screening with a microfluidic droplet robot.

PubMed

Zhu, Ying; Zhu, Li-Na; Guo, Rui; Cui, Heng-Jun; Ye, Sheng; Fang, Qun

2014-05-23

Large-scale screening of hundreds or even thousands of crystallization conditions while with low sample consumption is in urgent need, in current structural biology research. Here we describe a fully-automated droplet robot for nanoliter-scale crystallization screening that combines the advantages of both automated robotics technique for protein crystallization screening and the droplet-based microfluidic technique. A semi-contact dispensing method was developed to achieve flexible, programmable and reliable liquid-handling operations for nanoliter-scale protein crystallization experiments. We applied the droplet robot in large-scale screening of crystallization conditions of five soluble proteins and one membrane protein with 35-96 different crystallization conditions, study of volume effects on protein crystallization, and determination of phase diagrams of two proteins. The volume for each droplet reactor is only ca. 4-8 nL. The protein consumption significantly reduces 50-500 fold compared with current crystallization stations.

A sensory-driven controller for quadruped locomotion.

PubMed

Ferreira, César; Santos, Cristina P

2017-02-01

Locomotion of quadruped robots has not yet achieved the harmony, flexibility, efficiency and robustness of its biological counterparts. Biological research showed that spinal reflexes are crucial for a successful locomotion in the most varied terrains. In this context, the development of bio-inspired controllers seems to be a good way to move toward an efficient and robust robotic locomotion, by mimicking their biological counterparts. This contribution presents a sensory-driven controller designed for the simulated Oncilla quadruped robot. In the proposed reflex controller, movement is generated through the robot's interactions with the environment, and therefore, the controller is solely dependent on sensory information. The results show that the reflex controller is capable of producing stable quadruped locomotion with a regular stepping pattern. Furthermore, it is capable of dealing with slopes without changing the parameters and with small obstacles, overcoming them successfully. Finally, system robustness was verified by adding noise to sensors and actuators and also delays.

Generation of Adaptive Gait Patterns for Quadruped Robot with CPG Network including Motor Dynamic Model

NASA Astrophysics Data System (ADS)

Son, Yurak; Kamano, Takuya; Yasuno, Takashi; Suzuki, Takayuki; Harada, Hironobu

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environment. The CPGs act as the flexible oscillators of the joints and make the desired angle of the joints. The CPGs are mutually connected each other, and the sets of their coupling parameters are adjusted by genetic algorithm so that the quadruped robot can realize the stable and adequate gait patterns. As a result of generation, the suitable CPG networks for not only a walking straight gait pattern but also rotation gait patterns are obtained. Experimental results demonstrate that the proposed CPG networks are effective to automatically adjust the adaptive gait patterns for the tested quadruped robot under various environment. Furthermore, the target tracking control based on image processing is achieved by combining the generated gait patterns.

The universal robot

NASA Astrophysics Data System (ADS)

Moravec, Hans

1993-12-01

Our artifacts are getting smarter, and a loose parallel with the evolution of animal intelligence suggests one future course for them. Computerless industrial machinery exhibits the behavioral flexibility of single-celled organisms. Today's best computer-controlled robots are like the simpler invertebrates. A thousand-fold increase in computer power in the next decade should make possible machines with reptile-like sensory and motor competence. Properly configured, such robots could do in the physical world what personal computers now do in the world of data - act on our behalf as literal-minded slaves. Growing computer power over the next half-century will allow this reptile stage to be surpassed, in stages producing robots that learn like mammals, model their world like primates, and eventually reason like humans. Depending on your point of view, humanity will then have produced a worthy successor, or transcended some of its inherited limitations and so transformed itself into something quite new.

Using Voice Coils to Actuate Modular Soft Robots: Wormbot, an Example.

PubMed

Nemitz, Markus P; Mihaylov, Pavel; Barraclough, Thomas W; Ross, Dylan; Stokes, Adam A

2016-12-01

In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular design, robots of any length can be quickly and easily assembled. In addition to actuation, voice coils provide audio input and output capabilities. We demonstrate transmission of data between segments by high-frequency carrier waves and, using a similar mechanism, we note that the passing of power between coupled coils in neighboring modules-or from an external power source-is also possible. Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their self-contained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems.

Map generation in unknown environments by AUKF-SLAM using line segment-type and point-type landmarks

NASA Astrophysics Data System (ADS)

Nishihta, Sho; Maeyama, Shoichi; Watanebe, Keigo

2018-02-01

Recently, autonomous mobile robots that collect information at disaster sites are being developed. Since it is difficult to obtain maps in advance in disaster sites, the robots being capable of autonomous movement under unknown environments are required. For this objective, the robots have to build maps, as well as the estimation of self-location. This is called a SLAM problem. In particular, AUKF-SLAM which uses corners in the environment as point-type landmarks has been developed as a solution method so far. However, when the robots move in an environment like a corridor consisting of few point-type features, the accuracy of self-location estimated by the landmark is decreased and it causes some distortions in the map. In this research, we propose AUKF-SLAM which uses walls in the environment as a line segment-type landmark. We demonstrate that the robot can generate maps in unknown environment by AUKF-SLAM, using line segment-type and point-type landmarks.

Elastic MCF Rubber with Photovoltaics and Sensing on Hybrid Skin (H-Skin) for Artificial Skin by Utilizing Natural Rubber: 2nd Report on the Effect of Tension and Compression on the Hybrid Photo- and Piezo-Electricity Properties in Wet-Type Solar Cell Rubber.

PubMed

Shimada, Kunio

2018-06-06

In contrast to ordinary solid-state solar cells, a flexible, elastic, extensible and light-weight solar cell has the potential to be extremely useful in many new engineering applications, such as in the field of robotics. Therefore, we propose a new type of artificial skin for humanoid robots with hybrid functions, which we have termed hybrid skin (H-Skin). To realize the fabrication of such a solar cell, we have continued to utilize the principles of ordinary solid-state wet-type or dye-sensitized solar rubber as a follow-up study to the first report. In the first report, we dealt with both photovoltaic- and piezo-effects for dry-type magnetic compound fluid (MCF) rubber solar cells, which were generated because the polyisoprene, oleic acid of the magnetic fluid (MF), and water served as p- and n- semiconductors. In the present report, we deal with wet-type MCF rubber solar cells by using sensitized dyes and electrolytes. Photoreactions generated through the synthesis of these components were investigated by an experiment using irradiation with visible and ultraviolet light. In addition, magnetic clusters were formed by the aggregation of Fe₃O₄ in the MF and the metal particles created the hetero-junction structure of the semiconductors. In the MCF rubber solar cell, both photo- and piezo-electricity were generated using a physical model. The effects of tension and compression on their electrical properties were evaluated. Finally, we experimentally demonstrated the effect of the distance between the electrodes of the solar cell on photoelectricity and built-in electricity.

A reconfigurable robot with tensegrity structure using nylon artificial muscle

NASA Astrophysics Data System (ADS)

Wu, Lianjun; de Andrade, Monica Jung; Brahme, Tarang; Tadesse, Yonas; Baughman, Ray H.

2016-04-01

This paper describes the design and experimental investigation of a self-reconfigurable icosahedral robot for locomotion. The robot consists of novel and modular tensegrity structures, which can potentially maneuver in unstructured environments while carrying a payload. Twisted and Coiled Polymer (TCP) muscles were utilized to actuate the tensegrity structure as needed. The tensegrity system has rigid struts and flexible TCP muscles that allow keeping a payload in the central region. The TCP muscles provide large actuation stroke, high mechanical power per fiber mass and can undergo millions of highly reversible cycles. The muscles are electrothermally driven, and, upon stimulus, the heated muscles reconfigure the shape of the tensegrity structure. Here, we present preliminary experimental results that determine the rolling motion of the structure.

Computer control of a robotic satellite servicer

NASA Technical Reports Server (NTRS)

Fernandez, K. R.

1980-01-01

The advantages that will accrue from the in-orbit servicing of satellites are listed. It is noted that in a concept in satellite servicing which holds promise as a compromise between the high flexibility and adaptability of manned vehicles and the lower cost of an unmanned vehicle involves an unmanned servicer carrying a remotely supervised robotic manipulator arm. Because of deficiencies in sensor technology, robot servicing would require that satellites be designed according to a modular concept. A description is given of the servicer simulation hardware, the computer and interface hardware, and the software. It is noted that several areas require further development; these include automated docking, modularization of satellite design, reliable connector and latching mechanisms, development of manipulators for space environments, and development of automated diagnostic techniques.

Exact nonlinear command generation and tracking for robot manipulators and spacecraft slewing maneuvers

NASA Technical Reports Server (NTRS)

Dywer, T. A. W., III; Lee, G. K. F.

1984-01-01

In connection with the current interest in agile spacecraft maneuvers, it has become necessary to consider the nonlinear coupling effects of multiaxial rotation in the treatment of command generation and tracking problems. Multiaxial maneuvers will be required in military missions involving a fast acquisition of moving targets in space. In addition, such maneuvers are also needed for the efficient operation of robot manipulators. Attention is given to details regarding the direct nonlinear command generation and tracking, an approach which has been successfully applied to the design of control systems for V/STOL aircraft, linearizing transformations for spacecraft controlled with external thrusters, the case of flexible spacecraft dynamics, examples from robot dynamics, and problems of implementation and testing.

Robotically assisted velocity-sensitive triggered focused ultrasound surgery

NASA Astrophysics Data System (ADS)

Maier, Florian; Brunner, Alexander; Jenne, Jürgen W.; Krafft, Axel J.; Semmler, Wolfhard; Bock, Michael

2012-11-01

Magnetic Resonance (MR) guided Focused Ultrasound Surgery (FUS) of abdominal organs is challenging due to breathing motion and limited patient access in the MR environment. In this work, an experimental robotically assisted FUS setup was combined with a MR-based navigator technique to realize motion-compensated sonications and online temperature imaging. Experiments were carried out in a static phantom, during periodic manual motion of the phantom without triggering, and with triggering to evaluate the triggering method. In contrast to the non-triggered sonication, the results of the triggered sonication show a confined symmetric temperature distribution. In conclusion, the velocity sensitive navigator can be employed for triggered FUS to compensate for periodic motion. Combined with the robotic FUS setup, flexible treatment of abdominal targets might be realized.

Open source hardware and software platform for robotics and artificial intelligence applications

NASA Astrophysics Data System (ADS)

Liang, S. Ng; Tan, K. O.; Lai Clement, T. H.; Ng, S. K.; Mohammed, A. H. Ali; Mailah, Musa; Azhar Yussof, Wan; Hamedon, Zamzuri; Yussof, Zulkifli

2016-02-01

Recent developments in open source hardware and software platforms (Android, Arduino, Linux, OpenCV etc.) have enabled rapid development of previously expensive and sophisticated system within a lower budget and flatter learning curves for developers. Using these platform, we designed and developed a Java-based 3D robotic simulation system, with graph database, which is integrated in online and offline modes with an Android-Arduino based rubbish picking remote control car. The combination of the open source hardware and software system created a flexible and expandable platform for further developments in the future, both in the software and hardware areas, in particular in combination with graph database for artificial intelligence, as well as more sophisticated hardware, such as legged or humanoid robots.

Flexible Conformable Clamps for a Machining Cell with Applications to Turbine Blade Machining.

DTIC Science & Technology

1983-05-01

PERIOD COVERED * FLEXIBLE CONFORMABLE CLAMPS FOR A MACHINING CELL Interim WITH APPLICATIONS TO TURBINE BLADE MACHINING 6. PERFORMING ORG. REPORT NUMBER...7. AuTmbR(s) 6. CONTRACT OR GRANT NUMBER(a) Eiki Kurokawa 3. PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM ELE%4NTPROJECT. TASK Carnegie-Mellon...University AREA a WORK UhIT NUMBERS The Robotics Institute Pittsburgh, PA. 15213 II. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE May 1983. 13

Electroactive polymers for sensing

PubMed Central

2016-01-01

Electromechanical coupling in electroactive polymers (EAPs) has been widely applied for actuation and is also being increasingly investigated for sensing chemical and mechanical stimuli. EAPs are a unique class of materials, with low-moduli high-strain capabilities and the ability to conform to surfaces of different shapes. These features make them attractive for applications such as wearable sensors and interfacing with soft tissues. Here, we review the major types of EAPs and their sensing mechanisms. These are divided into two classes depending on the main type of charge carrier: ionic EAPs (such as conducting polymers and ionic polymer–metal composites) and electronic EAPs (such as dielectric elastomers, liquid-crystal polymers and piezoelectric polymers). This review is intended to serve as an introduction to the mechanisms of these materials and as a first step in material selection for both researchers and designers of flexible/bendable devices, biocompatible sensors or even robotic tactile sensing units. PMID:27499846

Robonaut's Flexible Information Technology Infrastructure

NASA Technical Reports Server (NTRS)

Askew, Scott; Bluethmann, William; Alder, Ken; Ambrose, Robert

2003-01-01

Robonaut, NASA's humanoid robot, is designed to work as both an astronaut assistant and, in certain situations, an astronaut surrogate. This highly dexterous robot performs complex tasks under telepresence control that could previously only be carried out directly by humans. Currently with 47 degrees of freedom (DOF), Robonaut is a state-of-the-art human size telemanipulator system. while many of Robonaut's embedded components have been custom designed to meet packaging or environmental requirements, the primary computing systems used in Robonaut are currently commercial-off-the-shelf (COTS) products which have some correlation to flight qualified computer systems. This loose coupling of information technology (IT) resources allows Robonaut to exploit cost effective solutions while floating the technology base to take advantage of the rapid pace of IT advances. These IT systems utilize a software development environment, which is both compatible with COTS hardware as well as flight proven computing systems, preserving the majority of software development for a flight system. The ability to use highly integrated and flexible COTS software development tools improves productivity while minimizing redesign for a space flight system. Further, the flexibility of Robonaut's software and communication architecture has allowed it to become a widely used distributed development testbed for integrating new capabilities and furthering experimental research.

Ultra-fast escape maneuver of an octopus-inspired robot.

PubMed

Weymouth, G D; Subramaniam, V; Triantafyllou, M S

2015-02-02

We design and test an octopus-inspired flexible hull robot that demonstrates outstanding fast-starting performance. The robot is hyper-inflated with water, and then rapidly deflates to expel the fluid so as to power the escape maneuver. Using this robot we verify for the first time in laboratory testing that rapid size-change can substantially reduce separation in bluff bodies traveling several body lengths, and recover fluid energy which can be employed to improve the propulsive performance. The robot is found to experience speeds over ten body lengths per second, exceeding that of a similarly propelled optimally streamlined rigid rocket. The peak net thrust force on the robot is more than 2.6 times that on an optimal rigid body performing the same maneuver, experimentally demonstrating large energy recovery and enabling acceleration greater than 14 body lengths per second squared. Finally, over 53% of the available energy is converted into payload kinetic energy, a performance that exceeds the estimated energy conversion efficiency of fast-starting fish. The Reynolds number based on final speed and robot length is [Formula: see text]. We use the experimental data to establish a fundamental deflation scaling parameter [Formula: see text] which characterizes the mechanisms of flow control via shape change. Based on this scaling parameter, we find that the fast-starting performance improves with increasing size.

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system. M.S. Thesis - George Washington Univ., Dec. 1994

NASA Technical Reports Server (NTRS)

Garrahan, Steven L.; Tolson, Robert H.; Williams, Robert L., II

1995-01-01

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

[Application of advanced engineering technologies to medical and rehabilitation fields].

PubMed

Fujie, Masakatsu

2012-07-01

The words "Japan syndrome" can now be heard increasingly through the media. Facing the approach of an elderly-dominated society, Robot Technology(RT)is expected to play an important role in Japan's medical, rehabilitation, and daily support fields. The industrial robot, which has already spread through the world with a great success in certain isolated environments by doing the work which is specialized for the thing with the hard known characteristic. By comparison, in the medical and rehabilitation fields, environments always change intricately, and individual characteristics differ from person to person. Furthermore, there are many times when a robot will be asked to directly interact with people. Moreover, the relation between a robot and a person turns into a relation which should involve contact flexibly according to a situation, and also turns into a relation which should avoid contact. In our group, we have so far developed practical rehabilitation and medical robots which can respond to difficulties such as environmental change and individual specificity. In developing rehabilitation robots, it is especially important to consider intuitive operability and individual differences. In addition, in developing medical robots, it is important to replace the experimental knowledge of surgeons to the mechanical quantitative properties. In this article, we introduce some practical examples of rehabilitation and medical robots interweaving several detailed technologies we have so far developed.

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy.

PubMed

Zhang, Libo; Zhu, Junjie; Ren, Hao; Liu, Dongdong; Meng, Dan; Wu, Yanjun; Luo, Tiejian

2017-10-14

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach their targets. In recent years, reliance upon robots in both daily life and industry has increased. The protocol proposed in this paper describes the design and production of a handling robot with an intelligent search algorithm and an autonomous identification function. First, the various working modules are mechanically assembled to complete the construction of the work platform and the installation of the robotic manipulator. Then, we design a closed-loop control system and a four-quadrant motor control strategy, with the aid of debugging software, as well as set steering gear identity (ID), baud rate and other working parameters to ensure that the robot achieves the desired dynamic performance and low energy consumption. Next, we debug the sensor to achieve multi-sensor fusion to accurately acquire environmental information. Finally, we implement the relevant algorithm, which can recognize the success of the robot's function for a given application. The advantage of this approach is its reliability and flexibility, as the users can develop a variety of hardware construction programs and utilize the comprehensive debugger to implement an intelligent control strategy. This allows users to set personalized requirements based on their needs with high efficiency and robustness.

Fused smart sensor network for multi-axis forward kinematics estimation in industrial robots.

PubMed

Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; Romero-Troncoso, Rene de Jesus

2011-01-01

Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint's angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA) is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.

A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence.

PubMed

Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

2016-02-18

Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration.

Modular Countermine Payload for Small Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

Herman Herman; Doug Few; Roelof Versteeg

2010-04-01

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processormore » that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multi-mission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.« less

Modular countermine payload for small robots

NASA Astrophysics Data System (ADS)

Herman, Herman; Few, Doug; Versteeg, Roelof; Valois, Jean-Sebastien; McMahill, Jeff; Licitra, Michael; Henciak, Edward

2010-04-01

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multimission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

Multiple cues produced by a robotic fish modulate aggressive behaviour in Siamese fighting fishes.

PubMed

Romano, Donato; Benelli, Giovanni; Donati, Elisa; Remorini, Damiano; Canale, Angelo; Stefanini, Cesare

2017-07-05

The use of robotics to establish social interactions between animals and robots, represents an elegant and innovative method to investigate animal behaviour. However, robots are still underused to investigate high complex and flexible behaviours, such as aggression. Here, Betta splendens was tested as model system to shed light on the effect of a robotic fish eliciting aggression. We evaluated how multiple signal systems, including a light stimulus, affect aggressive responses in B. splendens. Furthermore, we conducted experiments to estimate if aggressive responses were triggered by the biomimetic shape of fish replica, or whether any intruder object was effective as well. Male fishes showed longer and higher aggressive displays as puzzled stimuli from the fish replica increased. When the fish replica emitted its full sequence of cues, the intensity of aggression exceeded even that produced by real fish opponents. Fish replica shape was necessary for conspecific opponent perception, evoking significant aggressive responses. Overall, this study highlights that the efficacy of an artificial opponent eliciting aggressive behaviour in fish can be boosted by exposure to multiple signals. Optimizing the cue combination delivered by the robotic fish replica may be helpful to predict escalating levels of aggression.

Experiments in socially guided exploration: lessons learned in building robots that learn with and without human teachers

NASA Astrophysics Data System (ADS)

Thomaz, Andrea; Breazeal, Cynthia

2008-06-01

We present a learning system, socially guided exploration, in which a social robot learns new tasks through a combination of self-exploration and social interaction. The system's motivational drives, along with social scaffolding from a human partner, bias behaviour to create learning opportunities for a hierarchical reinforcement learning mechanism. The robot is able to learn on its own, but can flexibly take advantage of the guidance of a human teacher. We report the results of an experiment that analyses what the robot learns on its own as compared to being taught by human subjects. We also analyse the video of these interactions to understand human teaching behaviour and the social dynamics of the human-teacher/robot-learner system. With respect to learning performance, human guidance results in a task set that is significantly more focused and efficient at the tasks the human was trying to teach, whereas self-exploration results in a more diverse set. Analysis of human teaching behaviour reveals insights of social coupling between the human teacher and robot learner, different teaching styles, strong consistency in the kinds and frequency of scaffolding acts across teachers and nuances in the communicative intent behind positive and negative feedback.

A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence

PubMed Central

Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

2016-01-01

Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration. PMID:26901203

Tailor-made rehabilitation approach using multiple types of hybrid assistive limb robots for acute stroke patients: A pilot study.

PubMed

Fukuda, Hiroyuki; Morishita, Takashi; Ogata, Toshiyasu; Saita, Kazuya; Hyakutake, Koichi; Watanabe, Junko; Shiota, Etsuji; Inoue, Tooru

2016-01-01

This article investigated the feasibility of a tailor-made neurorehabilitation approach using multiple types of hybrid assistive limb (HAL) robots for acute stroke patients. We investigated the clinical outcomes of patients who underwent rehabilitation using the HAL robots. The Brunnstrom stage, Barthel index (BI), and functional independence measure (FIM) were evaluated at baseline and when patients were transferred to a rehabilitation facility. Scores were compared between the multiple-robot rehabilitation and single-robot rehabilitation groups. Nine hemiplegic acute stroke patients (five men and four women; mean age 59.4 ± 12.5 years; four hemorrhagic stroke and five ischemic stroke) underwent rehabilitation using multiple types of HAL robots for 19.4 ± 12.5 days, and 14 patients (six men and eight women; mean age 63.2 ± 13.9 years; nine hemorrhagic stroke and five ischemic stroke) underwent rehabilitation using a single type of HAL robot for 14.9 ± 8.9 days. The multiple-robot rehabilitation group showed significantly better outcomes in the Brunnstrom stage of the upper extremity, BI, and FIM scores. To the best of the authors' knowledge, this is the first pilot study demonstrating the feasibility of rehabilitation using multiple exoskeleton robots. The tailor-made rehabilitation approach may be useful for the treatment of acute stroke.

Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

NASA Astrophysics Data System (ADS)

Chen, Dechao; Zhang, Yunong

2017-10-01

Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

Robots for Elderly Care: Their Level of Social Interactions and the Targeted End User.

PubMed

Bedaf, Sandra; de Witte, Luc

2017-01-01

Robots for older adults have a lot of potential. In order to create an overview of the developments in this area a systematic review of robots for older adults living independently was conducted. Robots were categorized based on their market readiness, the type of provided support (i.e., physical, non-physical, non-specified), and the activity domain they claim to support. Additionally, the commercially available robots are places in a proposed framework to help to distinguish the different types of robots and their focus. During the presentation an updated version of the state of the art will be presented.

Determining of a robot workspace using the integration of a CAD system with a virtual control system

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2016-08-01

The paper presents a method for determining the workspace of an industrial robot using an approach consisting in integration a 3D model of an industrial robot with a virtual control system. The robot model with his work environment, prepared for motion simulation, was created in the “Motion Simulation” module of the Siemens PLM NX software. In the mentioned model components of the “link” type were created which map the geometrical form of particular elements of the robot and the components of “joint” type mapping way of cooperation of components of the “link” type. In the paper is proposed the solution in which the control process of a virtual robot is similar to the control process of a real robot using the manual control panel (teach pendant). For this purpose, the control application “JOINT” was created, which provides the manipulation of a virtual robot in accordance with its internal control system. The set of procedures stored in an .xlsx file is the element integrating the 3D robot model working in the CAD/CAE class system with the elaborated control application.

High speed, precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1989-01-01

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms.

Analysis and experiments with an elephant's trunk robot

NASA Technical Reports Server (NTRS)

Hannan, M. W.; Walker, I. D.

2001-01-01

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Kinematic design considerations for minimally invasive surgical robots: an overview.

PubMed

Kuo, Chin-Hsing; Dai, Jian S; Dasgupta, Prokar

2012-06-01

Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on. The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed. This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community. Copyright © 2012 John Wiley & Sons, Ltd.

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy.

PubMed

Amanov, E; Nguyen, T-D; Markmann, S; Imkamp, F; Burgner-Kahrs, J

2018-05-31

Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes.

Design and control of an embedded vision guided robotic fish with multiple control surfaces.

PubMed

Yu, Junzhi; Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.

Space robot simulator vehicle

NASA Technical Reports Server (NTRS)

Cannon, R. H., Jr.; Alexander, H.

1985-01-01

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

Distributed and Modular CAN-Based Architecture for Hardware Control and Sensor Data Integration

PubMed Central

Losada, Diego P.; Fernández, Joaquín L.; Paz, Enrique; Sanz, Rafael

2017-01-01

In this article, we present a CAN-based (Controller Area Network) distributed system to integrate sensors, actuators and hardware controllers in a mobile robot platform. With this work, we provide a robust, simple, flexible and open system to make hardware elements or subsystems communicate, that can be applied to different robots or mobile platforms. Hardware modules can be connected to or disconnected from the CAN bus while the system is working. It has been tested in our mobile robot Rato, based on a RWI (Real World Interface) mobile platform, to replace the old sensor and motor controllers. It has also been used in the design of two new robots: BellBot and WatchBot. Currently, our hardware integration architecture supports different sensors, actuators and control subsystems, such as motor controllers and inertial measurement units. The integration architecture was tested and compared with other solutions through a performance analysis of relevant parameters such as transmission efficiency and bandwidth usage. The results conclude that the proposed solution implements a lightweight communication protocol for mobile robot applications that avoids transmission delays and overhead. PMID:28467381

Reflections on the EPSRC Principles of Robotics from the new far-side of the law

NASA Astrophysics Data System (ADS)

Voiculescu, Aurora

2017-04-01

The thought-provoking EPSRC Principles of Robotics stem largely from the reflection on the extent to which robots can affect our lives. These comments highlight the fact that, while the principles may address to a good extent the present technological challenges, they appear to be less immediately suited for future technological and conceptual dares. The first part of the paper is dedicated to the search of the definition of what a robot is. Such a definition should offer the basic conceptual platform on which a normative endeavour, aiming to regulate robots in society, should be based. Concluding that the Principles offer no clear yet flexible insight into such a (meta-) definition, which would allow one to take into account the parameters of informed technological imagination and of envisaged social transformation, the second half of the paper highlights a number of regulatory points of tension. Such tensions, it is argued, stem largely from the absence of an appropriate conceptual platform, influencing negatively the extent to which the principles can be effective in guiding social, ethical, legal and scientific conduct.

Fast-moving soft electronic fish.

PubMed

Li, Tiefeng; Li, Guorui; Liang, Yiming; Cheng, Tingyu; Dai, Jing; Yang, Xuxu; Liu, Bangyuan; Zeng, Zedong; Huang, Zhilong; Luo, Yingwu; Xie, Tao; Yang, Wei

2017-04-01

Soft robots driven by stimuli-responsive materials have unique advantages over conventional rigid robots, especially in their high adaptability for field exploration and seamless interaction with humans. The grand challenge lies in achieving self-powered soft robots with high mobility, environmental tolerance, and long endurance. We are able to advance a soft electronic fish with a fully integrated onboard system for power and remote control. Without any motor, the fish is driven solely by a soft electroactive structure made of dielectric elastomer and ionically conductive hydrogel. The electronic fish can swim at a speed of 6.4 cm/s (0.69 body length per second), which is much faster than previously reported untethered soft robotic fish driven by soft responsive materials. The fish shows consistent performance in a wide temperature range and permits stealth sailing due to its nearly transparent nature. Furthermore, the fish is robust, as it uses the surrounding water as the electric ground and can operate for 3 hours with one single charge. The design principle can be potentially extended to a variety of flexible devices and soft robots.

Fast-moving soft electronic fish

PubMed Central

Li, Tiefeng; Li, Guorui; Liang, Yiming; Cheng, Tingyu; Dai, Jing; Yang, Xuxu; Liu, Bangyuan; Zeng, Zedong; Huang, Zhilong; Luo, Yingwu; Xie, Tao; Yang, Wei

2017-01-01

Soft robots driven by stimuli-responsive materials have unique advantages over conventional rigid robots, especially in their high adaptability for field exploration and seamless interaction with humans. The grand challenge lies in achieving self-powered soft robots with high mobility, environmental tolerance, and long endurance. We are able to advance a soft electronic fish with a fully integrated onboard system for power and remote control. Without any motor, the fish is driven solely by a soft electroactive structure made of dielectric elastomer and ionically conductive hydrogel. The electronic fish can swim at a speed of 6.4 cm/s (0.69 body length per second), which is much faster than previously reported untethered soft robotic fish driven by soft responsive materials. The fish shows consistent performance in a wide temperature range and permits stealth sailing due to its nearly transparent nature. Furthermore, the fish is robust, as it uses the surrounding water as the electric ground and can operate for 3 hours with one single charge. The design principle can be potentially extended to a variety of flexible devices and soft robots. PMID:28435879

Development of a revolute-joint robot for the precision positioning of an x-ray detector

NASA Astrophysics Data System (ADS)

Preissner, Curt A.; Royston, Thomas J.; Shu, Deming

2003-10-01

This paper profiles the initial phase in the development of a six degree-of-freedom robot, with 1 μm dynamic positioning uncertainty, for the manipulation of x-ray detectors or test specimens at the Advanced Photon Source (APS). While revolute-joint robot manipulators exhibit a smaller footprint along with increased positioning flexibility compared to Cartesian manipulators, commercially available revolute-joint manipulators do not meet our size, positioning, or environmental specifications. Currently, a robot with 20 μm dynamic positioning uncertainty is functioning at the APS for cryogenic crystallography sample pick-and-place operation. Theoretical, computational and experimental procedures are being used to (1) identify and (2) simulate the dynamics of the present robot system using a multibody approach, including the mechanics and control architecture, and eventually to (3) design an improved version with a 1 μm dynamic positioning uncertainty. We expect that the preceding experimental and theoretical techniques will be useful design and analysis tools as multi-degree-of-freedom manipulators become more prevalent on synchrotron beamlines.

Distributed and Modular CAN-Based Architecture for Hardware Control and Sensor Data Integration.

PubMed

Losada, Diego P; Fernández, Joaquín L; Paz, Enrique; Sanz, Rafael

2017-05-03

In this article, we present a CAN-based (Controller Area Network) distributed system to integrate sensors, actuators and hardware controllers in a mobile robot platform. With this work, we provide a robust, simple, flexible and open system to make hardware elements or subsystems communicate, that can be applied to different robots or mobile platforms. Hardware modules can be connected to or disconnected from the CAN bus while the system is working. It has been tested in our mobile robot Rato, based on a RWI (Real World Interface) mobile platform, to replace the old sensor and motor controllers. It has also been used in the design of two new robots: BellBot and WatchBot. Currently, our hardware integration architecture supports different sensors, actuators and control subsystems, such as motor controllers and inertial measurement units. The integration architecture was tested and compared with other solutions through a performance analysis of relevant parameters such as transmission efficiency and bandwidth usage. The results conclude that the proposed solution implements a lightweight communication protocol for mobile robot applications that avoids transmission delays and overhead.

Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

PubMed Central

Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface. PMID:24688413

Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station

NASA Technical Reports Server (NTRS)

Park, In-Won; Smith, Marion F.; Sanchez, Hugo S.; Wong, Sze Wun; Piacenza, Pedro; Ciocarlie, Matei

2017-01-01

This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research - thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.

Architectural setup for online monitoring and control of process parameters in robot-based ISF

NASA Astrophysics Data System (ADS)

Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

2017-10-01

This article describes new developments in an incremental, robot-based sheet metal forming process (Roboforming) for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet forming (ISF) machines, this system offers high geometrical design flexibility without the need of any part-dependent tools. However, the industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors introduce a new architectural setup extending the current one by a superordinate process control. This sophisticated control consists of two modules, i.e. the compensation of the two industrial robots' low structural stiffness as well as a combined force/torque control. It is assumed that this contribution will lead to future research and development projects in which the authors will thoroughly investigate ISF process parameters influencing the geometric accuracy of the forming results.

Robot navigation research at CESAR (Center for Engineering Systems Advanced Research)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barnett, D.L.; de Saussure, G.; Pin, F.G.

1989-01-01

A considerable amount of work has been reported on the problem of robot navigation in known static terrains. Algorithms have been proposed and implemented to search for an optimum path to the goal, taking into account the finite size and shape of the robot. Not as much work has been reported on robot navigation in unknown, unstructured, or dynamic environments. A robot navigating in an unknown environment must explore with its sensors, construct an abstract representation of its global environment to plan a path to the goal, and update or revise its plan based on accumulated data obtained and processedmore » in real-time. The core of the navigation program for the CESAR robots is a production system developed on the expert-system-shell CLIPS which runs on an NCUBE hypercube on board the robot. The production system can call on C-compiled navigation procedures. The production rules can read the sensor data and address the robot's effectors. This architecture was found efficient and flexible for the development and testing of the navigation algorithms; however, in order to process intelligently unexpected emergencies, it was found necessary to be able to control the production system through externally generated asynchronous data. This led to the design of a new asynchronous production system, APS, which is now being developed on the robot. This paper will review some of the navigation algorithms developed and tested at CESAR and will discuss the need for the new APS and how it is being integrated into the robot architecture. 18 refs., 3 figs., 1 tab.« less

Using Voice Coils to Actuate Modular Soft Robots: Wormbot, an Example

PubMed Central

Nemitz, Markus P.; Mihaylov, Pavel; Barraclough, Thomas W.; Ross, Dylan

2016-01-01

Abstract In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular design, robots of any length can be quickly and easily assembled. In addition to actuation, voice coils provide audio input and output capabilities. We demonstrate transmission of data between segments by high-frequency carrier waves and, using a similar mechanism, we note that the passing of power between coupled coils in neighboring modules—or from an external power source—is also possible. Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their self-contained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems. PMID:28078195

Graphical simulation for aerospace manufacturing

NASA Technical Reports Server (NTRS)

Babai, Majid; Bien, Christopher

1994-01-01

Simulation software has become a key technological enabler for integrating flexible manufacturing systems and streamlining the overall aerospace manufacturing process. In particular, robot simulation and offline programming software is being credited for reducing down time and labor cost, while boosting quality and significantly increasing productivity.

Effect of a human-type communication robot on cognitive function in elderly women living alone.

PubMed

Tanaka, Masaaki; Ishii, Akira; Yamano, Emi; Ogikubo, Hiroki; Okazaki, Masatsugu; Kamimura, Kazuro; Konishi, Yasuharu; Emoto, Shigeru; Watanabe, Yasuyoshi

2012-09-01

Considering the high prevalence of dementia, it would be of great value to develop effective tools to improve cognitive function. We examined the effects of a human-type communication robot on cognitive function in elderly women living alone. In this study, 34 healthy elderly female volunteers living alone were randomized to living with either a communication robot or a control robot at home for 8 weeks. The shape, voice, and motion features of the communication robot resemble those of a 3-year-old boy, while the control robot was not designed to talk or nod. Before living with the robot and 4 and 8 weeks after living with the robot, experiments were conducted to evaluate a variety of cognitive functions as well as saliva cortisol, sleep, and subjective fatigue, motivation, and healing. The Mini-Mental State Examination score, judgement, and verbal memory function were improved after living with the communication robot; those functions were not altered with the control robot. In addition, the saliva cortisol level was decreased, nocturnal sleeping hours tended to increase, and difficulty in maintaining sleep tended to decrease with the communication robot, although alterations were not shown with the control. The proportions of the participants in whom effects on attenuation of fatigue, enhancement of motivation, and healing could be recognized were higher in the communication robot group relative to the control group. This study demonstrates that living with a human-type communication robot may be effective for improving cognitive functions in elderly women living alone.

Multipurpose surgical robot as a laparoscope assistant.

PubMed

Nelson, Carl A; Zhang, Xiaoli; Shah, Bhavin C; Goede, Matthew R; Oleynikov, Dmitry

2010-07-01

This study demonstrates the effectiveness of a new, compact surgical robot at improving laparoscope guidance. Currently, the assistant guiding the laparoscope camera tends to be less experienced and requires physical and verbal direction from the surgeon. Human guidance has disadvantages of fatigue and shakiness leading to inconsistency in the field of view. This study investigates whether replacing the assistant with a compact robot can improve the stability of the surgeon's field of view and also reduce crowding at the operating table. A compact robot based on a bevel-geared "spherical mechanism" with 4 degrees of freedom and capable of full dexterity through a 15-mm port was designed and built. The robot was mounted on the standard railing of the operating table and used to manipulate a laparoscope through a supraumbilical port in a porcine model via a joystick controlled externally by a surgeon. The process was videotaped externally via digital video recorder and internally via laparoscope. Robot position data were also recorded within the robot's motion control software. The robot effectively manipulated the laparoscope in all directions to provide a clear and consistent view of liver, small intestine, and spleen. Its range of motion was commensurate with typical motions executed by a human assistant and was well controlled with the joystick. Qualitative analysis of the video suggested that this method of laparoscope guidance provides highly stable imaging during laparoscopic surgery, which was confirmed by robot position data. Because the robot was table-mounted and compact in design, it increased standing room around the operation table and did not interfere with the workspace of other surgical instruments. The study results also suggest that this robotic method may be combined with flexible endoscopes for highly dexterous visualization with more degrees of freedom.

Object positioning in storages of robotized workcells using LabVIEW Vision

NASA Astrophysics Data System (ADS)

Hryniewicz, P.; Banaś, W.; Sękala, A.; Gwiazda, A.; Foit, K.; Kost, G.

2015-11-01

During the manufacturing process, each performed task is previously developed and adapted to the conditions and the possibilities of the manufacturing plant. The production process is supervised by a team of specialists because any downtime causes great loss of time and hence financial loss. Sensors used in industry for tracking and supervision various stages of a production process make it much easier to maintain it continuous. One of groups of sensors used in industrial applications are non-contact sensors. This group includes: light barriers, optical sensors, rangefinders, vision systems, and ultrasonic sensors. Through to the rapid development of electronics the vision systems were widespread as the most flexible type of non-contact sensors. These systems consist of cameras, devices for data acquisition, devices for data analysis and specialized software. Vision systems work well as sensors that control the production process itself as well as the sensors that control the product quality level. The LabVIEW program as well as the LabVIEW Vision and LabVIEW Builder represent the application that enables program the informatics system intended to process and product quality control. The paper presents elaborated application for positioning elements in a robotized workcell. Basing on geometric parameters of manipulated object or on the basis of previously developed graphical pattern it is possible to determine the position of particular manipulated elements. This application could work in an automatic mode and in real time cooperating with the robot control system. It allows making the workcell functioning more autonomous.

Vision technology/algorithms for space robotics applications

NASA Technical Reports Server (NTRS)

Krishen, Kumar; Defigueiredo, Rui J. P.

1987-01-01

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed.

Control strategy for cooperating disparate manipulators

NASA Technical Reports Server (NTRS)

Lew, Jae Young

1989-01-01

To manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator.

A Decentralized Scheduling Policy for a Dynamically Reconfigurable Production System

NASA Astrophysics Data System (ADS)

Giordani, Stefano; Lujak, Marin; Martinelli, Francesco

In this paper, the static layout of a traditional multi-machine factory producing a set of distinct goods is integrated with a set of mobile production units - robots. The robots dynamically change their work position to increment the product rate of the different typologies of products in respect to the fluctuations of the demands and production costs during a given time horizon. Assuming that the planning time horizon is subdivided into a finite number of time periods, this particularly flexible layout requires the definition and the solution of a complex scheduling problem, involving for each period of the planning time horizon, the determination of the position of the robots, i.e., the assignment to the respective tasks in order to minimize production costs given the product demand rates during the planning time horizon.

A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping.

PubMed

Owaki, Dai; Ishiguro, Akio

2017-03-21

The manner in which quadrupeds change their locomotive patterns-walking, trotting, and galloping-with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot for which coordination between the legs can be self-organized through a simple "central pattern generator" (CPG) model. We demonstrate spontaneous gait transitions between energy-efficient patterns by changing only the parameter related to speed. Interlimb coordination was achieved with the use of local load sensing only without any preprogrammed patterns. Our model exploits physical communication through the body, suggesting that knowledge of physical communication is required to understand the leg coordination mechanism in legged animals and to establish design principles for legged robots that can reproduce flexible and efficient locomotion.

Robotic Scaffolds for Tissue Engineering and Organ Growth

NASA Technical Reports Server (NTRS)

Stoica, Adrian

2011-01-01

The aim of tissue engineering (TE) is to restore tissue and organ functions with minimal host rejection. TE is seen as a future solution to solve the crisis of donor organs for transplant, which faces a shortage expected only to increase in the future. In this innovation, a flexible and configurable scaffold has been conceived that mechanically stresses cells that are seeded on it, stimulating them to increased growth. The influence of mechanical stress/ loading on cell growth has been observed on all forms of cells. For example, for cartilages, studies in animals, tissue explants, and engineered tissue scaffolds have all shown that cartilage cells (chondrocytes) modify their extracellular matrix in response to loading. The chondrocyte EMC production response to dynamics of the physical environment (in vivo cartilage development) illustrates a clear benefit (better growth) when stressed. It has been shown that static and dynamic compression regulates PRG4 biosynthesis by cartilage explants. Mechanical tissue stimulation is beneficial and (flexible) scaffolds with movable components, which are able to induce mechanical stimulation, offer advantages over the fixed, rigid scaffold design. In addition to improved cell growth from physical/mechanical stimulation, additional benefits include the ability to increase in size while preserving shape, or changing shape. By making scaffolds flexible, allowing relative movement between their components, adding sensing (e.g., for detecting response of cells to drug release and to mechanical actions), building controls for drug release and movement, and building even simple algorithms for mapping sensing to action, these structures can actually be made into biocompatible and biodegradable robots. Treating them as robots is a perspective shift that may offer advantages in the design and exploitation of these structures of the future.

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, Francois G.

2002-06-01

Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus,more » there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and type of constraints and in task objectives, and can adapt to changes in kinematics configurations (change of module, change of tool, joint failure adaptation, etc.).« less

Personnel occupied woven envelope robot

NASA Technical Reports Server (NTRS)

Wessling, Francis; Teoh, William; Ziemke, M. Carl

1988-01-01

The Personnel Occupied Woven Envelope Robot (POWER) provides an alternative to extravehicular activity (EVA) of space suited astronauts and/or use of long slender manipulator arms such as are used in the Shuttle Remote Manipulator System. POWER provides the capability for a shirt sleeved astronaut to perform such work by entering a control pod through air locks at both ends of an inflated flexible bellows (access tunnel). The exoskeleton of the tunnel is a series of six degrees of freedom (Six-DOF) articulated links compressible to 1/6 of their fully extended length. The operator can maneuver the control pod to almost any location within about 50 m of the base attachment to the space station. POWER can be envisioned as a series of hollow Six-DOF manipulator segments or arms wherein each arm grasps the shoulder of the next arm. Inside the hollow arms ia a bellow-type access tunnel. The control pod is the fist of the series of linked hollow arms. The fingers of the fist are conventional manipulator arms under direct visual control of the nearby operator in the pod. The applications and progress to date of the POWER system is given.

Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation

PubMed Central

Liu, Jiayu; Zhu, Denglin; Chen, Hualing

2018-01-01

This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation. PMID:29770160

Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation.

PubMed

Wang, Yanjie; Liu, Jiayu; Zhu, Denglin; Chen, Hualing

2018-01-01

This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation.

Robotic Arms. A Contribution to the Curriculum. An Occasional Paper.

ERIC Educational Resources Information Center

Arnold, W. F.; Carpenter, C. J.

This report examines ways of providing technician training in the operating principles of robotic devices. The terms "robotics" and "robotic arms" are first defined. Some background information on the principal features of robotic arms is given, including their geometric arrangement, type of actuator used, control method, and…

Perspectives of construction robots

NASA Astrophysics Data System (ADS)

Stepanov, M. A.; Gridchin, A. M.

2018-03-01

This article is an overview of construction robots features, based on formulating the list of requirements for different types of construction robots in relation to different types of construction works.. It describes a variety of construction works and ways to construct new or to adapt existing robot designs for a construction process. Also, it shows the prospects of AI-controlled machines, implementation of automated control systems and networks on construction sites. In the end, different ways to develop and improve, including ecological aspect, the construction process through the wide robotization, creating of data communication networks and, in perspective, establishing of fully AI-controlled construction complex are formulated.

Measurement of Vibrations in Two Tower-Typed Assistant Personal Robot Implementations with and without a Passive Suspension System

PubMed Central

Moreno, Javier; Clotet, Eduard; Tresanchez, Marcel; Martínez, Dani; Casanovas, Jordi; Palacín, Jordi

2017-01-01

This paper presents the vibration pattern measurement of two tower-typed holonomic mobile robot prototypes: one based on a rigid mechanical structure, and the other including a passive suspension system. Specific to the tower-typed mobile robots is that the vibrations that originate in the lower part of the structure are transmitted and amplified to the higher areas of the tower, causing an unpleasant visual effect and mechanical stress. This paper assesses the use of a suspension system aimed at minimizing the generation and propagation of vibrations in the upper part of the tower-typed holonomic robots. The two robots analyzed were equipped with onboard accelerometers to register the acceleration over the X, Y, and Z axes in different locations and at different velocities. In all the experiments, the amplitude of the vibrations showed a typical Gaussian pattern which has been modeled with the value of the standard deviation. The results have shown that the measured vibrations in the head of the mobile robots, including a passive suspension system, were reduced by a factor of 16. PMID:28505108

Carbon Nanotube Flexible and Stretchable Electronics

NASA Astrophysics Data System (ADS)

Cai, Le; Wang, Chuan

2015-08-01

The low-cost and large-area manufacturing of flexible and stretchable electronics using printing processes could radically change people's perspectives on electronics and substantially expand the spectrum of potential applications. Examples range from personalized wearable electronics to large-area smart wallpapers and from interactive bio-inspired robots to implantable health/medical apparatus. Owing to its one-dimensional structure and superior electrical property, carbon nanotube is one of the most promising material platforms for flexible and stretchable electronics. Here in this paper, we review the recent progress in this field. Applications of single-wall carbon nanotube networks as channel semiconductor in flexible thin-film transistors and integrated circuits, as stretchable conductors in various sensors, and as channel material in stretchable transistors will be discussed. Lastly, state-of-the-art advancement on printing process, which is ideal for large-scale fabrication of flexible and stretchable electronics, will also be reviewed in detail.

Carbon Nanotube Flexible and Stretchable Electronics.

PubMed

Cai, Le; Wang, Chuan

2015-12-01

The low-cost and large-area manufacturing of flexible and stretchable electronics using printing processes could radically change people's perspectives on electronics and substantially expand the spectrum of potential applications. Examples range from personalized wearable electronics to large-area smart wallpapers and from interactive bio-inspired robots to implantable health/medical apparatus. Owing to its one-dimensional structure and superior electrical property, carbon nanotube is one of the most promising material platforms for flexible and stretchable electronics. Here in this paper, we review the recent progress in this field. Applications of single-wall carbon nanotube networks as channel semiconductor in flexible thin-film transistors and integrated circuits, as stretchable conductors in various sensors, and as channel material in stretchable transistors will be discussed. Lastly, state-of-the-art advancement on printing process, which is ideal for large-scale fabrication of flexible and stretchable electronics, will also be reviewed in detail.

Computerized Manufacturing Automation. Employment, Education, and the Workplace. Summary.

ERIC Educational Resources Information Center

Congress of the U.S., Washington, DC. Office of Technology Assessment.

The application of programmable automation (PA) offers new opportunities to enhance and streamline manufacturing processes. Five PA technologies are examined in this report: computer-aided design, robots, numerically controlled machine tools, flexible manufacturing systems, and computer-integrated manufacturing. Each technology is in a relatively…

A Novel Shape Memory Alloy Annuloplasty Ring for Minimally Invasive Surgery: Design, Fabrication, and Evaluation

PubMed Central

Purser, Molly F.; Richards, Andrew L.; Cook, Richard C.; Osborne, Jason A.; Cormier, Denis R.; Buckner, Gregory D.

2013-01-01

A novel annuloplasty ring with a shape memory alloy core has been developed to facilitate minimally invasive mitral valve repair. In its activated (austenitic) phase, this prototype ring has comparable mechanical properties to commercial semi-rigid rings. In its pre-activated (martensitic) phase, this ring is flexible enough to be introduced through an 8-mm trocar and easily manipulated with robotic instruments within the confines of a left atrial model. The core is constructed of 0.50 mm diameter NiTi, which is maintained below its martensitic transition temperature (24 °C) during deployment and suturing. After suturing, the ring is heated above its austenitic transition temperature (37 °C, normal human body temperature) enabling the NiTi core to attain its optimal geometry and stiffness characteristics indefinitely. This article summarizes the design, fabrication, and evaluation of this prototype ring. Experimental results suggest that the NiTi core ring could be a viable alternative to flexible bands in robot-assisted minimally invasive mitral valve repair. PMID:20652747

Integrated fringe projection 3D scanning system for large-scale metrology based on laser tracker

NASA Astrophysics Data System (ADS)

Du, Hui; Chen, Xiaobo; Zhou, Dan; Guo, Gen; Xi, Juntong

2017-10-01

Large scale components exist widely in advance manufacturing industry,3D profilometry plays a pivotal role for the quality control. This paper proposes a flexible, robust large-scale 3D scanning system by integrating a robot with a binocular structured light scanner and a laser tracker. The measurement principle and system construction of the integrated system are introduced. And a mathematical model is established for the global data fusion. Subsequently, a flexible and robust method and mechanism is introduced for the establishment of the end coordination system. Based on this method, a virtual robot noumenon is constructed for hand-eye calibration. And then the transformation matrix between end coordination system and world coordination system is solved. Validation experiment is implemented for verifying the proposed algorithms. Firstly, hand-eye transformation matrix is solved. Then a car body rear is measured for 16 times for the global data fusion algorithm verification. And the 3D shape of the rear is reconstructed successfully.

Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

NASA Technical Reports Server (NTRS)

Malachowski, M. J.

1990-01-01

Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

Motorization of a surgical microscope for intra-operative navigation and intuitive control.

PubMed

Finke, M; Schweikard, A

2010-09-01

During surgical procedures, various medical systems, e.g. microscope or C-arm, are used. Their precise and repeatable manual positioning can be very cumbersome and interrupts the surgeon's work flow. Robotized systems can assist the surgeon but they require suitable kinematics and control. However, positioning must be fast, flexible and intuitive. We describe a fully motorized surgical microscope. Hardware components as well as implemented applications are specified. The kinematic equations are described and a novel control concept is proposed. Our microscope combines fast manual handling with accurate, automatic positioning. Intuitive control is provided by a small remote control mounted to one of the surgical instruments. Positioning accuracy and repeatability are < 1 mm and vibrations caused by automatic movements fade away in about 1 s. The robotic system assists the surgeon, so that he can position the microscope precisely and repeatedly without interrupting the clinical workflow. The combination of manual und automatic control guarantees fast and flexible positioning during surgical procedures. Copyright 2010 John Wiley & Sons, Ltd.

Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning.

PubMed

Giannaccini, Maria Elena; Xiang, Chaoqun; Atyabi, Adham; Theodoridis, Theo; Nefti-Meziani, Samia; Davis, Steve

2018-02-01

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design presented in this article successfully decouples its end-effector positioning from its stiffness. An experimental characterization of this ability is coupled with a mathematical analysis. The arm combines the light weight, high payload to weight ratio and robustness of pneumatic actuation with the adaptability and versatility of variable stiffness. Light weight is a vital component of the inherent safety approach to physical human-robot interaction. To characterize the arm, a neural network analysis of the curvature of the arm for different input pressures is performed. The curvature-pressure relationship is also characterized experimentally.

Design And Implementation Of Integrated Vision-Based Robotic Workcells

NASA Astrophysics Data System (ADS)

Chen, Michael J.

1985-01-01

Reports have been sparse on large-scale, intelligent integration of complete robotic systems for automating the microelectronics industry. This paper describes the application of state-of-the-art computer-vision technology for manufacturing of miniaturized electronic components. The concepts of FMS - Flexible Manufacturing Systems, work cells, and work stations and their control hierarchy are illustrated in this paper. Several computer-controlled work cells used in the production of thin-film magnetic heads are described. These cells use vision for in-process control of head-fixture alignment and real-time inspection of production parameters. The vision sensor and other optoelectronic sensors, coupled with transport mechanisms such as steppers, x-y-z tables, and robots, have created complete sensorimotor systems. These systems greatly increase the manufacturing throughput as well as the quality of the final product. This paper uses these automated work cells as examples to exemplify the underlying design philosophy and principles in the fabrication of vision-based robotic systems.

Robotic-assisted laparoscopic management of a caliceal diverticular calculus.

PubMed

Torricelli, Fabio Cesar Miranda; Batista, Lucas T; Colombo, Jose Roberto; Coelho, Rafael Ferreira

2014-08-21

To report the first case of robotic-assisted laparoscopic management of a symptomatic caliceal diverticular calculus and review the literature on laparoscopic treatment for this condition. A 33-year-old obese woman with a 2×1 cm calculus within an anterior caliceal diverticulum located in the middle pole of the left kidney was referred to our service. She had already undergone two flexible ureterorenoscopies without success. We considered that a percutaneous approach would be very challenging due to stone location, thus we elected to perform a robotic-assisted laparoscopic procedure for stone removal and diverticulum fulguration. The procedure was uneventfully performed with no intraoperative or postoperative complications. The patient was discharged from the hospital on the second postoperative day and after 1.5 years of follow-up she is asymptomatic with no recurrence. The robotic-assisted laparoscopic approach to caliceal diverticular calculi is feasible and safe, providing one more option for treatment of stones in challenging locations. 2014 BMJ Publishing Group Ltd.

Robotic-assisted laparoscopic management of a caliceal diverticular calculus

PubMed Central

Torricelli, Fabio Cesar Miranda; Batista, Lucas T; Colombo, Jose Roberto; Coelho, Rafael Ferreira

2014-01-01

Purpose To report the first case of robotic-assisted laparoscopic management of a symptomatic caliceal diverticular calculus and review the literature on laparoscopic treatment for this condition. Case report A 33-year-old obese woman with a 2×1 cm calculus within an anterior caliceal diverticulum located in the middle pole of the left kidney was referred to our service. She had already undergone two flexible ureterorenoscopies without success. We considered that a percutaneous approach would be very challenging due to stone location, thus we elected to perform a robotic-assisted laparoscopic procedure for stone removal and diverticulum fulguration. The procedure was uneventfully performed with no intraoperative or postoperative complications. The patient was discharged from the hospital on the second postoperative day and after 1.5 years of follow-up she is asymptomatic with no recurrence. Conclusions The robotic-assisted laparoscopic approach to caliceal diverticular calculi is feasible and safe, providing one more option for treatment of stones in challenging locations. PMID:25188925

Action and language integration: from humans to cognitive robots.

PubMed

Borghi, Anna M; Cangelosi, Angelo

2014-07-01

The topic is characterized by a highly interdisciplinary approach to the issue of action and language integration. Such an approach, combining computational models and cognitive robotics experiments with neuroscience, psychology, philosophy, and linguistic approaches, can be a powerful means that can help researchers disentangle ambiguous issues, provide better and clearer definitions, and formulate clearer predictions on the links between action and language. In the introduction we briefly describe the papers and discuss the challenges they pose to future research. We identify four important phenomena the papers address and discuss in light of empirical and computational evidence: (a) the role played not only by sensorimotor and emotional information but also of natural language in conceptual representation; (b) the contextual dependency and high flexibility of the interaction between action, concepts, and language; (c) the involvement of the mirror neuron system in action and language processing; (d) the way in which the integration between action and language can be addressed by developmental robotics and Human-Robot Interaction. Copyright © 2014 Cognitive Science Society, Inc.

CRUX: A compliant robotic upper-extremity exosuit for lightweight, portable, multi-joint muscular augmentation.

PubMed

Lessard, Steven; Pansodtee, Pattawong; Robbins, Ash; Baltaxe-Admony, Leya Breanna; Trombadore, James M; Teodorescu, Mircea; Agogino, Adrian; Kurniawan, Sri

2017-07-01

Wearable robots can potentially offer their users enhanced stability and strength. These augmentations are ideally designed to actuate harmoniously with the user's movements and provide extra force as needed. The creation of such robots, however, is particularly challenging due to the underlying complexity of the human body. In this paper, we present a compliant, robotic exosuit for upper extremities called CRUX. This exosuit, inspired by tensegrity models of the human arm, features a lightweight (1.3 kg), flexible multi-joint design for portable augmentation. We also illustrate how CRUX maintains the full range of motion of the upper-extremities for its users while providing multi-DoF strength amplification to the major muscles of the arm, as evident by tracking the heart rate of an individual exercising said arm. Exosuits such as CRUX may be useful in physical therapy and in extreme environments where users are expected to exert their bodies to the fullest extent.

Twitching in Sensorimotor Development from Sleeping Rats to Robots

PubMed Central

Marques, Hugo Gravato; Iida, Fumiya

2013-01-01

It is still not known how the “rudimentary” movements of fetuses and infants are transformed into the coordinated, flexible, and adaptive movements of adults. In addressing this important issue, we consider a behavior that has been perennially viewed as a functionless by-product of a dreaming brain: the jerky limb movements called myoclonic twitches. Recent work has identified the neural mechanisms that produce twitching as well as those that convey sensory feedback from twitching limbs to the spinal cord and brain. In turn, these mechanistic insights have helped inspire new ideas about the functional roles that twitching might play in the self-organization of spinal and supraspinal sensorimotor circuits. Striking support for these ideas is coming from the field of developmental robotics: When twitches are mimicked in robot models of the musculoskeletal system, basic neural circuitry self-organizes. Mutually inspired biological and synthetic approaches promise not only to produce better robots, but also to solve fundamental problems concerning the developmental origins of sensorimotor maps in the spinal cord and brain. PMID:23787051

Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning

PubMed Central

Xiang, Chaoqun; Atyabi, Adham; Theodoridis, Theo; Nefti-Meziani, Samia; Davis, Steve

2018-01-01

Abstract Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design presented in this article successfully decouples its end-effector positioning from its stiffness. An experimental characterization of this ability is coupled with a mathematical analysis. The arm combines the light weight, high payload to weight ratio and robustness of pneumatic actuation with the adaptability and versatility of variable stiffness. Light weight is a vital component of the inherent safety approach to physical human-robot interaction. To characterize the arm, a neural network analysis of the curvature of the arm for different input pressures is performed. The curvature-pressure relationship is also characterized experimentally. PMID:29412080

Robotics and neuroscience: a rhythmic interaction.

PubMed

Ronsse, Renaud; Lefèvre, Philippe; Sepulchre, Rodolphe

2008-05-01

At the crossing between motor control neuroscience and robotics system theory, the paper presents a rhythmic experiment that is amenable both to handy laboratory implementation and simple mathematical modeling. The experiment is based on an impact juggling task, requiring the coordination of two upper-limb effectors and some phase-locking with the trajectories of one or several juggled objects. We describe the experiment, its implementation and the mathematical model used for the analysis. Our underlying research focuses on the role of sensory feedback in rhythmic tasks. In a robotic implementation of our experiment, we study the minimum feedback that is required to achieve robust control. A limited source of feedback, measuring only the impact times, is shown to give promising results. A second field of investigation concerns the human behavior in the same impact juggling task. We study how a variation of the tempo induces a transition between two distinct control strategies with different sensory feedback requirements. Analogies and differences between the robotic and human behaviors are obviously of high relevance in such a flexible setup.

On-line data display

NASA Astrophysics Data System (ADS)

Lang, Sherman Y. T.; Brooks, Martin; Gauthier, Marc; Wein, Marceli

1993-05-01

A data display system for embedded realtime systems has been developed for use as an operator's user interface and debugging tool. The motivation for development of the On-Line Data Display (ODD) have come from several sources. In particular the design reflects the needs of researchers developing an experimental mobile robot within our laboratory. A proliferation of specialized user interfaces revealed a need for a flexible communications and graphical data display system. At the same time the system had to be readily extensible for arbitrary graphical display formats which would be required for data visualization needs of the researchers. The system defines a communication protocol transmitting 'datagrams' between tasks executing on the realtime system and virtual devices displaying the data in a meaningful way on a graphical workstation. The communication protocol multiplexes logical channels on a single data stream. The current implementation consists of a server for the Harmony realtime operating system and an application written for the Macintosh computer. Flexibility requirements resulted in a highly modular server design, and a layered modular object- oriented design for the Macintosh part of the system. Users assign data types to specific channels at run time. Then devices are instantiated by the user and connected to channels to receive datagrams. The current suite of device types do not provide enough functionality for most users' specialized needs. Instead the system design allows the creation of new device types with modest programming effort. The protocol, design and use of the system are discussed.

Novel locomotion via biological inspiration

NASA Astrophysics Data System (ADS)

Quinn, Roger D.; Boxerbaum, Alexander; Palmer, Luther; Chiel, Hillel; Diller, Eric; Hunt, Alexander; Bachmann, Richard

2011-05-01

Animal behavioral, physiological and neurobiological studies are providing a wealth of inspirational data for robot design and control. Several very different biologically inspired mobile robots will be reviewed. A robot called DIGbot is being developed that moves independent of the direction of gravity using Distributed Inward Gripping (DIG) as a rapid and robust attachment mechanism observed in climbing animals. DIGbot is an 18 degree of freedom hexapod with onboard power and control systems. Passive compliance in its feet, which is inspired by the flexible tarsus of the cockroach, increases the robustness of the adhesion strategy and enables DIGbot to execute large steps and stationary turns while walking on mesh screens. A Whegs™ robot, inspired by insect locomotion principles, is being developed that can be rapidly reconfigured between tracks and wheel-legs and carry GeoSystems Zipper Mast. The mechanisms that cause it to passively change its gait on irregular terrain have been integrated into its hubs for a compact and modular design. The robot is designed to move smoothly on moderately rugged terrain using its tracks and run on irregular terrain and stairs using its wheel-legs. We are also developing soft bodied robots that use peristalsis, the same method of locomotion earthworms use. We present a technique of using a braided mesh exterior to produce fluid waves of motion along the body of the robot that increase the robot's speed relative to previous designs. The concept is highly scalable, for endoscopes to water, oil or gas line inspection.

Simulation of robotic courier deliveries in hospital distribution services.

PubMed

Rossetti, M D; Felder, R A; Kumar, A

2000-06-01

Flexible automation in the form of robotic couriers holds the potential for decreasing operating costs while improving delivery performance in hospital delivery systems. This paper discusses the use of simulation modeling to analyze the costs, benefits, and performance tradeoffs related to the installation and use of a fleet of robotic couriers within hospital facilities. The results of this study enable a better understanding of the delivery and transportation requirements of hospitals. Specifically, we examine how a fleet of robotic couriers can meet the performance requirements of the system while maintaining cost efficiency. We show that for clinical laboratory and pharmaceutical deliveries a fleet of six robotic couriers can achieve significant performance gains in terms of turn-around time and delivery variability over the current system of three human couriers per shift or 13 FTEs. Specifically, the simulation results indicate that using robotic couriers to perform both clinical laboratory and pharmaceutical deliveries would result in a 34% decrease in turn-around time, and a 38% decrease in delivery variability. In addition, a break-even analysis indicated that a positive net present value occurs if nine or more FTEs are eliminated with a resulting ROI of 12%. This analysis demonstrates that simulation can be a valuable tool for examining health care distribution services and indicates that a robotic courier system may yield significant benefits over a traditional courier system in this application.

Robot map building based on fuzzy-extending DSmT

NASA Astrophysics Data System (ADS)

Li, Xinde; Huang, Xinhan; Wu, Zuyu; Peng, Gang; Wang, Min; Xiong, Youlun

2007-11-01

With the extensive application of mobile robots in many different fields, map building in unknown environments has been one of the principal issues in the field of intelligent mobile robot. However, Information acquired in map building presents characteristics of uncertainty, imprecision and even high conflict, especially in the course of building grid map using sonar sensors. In this paper, we extended DSmT with Fuzzy theory by considering the different fuzzy T-norm operators (such as Algebraic Product operator, Bounded Product operator, Einstein Product operator and Default minimum operator), in order to develop a more general and flexible combinational rule for more extensive application. At the same time, we apply fuzzy-extended DSmT to mobile robot map building with the help of new self-localization method based on neighboring field appearance matching( -NFAM), to make the new tool more robust in very complex environment. An experiment is conducted to reconstruct the map with the new tool in indoor environment, in order to compare their performances in map building with four T-norm operators, when Pioneer II mobile robot runs along the same trace. Finally, a conclusion is reached that this study develops a new idea to extend DSmT, also provides a new approach for autonomous navigation of mobile robot, and provides a human-computer interactive interface to manage and manipulate the robot remotely.

Characterization of an acoustic actuation mechanism for robotic propulsion in low Reynolds number environments

NASA Astrophysics Data System (ADS)

House, Christopher; Armstrong, Jenelle; Burkhardt, John; Firebaugh, Samara

2014-06-01

With the end goal of medical applications such as non-invasive surgery and targeted drug delivery, an acoustically driven resonant structure is proposed for microrobotic propulsion. At the proposed scale, the low Reynolds number environment requires non-reciprocal motion from the robotic structure for propulsion; thus, a "flapper" with multiple, flexible joints, has been designed to produce excitation modes that involve the necessary flagella-like bending for non-reciprocal motion. The key design aspect of the flapper structure involves a very thin joint that allows bending in one (vertical) direction, but not the opposing direction. This allows for the second mass and joint to bend in a manner similar to a dolphin's "kick" at the bottom of their stroke, resulting in forward thrust. A 130 mm x 50 mm x 0.2 mm prototype of a swimming robot that utilizes the flapper was fabricated out of acrylic using a laser cutter. The robot was tested in water and in a water-glycerine solution designed to mimic microscale fluid conditions. The robot exhibited forward propulsion when excited by an underwater speaker at its resonance mode, with velocities up to 2.5 mm/s. The robot also displayed frequency selectivity, leading to the possibility of exploring a steering mechanism with alternatively tuned flappers. Additional tests were conducted with a robot at a reduced size scale.

Visualization Methods for Viability Studies of Inspection Modules for the Space Shuttle

NASA Technical Reports Server (NTRS)

Mobasher, Amir A.

2005-01-01

An effective simulation of an object, process, or task must be similar to that object, process, or task. A simulation could consist of a physical device, a set of mathematical equations, a computer program, a person, or some combination of these. There are many reasons for the use of simulators. Although some of the reasons are unique to a specific situation, there are many general reasons and purposes for using simulators. Some are listed but not limited to (1) Safety, (2) Scarce resources, (3) Teaching/education, (4) Additional capabilities, (5) Flexibility and (6) Cost. Robot simulators are in use for all of these reasons. Virtual environments such as simulators will eliminate physical contact with humans and hence will increase the safety of work environment. Corporations with limited funding and resources may utilize simulators to accomplish their goals while saving manpower and money. A computer simulation is safer than working with a real robot. Robots are typically a scarce resource. Schools typically don t have a large number of robots, if any. Factories don t want the robots not performing useful work unless absolutely necessary. Robot simulators are useful in teaching robotics. A simulator gives a student hands-on experience, if only with a simulator. The simulator is more flexible. A user can quickly change the robot configuration, workcell, or even replace the robot with a different one altogether. In order to be useful, a robot simulator must create a model that accurately performs like the real robot. A powerful simulator is usually thought of as a combination of a CAD package with simulation capabilities. Computer Aided Design (CAD) techniques are used extensively by engineers in virtually all areas of engineering. Parts are designed interactively aided by the graphical display of both wireframe and more realistic shaded renderings. Once a part s dimensions have been specified to the CAD package, designers can view the part from any direction to examine how it will look and perform in relation to other parts. If changes are deemed necessary, the designer can easily make the changes and view the results graphically. However, a complex process of moving parts intended for operation in a complex environment can only be fully understood through the process of animated graphical simulation. A CAD package with simulation capabilities allows the designer to develop geometrical models of the process being designed, as well as the environment in which the process will be used, and then test the process in graphical animation much as the actual physical system would be run . By being able to operate the system of moving and stationary parts, the designer is able to see in simulation how the system will perform under a wide variety of conditions. If, for example, undesired collisions occur between parts of the system, design changes can be easily made without the expense or potential danger of testing the physical system.

Muecas: A Multi-Sensor Robotic Head for Affective Human Robot Interaction and Imitation

PubMed Central

Cid, Felipe; Moreno, Jose; Bustos, Pablo; Núñez, Pedro

2014-01-01

This paper presents a multi-sensor humanoid robotic head for human robot interaction. The design of the robotic head, Muecas, is based on ongoing research on the mechanisms of perception and imitation of human expressions and emotions. These mechanisms allow direct interaction between the robot and its human companion through the different natural language modalities: speech, body language and facial expressions. The robotic head has 12 degrees of freedom, in a human-like configuration, including eyes, eyebrows, mouth and neck, and has been designed and built entirely by IADeX (Engineering, Automation and Design of Extremadura) and RoboLab. A detailed description of its kinematics is provided along with the design of the most complex controllers. Muecas can be directly controlled by FACS (Facial Action Coding System), the de facto standard for facial expression recognition and synthesis. This feature facilitates its use by third party platforms and encourages the development of imitation and of goal-based systems. Imitation systems learn from the user, while goal-based ones use planning techniques to drive the user towards a final desired state. To show the flexibility and reliability of the robotic head, the paper presents a software architecture that is able to detect, recognize, classify and generate facial expressions in real time using FACS. This system has been implemented using the robotics framework, RoboComp, which provides hardware-independent access to the sensors in the head. Finally, the paper presents experimental results showing the real-time functioning of the whole system, including recognition and imitation of human facial expressions. PMID:24787636

Automating High-Precision X-Ray and Neutron Imaging Applications with Robotics

DOE PAGES

Hashem, Joseph Anthony; Pryor, Mitch; Landsberger, Sheldon; ...

2017-03-28

Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. Themore » X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. In conclusion, this paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.« less

Piezoresistive pressure sensor array for robotic skin

NASA Astrophysics Data System (ADS)

Mirza, Fahad; Sahasrabuddhe, Ritvij R.; Baptist, Joshua R.; Wijesundara, Muthu B. J.; Lee, Woo H.; Popa, Dan O.

2016-05-01

Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, haptic communication is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots increase perception capabilities of their surrounding environments. Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability. In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.

Automating High-Precision X-Ray and Neutron Imaging Applications with Robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hashem, Joseph Anthony; Pryor, Mitch; Landsberger, Sheldon

Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. Themore » X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. In conclusion, this paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.« less

Results Of Automating A Photolithography Cell In A Clean Tunnel

NASA Astrophysics Data System (ADS)

June, David H.

1987-01-01

A prototype automated photobay was installed in an existing fab area utilizing flexible material handling techniques within a clean tunnel. The project objective was to prove design concepts of automated cassette-to-cassette handling within a clean tunnel that isolated operators from the wafers being processed. Material handling was by monorail track transport system to feed cassettes to pick and place robots. The robots loaded and unloaded cassettes of wafers to each of the various pieces of process equipment. The material handling algorithms, recipe downloading and statistical process control functions were all performed by custom software on the photobay cell controller.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

A neural framework for organization and flexible utilization of episodic memory in cumulatively learning baby humanoids.

PubMed

Mohan, Vishwanathan; Sandini, Giulio; Morasso, Pietro

2014-12-01

Cumulatively developing robots offer a unique opportunity to reenact the constant interplay between neural mechanisms related to learning, memory, prospection, and abstraction from the perspective of an integrated system that acts, learns, remembers, reasons, and makes mistakes. Situated within such interplay lie some of the computationally elusive and fundamental aspects of cognitive behavior: the ability to recall and flexibly exploit diverse experiences of one's past in the context of the present to realize goals, simulate the future, and keep learning further. This article is an adventurous exploration in this direction using a simple engaging scenario of how the humanoid iCub learns to construct the tallest possible stack given an arbitrary set of objects to play with. The learning takes place cumulatively, with the robot interacting with different objects (some previously experienced, some novel) in an open-ended fashion. Since the solution itself depends on what objects are available in the "now," multiple episodes of past experiences have to be remembered and creatively integrated in the context of the present to be successful. Starting from zero, where the robot knows nothing, we explore the computational basis of organization episodic memory in a cumulatively learning humanoid and address (1) how relevant past experiences can be reconstructed based on the present context, (2) how multiple stored episodic memories compete to survive in the neural space and not be forgotten, (3) how remembered past experiences can be combined with explorative actions to learn something new, and (4) how multiple remembered experiences can be recombined to generate novel behaviors (without exploration). Through the resulting behaviors of the robot as it builds, breaks, learns, and remembers, we emphasize that mechanisms of episodic memory are fundamental design features necessary to enable the survival of autonomous robots in a real world where neither everything can be known nor can everything be experienced.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

Pragmatic Frames for Teaching and Learning in Human–Robot Interaction: Review and Challenges

PubMed Central

Vollmer, Anna-Lisa; Wrede, Britta; Rohlfing, Katharina J.; Oudeyer, Pierre-Yves

2016-01-01

One of the big challenges in robotics today is to learn from human users that are inexperienced in interacting with robots but yet are often used to teach skills flexibly to other humans and to children in particular. A potential route toward natural and efficient learning and teaching in Human-Robot Interaction (HRI) is to leverage the social competences of humans and the underlying interactional mechanisms. In this perspective, this article discusses the importance of pragmatic frames as flexible interaction protocols that provide important contextual cues to enable learners to infer new action or language skills and teachers to convey these cues. After defining and discussing the concept of pragmatic frames, grounded in decades of research in developmental psychology, we study a selection of HRI work in the literature which has focused on learning–teaching interaction and analyze the interactional and learning mechanisms that were used in the light of pragmatic frames. This allows us to show that many of the works have already used in practice, but not always explicitly, basic elements of the pragmatic frames machinery. However, we also show that pragmatic frames have so far been used in a very restricted way as compared to how they are used in human–human interaction and argue that this has been an obstacle preventing robust natural multi-task learning and teaching in HRI. In particular, we explain that two central features of human pragmatic frames, mostly absent of existing HRI studies, are that (1) social peers use rich repertoires of frames, potentially combined together, to convey and infer multiple kinds of cues; (2) new frames can be learnt continually, building on existing ones, and guiding the interaction toward higher levels of complexity and expressivity. To conclude, we give an outlook on the future research direction describing the relevant key challenges that need to be solved for leveraging pragmatic frames for robot learning and teaching. PMID:27752242

Pragmatic Frames for Teaching and Learning in Human-Robot Interaction: Review and Challenges.

PubMed

Vollmer, Anna-Lisa; Wrede, Britta; Rohlfing, Katharina J; Oudeyer, Pierre-Yves

2016-01-01

One of the big challenges in robotics today is to learn from human users that are inexperienced in interacting with robots but yet are often used to teach skills flexibly to other humans and to children in particular. A potential route toward natural and efficient learning and teaching in Human-Robot Interaction (HRI) is to leverage the social competences of humans and the underlying interactional mechanisms. In this perspective, this article discusses the importance of pragmatic frames as flexible interaction protocols that provide important contextual cues to enable learners to infer new action or language skills and teachers to convey these cues. After defining and discussing the concept of pragmatic frames, grounded in decades of research in developmental psychology, we study a selection of HRI work in the literature which has focused on learning-teaching interaction and analyze the interactional and learning mechanisms that were used in the light of pragmatic frames. This allows us to show that many of the works have already used in practice, but not always explicitly, basic elements of the pragmatic frames machinery. However, we also show that pragmatic frames have so far been used in a very restricted way as compared to how they are used in human-human interaction and argue that this has been an obstacle preventing robust natural multi-task learning and teaching in HRI. In particular, we explain that two central features of human pragmatic frames, mostly absent of existing HRI studies, are that (1) social peers use rich repertoires of frames, potentially combined together, to convey and infer multiple kinds of cues; (2) new frames can be learnt continually, building on existing ones, and guiding the interaction toward higher levels of complexity and expressivity. To conclude, we give an outlook on the future research direction describing the relevant key challenges that need to be solved for leveraging pragmatic frames for robot learning and teaching.

A brittle star-like robot capable of immediately adapting to unexpected physical damage.

PubMed

Kano, Takeshi; Sato, Eiki; Ono, Tatsuya; Aonuma, Hitoshi; Matsuzaka, Yoshiya; Ishiguro, Akio

2017-12-01

A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star-a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion.

Escape and surveillance asymmetries in locusts exposed to a Guinea fowl-mimicking robot predator.

PubMed

Romano, Donato; Benelli, Giovanni; Stefanini, Cesare

2017-10-09

Escape and surveillance responses to predators are lateralized in several vertebrate species. However, little is known on the laterality of escapes and predator surveillance in arthropods. In this study, we investigated the lateralization of escape and surveillance responses in young instars and adults of Locusta migratoria during biomimetic interactions with a robot-predator inspired to the Guinea fowl, Numida meleagris. Results showed individual-level lateralization in the jumping escape of locusts exposed to the robot-predator attack. The laterality of this response was higher in L. migratoria adults over young instars. Furthermore, population-level lateralization of predator surveillance was found testing both L. migratoria adults and young instars; locusts used the right compound eye to oversee the robot-predator. Right-biased individuals were more stationary over left-biased ones during surveillance of the robot-predator. Individual-level lateralization could avoid predictability during the jumping escape. Population-level lateralization may improve coordination in the swarm during specific group tasks such as predator surveillance. To the best of our knowledge, this is the first report of lateralized predator-prey interactions in insects. Our findings outline the possibility of using biomimetic robots to study predator-prey interaction, avoiding the use of real predators, thus achieving standardized experimental conditions to investigate complex and flexible behaviours.

Control of intelligent robots in space

NASA Technical Reports Server (NTRS)

Freund, E.; Buehler, CH.

1989-01-01

In view of space activities like International Space Station, Man-Tended-Free-Flyer (MTFF) and free flying platforms, the development of intelligent robotic systems is gaining increasing importance. The range of applications that have to be performed by robotic systems in space includes e.g., the execution of experiments in space laboratories, the service and maintenance of satellites and flying platforms, the support of automatic production processes or the assembly of large network structures. Some of these tasks will require the development of bi-armed or of multiple robotic systems including functional redundancy. For the development of robotic systems which are able to perform this variety of tasks a hierarchically structured modular concept of automation is required. This concept is characterized by high flexibility as well as by automatic specialization to the particular sequence of tasks that have to be performed. On the other hand it has to be designed such that the human operator can influence or guide the system on different levels of control supervision, and decision. This leads to requirements for the hardware and software concept which permit a range of application of the robotic systems from telemanipulation to autonomous operation. The realization of this goal requires strong efforts in the development of new methods, software and hardware concepts, and the integration into an automation concept.

What are the preferred characteristics of a service robot for the elderly? A multi-country focus group study with older adults and caregivers.

PubMed

Bedaf, Sandra; Marti, Patrizia; De Witte, Luc

2017-11-10

This multi-perspective study focuses on how a service robot for the elderly should behave when interacting with potential users. An existing service robot and a scenario were used as a concrete case, which was discussed and analyzed during focus group sessions with older adults (n = 38), informal caregivers (n = 24), and professional caregivers (n = 35) in the Netherlands, France, and the United Kingdom. A total of seven topics-privacy, task execution, environment, appearance, behavior, visitors, and communication-were explored. The results showed that some of the characteristics mentioned were unique to a user group, but several were cross-cutting. Overall, potential users expected the service robot to be customizable in order to match the users' needs and preferences. Also, high expectations concerning its functioning and behavior were expressed, which sometimes could even be compared to the qualities of a human being. This emphasizes the complexity of service robot development for older adults, and highlights the need for a personalized and flexible solution. One size does not fit all, and specific attention should be paid to the development of the robot's social behavior and skills beyond a mere functional support for the person.

Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots

PubMed Central

Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; de Jesus Romero-Troncoso, Rene

2011-01-01

Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint’s angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA) is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot. PMID:22163850

Three-dimensional sensor system using multistripe laser and stereo camera for environment recognition of mobile robots

NASA Astrophysics Data System (ADS)

Kim, Min Young; Cho, Hyung Suck; Kim, Jae H.

2002-10-01

In recent years, intelligent autonomous mobile robots have drawn tremendous interests as service robots for serving human or industrial robots for replacing human. To carry out the task, robots must be able to sense and recognize 3D space that they live or work. In this paper, we deal with the topic related to 3D sensing system for the environment recognition of mobile robots. For this, the structured lighting is basically utilized for a 3D visual sensor system because of the robustness on the nature of the navigation environment and the easy extraction of feature information of interest. The proposed sensing system is classified into a trinocular vision system, which is composed of the flexible multi-stripe laser projector, and two cameras. The principle of extracting the 3D information is based on the optical triangulation method. With modeling the projector as another camera and using the epipolar constraints which the whole cameras makes, the point-to-point correspondence between the line feature points in each image is established. In this work, the principle of this sensor is described in detail, and a series of experimental tests is performed to show the simplicity and efficiency and accuracy of this sensor system for 3D the environment sensing and recognition.

Characterization of large-area pressure sensitive robot skin

NASA Astrophysics Data System (ADS)

Saadatzi, Mohammad Nasser; Baptist, Joshua R.; Wijayasinghe, Indika B.; Popa, Dan O.

2017-05-01

Sensorized robot skin has considerable promise to enhance robots' tactile perception of surrounding environments. For physical human-robot interaction (pHRI) or autonomous manipulation, a high spatial sensor density is required, typically driven by the skin location on the robot. In our previous study, a 4x4 flexible array of strain sensors were printed and packaged onto Kapton sheets and silicone encapsulants. In this paper, we are extending the surface area of the patch to larger arrays with up to 128 tactel elements. To address scalability, sensitivity, and calibration challenges, a novel electronic module, free of the traditional signal conditioning circuitry was created. The electronic design relies on a software-based calibration scheme using high-resolution analog-to-digital converters with internal programmable gain amplifiers. In this paper, we first show the efficacy of the proposed method with a 4x4 skin array using controlled pressure tests, and then perform procedures to evaluate each sensor's characteristics such as dynamic force-to-strain property, repeatability, and signal-to-noise-ratio. In order to handle larger sensor surfaces, an automated force-controlled test cycle was carried out. Results demonstrate that our approach leads to reliable and efficient methods for extracting tactile models for use in future interaction with collaborative robots.

A brittle star-like robot capable of immediately adapting to unexpected physical damage

PubMed Central

Sato, Eiki; Ono, Tatsuya; Aonuma, Hitoshi; Matsuzaka, Yoshiya; Ishiguro, Akio

2017-01-01

A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star—a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion. PMID:29308250

The Microcontroller: A Paradigm for a Robot Building Block

ERIC Educational Resources Information Center

Hammons, John; Deal, Walter F., III

2013-01-01

Microcontrollers are used extensively in transportation and communications technologies, in automobiles to monitor and control engine speed and performance so as to maximize fuel economy and efficiency, and by manufacturing industries to produce "smart" technology. The flexibility, imagination, and spirit that make these tiny devices so…

Human likeness: cognitive and affective factors affecting adoption of robot-assisted learning systems

NASA Astrophysics Data System (ADS)

Yoo, Hosun; Kwon, Ohbyung; Lee, Namyeon

2016-07-01

With advances in robot technology, interest in robotic e-learning systems has increased. In some laboratories, experiments are being conducted with humanoid robots as artificial tutors because of their likeness to humans, the rich possibilities of using this type of media, and the multimodal interaction capabilities of these robots. The robot-assisted learning system, a special type of e-learning system, aims to increase the learner's concentration, pleasure, and learning performance dramatically. However, very few empirical studies have examined the effect on learning performance of incorporating humanoid robot technology into e-learning systems or people's willingness to accept or adopt robot-assisted learning systems. In particular, human likeness, the essential characteristic of humanoid robots as compared with conventional e-learning systems, has not been discussed in a theoretical context. Hence, the purpose of this study is to propose a theoretical model to explain the process of adoption of robot-assisted learning systems. In the proposed model, human likeness is conceptualized as a combination of media richness, multimodal interaction capabilities, and para-social relationships; these factors are considered as possible determinants of the degree to which human cognition and affection are related to the adoption of robot-assisted learning systems.

How to prepare the patient for robotic surgery: before and during the operation.

PubMed

Lim, Peter C; Kang, Elizabeth

2017-11-01

Robotic surgery in the treatment of gynecologic diseases continues to evolve and has become accepted over the last decade. The advantages of robotic-assisted laparoscopic surgery over conventional laparoscopy are three-dimensional camera vision, superior precision and dexterity with EndoWristed instruments, elimination of operator tremor, and decreased surgeon fatigue. The drawbacks of the technology are bulkiness and lack of tactile feedback. As with other surgical platforms, the limitations of robotic surgery must be understood. Patient selection and the types of surgical procedures that can be performed through the robotic surgical platform are critical to the success of robotic surgery. First, patient selection and the indication for gynecologic disease should be considered. Discussion with the patient regarding the benefits and potential risks of robotic surgery and of complications and alternative treatments is mandatory, followed by patient's signature indicating informed consent. Appropriate preoperative evaluation-including laboratory and imaging tests-and bowel cleansing should be considered depending upon the type of robotic-assisted procedure. Unlike other surgical procedures, robotic surgery is equipment-intensive and requires an appropriate surgical suite to accommodate the patient side cart, the vision system, and the surgeon's console. Surgical personnel must be properly trained with the robotics technology. Several factors must be considered to perform a successful robotic-assisted surgery: the indication and type of surgical procedure, the surgical platform, patient position and the degree of Trendelenburg, proper port placement configuration, and appropriate instrumentation. These factors that must be considered so that patients can be appropriately prepared before and during the operation are described. Copyright © 2017. Published by Elsevier Ltd.

Position versus force control: using the 2-DOF robotic ankle trainer to assess ankle's motor control.

PubMed

Farjadian, Amir B; Nabian, Mohsen; Hartman, Amber; Corsino, Johnathan; Mavroidis, Constantinos; Holden, Maureen K

2014-01-01

An estimated of 2,000,000 acute ankle sprains occur annually in the United States. Furthermore, ankle disabilities are caused by neurological impairments such as traumatic brain injury, cerebral palsy and stroke. The virtually interfaced robotic ankle and balance trainer (vi-RABT) was introduced as a cost-effective platform-based rehabilitation robot to improve overall ankle/balance strength, mobility and control. The system is equipped with 2 degrees of freedom (2-DOF) controlled actuation along with complete means of angle and torque measurement mechanisms. Vi-RABT was used to assess ankle strength, flexibility and motor control in healthy human subjects, while playing interactive virtual reality games on the screen. The results suggest that in the task with 2-DOF, subjects have better control over ankle's position vs. force.

Sensor fusion V; Proceedings of the Meeting, Boston, MA, Nov. 15-17, 1992

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Topics addressed include 3D object perception, human-machine interface in multisensor systems, sensor fusion architecture, fusion of multiple and distributed sensors, interface and decision models for sensor fusion, computational networks, simple sensing for complex action, multisensor-based control, and metrology and calibration of multisensor systems. Particular attention is given to controlling 3D objects by sketching 2D views, the graphical simulation and animation environment for flexible structure robots, designing robotic systems from sensorimotor modules, cylindrical object reconstruction from a sequence of images, an accurate estimation of surface properties by integrating information using Bayesian networks, an adaptive fusion model for a distributed detection system, multiple concurrent object descriptions in support of autonomous navigation, robot control with multiple sensors and heuristic knowledge, and optical array detectors for image sensors calibration. (No individual items are abstracted in this volume)

Package analysis of 3D-printed piezoresistive strain gauge sensors

NASA Astrophysics Data System (ADS)

Das, Sumit Kumar; Baptist, Joshua R.; Sahasrabuddhe, Ritvij; Lee, Woo H.; Popa, Dan O.

2016-05-01

Poly(3,4-ethyle- nedioxythiophene)-poly(styrenesulfonate) or PEDOT:PSS is a flexible polymer which exhibits piezo-resistive properties when subjected to structural deformation. PEDOT:PSS has a high conductivity and thermal stability which makes it an ideal candidate for use as a pressure sensor. Applications of this technology includes whole body robot skin that can increase the safety and physical collaboration of robots in close proximity to humans. In this paper, we present a finite element model of strain gauge touch sensors which have been 3D-printed onto Kapton and silicone substrates using Electro-Hydro-Dynamic ink-jetting. Simulations of the piezoresistive and structural model for the entire packaged sensor was carried out using COMSOLR , and compared with experimental results for validation. The model will be useful in designing future robot skin with predictable performances.

Case Studies of a Robot-Based Game to Shape Interests and Hone Proportional Reasoning Skills

ERIC Educational Resources Information Center

Alfieri, Louis; Higashi, Ross; Shoop, Robin; Schunn, Christian D.

2015-01-01

Background: Robot-math is a term used to describe mathematics instruction centered on engineering, particularly robotics. This type of instruction seeks first to make the mathematics skills useful for robotics-centered challenges, and then to help students extend (transfer) those skills. A robot-math intervention was designed to target the…

Robotics in medicine

NASA Astrophysics Data System (ADS)

Kuznetsov, D. N.; Syryamkin, V. I.

2015-11-01

Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

Application of model reference adaptive control to a flexible remote manipulator arm

NASA Technical Reports Server (NTRS)

Meldrum, D. R.; Balas, M. J.

1986-01-01

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Development of inspection robots for bridge cables.

PubMed

Yun, Hae-Bum; Kim, Se-Hoon; Wu, Liuliu; Lee, Jong-Jae

2013-01-01

This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented.

An overview of artificial intelligence and robotics. Volume 2: Robotics

NASA Technical Reports Server (NTRS)

Gevarter, W. B.

1982-01-01

This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback.

PubMed

Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico

2014-01-01

Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle's ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

Soft robotic arm inspired by the octopus: I. From biological functions to artificial requirements.

PubMed

Margheri, L; Laschi, C; Mazzolai, B

2012-06-01

Octopuses are molluscs that belong to the group Cephalopoda. They lack joints and rigid links, and as a result, their arms possess virtually limitless freedom of movement. These flexible appendages exhibit peculiar biomechanical features such as stiffness control, compliance, and high flexibility and dexterity. Studying the capabilities of the octopus arm is a complex task that presents a challenge for both biologists and roboticists, the latter of whom draw inspiration from the octopus in designing novel technologies within soft robotics. With this idea in mind, in this study, we used new, purposively developed methods of analysing the octopus arm in vivo to create new biologically inspired design concepts. Our measurements showed that the octopus arm can elongate by 70% in tandem with a 23% diameter reduction and exhibits an average pulling force of 40 N. The arm also exhibited a 20% mean shortening at a rate of 17.1 mm s(-1) and a longitudinal stiffening rate as high as 2 N (mm s)(-1). Using histology and ultrasounds, we investigated the functional morphology of the internal tissues, including the sinusoidal arrangement of the nerve cord and the local insertion points of the longitudinal and transverse muscle fibres. The resulting information was used to create novel design principles and specifications that can in turn be used in developing a new soft robotic arm.

Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach

PubMed Central

Aoi, Shinya; Tanaka, Takahiro; Fujiki, Soichiro; Funato, Tetsuro; Senda, Kei; Tsuchiya, Kazuo

2016-01-01

Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots. PMID:27444746

Multi-Robot Assembly Strategies and Metrics.

PubMed

Marvel, Jeremy A; Bostelman, Roger; Falco, Joe

2018-02-01

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.