Current Issue : July - September Volume : 2019 Issue Number : 3 Articles : 5 Articles
This paper describes a recording and playback system developed using a da Vinci\nStandard Surgical System and research kit. The system records stereo laparoscopic videos, robot\narm joint angles, and surgeonâ??console interactions in a synchronized manner. A user can then,\non-demand and at adjustable speeds, watch stereo videos and feel recorded movements on the hand\ncontrollers of entire procedures or sub procedures. Currently, there is no reported comprehensive\nability to capture expert surgeon movements and insights and reproduce them on hardware\ndirectly. This system has important applications in several areas: (1) training of surgeons, (2)\ncollection of learning data for the development of advanced control algorithms and intelligent\nautonomous behaviors, and (3) use as a â??black boxâ? for retrospective error analysis. We show a\nprototype of such an immersive system on a clinically-relevant platform along with its recording\nand playback fidelity. Lastly, we convey possible research avenues to create better systems for\ntraining and assisting robotic surgeons....
This study seeks to advance technologies pertaining to integration of low-cost collaborative robots to perform scanning operations\nwhere moderate accuracy is needed. Part inspection is an almost universal aspect of manufacturing which traditionally requires\nhuman observation. Advanced metrology techniques, such as scanning, allow greater inspection capabilities but still require a\nhuman operator and require significant capital investment.Using off-the-shelf line scanners in conjunction with small collaborative\nrobots can completely automate the inspection process while minimizing cost. This project seeks to investigate the feasibility of\nutilizing a UR5 robot with a Keyence line scanner for scanning inspection in an industrial setting. Data from the line scanner is\ngathered, along with the position and orientation of the end-effector of the robot. The data are collected, combined, and analyzed\nin MATLAB to generate surface geometry. A user interface will allow viewing of the specific points gathered, expedite product\ninspection during manufacturing, andinvolve humans inhigher skill-based decision-making tasks. Aprofessional grade scan of the\ntest part is used for comparison of experimentally gathered data. Feasibility is assessed on cost, effectiveness, ease of programming\nand operation, and development difficulty. In the preliminary result, it was found that the UR5 and line scanner provide a cheap\nand easily programmable and automated solution to line inspection.However, effectiveness and difficulty of development may pose\nchallenges that require future research....
Soft-bodied animals, such as earthworms, are capable of contorting their body to squeeze\nthrough narrow spaces, create or enlarge burrows, and move on uneven ground. In many\napplications such as search and rescue, inspection of pipes and medical procedures, it may be useful\nto have a hollow-bodied robot with skin separating inside and outside. Textiles can be key to such\nskins. Inspired by earthworms, we developed two new robots: FabricWorm and MiniFabricWorm.\nWe explored the application of fabric in soft robotics and how textile can be integrated along with\nother structural elements, such as three-dimensional (3D) printed parts, linear springs, and flexible\nnylon tubes. The structure of FabricWorm consists of one third the number of rigid pieces as\ncompared to its predecessor Compliant Modular Mesh Worm-Steering (CMMWorm-S), while the\nstructure of MiniFabricWorm consists of no rigid components. This article presents the design of\nsuch a mesh and its limitations in terms of structural softness. We experimentally measured the\nstiffness properties of these robots and compared them directly to its predecessors. FabricWorm and\nMiniFabricWorm are capable of peristaltic locomotion with a maximum speed of 33 cm/min (0.49\nbody-lengths/min) and 13.8 cm/min (0.25 body-lengths/min), respectively....
Aiming at high performance requirements of snake-like robots under complex environment, we present a control system of our\nproposed design which utilizes a STM32 as the core processor and incorporates real-time image acquisition, multisensor fusion,\nand wireless communication technology. We use Solidworks to optimize the design of head, body, and tail joint structure of the\nsnake-like robot. The system is a real-time system with a simple-circuit structure and multidegrees of freedom are attributed to\nthe flawless design of control system and mechanical structure.We propose a controlmethod based on our simplified CPG model.\nMeanwhile, we improve Serpenoid control function and then investigate howdifferent parameters affect the motion gait in terms of\nADAMS emulation. Finally, experimental results show that the snake-like robot can tackle challenging problems including multiinformation\nacquisition and processing, multigait stability, and autonomous motion and further verify the reliability and accuracy\nof the system in our combinatory experiments....
The determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize\nreachable workspace while avoiding singular configurations. Stewart Platform (SP) mechanism is one of the widely known PRS\nand it is used to demonstrate the proposed technique. In the related literature, GCI (Global Condition Index) and LCI (Local\nCondition Index) are the commonly used performance indexes which give a measure about the dexterity of a mechanism. In this\nwork, Sequential Quadratic Programming (SQP)method is used to optimize kinematic parameters of a 6dof 3x3UPUSP in order to\nreachmaximum workspace satisfying small condition numbers.The radius ofmobile and base platforms and the lengths of the legs\nused in the platform are chosen as kinematic parameters to be optimized in amultiobjective optimization problem.Optimization is\nperformed at different stages and the number of optimized kinematic parameters is increased at each level. In conclusion, optimizing\nselected kinematic parameters at once by using SQP technique presents the best results for the PRS....
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