Soft Robots For Operation On Unknown Surfaces In Extreme Environments
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Soft Robots For Operation On Unknown Surfaces In Extreme Environments
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Author : Paul E. Glick
language : en
Publisher:
Release Date : 2021
Soft Robots For Operation On Unknown Surfaces In Extreme Environments written by Paul E. Glick and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
The field of soft robotics, through the use of intrinsic compliance and embodied intelligence, promises to extend robotic applications beyond factory floors and industrial automation. However, this added compliance can comes with a loss in strength or mechanical performance. This thesis investigates how to leverage the compliance and adaptability of soft robots for use in extreme environments without a reduction in strength. Extreme environments reward embodied intelligence since protecting the sensors, actuators, batteries, and computers required for traditional control is particularly challenging. This topic is addressed through two main tasks: the use of under-actuated grippers employing controllable adhesives and growing vine robots that leverage their surrounding environment for reinforcement. These grippers can use adhesives to distribute shear forces along the length of an arbitrary target object, relying on the soft under-actuated gripper to conform gently around the object. Similarly, the growing vine robots can harness the surrounding environments to conform to preexisting pathways and help support payloads. Ultimately this work shows that it is possible to simplify robotic control without sacrificing performance by creating designs that work with rather than against these unpredictable and challenging environments.
Robotics In Extreme Environments
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Author : Chie Takahashi
language : en
Publisher: Frontiers Media SA
Release Date : 2021-11-01
Robotics In Extreme Environments written by Chie Takahashi and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-01 with Technology & Engineering categories.
Topic editor Rustam Stolkin is director of A.R.M Robotics Ltd. All other topic editors declare no competing interests with regards to the Research Topic subject.
Tailoring Artificial Muscles For The Design And Development Of Soft Underwater Robots
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Author : Yara Almubarak
language : en
Publisher:
Release Date : 2021
Tailoring Artificial Muscles For The Design And Development Of Soft Underwater Robots written by Yara Almubarak and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with Artificial limbs categories.
Soft robots made out of highly deformable materials have many degrees of freedom similar to animals found in nature, and such robots are essential for numerous applications in harsh environments. Recently, soft robots are favored over rigid structures for their highly compliant material, high deformation properties at low forces and ability to operate in difficult (high pressure) environments. However, it is challenging to fabricate complex designs that satisfy application constraints due to the combined effects of material properties, actuation method, and structural geometry on the performance of the soft robot. Therefore, a robot must be comprised of both rigid and soft materials to achieve complex body morphologies. Specifically, underwater exploration or inspection requires suitable robotic systems capable of maneuvering, manipulating objects, and operating untethered in complex environmental conditions. Traditional robots have been used to perform many tasks underwater. However, they have limited degrees of freedom, limited manipulation capabilities, and have disruptive interactions with aquatic life. Research in biomimetic soft robotics seeks to incorporate the natural flexibility and agility of aquatic species into man-made technologies to improve its current capabilities. In this dissertation, we present different robotic structures for use in various exploratory and transportation missions. First, we start by characterizing unconventional artificial muscles used as the main actuators in the robots such as the twisted and coiled polymer fishing line (TCPFL) and NiTi shape memory alloy (SMA) actuators. As compared to current conventional actuators such as stepper motors and pnuematic systems, artificial muscles play a vital role in soft robotics due to their compliance, high strain, light weight, and low noise. Second, we show the design and testing of a fully functioning jellyfish like robot (Kryptojelly) that is capable of performing multidirectional swimming utilizing NiTi SMA actuators. Kryptojelly is a 260 mm bell diameter robot, constructed from a 3D printed rigid structure and a soft silicone bell that closely mimics the biological locomotion and appearance of a jellyfish species known as Chrysaora which has long tentacles. Third, an octopus-like robot (Kraken) having a 250 mm size dome, is presented that utilizes a hybrid actuation technology consisting of stepper motors and twisted and coiled polymer fishing line muscles (TCPFL). Kraken is equipped with interchangeable arm configurations that are actuated by both TCP muscles and stepper motors. We show Kraken operating wirelessly underwater in a swimming pool. Its soft arm structure helps grasp irregular objects underwater delicately. Fourth, we present a functionally graded (FGM) multidirectional 3D printed joint like soft robotic structure. The 3D printed structure is made of three rigid ball and socket joints connected in series, and actuated by twisted and coiled polymer fishing line (TCPFL) actuators, which are confined in the FGM accordion shaped channels. The FGM multidirectional joint is characterized and is shown performing different functionalities silently such as crawling, rolling, and bending while a camera is mounted at the tip of the structure. Moreover, experimental results of Kryptojelly performing underwater transportation tasks is demonstrated by picking a 70g object through electromagnet atatched to the robot. Swimming speeds of the robot while carrying trasporting tools are analyzed and presented, which is an effort to use soft robots in underwater repair tasks. Lastly, a simplified predictive model of the fishing line artificial muscles based on heat transfer is presented to estimate the actuation temperature and strain considering material properties, geometry and input parameters and validating the model results with experimental results. The work presented in this dissertation attempts to address the fundamental problems in actuation and design of soft robots and shows the great potential of employing artificial actuators in biomimetic soft robots, which can be deployed for eco-friendly exploratory missions or other applications.
Actuation And Sensing In Soft Robots
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Author : Narahari Srikanth Iyengar
language : en
Publisher:
Release Date : 2020
Actuation And Sensing In Soft Robots written by Narahari Srikanth Iyengar and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
Spacesuits are important garments that are necessary to protect humans from the harsh environment of space. This includes protection from vacuum, extreme temperatures, radiation, space dust and so on. These spacesuits are pressurized and composed of 14 layers of material -making them bulky and difficult to move in. The strain of performing tasks for long hours in these suits causes fatigue and injuries, thus leading to suboptimal performances that can impact mission success. To address these issues, we propose a soft-robotic knee actuator that can provide an additional torque to aid in the bending of the knee. This exoskeletal actuator is composed of an elastomeric polyurethane (Carbon EPU 40) that can be powered by the pressure that exists within the spacesuit. It is soft, conformable and does not contain any rigid parts. The lack of a distal support system to power it makes it easy to implement and safe to operate. The biomechanical analysis of the EMU spacesuit with our soft-robotic actuator demonstrates the benefits that can be provided to the astronauts. Sensory organs enable us to interact with the environment. The human skin is the largest sensory organ, in terms of surface area, spanning 1.5 - 2 square meters in an average human adult. It covers the entire body and provides a wealth of information about the environment. We hypothesize that a synthetic skin capable of multi-modal sensing is a necessary component for a robot to interact with its environment with the same dexterity as animals. The synthetic skin we composed is a multilayer system embedded with optical waveguides that can sense external stimuli such as force, location, temperature and gestures. We use machine learning to model an unknown system and interpret data from the waveguides to enable the development of force, location, temperature and gestures models. As a proof of concept, we have developed a prosthetic arm composed of this synthetic skin that can detect and differentiate between multiple tactile stimuli such as force and temperature. Our skin may find applications in robotic skins and soft orthotics.
Probabilistic Robotics
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Author : Sebastian Thrun
language : en
Publisher: MIT Press
Release Date : 2005-08-19
Probabilistic Robotics written by Sebastian Thrun and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-08-19 with Technology & Engineering categories.
An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.
The Next Step
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Author :
language : en
Publisher: Bbva-Open Mind
Release Date : 2017-03
The Next Step written by and has been published by Bbva-Open Mind this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-03 with Science categories.
The Next Step: Exponential Life presents essays on the potential of what are known as "exponential technologies"--those whose development is accelerating rapidly, such as robotics, artificial intelligence or industrial biology--considering their economic, social, environmental, ethical and even ontological implications. This book's premise is that humanity is at the beginning of a technological revolution that is evolving at a much faster pace than earlier ones--a revolution is so far-reaching it is destined to generate transformations we can only begin to imagine. Contributors include Aubrey D.N.J. de Grey, Jonathan Rossiter, Joseph A. Paradiso, Kevin Warwick, Huma Shah, Ramón López de Mántaras, Helen Papagiannis, Jay David Bolter, Maria Engberg, Robin Hanson, Stuart Russell, Darrell M. West, Francisco González, Chris Skinner, Steven Monroe Lipkin, S. Matthew Liao, James Giordano, Luciano Floridi, Seán Ó Héigeartaigh and Martin Rees.
Electroactive Polymers For Robotic Applications
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Author : Kwang J. Kim
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-01-17
Electroactive Polymers For Robotic Applications written by Kwang J. Kim and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-01-17 with Technology & Engineering categories.
This book covers the fundamental properties, modeling, and demonstration of Electroactive polymers in robotic applications. It particularly details artificial muscles and sensors. In addition, the book discusses the properties and uses in robotics applications of ionic polymer–metal composite actuators and dielectric elastomers.
Adaptive Mobile Robotics
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Author : Abul K. M. Azad
language : en
Publisher: World Scientific
Release Date : 2012
Adaptive Mobile Robotics written by Abul K. M. Azad and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with Technology & Engineering categories.
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Surgical Robotics
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Author : Jacob Rosen
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-01-15
Surgical Robotics written by Jacob Rosen and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-01-15 with Technology & Engineering categories.
Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.
Emergency And Disaster Management Concepts Methodologies Tools And Applications
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Author : Management Association, Information Resources
language : en
Publisher: IGI Global
Release Date : 2018-07-06
Emergency And Disaster Management Concepts Methodologies Tools And Applications written by Management Association, Information Resources and has been published by IGI Global this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-07-06 with Technology & Engineering categories.
In a world of earthquakes, tsunamis, and terrorist attacks, emergency response plans are crucial to solving problems, overcoming challenges, and restoring and improving communities that have been affected by these catastrophic events. Although the necessity for quick and efficient aid is understood, researchers and professionals continue to strive for the best practices and methodologies to properly handle such significant events. Emergency and Disaster Management: Concepts, Methodologies, Tools, and Applications is an innovative reference source for the latest research on the theoretical and practical components of initiating crisis management and emergency response. Highlighting a range of topics such as preparedness and assessment, aid and relief, and the integration of smart technologies, this multi-volume book is designed for emergency professionals, policy makers, practitioners, academicians, and researchers interested in all aspects of disaster, crisis, and emergency studies.
