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Distributed Diagnosis in Formations of Mobile Robots

Matthew J. Daigle, Xenofon D. Koutsoukos, Gautam Biswas
2007 IEEE Transactions on robotics  
The approach is based on a bond graph modeling framework that can deal with multiple sensor types and isolate process, sensor, and actuator faults.  ...  To overcome these problems, we present a distributed, model-based, qualitative fault diagnosis approach for formations of mobile robots.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous reviewers for their constructive comments in improving the technical quality and presentation of this paper.  ... 
doi:10.1109/tro.2007.895081 fatcat:frlif73vpfaapgeb25hzapakny

Pneumatic Actuators for Climbing, Walking and Serpentine Robots [chapter]

Grzegorz Granosik
2007 Bioinspiration and Robotics Walking and Climbing Robots  
. 28 Block diagram of the Simplified Proportional Position and Stiffness (SPPS) system with zero air consumption at steady state Figure 29 . 29 Flow chart for the valve control subsystem .  ...  We tried to model a multi-directional planar robot based directly on the original structure of caterpillar body and by taking advantage of natural elasticity of pneumatic bellows and muscles.  ...  Bioinspiration and Robotics Walking and Climbing Robots Nature has always been a source of inspiration and ideas for the robotics community.  ... 
doi:10.5772/5517 fatcat:jsd5vzizmva65miaahn7dcypfe

Scalable and Robust Fabrication, Operation, and Control of Compliant Modular Robots

Nialah Jenae Wilson, Steven Ceron, Logan Horowitz, Kirstin Petersen
2020 Frontiers in Robotics and AI  
Following this philosophy, we present the first iteration of a new framework toward a scalable and robust, planar, modular robot collective capable of gradient tracking in cluttered environments.  ...  This dedicated focus on system-level robustness over all parts of a complete design cycle, advances the state-of-the-art robots capable of long-term exploration.  ...  Kevin O'Brien for their help in the early stages of the hardware design.  ... 
doi:10.3389/frobt.2020.00044 pmid:33501212 pmcid:PMC7805808 fatcat:h52jjvr3fvfedniuxsy7hyag5q

Modular soft robotic microdevices for dexterous biomanipulation

Berna Özkale, Raquel Parreira, Ahmet Bekdemir, Lucio Pancaldi, Ece Özelçi, Claire Amadio, Murat Kaynak, Francesco Stellacci, David J. Mooney, Mahmut Selman Sakar
2019 Lab on a Chip  
We present a methodology for building biologically inspired, soft microelectromechanical systems (MEMS) devices.  ...  for biomedical interfacing compared to other robotic approaches.  ...  The lower graph shows the laser input over time. (e) Relaxation time constant (τ) with respect to the square of radius in the fully swollen state.  ... 
doi:10.1039/c8lc01200h pmid:30714604 pmcid:PMC6394202 fatcat:nekbq7elozel5jnspmvwppbucm

Design, manufacture, and application to space robotics of distributed piezoelectric film sensors

1992 Journal of Guidance Control and Dynamics  
Ter If the excitation frequency w is close to a lightly damped resonant frequency w;, then from Eqs. (10) and (14) we have the foilowing approximations for the steady-state peak-to- peak amplitudes of  ...  ‘Schmitz, E., ‘‘Modelling and Control of a Planar Manipulator with an Elastic Forearm,’’ Proceedings of the 1989 IEEE Conference on Robotics and Automation, Vol. 2, IEEE Computer Society Press, Washington  ... 
doi:10.2514/3.20849 fatcat:btzh4vcohnbuxlp65e5z46lpje

Piezoelectric polymer tactile sensor arrays for robotics

D.G. Pirolo, E.S. Kolesar
1989 Proceedings of the IEEE National Aerospace and Electronics Conference  
Two of the six were thermal poled and evaluated again for piezoelectric activity. Each PPTSA contained a 5 x 5 array of identical, (3 mm x 3 mm) discrete sensors.  ...  This study resulted in the design and fabrication of 16 piezoelectric polymer tactile sensor arrays (PPTSAs) for robotics. Six of these PPTSAs were evaluated for piezoelectric activity.  ...  Key to measurement states:[1] Pre-load,[2] Load application, [3] Steady-state response,[4) Load removal, and [5)Post-load.)  ... 
doi:10.1109/naecon.1989.40351 fatcat:qq6impnrjbgelgfifxdqhvrhwq

Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator

Xinjian Niu, Chifu Yang, Bowen Tian, Xiang Li, Junwei Han
2019 Mathematical Problems in Engineering  
According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis.  ...  In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy.  ...  Sunil K Agrawal for the help of putting forward the concept of this robotic structure.  ... 
doi:10.1155/2019/1835308 fatcat:duigpmsjmzfjrhzklyfe3pvjme

Running beyond the bio-inspired regime

Duncan W. Haldane, Ronald S. Fearing
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Our findings show that although it is possible to further increase the maximum velocity of a legged robot with the simple strategy of increasing stride frequency, considerations must be made for the energetic  ...  The X2-VelociRoACH is a 54 gram experimental legged robot which was developed to test hypotheses about running with unnaturally high stride frequencies.  ...  ACKNOWLEDGMENTS Thanks to the members of the Biomimetic Millisystems Lab for their helpful comments and discussions.  ... 
doi:10.1109/icra.2015.7139828 dblp:conf/icra/HaldaneF15 fatcat:o7542ip46rbnjm7gpeqpimn4yy

Mechatronics by analogy and application to legged locomotion

Victor Ragusila, M. Reza Emami
2016 Mechatronics (Oxford)  
A modular bond-graph representation of the system is determined, and subsequently simplified using two simplification algorithms.  ...  The application of the MbA methodology to the design of a monopod robot leg, called the Linkage Leg, is also studied.  ...  State of the art passive dynamic robots have an upper body and knees and are no longer planar [36] [37] .  ... 
doi:10.1016/j.mechatronics.2016.02.007 fatcat:mblgy6ycanconhh5mp45kzctfi

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly [article]

Morteza Daneshmand, Fatemeh Noroozi, Ciprian Corneanu, Fereshteh Mafakheri, Paolo Fiorini
2021 arXiv   pre-print
In this paper we try to alleviate these shortcomings by comprehensively investigating the state-of-the-art in robotic assembly and disassembly.  ...  We consider and review various aspects of manufacturing and remanufacturing frameworks while particularly focusing on their desirability for supporting a circular economy.  ...  For joining different parts of a product, mechanical fastening, adhesive bonding, soldering, brazing and welding are among the most common types of approaches utilized.  ... 
arXiv:2106.07270v1 fatcat:xlp232rvsvgitgpsvn64y6oh6i

An organosynthetic dynamic heart model with enhanced biomimicry guided by cardiac diffusion tensor imaging

Clara Park, Yiling Fan, Gregor Hager, Hyunwoo Yuk, Manisha Singh, Allison Rojas, Aamir Hameed, Mossab Saeed, Nikolay V. Vasilyev, Terry W. J. Steele, Xuanhe Zhao, Christopher T. Nguyen (+1 others)
2020 Science Robotics  
soft robotic actuators in a synthetic myocardial band.  ...  In summary, we demonstrate a unique approach fabricating a biomimetic heart model with faithful representation of cardiac motion and endocardial tissue anatomy.  ...  Acknowledgments: We thank A. Greer for illustration, S. Hua for initial help with actuator fabrication, J. Weaver for help with the microCT imaging, and A. F.  ... 
doi:10.1126/scirobotics.aay9106 pmid:33022595 fatcat:7ftktazdrfbw3phu57zpnjpyli

Modelling and Simulation of a Manipulator with Stable Viscoelastic Grasping Incorporating Friction

A. Khurshid, Z. Khan, V. Chacko, A. Ghafoor, M.A. Malik, Y. Ayaz
2016 Tribology in Industry  
These results of the simulation are then used to develop a prototype of the proposed gripper. Bond graph model is experimentally validated by using the prototype.  ...  The interaction of the viscoelastic gripper of the arm with objects is analysed by using Bond Graph modelling method. Simulations were conducted for several material parameters.  ...  Acknowledgement The authors acknowledge the support of Air University and National University of Sciences and Technology, Islamabad, Pakistan.  ... 
doaj:f31cdb8a235c4b489a6da9ecdc47a19d fatcat:4v7iahbrurddfow3sdzrln5xp4

Position Control for Soft Actuators, Next Steps toward Inherently Safe Interaction

Dongshuo Li, Vaishnavi Dornadula, Kengyu Lin, Michael Wehner
2021 Electronics  
First, we present a passive impedance approach, which employs restriction to pneumatic channels to regulate the inflation/deflation rate of a pneumatic actuator and eliminate the overshoot/oscillation  ...  In this approach, we use the continuum deformation characteristic of soft actuators as an advantage for control rather than a problem to be minimized.  ...  Image shows vertical (Y) displacement of the most distal marker. Here, zero is reported as the steady-state deflated height of the marker.  ... 
doi:10.3390/electronics10091116 fatcat:s2xq2nun7vebjec5b3enagt6gy

Partially Observable Markov Decision Processes With Reward Information: Basic Ideas and Models

Xi-Ren Cao, Xianping Guo
2007 IEEE Transactions on Automatic Control  
In a partially observable Markov decision process (POMDP), if the reward can be observed at each step, then the observed reward history contains information on the unknown state.  ...  This information, in addition to the information contained in the observation history, can be used to update the state probability distribution.  ...  For example, we know that when the robot hits a wall we can hear a beep. Suppose that the a priori probabilities of the states are p 0 (L), p 0 (M ), and p 0 (R), respectively.  ... 
doi:10.1109/tac.2007.894520 fatcat:eqscs76qpvhndcdsirro66qcxi

Mammalian electrophysiology on a microfluidic platform

C. Ionescu-Zanetti, R. M. Shaw, J. Seo, Y.-N. Jan, L. Y. Jan, L. P. Lee
2005 Proceedings of the National Academy of Sciences of the United States of America  
The planar patch approach has im-proved measurement throughput, but it relies on elaborate robotic machinery for electrolyte and reagent delivery.  ...  For oocyte electrophysiology, the planar pores are arrayed with a distance of Ϸ1 mm between patch sites, requiring additional fabrication, alignment, and bonding steps to obtain a working device with integrated  ...  This work was supported by National Institutes of Health Grant MH65334 and American Heart Association Grant 0475022N. Y.-N.J. and L.Y.J. are Howard Hughes Medical Institute Investigators.  ... 
doi:10.1073/pnas.0503418102 pmid:15967996 pmcid:PMC1166618 fatcat:puqyzai2ljczjleoeqb56e5kkm
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