Study on Control Methodology of Compliant Manipulation Utilizing Additional Contact with Environment

制度:新 ; 報告番号:甲3297号 ; 学位の種類:博士(工学) ; 授与年月日:2011/2/25 ; 早大学位記番号:新560

How to Deploy a Wire with a Robotic Platform: Learning from Human Visual Demonstrations

In this paper, we address the problem of deploying a wire along a specific path selected by an unskilled user. The robot has to learn the selected path and pass a wire through the peg table by using the same tool. The main contribution regards the hybrid use of Cartesian positions provided by a learning procedure and joint positions obtained by inverse kinematics and motion planning. Some constraints are introduced to deal with non-rigid material without breaks or knots. We took into account a series of metrics to evaluate the robot learning capabilities, all of them over performed the targets

Nonprehensile Dynamic Manipulation: A Survey

Nonprehensile dynamic manipulation can be reason- ably considered as the most complex manipulation task. It might be argued that such a task is still rather far from being fully solved and applied in robotics. This survey tries to collect the results reached so far by the research community about planning and control in the nonprehensile dynamic manipulation domain. A discussion about current open issues is addressed as well

Doctor of Philosophy

dissertationIn this dissertation, we present methods for intuitive telemanipulation of manipulators that use piezoelectric stick-slip actuators (PSSAs). Commercial micro/nano-manipulators, which utilize PSSAs to achieve high precision over a large workspace, are typically controlled by a human operator at the joint level, leading to unintuitive and time-consuming telemanipulation. Prior work has considered the use of computer-vision-feedback to close a control loop for improved performance, but computer-vision-feedback is not a viable option for many end users. We discuss how open-loop models of the micro/nano-manipulator can be used to achieve desired end-effector movements, and we explain the process of obtaining open-loop models. We propose a rate-control telemanipulation method that utilizes the obtained model, and we experimentally quantify the effectiveness of the method using a common commercial manipulator (the Kleindiek MM3A). The utility of open-loop control methods for PSSAs with a human in the loop depends directly on the accuracy of the open-loop models of the manipulator. Prior research has shown that modeling of piezoelectric actuators is not a trivial task as they are known to suffer from nonlinearities that degrade their performance. We study the effect of static (non-inertial) loads on a prismatic and a rotary PSSA, and obtain a model relating the step size of the actuator to the load. The actuator-specific parameters of the model are calibrated by taking measurements in specific configurations of the manipulator. Results comparing the obtained model to experimental data are presented. PSSAs have properties that make them desirable over traditional DC-motor actuators for use in retinal surgery. We present a telemanipulation system for retinal surgery that uses a full range of existing disposable instruments. The system uses a PSSA-based manipulator that is compact and light enough that it could reasonably be made head-mounted to passively compensate for head movements. Two mechanisms are presented that enable the system to use existing disposable actuated instruments, and an instrument adapter enables quick-change of instruments during surgery. A custom stylus for a haptic interface enables intuitive and ergonomic telemanipulation of actuated instruments. Experimental results with a force-sensitive phantom eye show that telemanipulated surgery results in reduced forces on the retina compared to manual surgery, and training with the system results in improved performance. Finally, we evaluate operator efficiency with different haptic-interface kinematics for telemanipulated retinal surgery. Surgical procedures of the retina require precise manipulation of instruments inserted through trocars in the sclera. Telemanipulated robotic systems have been developed to improve retinal surgery, but there is not a unique mapping of the motions of the surgeon's hand to the lower-dimensional motions of the instrument through the trocar. We study operator performance during a precision positioning task on a force-sensing phantom retina, reminiscent of telemanipulated retinal surgery, with three common haptic-interface kinematics implemented in software on a PHANTOM Premium 6DOF haptic interface. Results from a study with 12 human subjects show that overall performance is best with the kinematics that represent a compact and inexpensive option, and that subjects' subjective preference agrees with the objective performance results

The role of e-government services on intention to use with mediator effect of citizens’ satisfaction in the UAE

Intention to use E-Government services by citizens of United Arab Emirates (UAE) considered as vital element in the use of E-Government services. Previous studies were not focused on citizens’ intention to use E-Governmnet services hence, has highlighted the high need of the intention to use E-Government services and its indicators including service quality, system quality, information quality and cost to enhance the citizens’ intention to use E-Government services. The aim of this research is to empirically examine the citizens’ intention to use E-Government services in traffic police department in UAE. Moreover, this study identified the theoretical issues related to E-Government services and citizens intention to use E-Government with citizen’s satisfaction. The aim of the proposed conceptual framework is to determine the role of E-Government towards citizens’ intention to use, along with citizens satisfaction as mediator in UAE. In addition, the study utilizes citizen’s satisfaction as mediating variables in the effect of service quality, system quality, information quality and cost towards intention to use E-Government services. A well-structured questionnaire were used and also validates the proposed conceptual framework using a quantitative approach with the data collected from 380 respondents from the users of E-Government services of traffic police department. This study is carried out through an empirical review of literature and development of hypotheses therefore all of the hypothesis including mediator’s hypothesis of the formulated framework were proved to be positive and supported. The findings suggest that E-Government services including service quality, system quality, information quality and cost has a significant positive impact on intention to use E-Government services. This study finds that citizens’ satisfaction is a mediator between service quality, system quality, information quality and cost in order to enhance citizen’s intention to use E-Government services. This study will help UAE government to improve intention to use E-Government services; this influence can affect in the context of traffic police departments of the UAE. Further, researcher of this work attempts to develop a conceptual and empirically tested framework with service quality, system quality, information quality, and cost and citizens’ satisfaction as mediators

Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback

[EN] This work presents a hybrid position-force control of robots in order to apply surface treatments such as polishing, grinding, finishing, deburring, etc. The robot force control is designed using sliding mode concepts to benefit from robustness. In particular, the sliding mode force task is defined using equality constraints to attain the desired tool pressure on the surface, as well as to keep the tool orientation perpendicular to the surface. In order to deal with sudden changes in material stiffness, which are ultimately transferred to the polishing tool and can produce instability and compromise polishing performance, several adaptive switching gain laws are considered and compared. Moreover, a lower priority tracking controller is defined to follow the desired reference trajectory on the surface being polished. Hence, deviations from the reference trajectory are allowed if such deviations are required to satisfy the constraints mentioned above. Finally, a third-level task is also considered for the case of redundant robots in order to use the remaining degrees of freedom to keep the manipulator close to the home configuration with safety in mind. The main advantages of the method are increased robustness and low computational cost. The applicability and effectiveness of the proposed approach are substantiated by experimental results using a redundant 7R manipulator: the Rethink Robotics Sawyer collaborative robot.This work was supported in part by the Spanish Government under the project DPI2017-87656-C2-1-R and the Generalitat Valenciana under Grants VALi + d APOSTD/2016/044 and BEST/2017/029.Gracia Calandin, LI.; Solanes Galbis, JE.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2018). Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback. Mechatronics. 52:102-118. https://doi.org/10.1016/j.mechatronics.2018.04.008S1021185

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 324)

This bibliography lists 200 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during May, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Automating endoscopic camera motion for teleoperated minimally invasive surgery using inverse reinforcement learning

During a laparoscopic surgery, an endoscopic camera is used to provide visual feedback of the surgery to the surgeon and is controlled by a skilled assisting surgeon or a nurse. However, in robot-assisted teleoperated systems such as the daVinci surgical system, the same control lies with the operating surgeons. This results in an added task of constantly changing view point of the endoscope which can be disruptive and also increase the cognitive load on the surgeons. The work presented in this thesis aims to provide an approach that results in an intelligent camera control for such systems using machine learning algorithms. A particular task of pick and place was selected to demonstrate this approach. To add a layer of intelligence to the endoscope, the task was classified into subtasks representing the intent of the user. Neural networks with long short term memory cells (LSTMs) were trained to classify the motion of the instruments in the subtasks and a policy was calculated for each subtask using inverse reinforcement learning (IRL). Since current surgical robots do not enable the movement of the camera and instruments simultaneously, an expert data set was unavailable that could be used to train the models. Hence, a user study was conducted in which the participants were asked to complete the task of picking and placing a ring on a peg in a 3-D immersive simulation environment created using CHAI libraries. A virtual reality headset, Oculus Rift, was used during the study to track the head movements of the users to obtain their view points while they performed the task. This was considered to be expert data and was used to train the algorithm to automate the endoscope motion. A 71.3% accuracy was obtained for the classification of the task into 4 subtasks and the inverse reinforcement learning resulted in an automated trajectory of the endoscope which was 94.7% similar to the human trajectories collected demonstrating that the approach provided in thesis can be used to automate endoscopic motion similar to a skilled assisting surgeon

Telerobotic Sensor-based Tool Control Derived From Behavior-based Robotics Concepts

@font-face { font-family: TimesNewRoman ; }p.MsoNormal, li.MsoNormal, div.MsoNormal { margin: 0in 0in 0.0001pt; font-size: 12pt; font-family: Times New Roman ; }div.Section1 { page: Section1; } Teleoperated task execution for hazardous environments is slow and requires highly skilled operators. Attempts to implement telerobotic assists to improve efficiency have been demonstrated in constrained laboratory environments but are not being used in the field because they are not appropriate for use on actual remote systems operating in complex unstructured environments using typical operators. This work describes a methodology for combining select concepts from behavior-based systems with telerobotic tool control in a way that is compatible with existing manipulator architectures used by remote systems typical to operations in hazardous environment. The purpose of the approach is to minimize the task instance modeling in favor of a priori task type models while using sensor information to register the task type model to the task instance. The concept was demonstrated for two tools useful to decontamination & dismantlement type operations—a reciprocating saw and a powered socket tool. The experimental results demonstrated that the approach works to facilitate traded control telerobotic tooling execution by enabling difficult tasks and by limiting tool damage. The role of the tools and tasks as drivers to the telerobotic implementation was better understood in the need for thorough task decomposition and the discovery and examination of the tool process signature. The contributions of this work include: (1) the exploration and evaluation of select features of behavior-based robotics to create a new methodology for integrating telerobotic tool control with positional teleoperation in the execution of complex tool-centric remote tasks, (2) the simplification of task decomposition and the implementation of sensor-based tool control in such a way that eliminates the need for the creation of a task instance model for telerobotic task execution, and (3) the discovery, demonstrated use, and documentation of characteristic tool process signatures that have general value in the investigation of other tool control, tool maintenance, and tool development strategies above and beyond the benefit sustained for the methodology described in this work