Cooperative project by self-bending continuum arms

Designing a multi-robot system provides numerous advantages for many applications such as low cost, multi-tasking and more efficient group work. However, the rigidity of the robots used in industrial and medical applications increases the probability of injury. Therefore, lots of research is done to increase the safety factor for robot-human interaction. As a result, either separation between the human and robot is suggested, or the force shutdown to the robot system is applied. These solutions might be useful for industrial applications, but it is not for medical applications as a direct interaction between the human and the machine is required. To overcome the rigidity problem, a soft robot arm is presented in this paper. Studying the structure and performance of a contraction pneumatic muscle actuator (PMA) is illustrated, then useful strategies are used to implement a multi PMA continuum arm to increase the performance options for such types of the actuator. Moreover, twin arms are constructed to organise a collaborative project depending on the performance abilities of the proposed arms and end effectors

A Nonthermal Radio Filament Connected to the Galactic Black Hole?

Using the Very Large Array, we have investigated a non-thermal radio filament (NTF) recently found very near the Galactic black hole and its radio counterpart, SgrA*. While this NTF -- the Sgr A West Filament (SgrAWF) -- shares many characteristics with the population of NTFs occupying the central few hundred parsecs of the Galaxy, the SgrAWF has the distinction of having an orientation and sky location that suggest an intimate physical connection to SgrA*. We present 3.3 and 5.5 cm images constructed using an innovative methodology that yields a very high dynamic range, providing an unprecedentedly clear picture of the SgrAWF. While the physical association of the SgrAWF with SgrA* is not unambiguous, the images decidedly evoke this interesting possibility. Assuming that the SgrAWF bears a physical relationship to SgrA*, we examine the potential implications. One is that SgrA* is a source of relativistic particles constrained to diffuse along ordered local field lines. The relativistic particles could also be fed into the local field by a collimated outflow from SgrA*, perhaps driven by the Poynting flux accompanying the black hole spin in the presence of a magnetic field threading the event horizon. Second, we consider the possibility that the SgrAWF is the manifestation of a low-mass-density cosmic string that has become anchored to the black hole. The simplest form of these hypotheses would predict that the filament be bi-directional, whereas the SgrAWF is only seen on one side of SgrA*, perhaps because of the dynamics of the local medium.Comment: 9 pages, 4 figures, accepted for ApJ Letter

Radio continuum and polarization study of SNR G57.2+0.8 associated with magnetar SGR1935+2154

We present a radio continuum and linear polarization study of the Galactic supernova remnant G57.2+0.8, which may host the recently discovered magnetar SGR1935+2154. The radio SNR shows the typical radio continuum spectrum of a mature supernova remnant with a spectral index of $\alpha = -0.55 \pm 0.02$ and moderate polarized intensity. Magnetic field vectors indicate a tangential magnetic field, expected for an evolved SNR, in one part of the SNR and a radial magnetic field in the other. The latter can be explained by an overlapping arc-like feature, perhaps a pulsar wind nebula, emanating from the magnetar. The presence of a pulsar wind nebula is supported by the low average braking index of 1.2, we extrapolated for the magnetar, and the detection of diffuse X-ray emission around it. We found a distance of 12.5 kpc for the SNR, which identifies G57.2+0.8 as a resident of the Outer spiral arm of the Milky Way. The SNR has a radius of about 20 pc and could be as old as 41,000 years. The SNR has already entered the radiative or pressure-driven snowplow phase of its evolution. We compared independently determined characteristics like age and distance for both, the SNR and SGR1935+2154, and conclude that they are physically related.Comment: accepted by The Astrophysical Journal, 16 pages, 10 figure

A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles

This paper illustrates the design, implementation and kinematics of a novel circular pneumatic muscle actuator (CPMA), inspired by the skeletal muscles of a human. The variation of the inner diameter of this actuator is a unique feature. Furthermore, CPMA produces a radial force towards its centre by increasing the diameter of the actuator itself in addition to the reduction in the inner diameter. These performances make the presented actuator suitable to use in numerous applications. The grasping by a soft gripper is chosen as an application to design an efficient soft gripper by using single and multiple CPMAs

Design, kinematics, and controlling a novel soft robot arm with parallel motion

This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizontal and vertical movements of the actuator distal ends. The kinematics for the proposed actuator are illustrated and experiments conducted to validate its unique features. Furthermore, a continuum robot arm with the ability to move in parallel (horizontal displacement) is designed with a single DB-PMA and a two-finger soft gripper. The performance of the soft robot arm presented is explained, then another design of the horizontal motion continuum robot arm is proposed, using two self-bending contraction actuators (SBCA) in series to overcome the payload effects on the upper half of the soft arm

Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries

The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments to robot-assisted surgery. In the last decade, the increasing demand for new surgical paradigms to enable access into the anatomy without skin incision (intraluminal surgery) or with a single skin incision (Single Port Access surgery - SPA) has led researchers to investigate snake-like flexible surgical devices. In this chapter, we first present an overview of the background, motivation, and taxonomy of MIS and its newer derivatives. Challenges of MIS and its newer derivatives (SPA and intraluminal surgery) are outlined along with the architectures of new snake-like robots meeting these challenges. We also examine the commercial and research surgical platforms developed over the years, to address the specific functional requirements and constraints imposed by operations in confined spaces. The chapter concludes with an evaluation of open problems in surgical robotics for intraluminal and SPA, and a look at future trends in surgical robot design that could potentially address these unmet needs.Comment: 41 pages, 18 figures. Preprint of article published in the Encyclopedia of Medical Robotics 2018, World Scientific Publishing Company www.worldscientific.com/doi/abs/10.1142/9789813232266_000

Realistic theory of electronic correlations in nanoscopic systems

Nanostructures with open shell transition metal or molecular constituents host often strong electronic correlations and are highly sensitive to atomistic material details. This tutorial review discusses method developments and applications of theoretical approaches for the realistic description of the electronic and magnetic properties of nanostructures with correlated electrons. First, the implementation of a flexible interface between density functional theory and a variant of dynamical mean field theory (DMFT) highly suitable for the simulation of complex correlated structures is explained and illustrated. On the DMFT side, this interface is largely based on recent developments of quantum Monte Carlo and exact diagonalization techniques allowing for efficient descriptions of general four fermion Coulomb interactions, reduced symmetries and spin-orbit coupling, which are explained here. With the examples of the Cr (001) surfaces, magnetic adatoms, and molecular systems it is shown how the interplay of Hubbard U and Hund's J determines charge and spin fluctuations and how these interactions drive different sorts of correlation effects in nanosystems. Non-local interactions and correlations present a particular challenge for the theory of low dimensional systems. We present our method developments addressing these two challenges, i.e., advancements of the dynamical vertex approximation and a combination of the constrained random phase approximation with continuum medium theories. We demonstrate how non-local interaction and correlation phenomena are controlled not only by dimensionality but also by coupling to the environment which is typically important for determining the physics of nanosystems.Comment: tutorial review submitted to EPJ-ST (scientific report of research unit FOR 1346); 14 figures, 26 page

Long-Term Profile Variability in Active Galactic Nuclei with Double-Peaked Balmer Emission Lines

An increasing number of Active Galactic Nuclei (AGNs) exhibit broad, double-peaked Balmer emission lines,which represent some of the best evidence for the existence of relatively large-scale accretion disks in AGNs. A set of 20 double-peaked emitters have been monitored for nearly a decade in order to observe long-term variations in the profiles of the double-peaked Balmer lines. Variations generally occur on timescales of years, and are attributed to physical changes in the accretion disk. Here we characterize the variability of a subset of seven double-peaked emitters in a model independent way. We find that variability is caused primarily by the presence of one or more discrete "lumps" of excess emission; over a timescale of a year (and sometimes less) these lumps change in amplitude and shape, but the projected velocity of these lumps changes over much longer timescales (several years). We also find that all of the objects exhibit red peaks that are stronger than the blue peak at some epochs and/or blueshifts in the overall profile, contrary to the expectations for a simple, circular accretion disk model, thus emphasizing the need for asymmetries in the accretion disk. Comparisons with two simple models, an elliptical accretion disk and a circular disk with a spiral arm, are unable to reproduce all aspects of the observed variability, although both account for some of the observed behaviors. Three of the seven objects have robust estimates of the black hole masses. For these objects the observed variability timescale is consistent with the expected precession timescale for a spiral arm, but incompatible with that of an elliptical accretion disk. We suggest that with the simple modification of allowing the spiral arm to be fragmented, many of the observed variability patterns could be reproduced.Comment: 74 pages, 4 tables, 35 figure