Humanlike Motion Control Algorithm for Lunar and Martian Geological Exploration and Power Generation

In the not too distant future, humans will return to the Moon and step foot for the first time on Mars. Eventually, humanity will colonize these celestial bodies, where living and working will be commonplace. Success in these endeavors will require a new set of concepts never imagined or even contemplated before. This dissertation demonstrates one (1) such novel concept with two (2) integrated applications, each of which demonstrates its own novel concept, all done in their entirety, and all of which are useful for the geological exploration and colonization of these celestial bodies. The main concept of this dissertation is: a humanlike motion control algorithm called PID++, and the two (2) applications of this algorithm is 1) a robotic arm end effector called “Robotic End Effector for lunar and martian Geological Exploration of Space” (REEGES) with its design for interchangeability, and 2) the REEGES Power Station for day and night power generation on the Moon and Mars. The main idea of the motion control algorithm presented in this dissertation is to define a radically new, simple, and computationally lightweight approach to humanlike motion control. A new Proportional-Integral-Derivative (PID) controller algorithm called PID++ is proposed in this work that uses minor adjustments with basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load, with characteristics that are unmistakably human. The first PID++ algorithm application of this dissertation is to illuminate a demonstrated, substantive means to facilitate the implementation of interchangeability of Space end effectors through the concept of a Universal Interface Design (UID). The “Robotic End Effector for lunar and martian Geological Exploration of Space” (REEGES) was developed to introduce this concept to the Space Research Community. REEGES uses the PID++ algorithm to control the rotation of its wrist joint. The second PID++ algorithm application of this dissertation is the development of a radically new method for the integrated, safe production of electrical power on the Moon and on Mars, continuously, day and night. The use of Solar Tracking by day and a Solar Rechargeable, Calcium Oxide Chemical, Thermoelectric Reactor by night is demonstrated. Called the REEGES Day/Night Power Generator Station, this form of thermoelectric power generation is mathematically modeled, simulation is performed, and a fully operational unit is built. The REEGES Power Station employs the PID++ for its operation

Design, development and characterization of a modular end effector for MIS procedures

The Minimally Invasive Surgery (MIS) paradigm is well established in modern surgical procedures. Although MIS is successful from the patient's viewpoint, the use of rigid instruments inserted through small skin incisions leads to dexterity constraints and loss of degree of motion. Robotics has been introduced as support for augmenting dexterity during interventions, restoring hand-eye coordination and providing tools with enhanced degrees of motion. However, surgical robots have high costs and large footprint, pushing the research towards the development of modular robots to be used in Naturally Orifice Trans-luminal Endoscopic Surgery (NOTES) procedures. The main need of having simple and cheap tools able to be interchanged during the surgical procedure became crucial. In this paper an innovative modular end-effector based on a compliant soft actuation system able to provide up to 5.78 N gripping forces is presented