Locomation strategies for amphibious robots-a review

In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots

Desarrollo de cinemáticas para robots paralelos utilizando teoría de tormillos

[ES] Este Trabajo Fin de Master pretende mostrar un acercamiento al diseño de robots paralelos, en concreto al desarrollo de su cinemática. Para ello se hará uso de la Teoría de Tornillos, profundizando en sus bases teóricas y llevándola posteriormente a la práctica. Mediante el uso de esta teoría se pretende llevar a cabo la definición de la cinemática inversa y directa de un robot paralelo. Para ello se generarán algoritmos en Python basados en la teoría anteriormente expuesta. Las soluciones cinemáticas halladas serán puestas a prueba mediante simulación con el programa V-REP para comprobar su validez.[EN] This Master Thesis aims to show an approach to the design of parallel robots, specifically the development of its kinematics. To do this, the Screw Theory will be used, deepening its theoretical bases and taking it later to practice. By using this theory it is intended to carry out the definition of the inverse and forward kinematics of a parallel robot. For this, algorithms will be generated in Python based on the theory described above. The kinematic solutions found will be tested by simulation with the V-REP program to verify their validity.[CA] Aquest Treball Fi de Màster pretàn mostrar un acostament al disseny de robots paral·lels, en concret al desenvolupament de la seua cinemàtica. Per a això es farà ús de la Teoria de Caragols, aprofundint en les seues bases teòriques i portant-la posteriorment a la pràctica. Mitjan¸cant l’ús d’aquesta teoria es pretén dur a terme la definició de la cinemàtica inversa i directa d’un robot paral·lel. Per a això es generaran algorismes en Python basats en la teoria anteriorment exposada. Les solucions cinemàtiques trobades seran posades a prova mitjan¸cant simulació amb el programa V-REP per a comprovar la seua validesaTorregrosa Antón, Á. (2019). Development of kinematics for parallel robots using screw theory. http://hdl.handle.net/10251/128552TFG

The Design and Development of a Mobile Colonoscopy Robot

The conventional colonoscopy is a common procedure used to access the colon. Despite it being considered the Gold Standard procedure for colorectal cancer diagnosis and treatment, it has a number of major drawbacks, including high patient discomfort, infrequent but serious complications and high skill required to perform the procedure. There are a number of potential alternatives to the conventional colonoscopy, from augmenting the colonoscope to using Computed Tomography Colonography (CTC) - a completely non-invasive method. However, a truly effective, all-round alternative has yet to be found. This thesis explores the design and development of a novel solution: a fully mobile colonoscopy robot called “RollerBall”. Unlike current passive diagnostic capsules, such as PillCam, this device uses wheels at the end of adjustable arms to provide locomotion through the colon, while providing a stable platform for the use of diagnostic and therapeutic tools. The work begins by reviewing relevant literature to better understand the problem and potential solutions. RollerBall is then introduced and its design described in detail. A robust prototype was then successfully fabricated using a 3D printing technique and its performance assessed in a series of benchtop experiments. These showed that the mechanisms functioned as intended and encouraged the further development of the concept. Next, the fundamental requirement of gaining traction on the colon was shown to be possible using hexagonal shaped, macro-scale tread patterns. A friction coefficient ranging between 0.29 and 0.55 was achieved with little trauma to the tissue substrate. The electronics hardware and control were then developed and evaluated in a series of tests in silicone tubes. An open-loop strategy was first used to establish the control algorithm to map the user inputs to motor outputs (wheel speeds). These tests showed the efficacy of the locomotion technique and the control algorithm used, but they highlighted the need for autonomy. To address this, feedback was included to automate the adjusting of the arm angle and amount of force applied by the device; a forward facing camera was also used to automate the orientation control by tracking a user-defined target. Force and orientation control were then combined to show that semi-autonomous control was possible and as a result, it was concluded that clinical use may be feasible in future developments

Terrain adaptability strategies statically-stable for a walking hexapod robot

[EN] This article describes the forward and inverse kinematic model of position of the Hex-piderix robot, taking on account current attitude. Also three strategies to get terrain adaptability to the robot, guaranty statically stability are presented: constant orientation of the thorax, geometric strategy and emergency strategy. The designing of the adaptability strategies are considered geometric parameters and the weight of each of its components; both direct and inverse kinematics in position is essential for the robot could redirect. Statically stable is evaluated by using Normalized Energy Stability Margin. Adaptability strategies were simulated in MatLab and experimentally validated by using LabView.[ES] Este artículo presenta la cinemática directa e inversa en posición de un robot caminante hexápodo, tomando en cuenta la pose del tórax. También se presentan tres estrategias de adaptabilidad al terreno que garantizan la estabilidad: orientación constante del tórax, estrategia geométrica y estrategia de emergencia. El diseño de las estrategias de adaptabilidad considera los parámetros geométricos y el peso de todos los elementos. La cinemática directa e inversa es esencial para redireccionar la postura del robot caminante. La estabilidad de las estrategias es evaluada con el margen normalizado de estabilidad energético (NESM). Las estrategias fueron simuladas en software especializado y se validaron experimentalmente.Sandoval Castro, XY.; Castillo Castañeda, E. (2019). Estrategias de adaptabilidad estáticamente estables al cambio de terreno para un robot caminante de seis extremidades. Revista Iberoamericana de Automática e Informática. 16(3):332-343. https://doi.org/10.4995/riai.2019.8979SWORD33234316

Evaluating footwear “in the wild”: Examining wrap and lace trail shoe closures during trail running

Trail running participation has grown over the last two decades. As a result, there have been an increasing number of studies examining the sport. Despite these increases, there is a lack of understanding regarding the effects of footwear on trail running biomechanics in ecologically valid conditions. The purpose of our study was to evaluate how a Wrap vs. Lace closure (on the same shoe) impacts running biomechanics on a trail. Thirty subjects ran a trail loop in each shoe while wearing a global positioning system (GPS) watch, heart rate monitor, inertial measurement units (IMUs), and plantar pressure insoles. The Wrap closure reduced peak foot eversion velocity (measured via IMU), which has been associated with fit. The Wrap closure also increased heel contact area, which is also associated with fit. This increase may be associated with the subjective preference for the Wrap. Lastly, runners had a small but significant increase in running speed in the Wrap shoe with no differences in heart rate nor subjective exertion. In total, the Wrap closure fit better than the Lace closure on a variety of terrain. This study demonstrates the feasibility of detecting meaningful biomechanical differences between footwear features in the wild using statistical tools and study design. Evaluating footwear in ecologically valid environments often creates additional variance in the data. This variance should not be treated as noise; instead, it is critical to capture this additional variance and challenges of ecologically valid terrain if we hope to use biomechanics to impact the development of new products

Dictionary of World Biography

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA (1996) and FASSA (2003), he is the only person to have become a Fellow of four of Australia’s five learned Academies. Awarded an AO in 1993, named as one of Australia’s 100 ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life

Dictionary of World Biography

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016

Dictionary of World Biography: Fourth edition

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA (1996) and FASSA (2003), he is the only person to have been elected to all four Australian learned Academies. Awarded an AO in 1993, named as one of Australia’s 100 ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life’

Dictionary of World Biography: Third edition

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972-77 and the Australian House of Representatives 1977-98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983-90, Prices and Consumer Affairs 1987, Small Business 1987-90 and Customs 1988-90. He became a member of the Executive Board of UNESCO, Paris 1991-95 and National President of the Australian Labor Party 1992-2000, 2005-06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860 (1965), Joseph II(1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Workwas published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA(1996) and FASSA (2003), he is the only person to have been elected to all four Australian learned Academies. Awarded an AO in 1993, named as one of Australia’s one hundred ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life’