Robotic Search and Rescue through In-Pipe Movement

So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screw-drive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer’s point of view, we also discussed the various kinds of robots that we have developed, along with their advantages and disadvantages

Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified

Unmanned Robotic Systems and Applications

This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control

Development of a Novel Amphibious Locomotion System for use in Intra-Luminal Surgical Procedures

Colonoscopy is widely considered the gold standard for inspection of the colon. The procedure is however not without issue, current colonoscopes have seen little change or innovation throughout their 40 years of use with patient discomfort still limiting success. The aim of this PhD study was to develop a locomotion system for use on a robotic device that can traverse a liquid filled colon for atraumatic inspection and biopsy tasks. The PhD was undertaken as part of a larger two-centre EU project, which aimed to bring about a change in the way colonoscopy is done by moving to “robotic hydro-colonoscopy”. In this thesis the initial development and testing of an amphibious locomotion concept for use in a procedure known as hydro-colonoscopy is described. The locomotion system is comprised of four Archimedes’ screws arranged in two counter-rotating pairs. These aim to provide propulsion through a fluid-filled colon as well as provide locomotive traction against colonic tissue in partially fluid-filled or collapsed sections of the colon, such as the splenic flexure. Experimental studies were carried out on a single screw system in fluid and dual counter-rotating screws in contact conditions. These show the system’s ability to generate thrust in the two discrete modes of locomotion of the amphibious system. A 2:1 scale prototype of the proposed device was produced and features compliant screw threads to provide atraumatic locomotion. The scale prototype device was tested in ex-vivo porcine colon. The developed system was able to traverse through lumen to limited success, which demonstrated that this concept has the potential for use on an intra-luminal robotic device The key contributions of this research are: variable geometry locomotion system; amphibious locomotion using Archimedes’ screws; experimental assessment of the locomotion in fluid, contact and amphibious states; and analysis of the contact dynamics against tissue

Life Sciences Program Tasks and Bibliography for FY 1997

This document includes information on all peer reviewed projects funded by the Office of Life and Microgravity Sciences and Applications, Life Sciences Division during fiscal year 1997. This document will be published annually and made available to scientists in the space life sciences field both as a hard copy and as an interactive internet web page