Ein Beitrag zur Entwicklung mobiler Roboter basierend auf multistabilen Tensegrity Strukturen

In dieser Arbeit wird die Anwendung von Tensegrity Strukturen mit mehreren stabilen Gleichgewichtskonfigurationen zur Realisierung von Lokomotionssystemen in der mobilen Robotik untersucht. Diese Strukturen werden unter dem mechanischen Aspekt modelliert und verschiedene Aktuatorstrategien zur Realisierung eines kontrollierten Wechsels zwischen den unterschiedlichen stabilen Gleichgewichtslagen abgeleitet. Zur experimentellen Verifikation der theoretischen Ansätze wird ein Prototyp einer multistabilen Tensegrity Struktur entwickelt. Die experimentellen Ergebnisse bestätigen die vorteilhaften Eigenschaften multistabiler Tensegrity Strukturen sowie die Möglichkeit von kontrollierten Konfigurationswechseln. Infolge von Erweiterungen des mechanischen Modells unter Berücksichtigung von Umwelteinflüssen wird das Bewegungsverhalten von Tensegrity Strukturen simuliert. In dieser Arbeit wird die Fortbewegung durch die Gleichgewichtslagenwechsel der multistabilen Tensegrity Struktur realisiert. Abhängig von der gewählten Aktuierungsstragie kann eine schreitende Lokomotion, eine kriechende Lokomotion sowie eine springende Lokomotion realisiert werden. Experimente mit dem entwickelten Prototyp bestätigen die zuvor untersuchten Lokomotionsformen. Durch Kombination der verschiedenen Bewegungsmodi resultiert ein multimodales Lokomotionssystem. Dieses Lokomotionssystem erlaubt die Anpassung des Lokomotionsprinzips hinsichtlich der gegebenen Umgebungsbedingungen.In this work, tensegrity structures with multiple stable equilibrium configurations are investigated to develop locomotion systems in the fields of mobile robotics. These structures are modeled from the mechanical point of view and various actuation strategies to realize a controllable change between the different stable equilibrium states are derived. A prototype of a multistable tensegrity structure is developed to verify the theoretical approaches experimentally. The experimental results confirm the advantageous properties of multistable tensegrity structures and the possibility to change the configuration in a controllable manner. Due to extensions of the mechanical model considering environmental influences, the motion behavior of tensegrity structures is simulated. In this work, the locomotion is realized by changing between the stable equilibrium configurations of the multistable tensegrity structure. Various actuation strategies yield a tilting locomotion, a crawling locomotion and a jumping locomotion. Experiments with the developed prototype confirm the different locomotion types. A multimodal locomotion system is derived by combining the various locomotion modes. This system allows the adaptation of the locomotion principle with regard to the given environmental conditions.In dieser Arbeit wird die Anwendung von Tensegrity Strukturen mit mehreren stabilen Gleichgewichtskonfigurationen zur Realisierung von Lokomotionssystemen in der mobilen Robotik untersucht. Diese Strukturen werden unter dem mechanischen Aspekt modelliert und verschiedene Aktuatorstrategien zur Realisierung eines kontrollierten Wechsels zwischen den unterschiedlichen stabilen Gleichgewichtslagen abgeleitet. Es wird ein Prototyp einer multistabilen Tensegrity Struktur entwickelt und dessen Bewegungsverhalten simuliert. Abhängig von der gewählten Aktuierungsstrategie kann eine schreitende Lokomotion, eine kriechende Lokomotion sowie eine springende Lokomotion realisiert werden. Experimente mit dem Prototyp bestätigen diese Lokomotionsformen. Durch Kombination der verschiedenen Bewegungsmodi resultiert ein multimodales Lokomotionssystem. Dieses Lokomotionssystem erlaubt die Anpassung des Lokomotionsprinzips hinsichtlich der gegebenen Umgebungsbedingungen

Developing Design and Analysis Framework for Hybrid Mechanical-Digital Control of Soft Robots: from Mechanics-Based Motion Sequencing to Physical Reservoir Computing

The recent advances in the field of soft robotics have made autonomous soft robots working in unstructured dynamic environments a close reality. These soft robots can potentially collaborate with humans without causing any harm, they can handle fragile objects safely, perform delicate surgeries inside body, etc. In our research we focus on origami based compliant mechanisms, that can be used as soft robotic skeleton. Origami mechanisms are inherently compliant, lightweight, compact, and possess unique mechanical properties such as– multi-stability, nonlinear dynamics, etc. Researchers have shown that multi-stable mechanisms have applications in motion-sequencing applications. Additionally, the nonlinear dynamic properties of origami and other soft, compliant mechanisms are shown to be useful for ‘morphological computation’ in which the body of the robot itself takes part in performing complex computations required for its control. In our research we demonstrate the motion-sequencing capability of multi-stable mechanisms through the example of bistable Kresling origami robot that is capable of peristaltic locomotion. Through careful theoretical analysis and thorough experiments, we show that we can harness multistability embedded in the origami robotic skeleton for generating actuation cycle of a peristaltic-like locomotion gait. The salient feature of this compliant robot is that we need only a single linear actuator to control the total length of the robot, and the snap-through actions generated during this motion autonomously change the individual segment lengths that lead to earthworm-like peristaltic locomotion gait. In effect, the motion-sequencing is hard-coded or embedded in the origami robot skeleton. This approach is expected to reduce the control requirement drastically as the robotic skeleton itself takes part in performing low-level control tasks. The soft robots that work in dynamic environments should be able to sense their surrounding and adapt their behavior autonomously to perform given tasks successfully. Thus, hard-coding a certain behavior as in motion-sequencing is not a viable option anymore. This led us to explore Physical Reservoir Computing (PRC), a computational framework that uses a physical body with nonlinear properties as a ‘dynamic reservoir’ for performing complex computations. The compliant robot ‘trained’ using this framework should be able to sense its surroundings and respond to them autonomously via an extensive network of sensor-actuator network embedded in robotic skeleton. We show for the first time through extensive numerical analysis that origami mechanisms can work as physical reservoirs. We also successfully demonstrate the emulation task using a Miura-ori based reservoir. The results of this work will pave the way for intelligently designed origami-based robots with embodied intelligence. These next generation of soft robots will be able to coordinate and modulate their activities autonomously such as switching locomotion gait and resisting external disturbances while navigating through unstructured environments

Vibration, Control and Stability of Dynamical Systems

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

Authentic alignment : toward an Interpretative Phenomenological Analysis (IPA) informed model of the learning environment in health professions education

It is well established that the goals of education can only be achieved through the constructive alignment of instruction, learning and assessment. There is a gap in research interpreting the lived experiences of stakeholders within the UK learning environment toward understanding the real impact – authenticity – of curricular alignment. This investigation uses a critical realist framework to explore the emergent quality of authenticity as a function of alignment.This project deals broadly with alignment of anatomy pedagogy within UK undergraduate medical education. The thread of alignment is woven through four aims: 1) to understand the alignment of anatomy within the medical curriculum via the relationships of its stakeholders; 2) to explore the apparent complexity of the learning environment (LE); 3) to generate a critical evaluation of the methodology, Interpretative Phenomenological Analysis as an approach appropriate for realist research in the complex fields of medical and health professions education; 4) to propose a functional, authentic model of the learning environment.Findings indicate that the complexity and uncertainty inherent in the LE can be reflected in spatiotemporal models. Findings meet the thesis aims, suggesting: 1) the alignment of anatomy within the medical curriculum is complex and forms a multiplicity of perspectives; 2) this complexity is ripe for phenomenological exploration; 3) IPA is particularly suitable for realist research exploring complexity in HPE; 4) Authentic Alignment theory offers a spatiotemporal model of the complex HPE learning environment:the T-icosa

Authentic Alignment: Toward an Interpretative Phenomenological Analysis (IPA) informed model of the learning environment in health professions education

It is well established that the goals of education can only be achieved through the constructive alignment of instruction, learning and assessment. There is a gap in research interpreting the lived experiences of stakeholders within the UK learning environment toward understanding the real impact – authenticity – of curricular alignment. This investigation uses a critical realist framework to explore the emergent quality of authenticity as a function of alignment. This project deals broadly with alignment of anatomy pedagogy within UK undergraduate medical education. The thread of alignment is woven through four aims: 1) to understand the alignment of anatomy within the medical curriculum via the relationships of its stakeholders; 2) to explore the apparent complexity of the learning environment (LE); 3) to generate a critical evaluation of the methodology, Interpretative Phenomenological Analysis as an approach appropriate for realist research in the complex fields of medical and health professions education; 4) to propose a functional, authentic model of the learning environment. Findings indicate that the complexity and uncertainty inherent in the LE can be reflected in spatiotemporal models. Findings meet the thesis aims, suggesting: 1) the alignment of anatomy within the medical curriculum is complex and forms a multiplicity of perspectives; 2) this complexity is ripe for phenomenological exploration; 3) IPA is particularly suitable for realist research exploring complexity in HPE; 4) Authentic Alignment theory offers a spatiotemporal model of the complex HPE learning environment: the T-icosa

Theoretical Approaches in Non-Linear Dynamical Systems

From Preface: The 15th International Conference „Dynamical Systems - Theory and Applications” (DSTA 2019, 2-5 December, 2019, Lodz, Poland) gathered a numerous group of outstanding scientists and engineers who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without great effort of the staff of the Department of Automation, Biomechanics and Mechatronics of the Lodz University of Technology. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our event was attended by over 180 researchers from 35 countries all over the world, who decided to share the results of their research and experience in different fields related to dynamical systems. This year, the DSTA Conference Proceedings were split into two volumes entitled „Theoretical Approaches in Non-Linear Dynamical Systems” and „Applicable Solutions in Non-Linear Dynamical Systems”. In addition, DSTA 2019 resulted in three volumes of Springer Proceedings in Mathematics and Statistics entitled „Control and Stability of Dynamical Systems”, „Mathematical and Numerical Approaches in Dynamical Systems” and „Dynamical Systems in Mechatronics and Life Sciences”. Also, many outstanding papers will be recommended to special issues of renowned scientific journals.Cover design: Kaźmierczak, MarekTechnical editor: Kaźmierczak, Mare