Using Surface-Motions for Locomotion of Microscopic Robots in Viscous Fluids

Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion for micron-size robots. Two appealing methods rely only on surface motions: steady tangential motion and small amplitude oscillations. These methods contrast with common microorganism propulsion based on flagella or cilia, which are more likely to damage nearby cells if used by robots made of stiff materials. The power potentially available to robots in tissue supports speeds ranging from one to hundreds of microns per second, over the range of viscosities found in biological tissue. We discuss design trade-offs among propulsion method, speed, power, shear forces and robot shape, and relate those choices to robot task requirements. This study shows that realizing such locomotion requires substantial improvements in fabrication capabilities and material properties over current technology.Comment: 14 figures and two Quicktime animations of the locomotion methods described in the paper, each showing one period of the motion over a time of 0.5 milliseconds; version 2 has minor clarifications and corrected typo

Preliminary study of a serial-parallel redundant manipulator

The manipulator design discussed here results from the examination of some of the reasons why redundancy is necessary in general purpose manipulation systems. A spherical joint design actuated in-parallel, having the many advantages of parallel actuation, is described. In addition, the benefits of using redundant actuators are discussed and illustrated in the design by the elimination of loci of singularities from the usable workspace with the addition of only one actuator. Finally, what is known by the authors about space robotics requirements is summarized and the relevance of the proposed design matched against these requirements. The design problems outlined here are viewed as much from the mechanical engineering aspect as from concerns arising from the control and the programming of manipulators

The Analysis of design and manufacturing tasks using haptic and immersive VR - Some case studies

The use of virtual reality in interactive design and manufacture has been researched extensively but the practical application of this technology in industry is still very much in its infancy. This is surprising as one would have expected that, after some 30 years of research commercial applications of interactive design or manufacturing planning and analysis would be widespread throughout the product design domain. One of the major but less well known advantages of VR technology is that logging the user gives a great deal of rich data which can be used to automatically generate designs or manufacturing instructions, analyse design and manufacturing tasks, map engineering processes and, tentatively, acquire expert knowledge. The authors feel that the benefits of VR in these areas have not been fully disseminated to the wider industrial community and - with the advent of cheaper PC-based VR solutions - perhaps a wider appreciation of the capabilities of this type of technology may encourage companies to adopt VR solutions for some of their product design processes. With this in mind, this paper will describe in detail applications of haptics in assembly demonstrating how user task logging can lead to the analysis of design and manufacturing tasks at a level of detail not previously possible as well as giving usable engineering outputs. The haptic 3D VR study involves the use of a Phantom and 3D system to analyse and compare this technology against real-world user performance. This work demonstrates that the detailed logging of tasks in a virtual environment gives considerable potential for understanding how virtual tasks can be mapped onto their real world equivalent as well as showing how haptic process plans can be generated in a similar manner to the conduit design and assembly planning HMD VR tool reported in PART A. The paper concludes with a view as to how the authors feel that the use of VR systems in product design and manufacturing should evolve in order to enable the industrial adoption of this technology in the future

Autonomous Mechanical Assembly on the Space Shuttle: An Overview

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed

Passive isolation/damping system for the Hubble space telescope reaction wheels

NASA's Hubble Space Telescope contain large, diffraction limited optics with extraordinary resolution and performance for surpassing existing observatories. The need to reduce structural borne vibration and resultant optical jitter from critical Pointing Control System components, Reaction Wheels, prompted the feasibility investigation and eventual development of a passive isolation system. Alternative design concepts considered were required to meet a host of stringent specifications and pass rigid tests to be successfully verified and integrated into the already built flight vehicle. The final design employs multiple arrays of fluid damped springs that attenuate over a wide spectrum, while confining newly introduced resonances to benign regions of vehicle dynamic response. Overall jitter improvement of roughly a factor of 2 to 3 is attained with this system. The basis, evolution, and performance of the isolation system, specifically discussing design concepts considered, optimization studies, development lessons learned, innovative features, and analytical and ground test verified results are presented

Evolutionary Robotics: a new scientific tool for studying cognition

We survey developments in Artificial Neural Networks, in Behaviour-based Robotics and Evolutionary Algorithms that set the stage for Evolutionary Robotics in the 1990s. We examine the motivations for using ER as a scientific tool for studying minimal models of cognition, with the advantage of being capable of generating integrated sensorimotor systems with minimal (or controllable) prejudices. These systems must act as a whole in close coupling with their environments which is an essential aspect of real cognition that is often either bypassed or modelled poorly in other disciplines. We demonstrate with three example studies: homeostasis under visual inversion; the origins of learning; and the ontogenetic acquisition of entrainment