A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation

A scalable and real-time capable infrastructure is required to enable high-performance control and haptic rendering of systems with many degrees-of-freedom. The specific platform that motivates this thesis work is the open research platform da Vinci ReResearch Kit (dVRK). For the system architecture, we propose a specialized IEEE-1394 (FireWire) broadcast protocol that takes advantage of broadcast and peer-to-peer transfers to minimize the number of transactions, and thus the software overhead, on the control PC, thereby enabling fast real-time control. It has also been extended to Ethernet via a novel Ethernet-to-FireWire bridge protocol. The software architecture consists of a distributed hardware interface layer, a real-time component-based software framework, and integration with the Robot Operating System (ROS). The architecture is scalable to support multiple active manipulators, reconfigurable to enable researchers to partition a full system into multiple independent subsystems, and extensible at all levels of control. This architecture has been applied to two semi-autonomous teleoperation applications. The first application is a suturing task in Robotic Minimally Invasive Surgery (RMIS), that includes the development of virtual fixtures for the needle passing and knot tying sub-tasks, with a multi-user study to verify their effectiveness. The second application concerns time-delayed teleoperation of a robotic arm for satellite servicing. The research contribution includes the development of a line virtual fixture with augmented reality, a test for different time delay configurations and a multi-user study that evaluates the effectiveness of the system

A minimally invasive surgical system for 3D ultrasound guided robotic retrieval of foreign bodies from a beating heart

The result of various medical conditions and trauma, foreign bodies in the heart pose a serious health risk as they may interfere with cardiovascular function. Particles such as thrombi, bullet fragments, and shrapnel can become trapped in a person's heart after migrating through the venous system, or by direct penetration. The severity of disruption can range from benign to fatal, with associated symptoms including anxiety, fever, cardiac tamponade, hemorrhage, infection, embolism, arrhythmia, and valve dysfunction. Injuries of this nature are common in both civilian and military populations. For symptomatic cases, conventional treatment is removal of the foreign body through open surgery via a median sternotomy, the use of cardiopulmonary bypass, and a wide incision in the heart muscle; these methods incur pronounced perioperative risks and long recovery periods. In order to improve upon the standard of care, we propose an image guided robotic system and a corresponding minimally invasive surgical approach. The system employs a dexterous robotic capture device that can maneuver inside the heart through a small incision. Visualization and guidance within the otherwise occluded internal regions are provided by 3D transesophageal echocardiography (TEE), an emerging form of intraoperative medical imaging used in interventions such as mitral valve repair and device implantation. A robotic approach, as opposed to a manual procedure using rigid instruments, is motivated by the various challenges inherent in minimally invasive surgery, which arise from attempts to perform skilled surgical tasks through small incisions without direct vision. Challenges include reduced dexterity, constrained workspace, limited visualization, and difficult hand-eye coordination, which ultimately lead to poor manipulability. A dexterous robotic end effector with real-time image guidance can help overcome these challenges and potentially improve surgical performance. However promising, such a system and approach require that several technical hurdles be resolved. The foreign body must be automatically tracked as it travels about the dynamic environment of the heart. The erratically moving particle must then be captured using a dexterous robot that moves much more slowly in comparison. Furthermore, retrieval must be performed under 3D ultrasound guidance, amidst the uncertainties presented by both the turbulent flow and by the imaging modality itself. In addressing such barriers, this thesis explores the development of a prototype system capable of retrieving a foreign body from a beating heart, culminating in a set of demonstrative in vitro experiments

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different specialities. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to re-purpose decommissioned da Vinci surgical systems (Intuitive Surgical Inc, CA, USA) as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this paper, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain this initiative and build upon it

NASA Tech Briefs, March 2004

Topics covered include: 1) Advanced Signal Conditioners for Data-Acquisition Systems; 2) Downlink Data Multiplexer; 3) Viewing ISS Data in Real Time via the Internet; 4) Autonomous Environment-Monitoring Networks; 5) Readout of DSN Monitor Data; 6) Parallel-Processing Equalizers for Multi-Gbps Communications; 7) AIN-Based Packaging for SiC High-Temperature Electronics; 8) Software for Optimizing Quality Assurance of Other Software; 9) The TechSat 21 Autonomous Sciencecraft Experiment; 10) Software for Analyzing Laminar-to-Turbulent Flow Transitions; 11) Elastomer Filled With Single-Wall Carbon Nanotubes; 12) Modifying Ship Air-Wake Vortices for Aircraft Operations; 13) Strain-Gauge Measurement of Weight of Fluid in a Tank; 14) Advanced Docking System With Magnetic Initial Capture; 15) Blade-Pitch Control for Quieting Tilt-Rotor Aircraft; 16) Solar Array Panels With Dust-Removal Capability; 17) Aligning Arrays of Lenses and Single-Mode Optical Fibers; 18) Automatic Control of Arc Process for Making Carbon Nanotubes; 19) Curved-Focal-Plane Arrays Using Deformed-Membrane Photodetectors; 20) Role of Meteorology in Flights of a Solar-Powered Airplane; 21) Model of Mixing Layer With Multicomponent Evaporating Drops; 22) Solution-Assisted Optical Contacting; 23) Improved Discrete Approximation of Laplacian of Gaussian; 24) Utilizing Expert Knowledge in Estimating Future STS Costs; 25) Study of Rapid-Regression Liquefying Hybrid Rocket Fuels; and 26) More About the Phase-Synchronized Enhancement Method

Sistema de aquisição de dados por interface háptica

Mestrado em Engenharia MecânicaNeste trabalho e apresentada uma interface háptica com realimentação de força para a teleoperação de um robô humanoide é que aborda um novo conceito destinado à aprendizagem por demonstração em robôs, denominado de ensino telecinestésico. A interface desenvolvida pretende promover o ensino cinestésico num ambiente de tele-robótica enriquecido pela virtualização háptica do ambiente e restrições do robô. Os dados recolhidos através desta poderão então ser usados em aprendizagem por demonstração, uma abordagem poderosa que permite aprender padrões de movimento sem a necessidade de modelos dinâmicos complexos, mas que geralmente é apresentada com demonstrações que não são fornecidas teleoperando os robôs. Várias experiências são referidas onde o ensino cinestésico em aprendizagem robótica foi utilizado com um sucesso considerável, bem como novas metodologias e aplicações com aparelhos hápticos. Este trabalho foi realizado com base na plataforma proprietária de 27 graus-de-liberdade do Projeto Humanoide da Universidade de Aveiro (PHUA), definindo novas methodologias de comando em tele-operação, uma nova abordagem de software e ainda algumas alterações ao hardware. Um simulador de corpo inteiro do robô em MATLAB SimMechanics é apresentado que é capaz de determinar os requisitos dinâmicos de binário de cada junta para uma dada postura ou movimento, exemplificando com um movimento efectuado para subir um degrau. Ir a mostrar algumas das potencialidades mas também algumas das limitações restritivas do software. Para testar esta nova abordagem tele-cinestésica são dados exemplos onde o utilizador pode desenvolver demonstrações interagindo fisicamente com o robô humanoide através de um joystick háptico PHANToM. Esta metodologia ir a mostrar que permite uma interação natural para o ensino e perceção tele-robóticos, onde o utilizador fornece instruções e correções funcionais estando ciente da dinâmica do sistema e das suas capacidades e limitações físicas. Ser a mostrado que a abordagem consegue atingir um bom desempenho mesmo com operadores inexperientes ou não familiarizados com o sistema. Durante a interação háptica, a informação sensorial e as ordens que guiam a uma tarefa específica podem ser gravados e posteriormente utilizados para efeitos de aprendizagem.In this work an haptic interface using force feedback for the teleoperation of a humanoid robot is presented, that approaches a new concept for robot learning by demonstration known as tele-kinesthethic teaching. This interface aims at promoting kinesthethic teaching in telerobotic environments enriched by the haptic virtualization of the robot's environment and restrictions. The data collected through this interface can later be in robot learning by demonstration, a powerful approach for learning motion patterns without complex dynamical models, but which is usually presented using demonstrations that are not provided by teleoperating the robots. Several experiments are referred where kinesthetic teaching for robot learning was used with considerable success, as well as other new methodologies and applications with haptic devices. This work was conducted on the proprietary 27 DOF University of Aveiro Humanoid Project (PHUA) robot, de ning new wiring and software solutions, as well as a new teleoperation command methodology. A MATLAB Sim- Mechanics full body robot simulator is presented that is able to determine dynamic joint torque requirements for a given robot movement or posture, exempli ed with a step climbing application. It will show some of the potentialities but also some restricting limitations of the software. To test this new tele-kinesthetic approach, examples are shown where the user can provide demonstrations by physically interacting with the humanoid robot through a PHANToM haptic joystick. This methodology will show that it enables a natural interface for telerobotic teaching and sensing, in which the user provides functional guidance and corrections while being aware of the dynamics of the system and its physical capabilities and / or constraints. It will also be shown that the approach can have a good performance even with inexperienced or unfamiliarized operators. During haptic interaction, the sensory information and the commands guiding the execution of a speci c task can be recorded and that data log from the human-robot interaction can be later used for learning purposes

NASA Tech Briefs, August 2002

Topics include: a technology focus on computers, electronic components and systems, software, materials, mechanics, machinery/automation, manufacturing, physical sciences, information sciences, book and reports, and Motion control Tech Briefs

Impacto das comunicações M2M em redes celulares de telecomunicações

Mestrado em Engenharia Electrónica e de TelecomunicaçõesAs comunicações Máquina-Máquina (M2M) apresentam um crescimento muito significativo e algumas projeções apontam para que esta tendência se acentue drasticamente ao longo dos próximos anos. O tráfego gerado por este tipo de comunicações tem caraterísticas muito diferentes do tráfego de dados, ou voz, que atualmente circula nas redes celulares de telecomunicações. Assim, é fundamental estudar as caraterísticas dos tipos de tráfego associados com comunicações M2M, por forma a compreender os efeitos que tais caraterísticas podem provocar nas redes celulares de telecomunicações. Esta dissertação procura identificar e estudar algumas das caraterísticas do tráfego M2M, com especial enfoque na sinalização gerada por serviços M2M. Como resultado principal deste trabalho surge o desenvolvimento de modelos que permitem a construção de uma ferramenta analítica de orquestração de serviços e análise de rede. Esta ferramenta permite orquestrar serviços e modelar padrões de tráfego numa rede UMTS, possibilitando uma análise simultânea aos efeitos produzidos no segmento core da mesma rede. Ao longo deste trabalho procura-se que a abordagem aos problemas apresentados permita que os resultados obtidos sejam válidos, ou adaptáveis, num âmbito mais abrangente do que apenas as comunicações M2M.Machine to Machine (M2M) communications present significant growth and some projections indicate that this trend is going to increase dramatically over the coming years. The traffic generated by this type of communication has very different characteristics when compared to data or voice traffic currently going through cellular telecommunications networks. Thus, it is essential to study the characteristics of traffic associated with M2M communications in order to understand the effects that its features can imply to cellular telecommunications networks. This dissertation tries to identify and study some of the characteristics of M2M traffic, with particular focus on signaling generated by M2M services. A number of models, that enable the development of an analytic tool for service orchestration and network analysis, are presented. This tool enables service orchestration and traffic modeling on a UMTS network, with simultaneous visualization of the impacts on the core of such network. The work presented in this document seeks to approach the problems at study in ways ensuring that its outcomes are valid for a wider scope than just M2M communications

Large contraction conducting polymer molecular actuators

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2005.Vita. Leaf 239 blank.Includes bibliographical references.The development of powerful and efficient artificial muscles that mimic Nature will profoundly affect engineering sciences including robotics and prosthetics, propulsion systems, and microelectromechanical systems (MEMS). Biological systems driven by muscle out-perform human-engineered systems in many key aspects. For example, muscle endows animals with a level of dexterity and speed that has yet to be emulated by even the most complex robotic system to date. Conducting polymers were chosen for research as actuators, based on a review of the relevant properties of all known actuators and active materials. Key features of conducting polymer actuators include low drive voltages (1 - 2 V) and high active strength (10 - 40 MPa) but moderate active strains (2 %). Active strains of 20 %, which human skeletal muscle is capable of, are desirable for applications in life-like robotics, artificial prostheses or medical devices. This thesis focuses on two approaches to create large contraction in conducting polymer actuators. The first strategy utilizes polypyrrole (PPy), a conducting polymer actuator material that contracts and expands based on a bulk ion swelling mechanism. Optimization of the polymer activation environment via room temperature ionic liquids enables PPy actuators to generate large contractions (16.3 % recoverable strain at 2.5 MPa, 21 % max) at slow speeds (0.4 %/s). In addition, cycle life can reach 10⁵ cycles without significant polymer degradation. This thesis presents an in-depth characterization of the behavior of polypyrrole actuators in room temperature 1-butyl-3-methyl imidazolium tetrafluoroborate liquid salt electrolyte.(cont.) The characterization includes the assessment of passive and electroactive mechanical properties as well as electrical and morphological properties. Using Nature's actin-myosin molecular engine as a source of inspiration, the second approach uses molecular mechanisms to create motion. In this bottom-up approach molecules are rationally designed from the molecular level for specific actuation properties. Such active molecular building blocks include shape changing, load bearing, passively deformable or hinge-like molecular elements. Several novel materials based on contractile molecular design were synthesized and their active properties characterized.by Patrick A.T. Anquetil.Ph.D