Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this work, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.Comment: Accepted on T-RO 2019, 19 Page

Virtual manufacturing: prediction of work piece geometric quality by considering machine and set-up

Lien vers la version éditeur: http://www.tandfonline.com/doi/full/10.1080/0951192X.2011.569952#.U4yZIHeqP3UIn the context of concurrent engineering, the design of the parts, the production planning and the manufacturing facility must be considered simultaneously. The design and development cycle can thus be reduced as manufacturing constraints are taken into account as early as possible. Thus, the design phase takes into account the manufacturing constraints as the customer requirements; more these constraints must not restrict the creativity of design. Also to facilitate the choice of the most suitable system for a specific process, Virtual Manufacturing is supplemented with developments of numerical computations (Altintas et al. 2005, Bianchi et al. 1996) in order to compare at low cost several solutions developed with several hypothesis without manufacturing of prototypes. In this context, the authors want to predict the work piece geometric more accurately by considering machine defects and work piece set-up, through the use of process simulation. A particular case study based on a 3 axis milling machine will be used here to illustrate the authors’ point of view. This study focuses on the following geometric defects: machine geometric errors, work piece positioning errors due to fixture system and part accuracy

Development of a novel 3D simulation modelling system for distributed manufacturing

This paper describes a novel 3D simulation modelling system for supporting our distributed machine design and control paradigm with respect to simulating and emulating machine behaviour on the Internet. The system has been designed and implemented using Java2D and Java3D. An easy assembly concept of drag-and-drop assembly has been realised and implemented by the introduction of new connection features (unified interface assembly features) between two assembly components (modules). The system comprises a hierarchical geometric modeller, a behavioural editor, and two assemblers. During modelling, designers can combine basic modelling primitives with general extrusions and integrate CAD geometric models into simulation models. Each simulation component (module) model can be visualised and animated in VRML browsers. It is reusable. This makes machine design re-configurable and flexible. A case study example is given to support our conclusions

Octree-based production of near net shape components

Near net shape (NNS) manufacturing refers to the production of products that require a finishing operation of some kind. NNS manufacturing is important because it enables a significant reduction in: machining work, raw material usage, production time, and energy consumption. This paper presents an integrated system for the production of near net shape components based on the Octree decomposition of 3-D models. The Octree representation is used to automatically decompose and approximate the 3-D models, and to generate the robot instructions required to create assemblies of blocks secured by adhesive. Not only is the system capable of producing shapes of variable precision and complexity (including overhanging or reentrant shapes) from a variety of materials, but it also requires no production tooling (e.g., molds, dies, jigs, or fixtures). This paper details how a number of well-known Octree algorithms for subdivision, neighbor findings, and tree traversal have been modified to support this novel application. This paper ends by reporting the construction of two mechanical components in the prototype cell, and discussing the overall feasibility of the system

Folding Assembly by Means of Dual-Arm Robotic Manipulation

In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.Comment: 7 pages, accepted for ICRA 201

Seeing the invisible: from imagined to virtual urban landscapes

Urban ecosystems consist of infrastructure features working together to provide services for inhabitants. Infrastructure functions akin to an ecosystem, having dynamic relationships and interdependencies. However, with age, urban infrastructure can deteriorate and stop functioning. Additional pressures on infrastructure include urbanizing populations and a changing climate that exposes vulnerabilities. To manage the urban infrastructure ecosystem in a modernizing world, urban planners need to integrate a coordinated management plan for these co-located and dependent infrastructure features. To implement such a management practice, an improved method for communicating how these infrastructure features interact is needed. This study aims to define urban infrastructure as a system, identify the systematic barriers preventing implementation of a more coordinated management model, and develop a virtual reality tool to provide visualization of the spatial system dynamics of urban infrastructure. Data was collected from a stakeholder workshop that highlighted a lack of appreciation for the system dynamics of urban infrastructure. An urban ecology VR model was created to highlight the interconnectedness of infrastructure features. VR proved to be useful for communicating spatial information to urban stakeholders about the complexities of infrastructure ecology and the interactions between infrastructure features.https://doi.org/10.1016/j.cities.2019.102559Published versio