Autonomous planning and control of soft untethered grippers in unstructured environments

The use of small, maneuverable, untethered and reconfigurable robots could provide numerous advantages in various micromanipulation tasks. Examples include microassembly, pick-and-place of fragile microobjects for lab-on-a-chip applications, assisted hatching for in-vitro fertilization and minimally invasive surgery. This study assesses the potential of soft untethered magnetic grippers as alternatives or complements to conventional tethered or rigid micromanipulators. We demonstrate closed-loop control of untethered grippers and automated pick-and-place of biological material on porcine tissue in an unstructured environment. We also demonstrate the ability of the soft grippers to recognize and sort non-biological micro-scale objects. The fully autonomous nature of the experiments is made possible by the integration of planning and decision-making algorithms, as well as by closed-loop temperature and electromagnetic motion control. The grippers are capable of completing pick-and-place tasks of biological material at an average velocity of 1.8±0.71 mm/s and a drop-off error of 0.62±0.22 mm. Color-sensitive sorting of three micro-scale objects is completed at a velocity of 1.21±0.68 mm/s and a drop-off error of 0.85±0.41 mm. Our findings suggest that improved autonomous un-tethered grippers could augment the capabilities of current soft-robotic instruments especially in advanced tasks involving manipulation

Real-Time Path Planning for Automating Optical Tweezers based Particle Transport Operations

Optical tweezers (OT) have been developed to successfully trap, orient, and transport micro and nano scale components of many different sizes and shapes in a fluid medium. They can be viewed as robots made out of light. Components can be simply released from optical traps by switching off laser beams. By utilizing the principle of time sharing or holograms, multiple optical traps can perform several operations in parallel. These characteristics make optical tweezers a very promising technology for creating directed micro and nano scale assemblies. In the infra-red regime, they are useful in a large number of biological applications as well. This dissertation explores the problem of real-time path planning for autonomous OT based transport operations. Such operations pose interesting challenges as the environment is uncertain and dynamic due to the random Brownian motion of the particles and noise in the imaging based measurements. Silica microspheres having diameters between (1-20) µm are selected as model components. Offline simulations are performed to gather trapping probability data that serves as a measure of trap strength and reliability as a function of relative position of the particle under consideration with respect to the trap focus, and trap velocity. Simplified models are generated using Gaussian Radial Basis Functions to represent the data in a compact form. These metamodels can be queried at run-time to obtain estimated probability values accurately and efficiently. Simple trapping probability models are then utilized in a stochastic dynamic programming framework to compute optimum trap locations and velocities that minimizes the total, expected transport time by incorporating collision avoidance and recovery steps. A discrete version of an approximate partially observable Markov decision process algorithm, called the QMDP_NLTDV algorithm, is developed. Real-time performance is ensured by pruning the search space and enhancing convergence rates by introducing a non-linear value function. The algorithm is validated both using a simulator as well as a physical holographic tweezer set-up. Successful runs show that the automated planner is flexible, works well in reasonably crowded scenes, and is capable of transporting a specific particle to a given goal location by avoiding collisions either by circumventing or by trapping other freely diffusing particles. This technique for transporting individual particles is utilized within a decoupled and prioritized approach to move multiple particles simultaneously. An iterative version of a bipartite graph matching algorithm is also used to assign goal locations to target objects optimally. As in the case of single particle transport, simulation and some physical experiments are performed to validate the multi-particle planning approach

Surgical Subtask Automation for Intraluminal Procedures using Deep Reinforcement Learning

Intraluminal procedures have opened up a new sub-field of minimally invasive surgery that use flexible instruments to navigate through complex luminal structures of the body, resulting in reduced invasiveness and improved patient benefits. One of the major challenges in this field is the accurate and precise control of the instrument inside the human body. Robotics has emerged as a promising solution to this problem. However, to achieve successful robotic intraluminal interventions, the control of the instrument needs to be automated to a large extent. The thesis first examines the state-of-the-art in intraluminal surgical robotics and identifies the key challenges in this field, which include the need for safe and effective tool manipulation, and the ability to adapt to unexpected changes in the luminal environment. To address these challenges, the thesis proposes several levels of autonomy that enable the robotic system to perform individual subtasks autonomously, while still allowing the surgeon to retain overall control of the procedure. The approach facilitates the development of specialized algorithms such as Deep Reinforcement Learning (DRL) for subtasks like navigation and tissue manipulation to produce robust surgical gestures. Additionally, the thesis proposes a safety framework that provides formal guarantees to prevent risky actions. The presented approaches are evaluated through a series of experiments using simulation and robotic platforms. The experiments demonstrate that subtask automation can improve the accuracy and efficiency of tool positioning and tissue manipulation, while also reducing the cognitive load on the surgeon. The results of this research have the potential to improve the reliability and safety of intraluminal surgical interventions, ultimately leading to better outcomes for patients and surgeons

Contributions to autonomous robust navigation of mobile robots in industrial applications

151 p.Un aspecto en el que las plataformas móviles actuales se quedan atrás en comparación con el punto que se ha alcanzado ya en la industria es la precisión. La cuarta revolución industrial trajo consigo la implantación de maquinaria en la mayor parte de procesos industriales, y una fortaleza de estos es su repetitividad. Los robots móviles autónomos, que son los que ofrecen una mayor flexibilidad, carecen de esta capacidad, principalmente debido al ruido inherente a las lecturas ofrecidas por los sensores y al dinamismo existente en la mayoría de entornos. Por este motivo, gran parte de este trabajo se centra en cuantificar el error cometido por los principales métodos de mapeado y localización de robots móviles,ofreciendo distintas alternativas para la mejora del posicionamiento.Asimismo, las principales fuentes de información con las que los robots móviles son capaces de realizarlas funciones descritas son los sensores exteroceptivos, los cuales miden el entorno y no tanto el estado del propio robot. Por esta misma razón, algunos métodos son muy dependientes del escenario en el que se han desarrollado, y no obtienen los mismos resultados cuando este varía. La mayoría de plataformas móviles generan un mapa que representa el entorno que les rodea, y fundamentan en este muchos de sus cálculos para realizar acciones como navegar. Dicha generación es un proceso que requiere de intervención humana en la mayoría de casos y que tiene una gran repercusión en el posterior funcionamiento del robot. En la última parte del presente trabajo, se propone un método que pretende optimizar este paso para así generar un modelo más rico del entorno sin requerir de tiempo adicional para ello

Proceedings of the 2021 DigitalFUTURES

This open access book is a compilation of selected papers from 2021 DigitalFUTURES—The 3rd International Conference on Computational Design and Robotic Fabrication (CDRF 2021). The work focuses on novel techniques for computational design and robotic fabrication. The contents make valuable contributions to academic researchers, designers, and engineers in the industry. As well, readers encounter new ideas about understanding material intelligence in architecture

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

DESIGNING A MULTI-AGENT FRAMEWORK FOR UNMANNED AERIAL/GROUND VEHICLES

Ph.DDOCTOR OF PHILOSOPH

Proceedings of the NASA Conference on Space Telerobotics, volume 1

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty

Proceedings of the NASA Conference on Space Telerobotics, volume 2

These proceedings contain papers presented at the NASA Conference on Space Telerobotics held in Pasadena, January 31 to February 2, 1989. The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research