Telepresence system development for application to the control of remote robotic systems

The recent developments of techniques which assist an operator in the control of remote robotic systems are described. In particular, applications are aimed at two specific scenarios: The control of remote robot manipulators; and motion planning for remote transporter vehicles. Common to both applications is the use of realistic computer graphics images which provide the operator with pertinent information. The specific system developments for several recently completed and ongoing telepresence research projects are described

Motion Planning

Motion planning is a fundamental function in robotics and numerous intelligent machines. The global concept of planning involves multiple capabilities, such as path generation, dynamic planning, optimization, tracking, and control. This book has organized different planning topics into three general perspectives that are classified by the type of robotic applications. The chapters are a selection of recent developments in a) planning and tracking methods for unmanned aerial vehicles, b) heuristically based methods for navigation planning and routes optimization, and c) control techniques developed for path planning of autonomous wheeled platforms

The Practice of Computer-Assisted Planning and Navigation for Hip Arthroscopy

Despite significant developments in hip arthroscopic surgery in recent years, precise preoperative planning and accurate performance remain challenging. Preoperative planning is particularly important in cases of osteochondroplasty for cam-type femoroacetabular impingement (FAI), and can be aided by several computer-assisted tools, including three-dimensional imaging analysis or kinematic analysis. Initially, the exact point of the bony impingement is identified using simulation analysis; then, virtual osteochondroplasty is performed. Improvements in the range of motion can then be evaluated using computer simulation again. In this way, the required area and depth of bone resection can be assessed preoperatively. In addition, computed tomography-based navigation assistance can be used to complete the osteochondroplasty in accordance with the preoperative planning. After surgery, postoperative evaluation provides valuable feedback to improve future planning and procedures. In this chapter, we describe the practice of computer-assisted planning and navigation for hip arthroscopy

Motion Planning For Micro Aerial Vehicles

A Micro Aerial Vehicle (MAV) is capable of agile motion in 3D making it an ideal platform for developments of planning and control algorithms. For fully autonomous MAV systems, it is essential to plan motions that are both dynamically feasible and collision-free in cluttered environments. Recent work demonstrates precise control of MAVs using time-parameterized trajectories that satisfy feasibility and safety requirements. However, planning such trajectories is non-trivial, especially when considering constraints, such as optimality and completeness. For navigating in unknown environments, the capability for fast re-planning is also critical. Considering all of these requirements, motion planning for MAVs is a challenging problem. In this thesis, we examine trajectory planning algorithms for MAVs and present methodologies that solve a wide range of planning problems. We first introduce path planning and geometric control methods, which produce spatial paths that are inadequate for high speed flight, but can be used to guide trajectory optimization. We then describe optimization-based trajectory planning and demonstrate this method for solving navigation problems in complex 3D environments. When the initial state is not fixed, an optimization-based method is prone to generate sub-optimal trajectories. To address this challenge, we propose a search-based approach using motion primitives to plan resolution complete and sub-optimal trajectories. This algorithm can also be used to solve planning problems with constraints such as motion uncertainty, limited field-of-view and moving obstacles. The proposed methods can run in real time and are applicable for real-world autonomous navigation, even with limited on-board computational resources. This thesis includes a carefully analysis of the strengths and weaknesses of our planning paradigm and algorithms, and demonstration of their performance through simulation and experiments

Decoupled motion planning of a mobile manipulator for precision agriculture

Thanks to recent developments in service robotics technologies, precision agriculture (PA) is becoming an increasingly prominent research field, and several studies were made to present and outline how the use of mobile robotic systems can help and improve farm production. In this paper, the integration of a custom-designed mobile base with a commercial robotic arm is presented, showing the functionality and features of the overall system for crop monitoring and sampling. To this aim, the motion planning problem is addressed, developing a tailored algorithm based on the so-called manipulability index, that treats the base and robotic arm mobility as two independent degrees of motion; also developing an open source closed-form inverse kinematics algorithm for the kinematically redundant manipulator. The presented methods and sub-system, even though strictly related to a specific mobile manipulator system, can be adapted not only to PA applications where a mobile manipulator is involved but also to the wider field of assistive robotics

State-of-the-Art CT Imaging Techniques for Congenital Heart Disease

CT is increasingly being used for evaluating the cardiovascular structures and airways in the patients with congenital heart disease. Multi-slice CT has traditionally been used for the evaluation of the extracardiac vascular and airway abnormalities because of its inherent high spatial resolution and excellent air-tissue contrast. Recent developments in CT technology primarily by reducing the cardiac motion and the radiation dose usage in congenital heart disease evaluation have helped expand the indications for CT usage. Tracheobronchomalacia associated with congenital heart disease can be evaluated with cine CT. Intravenous contrast injection should be tailored to unequivocally demonstrate cardiovascular abnormalities. Knowledge of the state-of-the-art CT imaging techniques that are used for evaluating congenital heart disease is helpful not only for planning and performing CT examinations, but also for interpreting and presenting the CT image findings that consequently guide the proper medical and surgical management

Scientific Management in Research Libraries

published or submitted for publicatio

Printing-while-moving: a new paradigm for large-scale robotic 3D Printing

Building and Construction have recently become an exciting application ground for robotics. In particular, rapid progress in materials formulation and in robotics technology has made robotic 3D Printing of concrete a promising technique for in-situ construction. Yet, scalability remains an important hurdle to widespread adoption: the printing systems (gantry- based or arm-based) are often much larger than the structure to be printed, hence cumbersome. Recently, a mobile printing system - a manipulator mounted on a mobile base - was proposed to alleviate this issue: such a system, by moving its base, can potentially print a structure larger than itself. However, the proposed system could only print while being stationary, imposing thereby a limit on the size of structures that can be printed in a single take. Here, we develop a system that implements the printing-while-moving paradigm, which enables printing single-piece structures of arbitrary sizes with a single robot. This development requires solving motion planning, localization, and motion control problems that are specific to mobile 3D Printing. We report our framework to address those problems, and demonstrate, for the first time, a printing-while-moving experiment, wherein a 210 cm x 45 cm x 10 cm concrete structure is printed by a robot arm that has a reach of 87 cm.Comment: 6 pages, 7 figur