Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

Advances in Mechanical Systems Dynamics 2020

The fundamentals of mechanical system dynamics were established before the beginning of the industrial era. The 18th century was a very important time for science and was characterized by the development of classical mechanics. This development progressed in the 19th century, and new, important applications related to industrialization were found and studied. The development of computers in the 20th century revolutionized mechanical system dynamics owing to the development of numerical simulation. We are now in the presence of the fourth industrial revolution. Mechanical systems are increasingly integrated with electrical, fluidic, and electronic systems, and the industrial environment has become characterized by the cyber-physical systems of industry 4.0. Within this framework, the status-of-the-art has become represented by integrated mechanical systems and supported by accurate dynamic models able to predict their dynamic behavior. Therefore, mechanical systems dynamics will play a central role in forthcoming years. This Special Issue aims to disseminate the latest research findings and ideas in the field of mechanical systems dynamics, with particular emphasis on novel trends and applications

Rock-shape and its role in rockfall dynamics

Rockfall threaten infrastructure and people throughout the world. Estimating the runout dynamics of rockfall is commonly performed using models, providing fundamental data for hazard management and mitigation design. Modelling rockfall is made challenging by the complexity of rock-ground impacts. Much research has focused on empirical impact laws that bundle the rock-ground impact into a single parameter, but this approach fails to capture characteristics associated with the impact configuration and, in particular, the effects of rock-shape. While it is apparent that particular geological settings produce characteristic rock-shapes, and that different rock-shapes may produce characteristic runout dynamics, these aspects of rockfall are poorly understood. This study has focused on investigating the mechanics behind the notion that different rock-shapes produce characteristic runout dynamics and trajectories. The study combines field data on rockfall runout, trajectory and dynamics, laboratory analogue testing in controlled conditions, and numerical modelling of the influence of rock-shape. Initially rock-shape, deposition patterns and rockfall dynamics were documented at rockfall sites in Switzerland and New Zealand. This informed a detailed study of individual rock-ground impacts on planar slopes in which laboratory-scale and numerical rockfall experiments were combined to isolate the role of rock-shape on runout. Innovatively, the physical experiments captured the dynamics of impacts and runout paths using high speed video tracking and a sensor bundle with accelerometers and gyroscopes. Numerical experiments were performed using a 3-D rigid-body rockfall model that considers rock-shape, and has allowed the variability of rockfall behaviour to be explored beyond the limitations of physical experimentation. The main findings of the study were on understanding rockfall-ground impacts, the influence of rock-shape on rockfall dynamics, and influence of rock sphericity. By measuring velocity, rotational speed, impact and runout character, it has been possible to quantify the variability of individual rock-ground impacts as a function of rock-shape. Investigation of single rebounds reveals that if classical restitution coefficients are applied, $R_n$ values greater than unity are common and rebounds are highly variable regardless of constant contact parameters. It is shown that this variability is rooted in the inherent differences in the magnitudes of the principal moment of inertia of a rock body brought about by rock-shape. Any departure from a perfect sphere induces increased range and variability in rock-ground rebound characteristics. In addition to the popular description of a rock bouncing down slope, rebounds involve the pinning of an exterior edge point on the rock, creating a moment arm which effectively levers the rock into ballistic trajectory as it rotates. Observations reveal that the angle of the impact configuration plays a key role in the resulting rebound, whereby low angles produce highly arched rebounds, while large impact angles produce low flat rebounds. The type of rebound produced has a strong bearing on the mobility of the rocks and their ability to maintain motion over a long runout. The mobility of rocks is also shown to be related to rotation, which is governed by the differences in the principal inertial axes as a function of rock-shape. Angular velocity measurements about each principal inertial axis indicate that rocks have a tendency to seek rotation about the axis of largest inertia, as the most stable state. Rotations about intermediate and small axes of inertia and transitions between rotational axes are shown to be unstable and responsible for the dispersive nature of runout trajectories, which are inherent characteristics of different rock-shapes. The findings of this research demonstrate the importance of rock-shape in rockfall runout dynamics and illustrate how it is essential that the rock-shape is included in rockfall modelling approaches if the variability of rockfall behaviour is to be simulated

Time metrology in Global Navigation Satellite Systems

Precise timekeeping is at the basis of any Global Navigation Satellite System. In this thesis, after an extensive introduction on time and frequency metrology, some of the basic time-related aspects of navigation systems are discussed, and new ideas and solutions are presented. In the first part of the work, the most relevant innovative contributions are related to the mathematical clock model and to the stability analysis of atomic clocks affected by frequency jumps, as well as to the development of a new averaging algorithm for the generation of a robust time scale from an ensemble of atomic clocks. In the second part, devoted to the role of timekeeping in satellite navigation systems, the innovative contributions are mainly about: a revision of the relativistic corrections; the development and testing of a new composite clock, which could be used as a system time scale for the Galileo system; a study on the impact of the light-shift effect on the timing performance of GPS rubidium clocks; the development of a new recursive clock anomalies detector, as well as a discussion about the possible implementations of a clock anomalies detector and a compensation system for on-board applications

A review of modeling and control of remote-controlled capsule endoscopes.

INTRODUCTION: The significance of this review lies in addressing the limitations of passive locomotion in capsule endoscopes, hindering their widespread use in medical applications. The research focuses on evaluating existing miniature in vivo remote-controlled capsule endoscopes, examining their locomotion designs, and working theories to pave the way for overcoming challenges and enhancing their applicability in diagnostic and treatment settings. AREAS COVERED: This paper explores control methods and dynamic system modeling in the context of self-propelled remote-controlled capsule endoscopes with a two-mass arrangement. The literature search, conducted at Queen Mary University of London Library from 2000 to 2022, utilized a systematic approach starting with the broad keyword 'Capsule Endoscope' and progressively narrowing down to specific aspects such as 'Capsule Endoscope Control' and 'Self-propelled Capsule Endoscope' using various criteria. EXPERT OPINION: Efficiently driving and controlling remote-controlled capsule endoscopes have the potential to overcome the current limitations in medical technology, offering a viable solution for diagnosing and treating gastrointestinal diseases. Successful control of the remote-controlled capsule endoscope, as demonstrated in this review paper, will lead to a step change in medical engineering, establishing the remote-controlled capsule endoscope as a swift standard in the field

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

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Design of the WUFR-19 FSAE Suspension

This report outlines the rationale and design constraints for Wash U Racing’s WUFR-19 suspension for the 2019 FSAE Michigan competition. This includes competition rules, team design goals of drivability and control, and compliance with good engineering practices. To stay competitive, the team has reinvented the design philosophy of the car for the 2019 season, highlighting the use of multiple software packages and several parallel problem-solving methods when possible. The system was designed using MATLAB, SolidWorks, and OptimumKinematics racing software. Simulations were created to evaluate the car’s grip potential through heave, pitch, roll, and steer motions. These results were compared with tire data models to tune for improved control at peak conditions. Additionally, kinematic equations were used along with sensor data from past iterations of Wash U Racing projects to alternatively predict handling capabilities for the new platform. This paved the way for the creation of front and rear geometries in SolidWorks to be the basis for the WUFR-19 chassis and the rest of the project development

Neuromechanical Analysis of Locust Jumping

The nervous systems of animals evolved to exert dynamic control of behavior in response to the needs of the animal and changing signals from the environment. To understand the mechanisms of dynamic control, we need a means of predicting how individual neural and body elements will interact to produce the performance of the entire system. We have developed a neuromechanical application named AnimatLab that addresses this problem through simulation. A computational model of a body and nervous system can be constructed from simple components and situated in a virtual world for testing. Simulations and live experiments were used to investigate questions about locust jumping. The neural circuitry and biomechanics of kicking in locusts have been extensively studied. It has been hypothesized that the same neural circuit and biomechanics governed both behaviors, but this hypothesis was not testable with current technology. We built a neuromechanical model to test this and to gain a better understanding of the role of the semi-lunar process (SLP) in jump dynamics. The SLP are bands of cuticle that store energy for use during jumping. The results of the model were compared to a variety of published data and were similar. The SLP significantly increased jump distance, power, total energy, and duration of the jump impulse. Locust can jump precisely to a target, but also exhibit tumbling. We proposed two mechanisms for controlling tumbling during the jump. The first was that locusts adjust the pitch of their body prior to the jump to move the center of mass closer to the thrust vector. The second was that contraction of the abdominal muscles during the jump produced torques that countered the torque due to thrust. There was a strong correlation relating increased pitch and takeoff angle. In simulations there was an optimal pitch-takeoff combination that minimized tumbling that was similar to the live data. The direction and magnitude of tumbling could be controlled by adjusting abdominal tension. Tumbling also influenced jump elevation. Neuromechanical simulation addressed problems that would be difficult to examine using traditional physiological approaches. It is a powerful tool for understanding the neural basis of behavior