Kinematics and Robot Design IV, KaRD2021

This volume collects the papers published on the special issue “Kinematics and Robot Design IV, KaRD2021” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2021), which is the forth edition of the KaRD special-issue series, hosted by the open-access journal “MDPI Robotics”. KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2021, after the peer-review process, accepted 12 papers. The accepted papers cover some theoretical and many design/applicative aspects

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein

A survey of business educational simulations and their adoption by business educators.

A survey was designed to investigate the current usage of business simulations in academic education. The purpose of the study was to discover (i) differences between current users, non-users and former users of educational simulations; (ii) modes of communication used for information; (iii) reasons for adoption and; (iv) currently used simulations. An Internet survey invited 14,497 educators from the professional organizations of ABSEL, ISAGA and AACSB member affiliated business schools. The invitations were accepted by 1085 respondents who were categorized into (i) 30.5% current business simulation users; (ii) 17.3% non-users; and (iii) 52.2% former users. It was found that users and former users have no significant differences in demographic and attitudinal characteristics between them. However, non-users have differences in attitudes that distinguish them from users. Lastly, the communication channels and the currently used simulation game titles were analysed. (Abstract shortened by UMI.) Paper copy at Leddy Library: Theses & Major Papers - Basement, West Bldg. / Call Number: Thesis2003 .G49. Source: Masters Abstracts International, Volume: 43-01, page: 0025. Adviser: W. Wellington. Thesis (M.B.A.)--University of Windsor (Canada), 2004

Design and Development of a Surgical Robot for Needle-Based Medical Interventions

Lung cancer is the leading cause of cancer related deaths. If diagnosed in a timely manner, the treatment of choice is surgical resection of the cancerous lesions followed by radiotherapy. However, surgical resection may be too invasive for some patients due to old age or weakness. An alternative is minimally invasive needle-based interventions for cancer diagnosis and treatment. This project describes the design, analysis, development and experimental evaluation of a modular, compact, patient-mounted robotic manipulator for lung cancer diagnosis and treatment. In this regard, a novel parallel Remote Centre of Motion (RCM) mechanism is proposed for minimally invasive delivery of needle-based interventions. The proposed robot provides four degrees of freedom (DOFs) to orient and move a surgical needle within a spherical coordinate system. There is an analytical solution for the kinematics of the proposed parallel mechanism and the end-effectors motion is well-conditioned within the required workspace. The RCM is located beneath the skin surface to minimize the invasiveness of the surgical procedure while providing the required workspace to target the cancerous lesions. In addition, the proposed robot benefits from a design capable of measuring the interaction forces between the needle and the tissue. The experimental evaluation of the robot has proved its capability to accurately orient and move a surgical needle within the required workspace. Although this robotic system has been designed for the treatment of lung cancer, it is capable of performing other procedures in the thoracic or abdominal cavity such as liver cancer diagnosis and treatment

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

The 2004 NASA Faculty Fellowship Program Research Reports

This is the administrative report for the 2004 NASA Faculty Fellowship Program (NFFP) held at the George C. Marshall Space Flight Center (MSFC) for the 40th consecutive year. The NFFP offers science and engineering faculty at U.S. colleges and universities hands-on exposure to NASA s research challenges through summer research residencies and extended research opportunities at participating NASA research Centers. During this program, fellows work closely with NASA colleagues on research challenges important to NASA's strategic enterprises that are of mutual interest to the fellow and the Center. The nominal starting and .nishing dates for the 10-week program were June 1 through August 6, 2004. The program was sponsored by NASA Headquarters, Washington, DC, and operated under contract by The University of Alabama, The University of Alabama in Huntsville, and Alabama A&M University. In addition, promotion and applications are managed by the American Society for Engineering Education (ASEE) and assessment is completed by Universities Space Research Association (USRA). The primary objectives of the NFFP are to: Increase the quality and quantity of research collaborations between NASA and the academic community that contribute to the Agency s space aeronautics and space science mission. Engage faculty from colleges, universities, and community colleges in current NASA research and development. Foster a greater public awareness of NASA science and technology, and therefore facilitate academic and workforce literacy in these areas. Strengthen faculty capabilities to enhance the STEM workforce, advance competition, and infuse mission-related research and technology content into classroom teaching. Increase participation of underrepresented and underserved faculty and institutions in NASA science and technology