Energy shaping control of soft continuum manipulators with in-plane disturbances

Soft continuum manipulators offer levels of compliance and inherent safety that can render thema superior alternative to conventional rigid robotsfor a variety of tasks, such as medical interventions or human-robot interaction. However, the ability of soft continuum manipulators to compensate external disturbances need to be further enhanced to meet the stringent requirements of many practical applications.In this paper, we investigate the control problem forsoft continuum manipulators that consist of one inextensible segmentof constant section, which bends under the effect of the internal pressure and is subject to unknown disturbances acting in the plane of bending. A rigid-link model of the manipulatorwith a single input pressureis employed for control purposes and an energy-shaping approach isproposedto derive thecontrol law. A method for the adaptive estimation of disturbances is detailed and a disturbance compensation strategy is proposed.Finally, the effectiveness of the controlleris demonstrated with simulations and with experiments on an inextensible soft continuum manipulator that employs pneumatic actuation

Langerhans´cell histiocytosis

La histiocitosis de células de Langerhans (HCL), anteriormente conocida como histiocitosis X, es una enfermedad poco frecuente caracterizada por la acumulación y proliferación de histiocitos, eosinófilos y células de Langerhans, con inclusión de gránulos de Birbeck detectables por microscopia electrónica, afectando órganos y sistemas de forma aislada o múltiple. El diagnóstico se realiza mediante biopsia de la lesión y la confirmación de la presencia de CD1a y/o CD207 en la misma. Las distintas formas de presentación producen distinto enfoque terapéutico y pronóstico, desde formas benignas, autolimitadas, con resolución espontánea hasta otras de curso tórpido o maligno.Langerhans’ cell histiocytosis (LCH), previously known as histiocytosis X, is a rare disease. It is characterized by the accumulation and proliferation of histiocytes, eosinophils and Langerhans’ cells with Birbeck granules detected by electron microscopy. It involves single organs or systems or can present as a multisystem disease. The diagnosis is made by biopsy of the lesion and confirming the presence of CD1a and / or CD207 on it. The clinical presentation may vary widely, ranging from benign self-limiting types with spontaneous regression to slowly progressive malignant disease.Fil: Casanovas, A.. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños Pedro Elizalde (ex Casa Cuna); ArgentinaFil: Elena, G.. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños Pedro Elizalde (ex Casa Cuna); ArgentinaFil: Rosso, Diego. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños Pedro Elizalde (ex Casa Cuna); Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Kinematics of continuum robots with constant curvature bending and extension capabilities

Continuum robots are becoming increasingly popular due to the capabilities they offer, especially when operating in cluttered environments, where their dexterity, maneuverability, and compliance represent a significant advantage. The subset of continuum robots that also belong to the soft robots category has seen rapid development in recent years, showing great promise. However, despite the significant attention received by these devices, various aspects of their kinematics remain unresolved, limiting their adoption and obscuring their potential. In this paper, the kinematics of continuum robots with the ability to bend and extend are studied, and analytical, closed-form solutions to both the direct and inverse kinematics are presented. The results obtained expose the redundancies of these devices, which are subsequently explored. The solution to the inverse kinematics derived here is shown to provide an analytical, closed-form expression describing the curve associated with these redundancies, which is also presented and analyzed. A condition on the reachable end-effector poses for robots with six actuation degrees-of-freedom (DOFs) is then distilled. The kinematics of robot layouts with over six actuation DOFs are subsequently considered. Finally, simulated results of the inverse kinematics are provided, verifying the study

Nonlinear energy-based control of soft continuum pneumatic manipulators

This paper investigates the model-based nonlinear control of a class of soft continuum pneumatic manipulators that bend due to pressurization of their internal chambers and that operate in the presence of disturbances. A port-Hamiltonian formulation is employed to describe the closed loop system dynamics, which includes the pressure dynamics of the pneumatic actuation, and new nonlinear control laws are constructed with an energy-based approach. In particular, a multi-step design procedure is outlined for soft continuum manipulators operating on a plane and in 3D space. The resulting nonlinear control laws are combined with adaptive observers to compensate the effect of unknown disturbances and model uncertainties. Stability conditions are investigated with a Lyapunov approach, and the effect of the tuning parameters is discussed. For comparison purposes, a different control law constructed with a backstepping procedure is also presented. The effectiveness of the control strategy is demonstrated with simulations and with experiments on a prototype. To this end, a needle valve operated by a servo motor is employed instead of more sophisticated digital pressure regulators. The proposed controllers effectively regulate the tip rotation of the prototype, while preventing vibrations and compensating the effects of disturbances, and demonstrate improved performance compared to the backstepping alternative and to a PID algorithm

First tests of the applicability of γ\gamma-ray imaging for background discrimination in time-of-flight neutron capture measurements

In this work we explore for the first time the applicability of using $\gamma$-ray imaging in neutron capture measurements to identify and suppress spatially localized background. For this aim, a pinhole gamma camera is assembled, tested and characterized in terms of energy and spatial performance. It consists of a monolithic CeBr$_3$ scintillating crystal coupled to a position-sensitive photomultiplier and readout through an integrated circuit AMIC2GR. The pinhole collimator is a massive carven block of lead. A series of dedicated measurements with calibrated sources and with a neutron beam incident on a $^{197}$Au sample have been carried out at n_TOF, achieving an enhancement of a factor of two in the signal-to-background ratio when selecting only those events coming from the direction of the sample.Comment: Preprint submitted to Nucl. Instr. and Meth.