New perspectives in architecture through transformable structures: A simulation study

Structures enabling transformability of buildings, components and materials at different levels gain significance in view of a sustainable built environment. Such structures are capable of obtaining different shapes in response to varying functional, environmental or loading conditions. Certain limitations of classic tensegrity and scissor-like structures, applied so far in an architectural and engineering context, are attributed to a limited number of possible configurations and a big number of actuators required. In this context, rigid-bar linkages offer a promising alternative with regard to constructability, modularity, transformability and control components integration. In achieving improved flexibility and controllability with a reduced number of actuation devices, a kinematics principle has been previously proposed by the authors that involves the reduction of the system to an externally controlled one degree-of-freedom mechanism in a multistep transformation process. The paper presents application of the kinematics principle in two classes of a transformable spatial rigid-bar linkage structure. Investigation of the system kinematics was conducted using parametric associative design. The kinematics principle is applied on a torus-shaped spatial structural system composed of planar interconnected linkages. Alternative motion sequences of multiple transformation steps by the planar linkages can be implemented for the stepwise adjustment of the joints to their desired values. The actuators employed are positioned at the ground supports and are detached from the main structural body. Thus, minimum structural self-weight, simplicity and reduced energy consumption become possible. The transformation approaches using parametric associative design are exemplified based on a selected motion sequence pattern. The case study demonstrates the high degree of control flexibility and transformability of the system

The control of flexible-link robots carrying large payloads : from theory to experiments.

Robotics is a very large engineering field with a wide and constantly expanding range of applications. Apart from its economic significance, the elegant nature of the problem and its multidisciplinary character make it a most interesting as well as challenging field of study. Flexible-link robots in particular, constitute one of the richest and at the same time most difficult problems ever encountered in the field. Conventional rigid-link robots, both in terms of dynamic analysis and control, can be viewed as a special case of flexible ones which results from suppressing the elastic configuration dependence. Flexible-link robots have already been employed in space operations and a large potential is seen for a new generation of flexible robots to be used in earth-based applications. Such robots are endowed with certain attractive features but at the same time flexibility affects both their tracking and positioning capabilities and dramatically complicates the control problem. The control of flexible-link robots, which constitutes an engineering challenge, is the key to their success. The present thesis deals with the control problem for flexible multilink robots manipulating large payloads, which is a case that commonly occurs in a space robotic manipulation scenario. Before the control problem is actually tackled, both the dynamics and control problems are reviewed in detail and the current state of technology in the field is surveyed. Then, building on previous research, solutions to the problem are proposed and thoroughly investigated. In particular, a model-based control technique is considered together with its adaptive counterpart, which is able to deal with the problem of uncertainty in the mass properties. Both schemes belong to a family of controllers called passivity-based, which by nature exhibit good robustness characteristics. Apart from the theoretical results and the extensive simulation studies that were involved in the research, one further step was taken with the actual hardware implementation of the proposed control techniques. The experimental work involved a specially designed robotics facility which will be described in detail. Case studies will be presented in order to demonstrate the applicability and the value of the controllers, provide insight into their nature and investigate their characteristics. Because of the multidisciplinary nature of the problem, the thesis involves the integration of knowledge from various scientific areas such as dynamics, control, sensor technology, mechanical design, materials science, etc

Establishment of a framework for the design of robotic photovoltaic cleaning systems

Given the prominent role of solar energy among the other clean energy sources, the increase of photovoltaic (PV) systems efficiency becomes crucial. A problem that was recognized to degrade the performance of photovoltaic panels is related to the accumulation of dust (soiling) on their surface. In general, the common practice of manual cleaning of PV systems is not efficient. For this reason, it has emerged the need for automatic cleaning procedures. Automated solutions include integrated cleaning systems and robotized solutions. From a robot design perspective there exist a plethora of issues to be considered, including its energy autonomy but also the employment of appropriate path planning and control methodologies. The available cleaning methods have to be assessed in regard to their suitability for a robotized solution and the corresponding operation parameters have to be optimized. A monitoring system can assist in targeted cleaning beyond the scheduled routine cleaning operations. Towards that direction a suitable concept may integrate intelligent monitoring of a solar photovoltaic power plant using autonomous drones. An effective robotic cleaning solution can be further enhanced using other modern technologies including advanced image processing, artificial intelligence (AI), machine learning and internet of things (IoT). The objective of this work is to provide a general perspective of the problem. The motivation for the development of robotized PV cleaning solutions is justified and the application requirements are identified. A general framework for the design of PV cleaning robots is established. Relevant works are reviewed, already proposed systems are categorized and research challenges are identified

Children’s Perspectives on Robotics and the Relevance to Educational Robotics Competitions

Robotics is a challenging but also exciting scientific field which provides a framework for STEM (Science, Technology, Engineering, and Mathematics) education. An interview as part of a series of podcasts, called “Science Talks – Kids Edition”, produced by the University of Cyprus, allowed to identify the children’s perceptions and questions on robotics (elementary school and kindergarten ages)

The Upcoming Role for Nursing and Assistive Robotics: Opportunities and Challenges Ahead

As an integral part of patient care, nursing is required to constantly adapt to changes in the healthcare system, as well as the wider financial and societal environment. Among the key factors driving these changes is the aging of population. Combined with an existing shortage of nursing and caregiving professionals, accommodating for the patients and elderly needs within hospitals, elderly-care facilities and at a home setting, becomes a societal challenge. Amongst the technological solutions that have evolved in response to these developments, nursing and assistive robotics claim a pivotal role. The objective of the present study is to provide an overview of today's landscape in nursing and assistive robotics, highlighting the benefits associated with adopting such solutions in standard clinical practice. At the same time, to identify existing challenges and limitations that essentially outline the area's future directions. Beyond technological innovation, the manuscript also investigates the end-users' angle, being a crucial parameter in the success of robotics solutions operating within a healthcare environment. In this direction, the results of a survey designed to capture the nursing professionals' perspective toward more informed robotics design and development are presented

Robotics Competitions as an Integral Part of STEM Education

The paper highlights the increasing role of robotics competitions in STEM education and is supported by information pertinent to “Robotex Cyprus 2019”, an annual robotics competition. Relevant data were collected through a questionnaire reflecting the views of participants (n=474) with respect to their engagement and satisfaction during the preparation stage of the competition. Wider issues regarding robotics competitions and STEM education have emerged and are discussed together with reflections drawn from the experiences of the organizers

Robotic Systems for general Surgery, Regulatory approvals and Market potential

In general surgery there exists a tendency towards less invasive procedures. With the use of laparoscopy, patients’ scarring and hospitalization periods have been considerably reduced. Furthermore, computer and robotics technologies have introduced novelties that enhance the surgeons’ skills to accomplish high precision during the complex surgery process. Robotic surgery became reality before the end of last century. Key developments include the Aesop voice-controlled camera-holding device and the Zeus robotic system, both by Computer Motion. A leading role has also been played by the company Intuitive Surgical, that developed the Da Vinci Surgical Robot. A master-slave system architecture was used in relation to both abovementioned robotic systems, where the surgeon is located at a console at the side of the operating table and controls the surgical instruments. The two companies merged in 2003 and the resulting Da Vinci Surgical Robot dominated the market. Other remarkable surgical robots have also been developed for applications including orthopedic surgery, stereotactic brain surgery and urological interventions. In United States, the development, testing and evaluation of any medical robotic device is controlled by the Food and Drug Administration (FDA). In Europe apply similar regulatory requirements but they are not identical and products are often required to comply with both. This study briefly describes the FDA regulatory approval process and discusses the current status of the medical robotic systems market, as well as the future trends. Some of the most important medical robotic systems that have been approved for clinical use are briefly described to show the current status and the potential of the medical robotics technology

An Overview of Assistive Robotics and Technologies for Elderly Care

Population ageing is already having an impact on societies. This study briefly reviews associated technologies employed within the framework of elderly care, namely: robotic nursing, ambient assisted living and assistive robotics. Their current status is considered together with their potential and the associated implementation challenges

Robotic Systems on the Frontline Against the Pandemic

Robotic systems have been effectively used in healthcare while a new role for them has emerged during the COVID-19 pandemic. Robots were used as part of prevention, screening and diagnosis of the disease, but also to assist with the treatment of patients. The purpose of the paper is to provide an overview of the relevant applications for robots and highlight their potential