Trajectory generation and steering optimization for self-assembly of a modular robotic system

Abstract-A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states. The constraint properly aligns the docking mechanism, allowing modules to connect with one another along wheel surfaces. This paper presents an initial method for generating trajectories and control inputs that allow module assembly. It also provides an iterative method for locally optimizing a nominal control function using weighted perturbation functions, while preserving the final pose and internal states

A Particle Model for Prediction of Cement Infiltration of Cancellous Bone in Osteoporotic Bone Augmentation.

PMC3693961Femoroplasty is a potential preventive treatment for osteoporotic hip fractures. It involves augmenting mechanical properties of the femur by injecting Polymethylmethacrylate (PMMA) bone cement. To reduce the risks involved and maximize the outcome, however, the procedure needs to be carefully planned and executed. An important part of the planning system is predicting infiltration of cement into the porous medium of cancellous bone. We used the method of Smoothed Particle Hydrodynamics (SPH) to model the flow of PMMA inside porous media. We modified the standard formulation of SPH to incorporate the extreme viscosities associated with bone cement. Darcy creeping flow of fluids through isotropic porous media was simulated and the results were compared with those reported in the literature. Further validation involved injecting PMMA cement inside porous foam blocks - osteoporotic cancellous bone surrogates - and simulating the injections using our proposed SPH model. Millimeter accuracy was obtained in comparing the simulated and actual cement shapes. Also, strong correlations were found between the simulated and the experimental data of spreading distance (R2 = 0.86) and normalized pressure (R2 = 0.90). Results suggest that the proposed model is suitable for use in an osteoporotic femoral augmentation planning framework.JH Libraries Open Access Fun

Persistent Multi-Agent Search and Tracking with Flight Endurance Constraints

A large group of small, limited endurance autonomous vehicles working cooperatively may be more effective in target search and track operations when compared with a long endurance vehicle. For a persistent search and track task, a need exists for coordination algorithms that account for limited agent endurance. This paper presents a multi-agent persistent search and track algorithm incorporating endurance constraints in a high-level algorithm that deploys and recovers vehicles from a stationary base station. Agents are assigned to search, track, return, and deploy modes using on-board sensor and battery measurements. Simulations and experiments show the relationship between the number of agents, battery capacity, search performance, and target tracking performance. The measures used to quantify these relationships include spatiotemporal coverage, target tracking effectiveness, and the usage of available aircraft. Hardware experiments demonstrate the effectiveness of the approach

Sample original (A) and masked (B) CT slice and an example of fixed particles arrangement (C).

<p>Sample original (A) and masked (B) CT slice and an example of fixed particles arrangement (C).</p

Experimental setup.

<p>Experimental setup.</p

Comparison between isosurfaces of post-operative CTs and simulated image volumes.

<p>Comparison between isosurfaces of post-operative CTs and simulated image volumes.</p

Segmented X-ray snapshots and the corresponding segmented DRR images for two extreme viscosity injections.

<p>The dark lines represent the cannulae.</p