An Integrated Design and Simulation Environment for Rapid Prototyping of Laminate Robotic Mechanisms

Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and are more accessible to novices and hobbyists. However, iterating through the design space to come up with the best design for a robot is still a time consuming and rather expensive task and therefore, there is still a need for model-based analysis before manufacturing. Until now, there has been no integrated design and analysis software for laminate robots. This paper addresses some of the issues surrounding laminate analysis by introducing a companion to an existing laminate design tool that automates the generation of dynamic equations and produces simulation results via rendered plots and videos. We have validated the accuracy of the software by comparing the position, velocity and acceleration of the simulated mechanisms with the measurements taken from physical laminate prototypes using a motion capture system

Tunable Dynamic Walking via Soft Twisted Beam Vibration

We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental approaches, we show that the coupled stiffness of twisted beams with terrain contact can be controlled to generate a variety of complex trajectories by changing the frequency of the input signal. This work reveals how ground contact influences the system's dynamic behavior, supporting the design of walking robots inspired by this phenomenon. We also show that the proposed twisted beam produces a tunable walking gait from a single vibrational input.Comment: 8 pages, 5 figure, this paper has been submitted to IEEE Robotics and Automation Letters, copyright may be transferred without notice, after which this version may no longer be accessible, the supplemental video is available at: https://youtu.be/HpvOvaIC1Z

The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp

The agility and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads – and the mechanisms used to manipulate them – reduces this flight time even further. In this paper we present the flying monkey, a novel robot platform having three main capabilities: walking, grasping, and flight. This new robotic platform merges one of the world’s smallest quadrotor aircraft with a lightweight, single-degree-of-freedom walking mechanism and an SMA-actuated gripper to enable all three functions in a 30 g package. The main goal and key contribution of this paper is to design and prototype the flying monkey that has increased mission life and capabilities through the combination of the functionalities of legged and aerial roots.National Science Foundation (U.S.) (IIS-1138847)National Science Foundation (U.S.) (EFRI-124038)National Science Foundation (U.S.) (CCF-1138967)United States. Army Research Laboratory (W911NF-08-2-0004)Wyss Institute for Biologically Inspired Engineerin

Temporal Information Processing in Short- and Long-Term Memory of Patients with Schizophrenia

Cognitive deficits of patients with schizophrenia have been largely recognized as core symptoms of the disorder. One neglected factor that contributes to these deficits is the comprehension of time. In the present study, we assessed temporal information processing and manipulation from short- and long-term memory in 34 patients with chronic schizophrenia and 34 matched healthy controls. On the short-term memory temporal-order reconstruction task, an incidental or intentional learning strategy was deployed. Patients showed worse overall performance than healthy controls. The intentional learning strategy led to dissociable performance improvement in both groups. Whereas healthy controls improved on a performance measure (serial organization), patients improved on an error measure (inappropriate semantic clustering) when using the intentional instead of the incidental learning strategy. On the long-term memory script-generation task, routine and non-routine events of everyday activities (e.g., buying groceries) had to be generated in either chronological or inverted temporal order. Patients were slower than controls at generating events in the chronological routine condition only. They also committed more sequencing and boundary errors in the inverted conditions. The number of irrelevant events was higher in patients in the chronological, non-routine condition. These results suggest that patients with schizophrenia imprecisely access temporal information from short- and long-term memory. In short-term memory, processing of temporal information led to a reduction in errors rather than, as was the case in healthy controls, to an improvement in temporal-order recall. When accessing temporal information from long-term memory, patients were slower and committed more sequencing, boundary, and intrusion errors. Together, these results suggest that time information can be accessed and processed only imprecisely by patients who provide evidence for impaired time comprehension. This could contribute to symptomatic cognitive deficits and strategic inefficiency in schizophrenia

Global Landscape Review of Serotype-Specific Invasive Pneumococcal Disease Surveillance among Countries Using PCV10/13: The Pneumococcal Serotype Replacement and Distribution Estimation (PSERENADE) Project.

Serotype-specific surveillance for invasive pneumococcal disease (IPD) is essential for assessing the impact of 10- and 13-valent pneumococcal conjugate vaccines (PCV10/13). The Pneumococcal Serotype Replacement and Distribution Estimation (PSERENADE) project aimed to evaluate the global evidence to estimate the impact of PCV10/13 by age, product, schedule, and syndrome. Here we systematically characterize and summarize the global landscape of routine serotype-specific IPD surveillance in PCV10/13-using countries and describe the subset that are included in PSERENADE. Of 138 countries using PCV10/13 as of 2018, we identified 109 with IPD surveillance systems, 76 of which met PSERENADE data collection eligibility criteria. PSERENADE received data from most (n = 63, 82.9%), yielding 240,639 post-PCV10/13 introduction IPD cases. Pediatric and adult surveillance was represented from all geographic regions but was limited from lower income and high-burden countries. In PSERENADE, 18 sites evaluated PCV10, 42 PCV13, and 17 both; 17 sites used a 3 + 0 schedule, 38 used 2 + 1, 13 used 3 + 1, and 9 used mixed schedules. With such a sizeable and generally representative dataset, PSERENADE will be able to conduct robust analyses to estimate PCV impact and inform policy at national and global levels regarding adult immunization, schedule, and product choice, including for higher valency PCVs on the horizon

Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm

Continuum robot manipulators present challenges for controller design due to the complexity of their infinite-dimensional dynamics. This paper develops a practical dynamics-based approach to synthesizing state feedback controllers for a soft continuum robot arm composed of segments with local sensing, actuation, and control capabilities. Each segment communicates its states to its two adjacent neighboring segments, requiring a tridiagonal feedback matrix for decentralized controller implementation. A semi-discrete numerical approximation of the Euler-Bernoulli beam equation is used to represent the robot arm dynamics. Formulated in state space representation, this numerical approximation is used to define an H-infinity optimal control problem in terms of a Bilinear Matrix Inequality. We develop three iterative algorithms that solve this problem by computing the tridiagonal feedback matrix which minimizes the H-infinity norm of the map from disturbances to regulated outputs. We confirm through simulations that all three controllers successfully dampen the free vibrations of a cantilever beam that are induced by an initial sinusoidal displacement, and we compare the controllers' performance.Office of Naval Research (ONR) [N00014-17-1-2117]This item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at [email protected]

A Modular Folded Laminate Robot Capable of Multi Modal Locomotion

This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the challenges of designing assemblies of linkages from a two-dimensional sheet. The result is a design process that explores the tradeoffs between the complexity of linkage fabrication and also allows the designer combine multiple functions or modes of locomotion. A redesigned modular robot capable of multi-modal locomotion and grasping is presented to embody these design principles.National Science Foundation (Grants EFRI-1240383 and CCF- 1138967