Origami-Inspired Printed Robots

Robot manufacturing is currently highly specialized, time consuming, and expensive, limiting accessibility and customization. Existing rapid prototyping techniques (e.g., 3-D printing) can achieve complex geometries and are becoming increasingly accessible; however, they are limited to one or two materials and cannot seamlessly integrate active components. We propose an alternative approach called printable robots that takes advantage of available planar fabrication methods to create integrated electromechanical laminates that are subsequently folded into functional 3-D machines employing origami-inspired techniques. We designed, fabricated, and tested prototype origami robots to address the canonical robotics challenges of mobility and manipulation, and subsequently combined these designs to generate a new, multifunctional machine. The speed of the design and manufacturing process as well as the ease of composing designs create a new paradigm in robotic development, which has the promise to democratize access to customized robots for industrial, home, and educational use.National Science Foundation (U.S.). Expeditions Program (Grant CCF-1138967

Actively Learning Reinforcement Learning: A Stochastic Optimal Control Approach

In this paper we provide a framework to cope with two problems: (i) the fragility of reinforcement learning due to modeling uncertainties because of the mismatch between controlled laboratory/simulation and real-world conditions and (ii) the prohibitive computational cost of stochastic optimal control. We approach both problems by using reinforcement learning to solve the stochastic dynamic programming equation. The resulting reinforcement learning controller is safe with respect to several types of constraints and it can actively learn about the modeling uncertainties. Unlike exploration and exploitation, probing and safety are employed automatically by the controller itself, resulting real-time learning. A simulation example demonstrates the efficacy of the proposed approach

Object Augmentation for the Visually Impaired Using RP

We demonstrate the application of rapid prototyping technology to augment every-day objects for the visually impaired. A freeform fabricator was used to print a tactile alphabet on multiple surfaces including paper, plastic, and metal. We have identified and experimented with multiple non-toxic materials and analyzed the dimensional tolerance, repeatability, and adhesion characteristics on multiple surfaces. Printing time for 1x1cm embossed letters varied from 14 to 52 seconds. More broadly, these experiments open the door to RP applications that involve custom product adaptation to address disabilities.Mechanical Engineerin

Self-folding with shape memory composites

Origami-inspired manufacturing can produce complex structures and machines by folding two-dimensional composites into three-dimensional structures. This fabrication technique is potentially less expensive, faster, and easier to transport than more traditional machining methods, including 3-D printing. Self-folding enhances this method by minimizing the manual labor involved in folding, allowing for complex geometries and enabling remote or automated assembly. This paper demonstrates a novel method of self-folding hinges using shape memory polymers (SMPs), paper, and resistive circuits to achieve localized and individually addressable folding at low cost. A model for the torque exerted by these composites was developed and validated against experimental data, in order to determine design rules for selecting materials and designing hinges. Torque was shown to increase with SMP thickness, resistive circuit width, and supplied electrical current. This technique was shown to be capable of complex geometries, as well as locking assemblies with sequential folds. Its functionality and low cost make it an ideal basis for a new type of printable manufacturing based on two-dimensional fabrication techniques.National Science Foundation (U.S.) (award number CCF-1138967)National Science Foundation (U.S.) (award number EFRI-1240383

Self-folding shape memory laminates for automated fabrication

Nature regularly uses self-folding as an efficient approach to automated fabrication. In engineered systems, however, the use of self-folding has been primarily restricted to the assembly of small structures using exotic materials and/or complex infrastructures. In this paper we present three approaches to the self-folding of structures using low-cost, rapid-prototyped shape memory laminates. These structures require minimal deployment infrastructure, and are activated by light, heat, or electricity. We compare the fabrication of a fundamental structure (a cube) using each approach, and test ways to control fold angles in each case. Finally, for each self-folding approach we present a unique structure that the approach is particularly suited to fold, and discuss the advantages and disadvantages of each approach.National Science Foundation (U.S.) (Award CCF-1138967)National Science Foundation (U.S.) (Award EFRI-1240383

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

A Resilient, Untethered Soft Robot

A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65-meter-long soft body with modified Pneu-Net actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to interact with during operation, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.Chemistry and Chemical Biolog

Design Considerations for 3D Printed, Soft, Multimaterial Resistive Sensors for Soft Robotics

Sensor design for soft robots is a challenging problem because of the wide range of design parameters (e.g., geometry, material, actuation type, etc.) critical to their function. While conventional rigid sensors work effectively for soft robotics in specific situations, sensors that are directly integrated into the bodies of soft robots could help improve both their exteroceptive and interoceptive capabilities. To address this challenge, we designed sensors that can be co-fabricated with soft robot bodies using commercial 3D printers, without additional modification. We describe an approach to the design and fabrication of compliant, resistive soft sensors using a Connex3 Objet350 multimaterial printer and investigated an analytical comparison to sensors of similar geometries. The sensors consist of layers of commercial photopolymers with varying conductivities. We characterized the conductivity of TangoPlus, TangoBlackPlus, VeroClear, and Support705 materials under various conditions and demonstrate applications in which we can take advantage of these embedded sensors

Signal-dependent splicing of tissue factor pre-mRNA modulates the thrombogenecity of human platelets

Tissue factor (TF) is an essential cofactor for the activation of blood coagulation in vivo. We now report that quiescent human platelets express TF pre-mRNA and, in response to activation, splice this intronic-rich message into mature mRNA. Splicing of TF pre-mRNA is associated with increased TF protein expression, procoagulant activity, and accelerated formation of clots. Pre-mRNA splicing is controlled by Cdc2-like kinase (Clk)1, and interruption of Clk1 signaling prevents TF from accumulating in activated platelets. Elevated intravascular TF has been reported in a variety of prothrombotic diseases, but there is debate as to whether anucleate platelets—the key cellular effector of thrombosis—express TF. Our studies demonstrate that human platelets use Clk1-dependent splicing pathways to generate TF protein in response to cellular activation. We propose that platelet-derived TF contributes to the propagation and stabilization of a thrombus

Whole Genome Sequencing and Evolutionary Analysis of Human Respiratory Syncytial Virus A and B from Milwaukee, WI 1998-2010

BACKGROUND: Respiratory Syncytial Virus (RSV) is the leading cause of lower respiratory-tract infections in infants and young children worldwide. Despite this, only six complete genome sequences of original strains have been previously published, the most recent of which dates back 35 and 26 years for RSV group A and group B respectively. METHODOLOGY/PRINCIPAL FINDINGS: We present a semi-automated sequencing method allowing for the sequencing of four RSV whole genomes simultaneously. We were able to sequence the complete coding sequences of 13 RSV A and 4 RSV B strains from Milwaukee collected from 1998-2010. Another 12 RSV A and 5 RSV B strains sequenced in this study cover the majority of the genome. All RSV A and RSV B sequences were analyzed by neighbor-joining, maximum parsimony and Bayesian phylogeny methods. Genetic diversity was high among RSV A viruses in Milwaukee including the circulation of multiple genotypes (GA1, GA2, GA5, GA7) with GA2 persisting throughout the 13 years of the study. However, RSV B genomes showed little variation with all belonging to the BA genotype. For RSV A, the same evolutionary patterns and clades were seen consistently across the whole genome including all intergenic, coding, and non-coding regions sequences. CONCLUSIONS/SIGNIFICANCE: The sequencing strategy presented in this work allows for RSV A and B genomes to be sequenced simultaneously in two working days and with a low cost. We have significantly increased the amount of genomic data that is available for both RSV A and B, providing the basic molecular characteristics of RSV strains circulating in Milwaukee over the last 13 years. This information can be used for comparative analysis with strains circulating in other communities around the world which should also help with the development of new strategies for control of RSV, specifically vaccine development and improvement of RSV diagnostics