From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Zisos Mitros ◽  
S.M. Hadi Sadati ◽  
Ross Henry ◽  
Lyndon Da Cruz ◽  
Christos Bergeles
Keyword(s):  
Autonomous Systems ◽  
Theoretical Work ◽  
Clinical Applications ◽  
Annual Review ◽  
Publication Date ◽  
Continuum Robots ◽  
Future Directions ◽  
Elastic Tubes ◽  
Concentric Tube Robots

Continuum robots can traverse anatomical pathways to intervene in regions deep inside the human body. They are able to steer along 3D curves in confined spaces and dexterously handle tissues. Concentric tube robots (CTRs) are continuum robots that comprise a series of precurved elastic tubes that can be translated and rotated with respect to each other to control the shape of the robot and tip pose. CTRs are a rapidly maturing technology that has seen extensive research over the past decade. Today, they are being evaluated as tools for a variety of surgical applications, as they can offer precision and manipulability in tight workspaces. This review provides an exhaustive classification of research on CTRs based on their clinical applications and highlights approaches for modeling, control, design, and sensing. Competing approaches are critically presented, leading to a discussion of future directions to address the limitations of current research and its translation to clinical applications. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Social Epidemiology: Past, Present, and Future

2022 ◽  
Vol 43 (1) ◽  
Author(s):  
Ana V. Diez Roux
Keyword(s):  
Social Epidemiology ◽  
Policy Implications ◽  
Annual Review ◽  
Publication Date ◽  
Social Production ◽  
Systemic Racism ◽  
Future Directions ◽  
The Social ◽  
Critical Approaches ◽  
Social Causes

In a context where epidemiologic research has been heavily influenced by a biomedical and individualistic approach, the naming of “social epidemiology” allowed explicit emphasis on the social production of disease as a powerful explanatory paradigm and as critically important for interventions to improve population health. This review briefly highlights key substantive areas of focus in social epidemiology over the past 30 years, reflects on major advances and insights, and identifies challenges and possible future directions. Future opportunities for social epidemiology include grounding research in theoretically based and systemic conceptual models of the fundamental social drivers of health; implementing a scientifically rigorous yet realistic approach to drawing conclusions about social causes; using complementary methods to generate valid explanations and identify effective actions; leveraging the power of harmonization, replication, and big data; extending interdisciplinarity and diversity; advancing emerging critical approaches to understanding the health impacts of systemic racism and its policy implications; going global; and embracing a broad approach to generating socially useful research. Expected final online publication date for the Annual Review of Public Health, Volume 43 is April 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Design and Control of Drones

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Mark W. Mueller ◽  
Seung Jae Lee ◽  
Raffaello D’Andrea
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Recent Progress ◽  
Scaling Laws ◽  
Autonomous Systems ◽  
Annual Review ◽  
Publication Date ◽  
Trade Offs ◽  
Active Research ◽  
And Control

The design and control of drones remain areas of active research, and here we review recent progress in this field. In this article, we discuss the design objectives and related physical scaling laws, focusing on energy consumption, agility and speed, and survivability and robustness. We divide the control of such vehicles into low-level stabilization and higher-level planning such as motion planning, and we argue that a highly relevant problem is the integration of sensing with control and planning. Lastly, we describe some vehicle morphologies and the trade-offs that they represent. We specifically compare multicopters with winged designs and consider the effects of multivehicle teams. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Secure Networked Control Systems

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Henrik Sandberg ◽  
Vijay Gupta ◽  
Karl H. Johansson
Keyword(s):  
Control Systems ◽  
Critical Infrastructure ◽  
Networked Control Systems ◽  
Denial Of Service ◽  
Autonomous Systems ◽  
Mitigation Strategies ◽  
Networked Control ◽  
Annual Review ◽  
Publication Date ◽  
Process Industries

Cyber-vulnerabilities are being exploited in a growing number of control systems. As many of these systems form the backbone of critical infrastructure and are becoming more automated and interconnected, it is of the utmost importance to develop methods that allow system designers and operators to do risk analysis and develop mitigation strategies. Over the last decade, great advances have been made in the control systems community to better understand cyber-threats and their potential impact. This article provides an overview of recent literature on secure networked control systems. Motivated by recent cyberattacks on the power grid, connected road vehicles, and process industries, a system model is introduced that covers many of the existing research studies on control system vulnerabilities. An attack space is introduced that illustrates how adversarial resources are allocated in some common attacks. The main part of the article describes three types of attacks: false data injection, replay, and denial-of-service attacks. Representative models and mathematical formulations of these attacks are given along with some proposed mitigation strategies. The focus is on linear discrete-time plant models, but various extensions are presented in the final section, which also mentions some interesting research problems for future work. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Stimuli-Responsive Polymers for Soft Robotics

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Yusen Zhao ◽  
Mutian Hua ◽  
Yichen Yan ◽  
Shuwang Wu ◽  
Yousif Alsaid ◽  
...  
Keyword(s):  
Autonomous Systems ◽  
Soft Robotics ◽  
Annual Review ◽  
Liquid Crystal Polymers ◽  
Publication Date ◽  
Stimuli Responsive ◽  
Stimuli Responsive Polymers ◽  
Responsive Polymers ◽  
Evaluation Of Performance ◽  
Robotic Applications

This article reviews recent progress in the use of stimuli-responsive polymers for soft robotics. First, we introduce different types of representative stimuli-responsive polymers, which include liquid crystal polymers and elastomers, hydrogels, shape memory polymers, magnetic elastomers, electroactive polymers, and thermal expansion actuators. We focus on the mechanisms of actuation and the evaluation of performance and discuss strategies for improvements. We then present examples of soft robotic applications based on stimuli-responsive polymers for bending, grasping, walking, swimming, flying, and sensing control. Finally, we discuss current opportunities and challenges of stimuli-responsive soft robots for future study. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Methods for Robot Behavior Adaptation for Cognitive Neurorehabilitation

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Alyssa Kubota ◽  
Laurel D. Riek
Keyword(s):  
State Of The Art ◽  
Cognitive Impairments ◽  
Autonomous Systems ◽  
Behavioral Adaptation ◽  
Annual Review ◽  
Publication Date ◽  
Pharmacological Treatments ◽  
Robot Behavior ◽  
Behavioral Treatments ◽  
Physical Abilities

An estimated 11% of adults report experiencing some form of cognitive decline, which may be associated with conditions such as stroke or dementia and can impact their memory, cognition, behavior, and physical abilities. While there are no known pharmacological treatments for many of these conditions, behavioral treatments such as cognitive training can prolong the independence of people with cognitive impairments. These treatments teach metacognitive strategies to compensate for memory difficulties in their everyday lives. Personalizing these treatments to suit the preferences and goals of an individual is critical to improving their engagement and sustainment, as well as maximizing the treatment's effectiveness. Robots have great potential to facilitate these training regimens and support people with cognitive impairments, their caregivers, and clinicians. This article examines how robots can adapt their behavior to be personalized to an individual in the context of cognitive neurorehabilitation. We provide an overview of existing robots being used to support neurorehabilitation and identify key principles for working in this space. We then examine state-of-the-art technical approaches for enabling longitudinal behavioral adaptation. To conclude, we discuss our recent work on enabling social robots to automatically adapt their behavior and explore open challenges for longitudinal behavior adaptation. This work will help guide the robotics community as it continues to provide more engaging, effective, and personalized interactions between people and robots. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Spontaneous Aggregation of Convective Storms

2021 ◽  
Vol 54 (1) ◽  
Author(s):  
Caroline Muller ◽  
Da Yang ◽  
George Craig ◽  
Timothy Cronin ◽  
Benjamin Fildier ◽  
...  
Keyword(s):  
Hydrological Cycle ◽  
Theoretical Work ◽  
Annual Review ◽  
Publication Date ◽  
Tropical Atmosphere ◽  
Physical Processes ◽  
Convective Storms ◽  
Warming Climate ◽  
Cloudy Region ◽  
Self Aggregation

Idealized simulations of the tropical atmosphere have predicted that clouds can spontaneously clump together in space, despite perfectly homogeneous settings. This phenomenon has been called self-aggregation, and it results in a state where a moist cloudy region with intense deep convective storms is surrounded by extremely dry subsiding air devoid of deep clouds. We review here the main findings from theoretical work and idealized models of this phenomenon, highlighting the physical processes believed to play a key role in convective self-aggregation. We also review the growing literature on the importance and implications of this phenomenon for the tropical atmosphere, notably, for the hydrological cycle and for precipitation extremes, in our current and in a warming climate. Expected final online publication date for the Annual Review of Fluid Mechanics, Volume 54 is January 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

scholarly journals Set Propagation Techniques for Reachability Analysis

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Matthias Althoff ◽  
Goran Frehse ◽  
Antoine Girard
Keyword(s):  
Hybrid Systems ◽  
Fundamental Problem ◽  
Autonomous Systems ◽  
Reachability Analysis ◽  
Controller Synthesis ◽  
Annual Review ◽  
Publication Date ◽  
Initial States ◽  
Set Of Initial States ◽  
Real World Problems

Reachability analysis consists in computing the set of states that are reachable by a dynamical system from all initial states and for all admissible inputs and parameters. It is a fundamental problem motivated by many applications in formal verification, controller synthesis, and estimation, to name only a few. This article focuses on a class of methods for computing a guaranteed overapproximation of the reachable set of continuous and hybrid systems, relying predominantly on set propagation; starting from the set of initial states, these techniques iteratively propagate a sequence of sets according to the system dynamics. After a review of set representation and computation, the article presents the state of the art of set propagation techniques for reachability analysis of linear, nonlinear, and hybrid systems. It ends with a discussion of successful applications of reachability analysis to real-world problems. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

scholarly journals Model Reduction Methods for Complex Network Systems

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
X. Cheng ◽  
J.M.A. Scherpen
Keyword(s):  
Autonomous Systems ◽  
High Dimensional ◽  
Annual Review ◽  
Publication Date ◽  
Network Systems ◽  
Modeling And Control ◽  
Reduced Order ◽  
Reduction Methods ◽  
The Stability ◽  
And Control

Network systems consist of subsystems and their interconnections and provide a powerful framework for the analysis, modeling, and control of complex systems. However, subsystems may have high-dimensional dynamics and a large number of complex interconnections, and it is therefore relevant to study reduction methods for network systems. Here, we provide an overview of reduction methods for both the topological (interconnection) structure of a network and the dynamics of the nodes while preserving structural properties of the network. We first review topological complexity reduction methods based on graph clustering and aggregation, producing a reduced-order network model. Next, we consider reduction of the nodal dynamics using extensions of classical methods while preserving the stability and synchronization properties. Finally, we present a structure-preserving generalized balancing method for simultaneously simplifying the topological structure and the order of the nodal dynamics. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Noninvasive Brain–Machine Interfaces for Robotic Devices

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Luca Tonin ◽  
José del R. Millán
Keyword(s):  
Autonomous Systems ◽  
Discrete Control ◽  
Annual Review ◽  
Publication Date ◽  
User Centered Design ◽  
Brain Machine Interfaces ◽  
Motor Disabilities ◽  
Severe Motor ◽  
Robotic Devices ◽  
And Robotics

The last decade has seen a flowering of applications driven by brain–machine interfaces (BMIs), particularly brain-actuated robotic devices designed to restore the independence of people suffering from severe motor disabilities. This review provides an overview of the state of the art of noninvasive BMI-driven devices based on 86 studies published in the last 15 years, with an emphasis on the interactions among the user, the BMI system, and the robot. We found that BMIs are used mostly to drive devices for navigation (e.g., telepresence mobile robots), with BMI paradigms based mainly on exogenous stimulation, and the majority of brain-actuated robots adopt a discrete control strategy. Most critically, in only a few works have disabled people evaluated a brain-actuated robot. The review highlights the most urgent challenges in the field, from the integration between BMI and robotics to the need for a user-centered design to boost the translational impact of BMIs. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Mechanisms for Robotic Grasping and Manipulation

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Vincent Babin ◽  
Clément Gosselin
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Robotic Manipulation ◽  
Annual Review ◽  
Publication Date ◽  
Robotic Grasping ◽  
Grasp Planning ◽  
Grasping And Manipulation

This article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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