scholarly journals A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics

2020 ◽  
Author(s):  
Azamat Yeshmukhametov ◽  
Zholdas Buribayev ◽  
Beibut Amirgaliyev ◽  
Yedilkkhan Amirgaliyev
Keyword(s):  
Bending Test ◽  
Robot Kinematics ◽  
Robot Arm ◽  
Continuum Robots ◽  
Sliding Mechanism ◽  
Wide Range ◽  
Payload Capacity ◽  
Continuum Robot ◽  
Continuum Manipulators ◽  
And Control

Wire-driven hyper-redundant continuum manipulators are gaining more popularity and finding more applications in industry and in minimally invasive surgery. Unlike traditional rigid link manipulators, continuum robots with a flexible backbone structure are able to work in a highly constrained workspace and in an unstructured environment. However, in spite of a possible wide range of reachability, continuum manipulators have some issues related to payload capacity, accuracy and control. Therefore, in this research, we propose a novel hyper-redundant continuum robot with a passive sliding disc mechanism to improve payload capacity and accuracy. To prove the sliding mechanism concept, we demonstrate a comparison analysis with a conventional non-sliding continuum robot arm in a payload test, a bending test and a reachability test. Moreover, with this novel design, we are proposing robot kinematics and kinetic formulation and simulation results to validate the effectiveness of the sliding disc mechanism.

Study on multi-section continuum robot wire-tension feedback control and load manipulability

2020 ◽  
Vol 47 (6) ◽  
pp. 837-845
Author(s):  
Azamat Nurlanovich Yeshmukhametov ◽  
Koichi Koganezawa ◽  
Zholdas Buribayev ◽  
Yedilkhan Amirgaliyev ◽  
Yoshio Yamamoto
Keyword(s):  
Control Method ◽  
Tension Control ◽  
Estimation Model ◽  
Content Type ◽  
Wire Tension ◽  
Payload Capacity ◽  
Continuum Robot ◽  
Continuum Manipulators ◽  
And Control ◽  
The Continuum

Purpose The purpose of this paper is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. Design/methodology/approach This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed. Findings Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires. Originality/value The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.

Design and control of a tendon-driven continuum robot

2017 ◽  
Vol 40 (11) ◽  
pp. 3263-3272 ◽  
Author(s):  
Minhan Li ◽  
Rongjie Kang ◽  
Shineng Geng ◽  
Emanuele Guglielmino
Keyword(s):  
Control Method ◽  
Programming Algorithm ◽  
Redundant Actuation ◽  
External Disturbances ◽  
Continuum Robots ◽  
Helical Springs ◽  
Actuation System ◽  
Continuum Robot ◽  
And Control ◽  
The Continuum

Continuum robots are suitable for operating in unstructured environments owing to their intrinsic compliance. This paper presents a novel tendon-driven continuum robot equipped with two modules and a compliant backbone formed by helical springs. Each module is driven by four parallel arranged tendons to implement a redundant actuation system that guarantees dexterous motions of the robot. A position feedback controller for the continuum robot is then developed, and a quadratic programming algorithm is incorporated into the controller to achieve a smooth configuration of the robot. Experiments results show that the control method has good trajectory tracking performance against external disturbances.

scholarly journals Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots

2021 ◽  
Vol 8 ◽  
Author(s):  
Peter Lloyd ◽  
Zaneta Koszowska ◽  
Michele Di Lecce ◽  
Onaizah Onaizah ◽  
James H. Chandler ◽  
...  
Keyword(s):  
Design Space ◽  
Magnetization Vector ◽  
Fiber Reinforcement ◽  
Magnetic Torque ◽  
Local Magnetization ◽  
Continuum Robots ◽  
Flexible Materials ◽  
Magnetically Actuated ◽  
Wide Range ◽  
Continuum Manipulators

Soft continuum manipulators have the potential to replace traditional surgical catheters; offering greater dexterity with access to previously unfeasible locations for a wide range of interventions including neurological and cardiovascular. Magnetically actuated catheters are of particular interest due to their potential for miniaturization and remote control. Challenges around the operation of these catheters exist however, and one of these occurs when the angle between the actuating field and the local magnetization vector of the catheter exceeds 90°. In this arrangement, deformation generated by the resultant magnetic moment acts to increase magnetic torque, leading to potential instability. This phenomenon can cause unpredictable responses to actuation, particularly for soft, flexible materials. When coupled with the inherent challenges of sensing and localization inside living tissue, this behavior represents a barrier to progress. In this feasibility study we propose and investigate the use of helical fiber reinforcement within magnetically actuated soft continuum manipulators. Using numerical simulation to explore the design space, we optimize fiber parameters to enhance the ratio of torsional to bending stiffness. Through bespoke fabrication of an optimized helix design we validate a single, prototypical two-segment, 40 mm × 6 mm continuum manipulator demonstrating a reduction of 67% in unwanted twisting under actuation.

Dynamic Modeling for a Continuum Robot With Compliant Structure

2015 ◽  
Author(s):  
Yong Guo ◽  
Rongjie Kang ◽  
Lisha Chen ◽  
Jian Dai
Keyword(s):  
Continuum Robots ◽  
Modeling And Control ◽  
3 Dimensional ◽  
Compliant Structure ◽  
Continuum Robot ◽  
Mass Damper ◽  
Spring System ◽  
External Forces ◽  
And Control ◽  
Good Agreement

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

THE SOME QUESTIONS OF AUTONOMOUS MOTION AND MANAGEMENT OF LAND-MOBILE ROBOTIC COMPLEXES FOR UKRAINIAN GROUND FORCESE

2019 ◽  
pp. 53-58
Author(s):  
О. Кravchuk ◽  
V. Symonenkov ◽  
I. Symonenkova ◽  
O. Hryhorev
Keyword(s):  
Large Scale ◽  
Armed Forces ◽  
Distributed Information ◽  
Wide Range ◽  
Highly Effective ◽  
Information Management Systems ◽  
Robotic Devices ◽  
Principles And Standards ◽  
And Control ◽  
The Eu

Today, more than forty countries of the world are engaged in the development of military-purpose robots. A number of unique mobile robots with a wide range of capabilities are already being used by combat and intelligence units of the Armed forces of the developed world countries to conduct battlefield intelligence and support tactical groups. At present, the issue of using the latest information technology in the field of military robotics is thoroughly investigated, and the creation of highly effective information management systems in the land-mobile robotic complexes has acquired a new phase associated with the use of distributed information and sensory systems and consists in the transition from application of separate sensors and devices to the construction of modular information subsystems, which provide the availability of various data sources and complex methods of information processing. The purpose of the article is to investigate the ways to increase the autonomy of the land-mobile robotic complexes using in a non-deterministic conditions of modern combat. Relevance of researches is connected with the necessity of creation of highly effective information and control systems in the perspective robotic means for the needs of Land Forces of Ukraine. The development of the Armed Forces of Ukraine management system based on the criteria adopted by the EU and NATO member states is one of the main directions of increasing the effectiveness of the use of forces (forces), which involves achieving the principles and standards necessary for Ukraine to become a member of the EU and NATO. The inherent features of achieving these criteria will be the transition to a reduction of tasks of the combined-arms units and the large-scale use of high-precision weapons and land remote-controlled robotic devices. According to the views of the leading specialists in the field of robotics, the automation of information subsystems and components of the land-mobile robotic complexes can increase safety, reliability, error-tolerance and the effectiveness of the use of robotic means by standardizing the necessary actions with minimal human intervention, that is, a significant increase in the autonomy of the land-mobile robotic complexes for the needs of Land Forces of Ukraine.

scholarly journals Information and information resources in COVID-19: Awareness, control, and prevention

2021 ◽  
pp. 096100062110165
Author(s):  
Mohammadhiwa Abdekhoda ◽  
Fatemeh Ranjbaran ◽  
Asghar Sattari
Keyword(s):  
Low Cost ◽  
Information Resources ◽  
Age And Gender ◽  
Use Of Resources ◽  
Strategic Approach ◽  
Wide Range ◽  
Data Collection Instrument ◽  
Control And Prevention ◽  
And Gender ◽  
And Control

This study was conducted with the aim of evaluating the role of information and information resources in the awareness, control, and prevention of COVID-19. This study was a descriptive-analytical survey in which 450 participants were selected for the study. The data collection instrument was a researcher-made questionnaire. Descriptive and inferential statistics were used to analyze the data through SPSS. The findings show that a wide range of mass media has become well known as information resources for COVID-19. Other findings indicate a significant statistical difference in the rate of using information resources during COVID-19 based on age and gender; however, this difference is not significant regarding the reliability of information resources with regard to age and gender. Health information has an undisputable role in the prevention and control of pandemic diseases such as COVID-19. Providing accurate, reliable, and evidence-based information in a timely manner for the use of resources and information channels related to COVID-19 can be a fast and low-cost strategic approach in confronting this disease.

scholarly journals Gold–Carbon Nanocomposites for Environmental Contaminant Sensing

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 719
Author(s):  
Shahrooz Rahmati ◽  
William Doherty ◽  
Arman Amani Babadi ◽  
Muhamad Syamim Akmal Che Mansor ◽  
Nurhidayatullaili Muhd Julkapli ◽  
...  
Keyword(s):  
Environmental Pollutants ◽  
High Sensitivity ◽  
Environmental Crisis ◽  
World Population ◽  
Chemical Contaminants ◽  
Carbon Nanocomposites ◽  
Minimal Sample ◽  
Wide Range ◽  
And Control ◽  
Analytical Tools

The environmental crisis, due to the rapid growth of the world population and globalisation, is a serious concern of this century. Nanoscience and nanotechnology play an important role in addressing a wide range of environmental issues with innovative and successful solutions. Identification and control of emerging chemical contaminants have received substantial interest in recent years. As a result, there is a need for reliable and rapid analytical tools capable of performing sample analysis with high sensitivity, broad selectivity, desired stability, and minimal sample handling for the detection, degradation, and removal of hazardous contaminants. In this review, various gold–carbon nanocomposites-based sensors/biosensors that have been developed thus far are explored. The electrochemical platforms, synthesis, diverse applications, and effective monitoring of environmental pollutants are investigated comparatively.

Experiences of job demand and control: A study of first line managers in for-profit psychiatric and addiction care

Work ◽  
2021 ◽  
pp. 1-9
Author(s):  
Linda Widar ◽  
Erika Wall ◽  
Sven Svensson
Keyword(s):  
First Line ◽  
Line Managers ◽  
For Profit ◽  
Job Demand ◽  
Organizational Position ◽  
Wide Range ◽  
Line Manager ◽  
Addiction Care ◽  
And Control ◽  
Demand Control

BACKGROUND: The complex position of a first line manager is characterized by heavy workload and contradictory demands. Little is known about how first line managers experience demand and control in their work. OBJECTIVES: The aim of this study was to explore experiences of demand and control among first line managers within psychiatric and addiction care. METHOD: In the present study, interviews with ten managers in for-profit psychiatric and addiction care in Sweden were analyzed with a phenomenographic approach. RESULTS: The managers experiences of demand and control implied varied and extensive responsibilities for a wide range of professions; regulation by organizational, economic, and political frameworks; creating balance in their work; and handling the emergence and consequences of acute crisis. These experiences of demand and control involved high and contradictory demands together with coexisting high and low levels of control. Many of their work characteristics could be described in terms of both demand and control. CONSLUSION: The first line managers experiences of demand and control are more complex than implied by the job demand control theory. Our results suggest that the organizational position and branch should be considered when identifying health hazards in the work environment of first line managers.

Occupational hazard in Malaysian traffic police: special focus on air pollutants

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Putri Anis Syahira Mohamad Jamil ◽  
Karmegam Karuppiah ◽  
Irniza Rasdi ◽  
Vivien How ◽  
Shamsul Bahri Mohd Tamrin ◽  
...  
Keyword(s):  
Occupational Injuries ◽  
Indicator System ◽  
Control Measures ◽  
Special Focus ◽  
Safety Measures ◽  
Traffic Police ◽  
Wide Range ◽  
And Control ◽  
Risk Occupation ◽  
High Risk Occupation

Abstract This paper provides a specific deliberation on occupational hazards confronted daily by Malaysian Traffic Police. Traffic police is a high-risk occupation that involves a wide range of tasks and, indirectly, faced with an equally wide variety of hazards at work namely, physical, biological, psychosocial, chemical, and ergonomic hazards. Thereupon, occupational injuries, diseases, and even death are common in the field. The objective of this paper is to collate and explain the major hazards of working as Malaysian traffic police especially in Point Duty Unit, their health effects, and control measures. There are many ways in which these hazards can be minimised by ensuring that sufficient safety measures are taken such as a wireless outdoor individual exposure indicator system for the traffic police. By having this system, air monitoring among traffic police may potentially be easier and accurate. Other methods of mitigating these unfortunate events are incorporated and addressed in this paper according to the duty and needs of traffic police.

scholarly journals Oxygen Is Instrumental for Biological Signaling: An Overview

Oxygen ◽  
2021 ◽  
Vol 1 (1) ◽  
pp. 3-15
Author(s):  
John T. Hancock
Keyword(s):  
Oxidative Stress ◽  
Superoxide Anion ◽  
Nitrosative Stress ◽  
Redox Status ◽  
Complex Interplay ◽  
Wide Range ◽  
Form Part ◽  
High Concentrations ◽  
And Control ◽  
Signaling Components

Control of cellular function is extremely complex, being reliant on a wide range of components. Several of these are small oxygen-based molecules. Although reactive compounds containing oxygen are usually harmful to cells when accumulated to relatively high concentrations, they are also instrumental in the control of the activity of a myriad of proteins, and control both the upregulation and downregulation of gene expression. The formation of one oxygen-based molecule, such as the superoxide anion, can lead to a cascade of downstream generation of others, such as hydrogen peroxide (H2O2) and the hydroxyl radical (∙OH), each with their own reactivity and effect. Nitrogen-based signaling molecules also contain oxygen, and include nitric oxide (NO) and peroxynitrite, both instrumental among the suite of cell signaling components. These molecules do not act alone, but form part of a complex interplay of reactions, including with several sulfur-based compounds, such as glutathione and hydrogen sulfide (H2S). Overaccumulation of oxygen-based reactive compounds may alter the redox status of the cell and lead to programmed cell death, in processes referred to as oxidative stress, or nitrosative stress (for nitrogen-based molecules). Here, an overview of the main oxygen-based molecules involved, and the ramifications of their production, is given.

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