scholarly journals Continuous Backbone “Continuum” Robot Manipulators

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-19 ◽  
Author(s):  
Ian D. Walker
Keyword(s):  
Dynamic Models ◽  
State Of The Art ◽  
Robot Manipulators ◽  
Complex Environments ◽  
Continuum Robots ◽  
Ongoing Research ◽  
Rigid Link ◽  
Future Developments ◽  
Current State ◽  
Continuum Robot

This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.

scholarly journals Integrated Simulation Environment for Unmanned Autonomous Systems—Towards a Conceptual Framework

2010 ◽  
Vol 2010 ◽  
pp. 1-12 ◽  
Author(s):  
M. G. Perhinschi ◽  
M. R. Napolitano ◽  
S. Tamayo
Keyword(s):  
Conceptual Framework ◽  
State Of The Art ◽  
Autonomous Systems ◽  
Simulation Environment ◽  
Integrated Simulation ◽  
Systems Perspective ◽  
Future Developments ◽  
Current State ◽  
And Performance ◽  
Testing And Evaluation

The paper initiates a comprehensive conceptual framework for an integrated simulation environment for unmanned autonomous systems (UAS) that is capable of supporting the design, analysis, testing, and evaluation from a “system of systems” perspective. The paper also investigates the current state of the art of modeling and performance assessment of UAS and their components and identifies directions for future developments. All the components of a comprehensive simulation environment focused on the testing and evaluation of UAS are identified and defined through detailed analysis of current and future required capabilities and performance. The generality and completeness of the simulation environment is ensured by including all operational domains, types of agents, external systems, missions, and interactions between components. The conceptual framework for the simulation environment is formulated with flexibility, modularity, generality, and portability as key objectives. The development of the conceptual framework for the UAS simulation reveals important aspects related to the mechanisms and interactions that determine specific UAS characteristics including complexity, adaptability, synergy, and high impact of artificial and human intelligence on system performance and effectiveness.

High-performance computing systems: Status and outlook

Acta Numerica ◽  
2012 ◽  
Vol 21 ◽  
pp. 379-474 ◽  
Author(s):  
J. J. Dongarra ◽  
A. J. van der Steen
Keyword(s):  
High Performance Computing ◽  
High Performance ◽  
State Of The Art ◽  
Computing Systems ◽  
Future Developments ◽  
Steady Growth ◽  
Current State ◽  
Near Future ◽  
Performance Computing ◽  
Shed Light

This article describes the current state of the art of high-performance computing systems, and attempts to shed light on near-future developments that might prolong the steady growth in speed of such systems, which has been one of their most remarkable characteristics. We review the different ways devised to speed them up, both with regard to components and their architecture. In addition, we discuss the requirements for software that can take advantage of existing and future architectures.

Mechanics Modeling of Multisegment Rod-Driven Continuum Robots

2014 ◽  
Vol 6 (4) ◽  
Author(s):  
William S. Rone ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Dynamic Models ◽  
Contact Forces ◽  
Lumped Parameter Model ◽  
Algebraic Equations ◽  
Continuum Robots ◽  
Modeling Approach ◽  
Lumped Parameter ◽  
Continuum Robot ◽  
Statics And Dynamics ◽  
Elastic Loading

This paper presents a novel modeling approach for the mechanics of multisegment, rod-driven continuum robots. This modeling approach utilizes a high-fidelity lumped parameter model that captures the variation in curvature along the robot while simultaneously defined by a discrete set of variables and utilizes the principle of virtual power to formulate the statics and dynamics of the continuum robot as a set of algebraic equations for the static model and as a set of coupled ordinary differential equations (ODEs) in time for the dynamic model. The actuation loading on the robot by the actuation rods is formulated based on the calculation of contact forces that result in rod equilibrium. Numerical optimization calculates the magnitudes of these forces, and an iterative solver simultaneously estimates the robot's friction and contact forces. In addition, modeling considerations including variable elastic loading among segments and mutual segment loading due to rods terminating at different disks are presented. The resulting static and dynamic models have been compared to dynamic finite element analyses and experimental results to validate their accuracy.

scholarly journals The future of multimodal corpora

2011 ◽  
Vol 11 (2) ◽  
pp. 391-415 ◽  
Author(s):  
Dawn Knight
Keyword(s):  
Corpus Linguistics ◽  
State Of The Art ◽  
Future Developments ◽  
The Past ◽  
Current State ◽  
Linguistic Research ◽  
Multimodal Corpora ◽  
The Future ◽  
Multimodal Corpus ◽  
Critical Overview

This paper takes stock of the current state-of-the-art in multimodal corpus linguistics, and proposes some projections of future developments in this field. It provides a critical overview of key multimodal corpora that have been constructed over the past decade and presents a wish-list of future technological and methodological advancements that may help to increase the availability, utility and functionality of such corpora for linguistic research.

scholarly journals How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

2021 ◽  
Vol 7 ◽  
Author(s):  
Priyanka Rao ◽  
Quentin Peyron ◽  
Sven Lilge ◽  
Jessica Burgner-Kahrs
Keyword(s):  
Case Studies ◽  
State Of The Art ◽  
Computation Time ◽  
Comprehensive Overview ◽  
Continuum Robots ◽  
Current State ◽  
Selection Of ◽  
Modelling Approaches

Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.

Automated Diagnostics of Rotating Machinery

2003 ◽  
Author(s):  
A. El-Shafei ◽  
N. Rieger
Keyword(s):  
Asset Management ◽  
Management System ◽  
State Of The Art ◽  
Parametric Model ◽  
Rule Based ◽  
Future Developments ◽  
Current State ◽  
Condition Evaluation ◽  
Asset Management System ◽  
Model Diagnosis

This paper provides an overview of the current available technologies for automated machinery condition evaluation and fault diagnosis within an overall plant asset management system. The paper presents a basic overview of an integrated plant asset management system, and focuses on the available technologies for automated diagnostics including statistical analysis of data, parametric model diagnosis, non-parametric model diagnosis (artificial neural networks), and rule-based diagnostics including expert systems and fuzzy logic. The current state-of-the-art and the expected realistic future developments are discussed.

A Dynamic Model for End Milling Using Single Point Cutting Theory

1996 ◽  
Vol 118 (2) ◽  
pp. 272-274 ◽  
Author(s):  
N. M. Kulkarni ◽  
A. Chandra ◽  
S. S. Jagdale
Keyword(s):  
Process Design ◽  
Dynamic Models ◽  
State Of The Art ◽  
End Milling ◽  
Single Point ◽  
Milling Process ◽  
Current State ◽  
Set Up ◽  
Force Characteristics ◽  
Hierarchy Of Models

The dynamics of a milling process can significantly influence the surface quality and integrity of the finished part. Accordingly, various researchers have investigated the dynamics of milling processes using a hierarchy of models. Tlusty and Smith (1991) provides a review of these models. In recent years, several other researchers (e.g., Armarego and Deshpande, 1989; Montgomery and Altintas, 1991; Nallakatla and Smith, 1992) have also continued to enhance various aspects of such dynamic models. While these dynamic models provide significant insights into the cutting characteristics of a milling process, their utilization in process design has proven to be elusive. The accuracy of these models, however, depends significantly on the prediction of cutting force characteristics. Under the current state-of-the-art, detailed experimentations using actual set-up are necessary to make such predictions accurately. Experimentally obtained constants can vary widely from one milling situation to another, which in turn, significantly restricts their usefulness as predictive tools for process design.

scholarly journals Analysis of Nucleosides and Nucleotides in Plants: An Update on Sample Preparation and LC–MS Techniques

Cells ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 689
Author(s):  
Henryk Straube ◽  
Claus-Peter Witte ◽  
Marco Herde
Keyword(s):  
Mass Spectrometry ◽  
Liquid Chromatography ◽  
State Of The Art ◽  
Solid Phase ◽  
Analytical Techniques ◽  
Phase Extraction ◽  
Future Developments ◽  
Current State ◽  
Depth Analysis ◽  
Nucleotides And Nucleosides

Nucleotides fulfill many essential functions in plants. Compared to non-plant systems, these hydrophilic metabolites have not been adequately investigated in plants, especially the less abundant nucleotide species such as deoxyribonucleotides and modified or damaged nucleotides. Until recently, this was mainly due to a lack of adequate methods for in-depth analysis of nucleotides and nucleosides in plants. In this review, we focus on the current state-of-the-art of nucleotide analysis in plants with liquid chromatography coupled to mass spectrometry and describe recent major advances. Tissue disruption, quenching, liquid–liquid and solid-phase extraction, chromatographic strategies, and peculiarities of nucleotides and nucleosides in mass spectrometry are covered. We describe how the different steps of the analytical workflow influence each other, highlight the specific challenges of nucleotide analysis, and outline promising future developments. The metabolite matrix of plants is particularly complex. Therefore, it is likely that nucleotide analysis methods that work for plants can be applied to other organisms as well. Although this review focuses on plants, we also discuss advances in nucleotide analysis from non-plant systems to provide an overview of the analytical techniques available for this challenging class of metabolites.

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