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While science, technology, engineering and math hold the fastest growing fields today, only 44% and 36% of students are math and science ready, respectively, to enter college. By integrating the arts into STEM, a four-part origami based curriculum has been developed, which combines the topics of renewable energy, architecture design, 3D CAD design and printing, and mathematic, science, and engineering...
Contact force play is a significant role in success of the cardiac ablation. However, it is still challenging to estimate contact force when a catheter is under large bending and multiple contacts. This paper develops a new multi-section static model of the tendon-driven catheters for both real-time intrinsic force sensing and interaction control. The model allows estimating the catheter shape by...
We propose a novel multi-rotor flying platform, ODAR (omni-directional aerial robot), which is fully-actuated (i.e., can assume arbitrary motion in SE(3) or generate arbitrary control wrench in se(3)) by six opportunistically distributed rotors, each driven by reversible ESC (electronic speed controller) for bi-directional thrust generation. Due to this omni-directional wrench generation, the ODAR...
Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems reasonable then to wish for robots to understand how pushed objects move.
Accurate and precise control of catheters inside a vasculature is a difficult yet important task. Current manual approaches require significant surgical skill. Over the years, surgeons build up a sort of mental kinematic map telling them how to handle the catheter in order to steer the catheter tip safely through the vessel system. The input-output behaviour of the catheter is complex and depends...
In this paper we present the designs and analysis of different shapes of microneedles. We determined which one is the most appropriate for transdermal drug delivery purposes. The 450 μm microneedles length as long as their 70 μm outer diameter and 26 μm inner diameter measures allowed us to reduce the loss factor at the moment of the insertion into the skin; also to be undetectable to the human nerve...
This paper reports development of tactile sensor with a fine tip of contactor has been developed for detection of micro region surface texture. Since human's fingertip can discriminate surface texture finer than 1μm, it is considered that a higher resolution of tactile sensors is required for quantification of tactile sense. Tip diameter of contactor of this device is designed as 1μm to realize higher...
In this paper, we demonstrate the first underwater use of a ‘universal jamming gripper’ to successfully grasp irregularly shaped objects. We present several novel developments which are required to extend this soft robotic technology to underwater operation including the use of pressure tolerant glass spheres and liquid water as the jamming media; an ‘under-filling’ technique to achieve effective...
This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a finite set of points. First, the article presents a methodology to represent the generalized wrench space for an articulated 3D object with n links. This wrench space is generated...
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target under influence of the dynamic and noisy environments. In our approach, the desired formations, which include the virtual nodes arranged into specific shapes, are first generated. Then, autonomous robots are controlled by the proposed artificial...
The skeleton is an efficient and complete shape descriptor often used for matching. However, existing skeleton-based shape matching methods are computationally intensive. To reduce the algorithmic complexity, we propose to exploit the natural hierarchy of the skeleton. The aim is to quantify the importance of skeleton branches to guide the shape matching algorithm, in order to match branches having...
The traditional grippers with multiple fingers are able to grip a variety of objects. But the structure is complex, the control is complicated and the cost is high. A novel gripper, Spherical Self-Adaptive (SSA) Gripper was developed. The SSA Gripper is capable of gripping multiple objects self-adaptively. The SSA Gripper consists of a bowl part, an elastic membrane, water, a tendon and a two-segment...
The hypothesis that reaching motions are constructed from discrete components has been explored since the earliest scientific investigations of human movement, although composition specifics have been contentious. We reinspect this process by analyzing the underlying motor intent (rather than actual motion) using our recently-developed intent determination technique. First, synthetic data analysis...
This study developed support software for liver surgeons; the software can apply potential functions to blood vessels and cancerous tissue and can adjust repulsion and attraction accordingly. Thus, the scalpel can be directly provided with the power to operate on cancerous cells only from a fixed distance, and accidental cutting of blood vessels can be avoided. The direct support provided by this...
This paper describes the development of an inchworm robot. A new adhesion mechanism was inspired by the inchworm's behavior and empirically designed by using active shape control of suction cups. The equation of the motions of the robot are derived, and three gaits are developed. The robot is built and experimentally evaluated.
The compliant mechanisms are highly coupled and extremely nonlinear systems, where the dynamic model is generally used for the control of the system. This paper focuses on dynamic modeling of curve-type fully compliant mechanism, by taking the J-type bionic foot as an example. Based on the pseudo-rigid-body model and the Dynamic Nominal Mechanism (DNM) method, the dynamics model of the equivalent...
This paper shows technique of the fluid analysis with the experimental evaluation in the fish type robot. Specifically, the driving force of the fish type robot swimming with a water tank is measured, and mesh necessary for fluid analysis is made by the picture of a fish model robot photographed parallel to the experiment. The method of the analysis is a new fluid analysis technology for analyzing...
Landing-impact between lander and lunar regolith is the decisive factor to soft landing and relates directly to the safety of detection equipment. In this paper, the landing-impact process and the interaction between lander and regolith is researched using the discrete element simulation. Firstly, the landing-impact model is established based on discrete element theory and the mechanical properties...
In our previous study we have developed the seven axes multi joint gripper (MJG) having a variable stiffness mechanism and have showed it achieves some dexterous grasping. The mechanism mainly consists of a serially connected differential gear system (DGS) controlled by only two actuators: one for driving all of the joints simultaneously and the other for adjusting stiffness of every joints all together...
It is the basis of realization ship recognition to accurately extract geometric parameters of the ship target in synthetic aperture radar (SAR) images. Due to the unique SAR imaging mechanism, speckle noise, azimuth ambiguity and side lobe effect seriously impact on geometric parameter estimation of the ship target. Therefore, a method is presented to extract geometric parameters of the ship based...
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