Application Of Robotic System Research Articles

Parametric configuration and programming of flexible robotic cells producing biotechnology experiments

In the last decades there has been an ever-increasing trend of accelerated scientific research in the biotechnology sector and the COVID-19 pandemic has further emphasized the need for high-throughput yet flexible processes. Even though automation has gained significant popularity to deal with this problem, the focus has been placed at laboratory level and for specific type of processes only. The aim of these automation applications is to offset the increasing costs of clinical trials, automate tedious laboratory work, run experiments in parallel and make scientific testing efficient and programmable. This paper investigates the application of robotic systems at a larger scale that will allow the automated execution of even custom defined biotechnology experiments so that these can be offered as a service to any interested stakeholder. A digital model of the proposed robotic biotechnology workcell is developed and the necessary methodology is investigated to showcase the feasibility of this approach. The goal is to use the digital model for evaluating different design considerations, such as equipment layout and robot types, as well as for planning and simulating the robot operation under various offline programming strategies. To achieve this goal, the Damped Least Squares Method is used for inverse kinematics control and a robotic arm trajectory planner is developed parametrically using characteristic intermediate points so as to create a motion plan that can be used for any robotic manipulator and any experiment within a family of facility setups. Two experiments are simulated using a SCARA robot and an articulated arm robot, each with an alternative cell layout to show the flexibility and robustness of the proposed approach. The obtained results show that the trajectory planner can consistently generate appropriate motion plans.

Sustainable Crop Protection via Robotics and Artificial Intelligence Solutions

Agriculture 5.0 refers to the next phase of agricultural development, building upon the previous digital revolution in the agrarian sector and aiming to transform the agricultural industry to be smarter, more effective, and ecologically conscious. Farming processes have already started becoming more efficient due to the development of digital technologies, including big data, artificial intelligence (AI), robotics, the Internet of Things (IoT), and virtual and augmented reality. Farmers can make the most of the resources at their disposal thanks to this data-driven approach, allowing them to effectively cultivate and sustain crops on arable land. The European Union (EU) aims to make food systems fair, healthy, and environmentally sustainable through the Green Deal and its farm-to-fork, soil, and biodiversity strategies, zero pollution action plan, and upcoming sustainable use of pesticides regulation. Many of the historical synthetic pesticides are not currently registered in the EU market. In addition, the continuous use of a limited number of active ingredients with the same mode of action scales up pests/pathogens/weed resistance potential. Increasing plant protection challenges as well as having fewer chemical pesticides to apply require innovation and smart solutions for crop production. Biopesticides tend to pose fewer risks to human health and the environment, their efficacy depends on various factors that cannot be controlled through traditional application strategies. This paper aims to disclose the contribution of robotic systems in Agriculture 5.0 ecosystems, highlighting both the challenges and limitations of this technology. Specifically, this work documents current threats to agriculture (climate change, invasive pests, diseases, and costs) and how robotics and AI can act as countermeasures to deal with such threats. Finally, specific case studies and the application of intelligent robotic systems to them are analyzed, and the architecture for our intelligent decision system is proposed.

Combined Application of a Novel Robotic System and Exoscope for Microsurgical Anastomoses: Preclinical Performance

Abstract Background The concept of robotic microsurgery is becoming increasingly known as several robotic systems tailored to the specific needs of microsurgery are being introduced. Training with these devices is essential to draw conclusions about their potential clinical utility. This study describes the training and learning curve of experienced microsurgeons and complete novices using such a robotic surgical system in combination with an exoscope. Methods Four experienced microsurgeons and three complete novices performed a total of 62 manual and robot-assisted anastomoses. The time for anastomosis completion and surgeon's satisfaction with the anastomosis and with the robotic system were recorded. The anastomoses' quality was assessed using the Structured Assessment of Microsurgery Skills (SAMS) and the Anastomosis Lapse Index (ALI). The Rapid Entire Body Assessment (REBA) was used for ergonomics evaluation. Results All expert microsurgeons and novices improved their performance during training. The average anastomosis time decreased significantly, while satisfaction with the anastomosis and robotic system increased significantly over time. Multiple SAMS score parameters increased significantly throughout robotic but not manual training and the ALI score demonstrated more errors in the manual group. The REBA score displayed a significantly lower risk for musculoskeletal disorders in the robotic group. Conclusion Currently, the first clinical applications of robotic surgical systems specifically designed for microsurgery are being reported. The introduction of such systems into clinical practice can be expected to have a steep learning curve, as demonstrated in our study. Meanwhile, robotic systems for microsurgical procedures may hold great potential for improvement of surgical quality and ergonomics.

Synthesis of a parametrically invariant servo drive using the model parameters recovery method

RELEVANCE. Servo drives operate with a law of change of the setting action unknown in advance and provide reproduction of this law by the output coordinate. Servo drives find application in robotic and mechatronic systems, machine tools, systems of automatic control and remote transmission of information, radar stations, guidance units, etc. The operation of servodrives often proceeds in conditions of instability parameters and characteristics elements of the electric drive. Corrective devices synthesized by classical methods of automatic control theory cannot cope with providing the specified accuracy of reproduction of the input signal and the required quality of transients. THE PURPOSE. In this regard, an important and urgent task is the synthesis of an active correction system with a non-stationary controller that provides the required quality and accuracy of the control process due to the coefficient self-tuning algorithm. METHODS. When solving this problem, methods for identifying parameters based on the gradient algorithm and numerical integration of the object of study dynamics equations, implemented by means of the MatLab software environment, were used. RESULTS. The paper solves the problem of synthesizing the self-tuning algorithm for the coefficients of the servo drive corrective device based on the identification approach. The parameters are identified by a searchless gradient algorithm while minimizing the discrepancy between the object of study and its inverse model, as well as restoring the coefficients of differential equations using integration and the corresponding computational procedures. An servo drive with negative position feedback is tuned to the modular optimum with a proportional controller whose coefficients are completely determined by the parameters to be identified. The self-tuning algorithm consists in calculating the correction factor of the non-stationary P-controller and forming a multiplicative channel of the active correction closed loop. CONCLUSION. The simulation of the electric drive in the MatLab software environment showed high accuracy and quickness of the process identifying parameters in a wide range of their change. When forming an active correction contour, a necessary requirement is to distinguish between the identification cycle and the self-tuning cycle. This makes it possible to avoid singular perturbations and reduce resonant facts during the operation of a parametrically invariant electric drive. The developed method of active correction with a priori known and unchanged structure of the object model of study makes it possible to maintain the required accuracy and quality of the operation of the electric drive under conditions of parametric disturbances with permissible deviations of accuracy and quality indicators. Implementation of the method does not require additional equipment, organization of special test signals, significant computational costs. The method of synthesizing a parametrically invariant electric drive can be used to develop robust control systems for non-stationary objects, including when the hypothesis of quasi-stationarity is not fulfilled.

Motor controlled system development with force-assistance using force/torque sensor for four-axis ceiling suspension system

Multi-axis force and torque sensors are type of transducers. They can measure force and torque in three dimensions. These sensors have multiple applications in robotic systems. The majority of these type of sensors use the strain measurement in any elastic structure. There are multiple approaches for strain measurement which include resistive strain gauge, piezo-electric and capacitive technologies. The evaluation of such a system can be done on various parameters, maximizing the acceptable sensing range while minimizing measurement errors/crosstalk is the main design challenge. In future, because force and torque sensors are necessary for service machines to interact with people in different situations, they will be widely deployed. However, it is challenging to find an appropriate force/torque sensor, and the cost is very high, because of certain design concerns and needs. This paper discusses an application based on the multi-axis force/torque sensor. A force-assisted control system has been proposed with simultaneous motorized action using force as feedback. The sensor needs and machine performance are reviewed after a thorough analysis of relevant data. This thorough investigation will benefit in the interfacing of specialized force/torque sensors to reduce crosstalk and aid in broadening the scope of service machines in which they can be used.

Design and Modeling of Fabric-Shelled Pneumatic Bending Soft Actuators

In recent years, the use of fabric to manufacture and integrate soft actuators and sensors into wearable robots elucidates the benefits of soft robotic technology, closing the gap between humans and machines. However, many limitations in terms of ease of manufacturing, customization, modeling, output force and control remain unsolved and reduce the number of practical applications of fabric-based soft robotic systems. To address these limitations, we propose the use of laser-cut fabric shells laminated onto thermoplastic polyurethane as a pneumatic bending soft actuator. In this paper the design, fabrication, modeling, and control of a fabric shelled bending actuator is presented. Our experiments suggest that the fabric-shelled actuators are highly tunable and usable for high force applications. Moreover, the finite element model developed can predict the behavior of different fabric shelled actuator designs. Finally, we show how precise control of the actuators can be achieved by the implementation of a feedback curvature control system.

Robotic Hysterectomy with Ureter Identification and Uterine Artery Ligation for Benign Gynecological Conditions: An Early-Year Single-Center Experience.

The use and application of robotic systems with a high-definition, three-dimensional vision system and advanced EndoWrist technology have become widespread. We sought to share our clinical experience with ureter identification and preventive uterine artery ligation in robotic hysterectomy. The records of patients undergoing robotic hysterectomy between May 2014 and December 2015, including patient preoperative characteristics, operative time, and postoperative outcomes, were analyzed. We evaluated the feasibility and safety of using early ureteral identification and preventive uterine artery ligation in robotic hysterectomy in patients with benign gynecological conditions. Overall, 49 patients diagnosed with benign gynecological conditions were evaluated. The mean age of the patients and mean uterine weight were 46.2 ± 5.3 years and 348.7 ± 311.8 g, respectively. Robotic hysterectomy achieved satisfactory results, including a short postoperative hospital stay (2.7 ± 0.8 days), low conversion rate (n = 0), and low complication rate (n = 1; 2%). The average estimated blood loss was 109 ± 107.2 mL. Our results suggest that robotic hysterectomy using early ureteral identification and preventive uterine artery ligation is feasible and safe in patients with benign gynecological conditions.

P-034 ROBOTIC TAPP FOR RE-RECURRENT INGUINAL HERNIA: OUR EARLY EXPERIENCE

Abstract Aim Undoubtedly, the use of meshes has dramatically reduced recurrence rates following primary inguinal hernia repair; however, recurrences still occur with an incidence ranging from 0.5 to more than 20%, depending upon various factors that include hernia and patient characteristics, applied surgical technique and mesh characteristics, and surgeon's experience. The repair of a recurrent inguinal hernia sets a challenge for the hernia surgeon to prevent not only new recurrence, but also other complications. The challenge becomes even bigger in cases of re-recurrent inguinal hernias. The aim of this study is to present our early experience with the application of robotic system in the repair of re-recurrent inguinal hernias. Material and Methods From January to December 2022, five male patients with re-recurrent inguinal hernias (two patients with two previous repairs, one with three and one with four previous repairs) were operated in our Center using the robotic system Da Vinci X. In all cases robotic TAPP was performed and an extra-large (measuring 12×17cm) heavy-weight polypropylene mesh was implanted. Results All patients were discharged from the hospital on the first post-operative day. Their postoperative course has been uneventful, without any evidence of early or late complications, including recurrence. Conclusion Robotic-assisted repair of re-recurrent inguinal hernia is safe and feasible. The advantages of the surgical robotic system and more specifically, the magnified and three-dimensional view of the surgical field, as well as the increased maneuverability of the instruments permit the efficient treatment of this demanding subtype of inguinal hernias.

Application of hybrid robotic systems in crop harvesting: Kinematic and dynamic analysis

Harvesting of agricultural crops, especially when the ripe products have to be picked one by one, has always been a major concern of farmers and growers. Consequently, the use of robots and the mechanization of harvesting operations have been considered as the effective means of tackling such challenges. In the present research, the use of hybrid robots (which combine open-loop and closed-loop manipulators) has been proposed for this purpose; because these robots help reduce the size of the workforce and thus slash the harvesting costs, and they also boost the speed and accuracy of harvesting operations. However, using this type of robots without paying attention to some important factors (e.g., using motors of optimal power at the actuated joints of a robot and choosing appropriate lengths for robot links) can have a substantial adverse effect on the manufacturing cost, working space and the effective functioning of such robots. So the main focus of this paper is on the kinematic and dynamic analysis of hybrid robotic systems. The main advantage of this research over similar works is the generality by which it describes the mechanical behavior of these robots; so that by using the recursive algorithms presented in this paper, all kinds of robots in the hybrid class can be analyzed. However, due to the complexity in the analysis of such systems, a hybrid robot consisting of three closed loops and one open loop was considered in this paper as a sample case study, so that we could explain, visually and graphically, all the steps involved in deriving its motion equations. The simulation results for this robotic system demonstrate the efficacy of the proposed method in the kinematic and dynamic analysis of hybrid robots, as efficient and functional crop harvesting equipment.

The Folded Pneumatic Artificial Muscle (foldPAM): Towards Programmability and Control via End Geometry

Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and controlling pneumatic actuators via end geometry. We demonstrate a novel actuator class, named the folded Pneumatic Artificial Muscle (foldPAM), which features a thin-filmed air pouch that is symmetrically folded on each side. Varying the folded portion of the actuator changes the end constraints and, hence, the force-strain relationships. We investigated this change experimentally by measuring the force-strain relationship of individual foldPAM units with various lengths and amounts of folding. In addition to static-geometry units, an actuated foldPAM device was designed to produce continuous, on-demand adjustment of the end geometry, enabling closed-loop position control while maintaining constant pressure. Experiments with the device indicate that geometry control allows access to different areas on the force-strain plane and that closed-loop geometry control can achieve errors within 0.5% of the actuation range.

Development of a Vision-Based Unmanned Ground Vehicle for Mapping and Tennis Ball Collection: A Fuzzy Logic Approach

The application of robotic systems is widespread in all fields of life and sport. Tennis ball collection robots have recently become popular because of their potential for saving time and energy and increasing the efficiency of training sessions. In this study, an unmanned and autonomous tennis ball collection robot was designed and produced that used LiDAR for 2D mapping of the environment and a single camera for detecting tennis balls. A novel method was used for the path planning and navigation of the robot. A fuzzy controller was designed for controlling the robot during the collection operation. The developed robot was tested, and it successfully detected 91% of the tennis balls and collected 83% of them.

Prospects and challenges of robotic hernia surgery in China: A narrative review

Abstract The Da Vinci surgical robotic system has revolutionized the field of robotic surgery and has become one of the most ubiquitous and recognized systems in the robotic surgery era. The rapid rise in China’s economy will provide crucial support for the promotion and application of robotic surgical systems in the country’s surgical field. At present, approximately 1.2 million inguinal hernia repairs are performed annually in China. However, many of these surgeries are performed via traditional open repair or laparoscopy methods. Using the purported benefits of robotic surgery system to benefit hernia patients should become a future direction for Chinese hernia surgeons.

Application of robotics during the decommissioning of nuclear facilities: state of the art and development prospects

The article deals with the application of mobile robotic systems (UGV) during the decommissioning of nuclear industry and energy facilities. It is shown that, in contrast to the recovery from accidents, when usually the work is carried out in an unknown unstructured environment, which implies damage to buildings, blockages, flood zones, etc., decommissioning is carried out in a rather complex, but well known environment according to a pre-developed plan. The general requirements for such UGVs are discussed, based on the features and practice of their application.

Prototype multi-agent robotic debris removal system: principles of development and experimental studies

Objectives. The article substantiates the relevance of the creation and the prospects of application of multi-agent robotic systems for elimination of consequences of emergency situations. The purpose of this work was to test the practical feasibility of algorithms for controlling a group of autonomous robots when performing multi-stage missions.Methods. The theses of the finite automata theory in planning actions of a multi-agent system, methods of automatic control in organizing a goal-directed movement of robots, and methods of computer vision in searching and analyzing debris geometry were used.Results. The principles of development, architecture, and composition are described for the software and algorithms of a prototype of the multi-agent robotic system created at RTU MIREA as part of integrated research for the creation of tools and methods of group control of robots. The multi-stage task of searching and removing debris in the process of eliminating the consequences of emergency situations is analyzed. A proposed algorithm for planning the actions of robotic agents determines the time sequence of the mission stages. Tasks are allocated among the performing robots according to assessments of their suitability. The autonomous functioning of robotic agents is determined by commands coming from the group control level, as well as an a priori embedded knowledge base with scenario models of appropriate actions. Compensation of local environmental uncertainties in the process of robot movement is based on a comprehensive analysis of visual and navigation information. Along with the main elements of the multi-agent system, the developed infrastructure of hardware and software for visual navigation and wireless communication is described.Conclusions. The results of the experimental studies demonstrated the efficiency of the developed approaches to the creation of intelligent technologies for group control of autonomous robots on the example of debris search and removal tasks. The feasibility of the multi-agent robotic system is demonstrated by the development and integration of a number of information management and infrastructure subsystems.

3D Point Cloud Acquisition and Correction in Radioactive and Underwater Environments Using Industrial 3D Scanners.

This study proposes a method to acquire an accurate 3D point cloud in radioactive and underwater environments using industrial 3D scanners. Applications of robotic systems at nuclear facility dismantling require 3D imaging equipment for localization of target structures in radioactive and underwater environments. The use of industrial 3D scanners may be a better option than developing prototypes for researchers with basic knowledge. However, such industrial 3D scanners are designed to operate in normal environments and cannot be used in radioactive and underwater environments. Modifications to environmental obstacles also suffer from hidden technical details of industrial 3D scanners. This study shows how 3D imaging equipment based on the industrial 3D scanner satisfies the requirements of the remote dismantling system, using a robotic system despite insufficient environmental resistance and hidden technical details of industrial 3D scanners. A housing unit is designed for waterproofing and radiation protection using windows, mirrors and shielding. Shielding protects the industrial 3D scanner from radiation damage. Mirrors reflect the light required for 3D scanning because shielding blocks the light. Windows in the waterproof housing also transmit the light required for 3D scanning with the industrial 3D scanner. The basic shielding thickness calculation method through the experimental method is described, including the analysis of the experimental results. The method for refraction correction through refraction modeling, measurement experiments and parameter studies are described. The developed 3D imaging equipment successfully satisfies the requirements of the remote dismantling system: waterproof, radiation resistance of 1 kGy and positional accuracy within 1 mm. The proposed method is expected to provide researchers with an easy approach to 3D scanning in radioactive and underwater environments.

Reversible Wrinkling Surfaces for Enhanced Grip on Wet/Dry Conditions.

Friction is important in material design for robotic systems that need to perform tasks regardless of environmental changes. Generally, robotic systems lose their friction in wet environments and fail to accomplish their tasks. Despite the significance of maintaining friction in dry and wet environments, it is still challenging. Here, we report a smart switching surface, which helps to complete missions in both wet and dry environments. Inspired by the reversible wrinkling mechanism of a human finger, the surface reversibly generates and removes wrinkles to adapt to both environments using volume-changing characteristics of the Nafion film. The switchable surfaces with manipulated wrinkle morphologies via patterns of diverse densities, sizes, and shapes induce a relationship between the wrinkle morphologies and friction: wrinkles on denser and smaller hexagonal patterns generate six times more friction than non-switching flat surfaces in wet environments and a similar amount of friction to the flat surfaces in dry environments. In addition, the wrinkle morphologies according to the patterns are predicted through numerical simulation, which is in good agreement with experimental results. This work presents potential applications in robotic systems that are required to perform in and out of water and paves the way for further understanding of wrinkling dynamics, manipulation, and evolutionary function in skin.

Methods of Intelligent Control in Mechatronics and Robotic Engineering: A Survey

Artificial intelligence is becoming an increasingly popular tool in more and more areas of technology. New challenges in control systems design and application are related to increased productivity, control flexibility, and processing of big data. Some kinds of systems require autonomy in real-time decision-making, while the other ones may serve as an essential factor in human-robot interaction and human influences on system performance. Naturally, the complex tasks of controlling technical systems require new modern solutions, but there remains an inextricable link between control theory and artificial intelligence. The first part of the present survey is devoted to the main intelligent control methods in technical systems. Among them, modern methods of adaptive and optimal control, fuzzy logic, and machine learning are considered. In its second part, the crucial achievements in intelligent control applications in robotic and mechatronic systems over the past decade are considered. The references are structured according to the type of such common control problems as stabilization, controller tuning, identification, parametric optimization, iterative learning, and prediction. In the conclusion, the main problems and tendencies toward intelligent control methods improvement are outlined.

Development and Hardware Implementation of IoT-Based Patrol Robot for Remote Gas Leak Inspection

The Internet of Things Robot (IoTR) is an emerging paradigm that brings together robotic systems with the Internet of Things (IoT) that connect sensors and smart objects pervasively embedded in everyday environments. With the recent developments in robotic system applications, it becomes apparent that the mobile robot has great importance in real-world applications such as navigation and surveillance. One of the most important applications of a mobile robot is patrolling and gas leak detection. This paper proposes a real-time IoT Robot (IoTR) that can be used indoors or outdoors for gas leak detection purposes. The proposed mobile robot is equipped with microphones, speakers, the hub of smart sensors that are necessary for patrolling and gas leak detection, a high-resolution IP video camera for live video streaming, Bluetooth for indoor applications and tracking, and GPS/GPRS for outdoor applications and tracking. The experimental testing of the preliminary prototype confirms the design objectives. The robot has been tested for indoor and outdoor modes; the robot can detect gas leakage and provides a live video streaming of the surrounding area, which can be tracked on Google maps. At the same time, the robot can be controlled remotely through a mobile app or website, the robot can move autonomously and avoid obstacles. The proposed work provides a low-cost IoT robot through the use of the available and cheap components and sensors, which featured a high quality at the same time. Our proposed system exhibits promising gas sensing performance in harsh environments, using intelligent gas sensors that have a fast response (>10s), low cost, high sensitivity, long life, robustness, and physical size.

The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review

In recent decades, the field of physical rehabilitation, with the help of robotic systems that aid the population of any age with locomotor difficulties, has been evolving rapidly. Several robotic exoskeleton systems of the lower limbs have been proposed in the patent literature and some are even commercially available. Given the above, we are asking ourselves at the end of the COVID-19 pandemic: how much has this pandemic affected both the publication of patents and the application of new ones? How has new patents’ publication volume or application in robotic exoskeleton systems changed? We hypothesize that this pandemic has caused a reduction in the volume of new applications and possibly publications. We compare pandemic analysis and the last decade’s analysis to answer these questions. In this study, we used a set of statistical tests to see if there were any statistically significant changes. Our results show that the pandemic had at least one effect on applying for new patents based on the information analyzed from the three databases examined.

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

AbstractThere has been an increasing interest in the application of robotic autonomous systems (RASs) for construction and mining, particularly the use of RAS technologies to respond to the emergent issues for earthmoving equipment operating in volatile environments and for the need of multiplatform cooperation. Researchers and practitioners are in need of techniques and developments to deal with these challenges. To address this topic for earthmoving automation, this paper presents a comprehensive survey of significant contributions and recent advances, as reported in the literature, databases of professional societies, and technical documentation from the Original Equipment Manufacturers (OEM). In dealing with volatile environments, advances in sensing, communication and software, data analytics, as well as self-driving technologies can be made to work reliably and have drastically increased safety. It is envisaged that an automated earthmoving site within this decade will manifest the collaboration of bulldozers, graders, and excavators to undertake ground-based tasks without operators behind the cabin controls; in some cases, the machines will be without cabins. It is worth for relevant small- and medium-sized enterprises developing their products to meet the market demands in this area. The study also discusses on future directions for research and development to provide green solutions to earthmoving.