Simulated Robot Research Articles

CONSTRUCTION OF THE KINEMATIC MODEL OF ROBOTIC SYSTEMS IN THE MATLAB ENVIRONMENT

Robotics has become relatively accessible with low-cost projects, but there is still a need to create models that accurately represent the robot's physical behavior. Creating a virtual platform allows us to test behavioral algorithms using artificial intelligence. In addition, it will enable us to find potential problems in the physical design of the robot. The article describes the methodology of building a kinematic model and simulation of an autonomous robot. The development of a kinematic model and its implementation using several tools are presented. The environment used for the experiment is very close to natural conditions and reflects the kinematic characteristics of the robot. As a result, the simulation of the model following the mobile robot's kinematics is executed and tested in MATLAB. As a study, the m-file creation in MATLAB, its use with the Simulink package, and the solution of the forward and inverse problem of kinematics are shown. In addition to constructing the robot body using Simulink blocks, the structure of the kinematic scheme is simulated using the Denavit-Hartenberg (DH) parameters of the robot without blocks. "Simscape" and "Robotics System Toolbox" packages simulate forward and inverse kinematics using the Simulink package, and the robot's handle and body movement are observed. In the forward kinematics problem, the readings in the Scope compare the signals received from joint one and the end effector. For the inverse kinematic problem, the parameters of the manipulator along the XYZ axes are entered using the "Signal builder" block, and the circular movement of the arm is observed. In contrast, the handle of the manipulator remains fixed at a given point. Keywords: mobile robot, kinematic model, the forward and inverse problem of kinematics, Denavit-Hartenberg parameters, joint types

Can smoothed particle hydrodynamics simulate physically realistic movements of underwater vehicles?

ABSTRACT This work presents the first results using Smoothed Particle Hydrodynamics (SPH), a mesh-free technique, to simulate underwater vehicle motion with the goal of achieving sufficient physical realism and computation time performance capabilities. The objective is not to get very accurate values for the hydrodynamic parameters, but to show that SPH can simulate hydrodynamic parameters with the same order of magnitude as the reference, in order to allow a realistic control of robots in water. First, spherical objects are simulated to check buoyancy realism, speed limit existence, and hydrodynamic parameters in comparison with reference values. Then, horizontal and vertical movements of a capsule-shape object and a real torpedo-shape underwater robot are compared. The results show that buoyancy is respected, and that spherical objects reach a speed limit in accordance with the laws of physics. In addition, added-mass is simulated with 20 % variation on average with respect to the reference and varies homothetically with respect to the object's size. In contrast, drag forces cannot not be simulated with the same level of realism without reducing the particle size, which makes the simulation last longer. SPH for underwater robotics simulation appears to be promising, and ways of further improvements are being considered.

Automated method based on a neural network model for searching energy-efficient complex movement trajectories of industrial robot in a differentiated technological process

Purpose of the work: Researching possibility of creating a method for improving the energy efficiency of differentiated robotic technological process (RTP) in the food industry. The high rates of development of production processes robotization, including in the food industry, leading to increase the cost of electrical energy, determine the research tasks relevance in finding energy-efficient methods for controlling industrial robots.Methodology: The proposed approach is based on principles of object-oriented design and possibility of classifying robotic technological process: Applying specific model sets and methods to improve energy efficiency to individual classes. The existing possibility of energy consumption synthesizing models of robots inside differentiated robotic technological process, such as stacking loads, in reduced form, made it possible to use neural network methods to identify non-linear dependencies. At the same time, training sample for intelligent modules was formed on the basis of classical experiment planning algorithms. The synthesis of methods, models and procedures was implemented on the basis of high-level programming languages C++, MATLAB.Results: A mathematical model and automated algorithms for its synthesis are proposed, which make it possible to adjust robotic technological process simulation model taking into account its specifics and implement a method for finding the optimal parameters of its functioning. To confirm the effectiveness of proposed solution, the obtained neural network model and optimization method were tested on real robotic technological process, and the calculation of economic efficiency of proposed solution was also given.Conclusion/recommendations: The application of this approach will significantly reduce energy costs for robotic operations in the food industry.

Efficient automatic design of robots

Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually determined by a human designer after several months or years of iterative ideation, prototyping, and testing. Inspired by evolutionary design in nature, the automated design of robots using evolutionary algorithms has been attempted for two decades, but it too remains inefficient: days of supercomputing are required to design robots in simulation that, when manufactured, exhibit desired behavior. Here we show de novo optimization of a robot's structure to exhibit a desired behavior, within seconds on a single consumer-grade computer, and the manufactured robot's retention of that behavior. Unlike other gradient-based robot design methods, this algorithm does not presuppose any particular anatomical form; starting instead from a randomly-generated apodous body plan, it consistently discovers legged locomotion, the most efficient known form of terrestrial movement. If combined with automated fabrication and scaled up to more challenging tasks, this advance promises near-instantaneous design, manufacture, and deployment of unique and useful machines for medical, environmental, vehicular, and space-based tasks.

Peroneus Brevis to Longus Tendon Transfer in the Treatment of the Flexible Progressive Collapsing Foot Deformity: A Cadaveric Study

Category: Midfoot/Forefoot; Hindfoot Introduction/Purpose: Although operative treatment of the flexible progressive collapsing foot deformity (PCFD) remains controversial, correction of residual forefoot varus and stabilization of the medial column are important components of reconstruction. An opening wedge medial cuneiform osteotomy or first tarsometatarsal fusion is traditionally performed to plantarflex the first metatarsal. More recently, tendon transfers such as a peroneus brevis (PB) to peroneus longus (PL) have been proposed. However, there is little data to support their use. The aim of our study was to determine the effect of an isolated PB- to-PL transfer (PBT) on medial column and hindfoot joint kinematics in a simulated PCFD (sPCFD) cadaveric model using a robotic gait simulator. We hypothesized that a PBT in a sPCFD model would partially restore kinematics to the intact state. Methods: A validated six-degree of freedom robot (Baxter et al., 2016) was used to simulate the stance phase of level walking for 6 mid-tibia cadaveric specimens (3 male; age: 72 ± 8 years). An eight-camera motion capture system was used to track reflective markers fixed to bones of the foot and ankle. Three conditions were tested for each specimen: intact, sPCFD (Henry et al., 2022), and after PBT. The PBT was performed by transecting the PB and advancing the proximal stump 1 cm into the PL (Sanhudo, 2019). Outcome measures included kinematics of the talonavicular, subtalar, and first tarsometatarsal joints. Maximum differences between the PBT and sPCFD conditions and 95% confidence intervals (95%CIs) were calculated. The percent deformity correction was determined by dividing the difference between the PB and sPCFD states by the difference between the intact and sPCFD states at the site of maximum deformity correction. Results: Relative to the sPCFD condition, the PBT resulted in a maximum increase in talonavicular plantarflexion of 1.8° (95%CI 0.9°-2.7°) with 159% correction during midstance, decrease in talonavicular abduction of 1.5° (95%CI 0.3°-2.8°) with 65% correction during midstance, and decrease in talonavicular eversion of 2.4° (95%CI 1.2°-3.8°) with 90% correction during mid-to- late stance. All deformities had consistent correction at the talonavicular joint during stance (Figure 1). Additionally, the PBT resulted in a maximum increase in subtalar plantarflexion by 0.8° (95%CI 0.3°-1.8°) with 155% correction in early stance, decrease in subtalar abduction by 0.8° (95%CI 0.5°-1.2°) with 191% correction during early stance, and decrease in subtalar eversion by 1.5° (95%CI 0.5°-2.2°) with 178% correction during mid-stance. There was no effect on first tarsometatarsal joint kinematics. Conclusion: A PB-to-PL transfer in a sPCFD model resulted in the correction of multiple deformities including increased plantarflexion and decreased abduction at the talonavicular joint compared to the sPCFD without the transfer, most notably during PB activation in stance. The PBT also decreased eversion at the talonavicular and subtalar joints. Our results suggest that the addition of a PBT as part of the surgical management of the flexible PCFD contributes to correction of the residual forefoot varus, midfoot abduction, and hindfoot valgus deformities by plantarflexing through the medial column and removing a deforming force on the foot by the PB.

Transfer of the Flexor Hallucis Longus Tendon Improves Joint Kinematics of the Medial Column during Simulated Stance Phase in Progressive Collapsing Foot Deformity

Category: Hindfoot; Midfoot/Forefoot Introduction/Purpose: Medial longitudinal arch collapse is one of the key clinical and radiographic features of progressive collapsing foot deformity (PCFD) and can occur anywhere within its three constituents: first tarsometatarsal (TMT1), naviculo- cuneiform (NC), and talonavicular (TN) joints. Medial column osteotomy or fusion has typically been utilized to address this instability. A new procedure involving transferring the flexor hallucis longus (FHL) tendon to the 1st metatarsal base has shown promising results in restoring radiographic alignment of the entire medial column in conjunction with a hindfoot procedure. However, the mechanism of correction in a dynamic environment is unclear. Thus, this study examined the effect of medial column stabilization using FHL transfer on the foot and ankle kinematics during stance phase. Methods: Twelve mid-tibia cadaveric specimen (6 male; Age 48 ± 16 years) underwent stance phase simulations using a validated six-degree of freedom robotic gait simulator. Three conditions were tested each cadaveric specimen: pre-deformity (Intact), after creating a simulated progressive collapsing foot deformity (sPCFD), and after an FHL transfer (FHL). Motion capture cameras tracked the motion of retroreflective markers inserted into bones of the foot and ankle. The FHL transfer was performed on each specimen by harvesting the FHL tendon at its distal insertion and fixing it in the 1st metatarsal with a biotenodesis screw (Figure 1A). Outcome measures include joint rotations of the TMT1, NC, TN, subtalar, and ankle joint. Significant differences (p < 0.05) in joint kinematics were statistically analyzed by constructing 95% confidence intervals of the repeated measures difference between both the sPCFD and FHL conditions and the intact condition. Results: The FHL condition demonstrated significant differences in the kinematics of the medial column compared to the sPCFD condition (Figure 1B). The TMT1 joint showed increased plantarflexion in early and late stance, as well as increased eversion during early and mid-stance. The NC joint demonstrated increased plantarflexion, eversion, and abduction during early stance. At the TN joint, there was increased inversion during early and late stance, as well as increased adduction during mid-stance. At the subtalar joint, subtalar eversion was decreased during early stance, and no significant differences were observed from the intact condition throughout stance. No differences were found in the ankle joint kinematics across all conditions. Conclusion: The results of our study demonstrate that the medial column stabilization procedure with FHL transfer can improve the kinematics of the medial column in sPCFD. Additionally, the correction at the TN and subtalar joint demonstrates the potential efficacy of this procedure for hindfoot correction. The correction occurred during the earlier stance phase as well when the FHL is not active, suggesting that this procedure provides correction in both a dynamic and static manner. This procedure can be used in conjunction with hindfoot corrective procedures in PCFD, particularly when preoperative imaging suggests multiple levels of instability within the medial column.

Design and Validation of a Soft Robotic Simulator for Transseptal Puncture Training.

Transseptal puncture (TP) is the technique used to access the left atrium of the heart from the right atrium during cardiac catheterization procedures. Through repetition, electrophysiologists and interventional cardiologists experienced in TP develop manual skills to navigate the transseptal catheter assembly to their target on the fossa ovalis (FO). Cardiology fellows and cardiologists that are new to TP currently train on patients to develop this skill, resulting in increased risk of complications. The goal of this work was to create low-risk training opportunities for new TP operators. We developed a Soft Active Transseptal Puncture Simulator (SATPS), designed to match the dynamics, static response, and visualization of the heart during TP. The SATPS includes three subsystems: (i) A soft robotic right atrium with pneumatic actuators mimics the dynamics of a beating heart. (ii) A fossa ovalis insert simulates cardiac tissue properties. (iii) A simulated intracardiac echocardiography environment provides live visual feedback. Subsystem performance was verified with benchtop tests. Face and content validity were evaluated by experienced clinicians. Subsystems accurately represented atrial volume displacement, tenting and puncture force, and FO deformation. Passive and active actuation states were deemed suitable for simulating different cardiac conditions. Participants rated the SATPS as realistic and useful for training cardiology fellows in TP. The SATPS can help improve catheterization skills of novice TP operators. The SATPS could provide novice TP operators the opportunity to improve their TP skills before operating on a patient for the first time, reducing the likelihood of complications.

SET: Sampling-Enhanced Exploration Tree for Mobile Robot in Restricted Environments

Mobile robots generally work in harsh and restricted environments, which poses challenges for mobile robots to find a feasible path efficiently. This article presents a planning method, namely sampling-enhanced exploration tree (SET), to improve computational efficiency in restricted environments while guaranteeing high-quality performance. The core of SET is sampling-enhanced exploration, which consists of critical areas identification, guiding-exploration, and rectifying-exploration. In the critical areas identification phase, the restricted areas are identified based on the distribution of the hybrid samples. Next, the critical samples in restricted areas are selected as the origins of the sampling-enhanced exploration. In the guiding-exploration phase, the sampling-enhanced exploration starts from the origins and marches quickly with the guidance of the leader-samples to capture the spatial feature and connectivity of the restricted areas. The spatial information provides essential guidance for efficient biased sampling. In the rectifying-exploration phase, the directions of sampling-enhanced exploration are rectified to transit the problematic areas and supplement samples. Theoretical analysis is provided to shed light on the properties of SET. Moreover, the generality and effectiveness of SET are verified through a series of mobile robot simulations and real-world experiments.

Walking and falling: Using robot simulations to model the role of errors in infant walking.

What is the optimal penalty for errors in infant skill learning? Behavioral analyses indicate that errors are frequent but trivial as infants acquire foundational skills. In learning to walk, for example, falling is commonplace but appears to incur only a negligible penalty. Behavioral data, however, cannot reveal whether a low penalty for falling is beneficial for learning to walk. Here, we used a simulated bipedal robot as an embodied model to test the optimal penalty for errors in learning to walk. We trained the robot to walk using 12,500 independent simulations on walking paths produced by infants during free play and systematically varied the penalty for falling-a level of precision, control, and magnitude impossible with real infants. When trained with lower penalties for falling, the robot learned to walk farther and better on familiar, trained paths and better generalized its learning to novel, untrained paths. Indeed, zero penalty for errors led to the best performance for both learning and generalization. Moreover, the beneficial effects of a low penalty were stronger for generalization than for learning. Robot simulations corroborate prior behavioral data and suggest that a low penalty for errors helps infants learn foundational skills (e.g., walking, talking, and social interactions) that require immense flexibility, creativity, and adaptability. RESEARCH HIGHLIGHTS: During infant skill acquisition, errors are commonplace but appear to incur a low penalty; when learning to walk, for example, falls are frequent but trivial. To test the optimal penalty for errors, we trained a simulated robot to walk using real infant paths and systematically manipulated the penalty for falling. Lower penalties in training led to better performance on familiar, trained paths and on novel untrained paths, and zero penalty was most beneficial. Benefits of a low penalty were stronger for untrained than for trained paths, suggesting that discounting errors facilitates acquiring skills that require immense flexibility and generalization.

AGV robot for laser-SLAM based method testing in automated container terminal

PurposeMagnet spot is the primary method to develop the automated guided vehicle (AGV) guidance system for many automated container terminals (ACT). Aiming to improve the high flexibility of AGV operation in ACT, this paper aims to address the problem of technical stability leading to ACT production paralysis and propose a mini-terminal AGV robot for testing laser simultaneous location and mapping (SLAM)-based methods in ACT operation scenarios.Design/methodology/approachThis study developed a physical simulation robot for terminal AGV operations, providing a platform to test technical solutions for applying laser navigation-related technologies in ACTs. Then, the terminal-AGV navigation system framework is designed to apply the laser-SLAM-based method in the physical simulation robot. Finally, the experiment is conducted in the terminal operation scenario to verify the feasibility of the proposed framework for lased-SLAM-based method testing and analyze the performance of the different mini-terminal AGV robots.FindingsA series of experiments are conducted to analyze the performance of the proposed mini-terminal AGV robot for laser-SLAM-based method testing. The experimental results show the validity and effectiveness of the AGV robot and AGV navigation system framework with better local map matching, loopback and absolute positional error.Originality/valueThe proposed mini-terminal AGV robot and AGV navigation system framework can provide a platform for innovative laser-SLAM-based method testing in ACTs applications. Therefore, this study can effectively meet the high requirements of ACT for maturity and stability of the laser navigation technical.

The Effect of Mechanotherapy and Virtual Reality on Cardiovascular Activity and the Severity of Shortness of Breath in Patients with Post COVID-19 Syndrome: A Prospective Randomized Study

INTRODUCTION. At present, there is an urgent need to develop modern rehabilitation programs for COVID-19 patients with long-lasting residual symptoms of the disease, primarily from the cardiopulmonary system.
 AIM. To assess the impact of a comprehensive medical rehabilitation program using virtual reality technologies, robotic mechanotherapy with biofeedback and interactive balance therapy on the severity of hypoxic syndrome, shortness of breath and cardiovascular activity in patients who have undergone COVID-19 and have manifestations of post-COVID syndrome (long COVID).
 MATERIAL AND METHODS. The study sample consisted of 120 patients aged 40 to 70 years who had suffered COVID-19 within 16 months prior to inclusion in the study and had manifestations of SPCN, who were randomized into 2 groups. In the main group (n = 60), a new complex of medical rehabilitation was prescribed against the background of basic treatment: 1) sessions on the robotic biofeedback simulator for lower limb muscle training Con-Trex, #10; 2) balance therapy (sensorimotor training) using the biofeedback simulator Stabilan 012, #10; 3) training on the rehabilitation interactive markerless system with virtual reality technology Nirvana, #10. In the control group (n = 60) patients received only basic treatment: 1) a special complex of therapeutic gymnastics performed in the hall with a physical therapy instructor, № 10; 2) low-intensity laser radiation, № 10; 3) speleo-exposure, № 10; 4) medical massage on the chest area, № 10. Research methods included clinical examination, anamnesis collection and cardiopulmonary testing and assessment of dyspnea severity before the beginning of rehabilitation and immediately after its completion.
 RESULTS AND DISCUSSION. In the period from 1 to 6 months after COVID-19, 90.0 % of patients had dyspnea, as well as a decrease in peak oxygen consumption and high values of heart rate (HR), systolic and diastolic blood pressure (BP) at peak exercise. The application of a new complex of medical rehabilitation in patients with post-COVID disorder syndrome contributed to a more significant, than in the standard method of rehabilitation, increase in cardiorespiratory endurance, which is manifested in the increase in the maximum work performed by 12.9 % and oxygen consumption of the first ventilation threshold by 6.3 % and in the decrease in diastolic BP at peak load by an average of 7 mm Hg. hg according to cardiopulmonary testing, as well as an increase in the proportion of patients with mild (up to 60.0 %) or no dyspnoea (up to 26 %) and a decrease in the number of patients with moderate dyspnoea (up to 13.3 %), severe and very severe dyspnoea (up to 0 %). Most of the authors in their studies also note a high frequency of shortness of breath, along with such manifestations of post- COVID-19 syndrome as general weakness, poor exercise tolerance.
 CONCLUSION. A new comprehensive medical rehabilitation program using virtual reality technologies, robotic mechanotherapy with biofeedback and interactive balance therapy are recommended to reduce the severity of hypoxic syndrome and dyspnea and improve cardiovascular performance in patients with post-COVID syndrome.

Application of Combined Teaching Methods Using Virtual Clinic "Dimedus" and Robot-Simulator "Apollo" in the Process of Training in the Provision of Emergency Medical Care

An important task of training students in simulation centers is to teach algorithms of actions in extreme situations, to make the right decision as quickly as possible and to perform manipulations flawlessly. The article discusses the main advantages of using a combined teaching method using the virtual clinic "Dimedus" and the robot simulator "Apollo", which allows you to maximize the benefits of virtual learning, effectively use the emergency class, and objectively evaluate the formation of individual educational and practical skills.

A Navigation Path Search and Optimization Method for Mobile Robots Based on the Rat Brain's Cognitive Mechanism.

Rats possess exceptional navigational abilities, allowing them to adaptively adjust their navigation paths based on the environmental structure. This remarkable ability is attributed to the interactions and regulatory mechanisms among various spatial cells within the rat's brain. Based on these, this paper proposes a navigation path search and optimization method for mobile robots based on the rat brain's cognitive mechanism. The aim is to enhance the navigation efficiency of mobile robots. The mechanism of this method is based on developing a navigation habit. Firstly, the robot explores the environment to search for the navigation goal. Then, with the assistance of boundary vector cells, the greedy strategy is used to guide the robot in generating a locally optimal path. Once the navigation path is generated, a dynamic self-organizing model based on the hippocampal CA1 place cells is constructed to further optimize the navigation path. To validate the effectiveness of the method, this paper designs several 2D simulation experiments and 3D robot simulation experiments, and compares the proposed method with various algorithms. The experimental results demonstrate that the proposed method not only surpasses other algorithms in terms of path planning efficiency but also yields the shortest navigation path. Moreover, the method exhibits good adaptability to dynamic navigation tasks.

Research on wheel-legged robot based on LQR and ADRC

The traditional two-wheeled self-balancing robot can travel quickly in a flat road environment, and it is easy to destabilize and capsize when passing through a bumpy road. To improve the passing ability of a two-wheeled robot, a new wheel-legged two-wheeled robot is developed. A seven-link leg structure is proposed through the comprehensive design of mechanism configuration, which decouples the balanced motion and leg motion of the robot. Based on the Euler–Lagrange method, the dynamic model of the system is obtained by applying the nonholonomic dynamic Routh equation in the generalized coordinate system. The robot’s state space is divided according to the robot’s height, and the Riccati equation is solved in real-time by the linear quadratic regulator (LQR) method to complete the balance and motion control of the robot. The robot leg motion control is achieved based on the active disturbance rejection control (ADRC) way. A robot simulation model is built on Recurdyn to verify the algorithm’s feasibility, and then an experimental prototype is built to demonstrate the algorithm’s effectiveness. The experimental results show that the control method based on LQR and ADRC can make the robot pass through the bumpy road.

MECHANOTHERAPY AND VIRTUAL REALITY TECHNOLOGIES IN THE REHABILITATION OF PATIENTS WITH POST-COVID SYNDROME: IMPACT ON ENDURANCE, MUSCLE STRENGTH, GAIT AND BALANCE

Objective. To investigate the effectiveness of the use of mechanotherapy and virtual reality technologies in increasing muscle strength, motor activity and balance in patients with post-COVID syndrome. Material and methods. The study included 120 patients who underwent a novel coronavirus infection COVID-19, aged 40 to 70 years, with manifestations of post- COVID syndrome. The rehabilitation program for patients of the main group (n=60) included 10 sessions on a robotic simulator with biofeedback for training the muscles of the lower extremities, 10 sessions of interactive balance therapy and 10 sessions on an interactive rehabilitation system with virtual reality technology against the background of basic treatment. In the control group (n=60), patients received only basic treatment. The effectiveness of the treatment was assessed using functional tests, stabilometry, assessment of walking speed on the C-mill ergometer, and tensodynamometry. Results. Stabilometry indicators in the main group after the end of the rehabilitation course were significantly better than in the control group in terms of parameters: frontal deviation with open (χ2=13.8; p=0.000) and closed eyes (χ2=11.4; p=0.000) ; sagittal displacement with closed eyes (χ2=4.4; p=0.041); the speed of movement of the center of pressure with open (χ2=5.2; p=0.026); the rate of change in the area of the statokinesiogram with open (χ2=7.5; p=0.007) and closed eyes (χ2=7.1; p=0.009). Also, in the main group after treatment, the maximum extension force of the right leg was higher than in the control group (1245.5 N versus 1241 N; p=0.008) and the maximum extension force of the left leg (1471.5 N versus 1257 N; p=0.013). In patients in both groups, walking speed increased: from 1 m/s to 1.6 m/s on average in the main group (p 0.000); from 1.1 to 1.4 in the control (p 0.001), and the step length increased: from 0.37 m to 0.7 m (p 0.001) and from 0.45 to 0.6 m (p=0.019), respectively. In the dynamics in the main group, both indicators of both parameters were better than in the control group (p=0.013 and p=0.023, respectively). Conclusion. The use of mechanotherapy and virtual reality technologies in the framework of medical rehabilitation programs for patients with post-COVID syndrome improves motor function, increases muscle strength, improves balance and gait quality.

Estimating exposures from spray products using robotic simulations.

There is an increasing need for exposure data to enable more precise information for risk estimates and improved public health protection. While personal monitoring data are preferred, it is often difficult to collect due to the resources needed to complete a human research study. In this study, we successfully programmed a robotic arm to mimic human use (spraying) of a fabric crafts protector (FCP) and human cleaning (spraying and wiping) of a glass pane with glass cleaner (GC). The robot was then used in place of human subjects to assess inhalation exposures to volatile organic compounds (VOCs) during the use of the FCP and GC. Air sampling data were collected while the robot used the products to estimate personal exposures to VOCs. Average VOC concentrations were 1.57 ppm for FCP spraying and 0.17 ppm for GC spraying and wiping. During FCP spraying, average acetone concentrations were 0.88 ppm and average isopropyl alcohol concentrations were 0.26 ppm. During GC spraying and wiping, average 2-butoxyethanol concentrations were 0.15 ppm. Air sampling data were found to be within the range of data reported in the literature during human use of similar glass cleaning products. No data was found in the literature during use of fabric protector spray products. This study contributes exposure measurement data with detailed contextual information to help characterize inhalation exposures during the use of 2 spray products. In addition, the study offers a systematic, efficient method for generating exposure data which can be used to improve health and safety risk assessments used for public health protection.

Inexpensive and Easy to Set Up Robotic Cardiac Simulator Offers "Unlimited" Endoscopic Coronary Artery Bypass Grafting Experience: Proof of Concept.

Robotic totally endoscopic coronary artery bypass (TECAB) grafting is the least invasive form of coronary bypass surgery. However, despite its advantages, this approach has not gained widespread adoption. One possible reason is the advanced and complex robotic skills required to execute a totally endoscopic sutured coronary anastomosis. We prepared a novel, inexpensive, easy to set up robotic TECAB simulator. A pig heart was placed in a cardboard box, and 3 holes were made on the side to mimic the exposure and surgical ergonomics of TECAB port placement. Four robotic ports were placed and docked to the da Vinci Si robot (Intuitive Surgical, Sunnyvale, CA, USA). Monofilament 7:0 suture (7 cm long) was used to perform the anastomosis to the left anterior descending artery using remnant conduit. Seven cardiac surgeons of various training levels participated and were asked to fill out a 10-point questionnaire. The cost of the simulator totaled $20 per session, with 20 min to assemble. Each session allowed each trainee to practice 3 to 4 coronary anastomoses. Three cardiac surgeons completed the survey and strongly agreed that the model was easy to set up, the anastomotic exercise was realistic, and that this practice helped them gain confidence. Our TECAB simulator is inexpensive, easy to set up, and allows trainees to practice endoscopic coronary suturing. We believe this to be a valuable training tool to learn how to do TECAB for established surgeons and that such a simulator may be of great value to cardiothoracic training programs and their trainees. Further studies are warranted.

Collaborative obstacle avoidance algorithm and simulation of swarm robots with limited viewing angle

In this paper, the problem of collaborative obstacle avoidance of swarm robots with limited view angles is studied. In the case of limited view angles, the control model of swarm robots system is designed. The swarm robots can safely avoid a single static obstacle when the obstacle is within the robot’s visual angle. The main research result of this paper is to design a collaborative obstacle avoidance control algorithm for swarm robots, and subdivide the overall control algorithm into three sub algorithms: formation, obstacle avoidance and navigation. The condition of limited view angle is added to the collaborative obstacle avoidance control algorithm of swarm robots, and a control model of collaborative obstacle avoidance of swarm robots with limited view angle is constructed. Then based on the Simulink platform, the simulation is carried out in the case of static obstacle to verify the correctness and stability of the algorithm.

Universal design and social care: Assistive robots as other users of the built environment?

Abstract The importance of designing architecture and physical environment using the Universal Design method so that all people have the opportunity to reside and participate in the environment has long been recognised. This design approach is even more important in housing for older adults and people with disabilities. However, even in environments designed according to universal design principles, the assistance of human staff is often necessary. We consider some of the routine and physically demanding activities of caregivers could be possibly replaced by robots. This would offer people who require care a greater degree of independence and relieve the burden on staff to give them more time for activities that robots cannot yet do. Robotics is a discipline covering various aspects of robot design and use. Apparently, numerous robots and robotic devices being developed for the social or healthcare sector, called Assistive Robots, are still in the concept, design or testing phase. However, this may change with the increasing investment in robotics and there is a need to be realistic about their possible use in the near future. Another considered robot type is a Butler or Service Robot which helps with delivering various objects including food or medicine. These types of robots require a barrier-free, accessible space to move around, similar to what people in wheelchairs or bedridden persons need for their movement and transfer. This paper publishes the results of a simulation of Assistive and Butler Robots in an extra-care housing facility, where social services with the help of robots are to be provided in the future. Manoeuvring of people and robots is simulated in a floorplan of the chosen model project of a family type house. Research aims to investigate the robots’ spatial requirements in a building project designed in accordance with universal design principles. The paper concludes with several answers to the questions posed and recommendations for the creation of residential buildings that support the symbiosis of humans and robots.

All Human Versus Human-Robot Teaming: Measuring Neurophysiological Synchrony, Team Performance, and Trust during Search and Rescue

This study used a multiplayer virtual environment simulating search and rescue to examine teaming behaviors and trust networks in two teaming conditions using the Wizard of Oz approach: (1) an all-human team (three humans) and (2) a human-robot team (two humans, one simulated quadruped robot). Neural, physiological, and subjective responses of trust and workload at the individual and team (e.g., neurophysiological synchrony) levels, along with task performance, were measured. We observed better task performance in human-robot teams and associated higher neural synchrony, but lower trust in the team and the robot agent. Trust between the human dyads remained intact. These findings provide insights into comparing the neural bases of complex and social interactions in all-human versus human-autonomy teams.