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Prototyping of Robotic Systems: Applications of Design and Implementation

Book Description

As a segment of the broader science of automation, robotics has achieved tremendous progress in recent decades due to the advances in supporting technologies such as computers, control systems, cameras and electronic vision, as well as micro and nanotechnology. Prototyping a design helps in determining system parameters, ranges, and in structuring an overall better system. Robotics is one of the industrial design fields in which prototyping is crucial for improved functionality. Prototyping of Robotic Systems: Applications of Design and Implementation provides a framework for conceptual, theoretical, and applied research in robotic prototyping and its applications. Covering the prototyping of various robotic systems including the complicated industrial robots, the tiny and delicate nanorobots, medical robots for disease diagnosis and treatment, as well as the simple robots for educational purposes, this book is a useful tool for those in the field of robotics prototyping and as a general reference tool for those in related fields.

Table of Contents

  1. Cover
  2. Title Page
  3. Copyright Page
  4. Editorial Advisory Board and List of Reviewers
    1. List of Reviewers
  5. Preface
  6. Acknowledgment
  7. Section 1: Robotic Prototyping: Methodologies and Design Optimizations
    1. Chapter 1: Prototyping Robotic Systems
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. ISSUES IN PROTOTYPING
      5. PROTOTYPE DEVELOPMENT METHODOLOGY
      6. CASE STUDIES
      7. FUTURE OF PROTOTYPING
      8. CONCLUSION
      9. REFERENCES
    2. Chapter 2: Modeling and Simulation of Discrete Event Robotic Systems Using Extended Petri Nets
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. MODELING OF DISCRETE EVENT SYSTEMS USING EXTENDED PETRI NETS
      4. 3. PETRI NET MODELS OF COOPERATIVE CONTROL OF CONCURRENT TASKS
      5. 4. IMPLEMENTATION OF DISTRIBUTED CONTROL WITH MULTITHREADS
      6. 5. CONCLUSION
      7. REFERENCES
    3. Chapter 3: Optimal Design of Three-Link Planar Manipulators Using Grashof's Criterion
      1. ABSTRACT
      2. NOMENCLATURE
      3. 1. INTRODUCTION
      4. 2. DEXTERITY INDEX AS A PERFORMANCE MEASURE
      5. 3. GRASHOF'S CRITERION
      6. 4. DESIGN OPTIMIZATION
      7. 5. EXAMPLE 1: TRAJECTORY
      8. EXAMPLE 2: INDEPENDENT TASK POINTS
      9. 6. CONCLUSION
      10. 7. FUTURE RESEARCH
      11. REFERENCES
  8. Section 2: Implementation of Robotic Systems and their Applications
    1. Chapter 4: AggieVTOL
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. UAV DEVELOPMENT
      4. QUADROTOR MODEL
      5. QUADROTOR DESIGN PRINCIPLES
      6. SOFTWARE ARCHITECTURE
      7. 3. AGGIEVTOL PROTOTYPE PLATFORM
      8. 4. RESULTS
      9. 5. FUTURE RESEARCH DIRECTIONS
      10. 6. CONCLUSION
      11. ACKNOWLEDGMENT
      12. REFERENCES
      13. ADDITIONAL READING
      14. KEY TERMS AND DEFINITIONS
      15. APPENDIX: LIST OF ABBREVIATIONS
    2. Chapter 5: Portable Haptic Arm Exoskeleton
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. DESIGN
      4. 3. CONTROL EXPERIMENTS
      5. 4. CONCLUSION
      6. ACKNOWLEDGMENT
      7. REFERENCES
      8. KEY TERMS AND DEFINITIONS
    3. Chapter 6: Prototyping and Real-Time Implementation of Bipedal Humanoid Robots
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. BACKGROUND
      4. 3. PROTOTYPING OF BIPEDAL ROBOTS
      5. 4. DYNAMICALLY EQUILIBRATED BIPEDAL MOTION PLANNING
      6. 5. SIMULATION AND EXPERIMENTAL RESULTS
      7. 6. FUTURE RESEARCH DIRECTIONS
      8. 7. CONCLUSION
      9. REFERENCES
      10. ADDITIONAL READING
      11. KEY TERMS AND DEFINITIONS
      12. APPENDIX A. RATE CHANGE OF INTRINSIC ANGULAR MOMENTUM
      13. APPENDIX B. BIPEDAL MOTION GENERATION BASED ON CONVENTIONAL ZMP APPROACH
    4. Chapter 7: Prototyping of Fully Autonomous Indoor Patrolling Mobile Robots
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. BACKGROUND
      4. 3. OMNI-DIRECTIONAL DRIVE MODULE
      5. 4. LOCALIZATION MODULE
      6. 5. NAVIGATION MODULE: MOTION PLANNING IN TYPICAL INDOOR ENVIRONMENT WITH COMPLEX OBJECTS
      7. 6. AUTO-DOCKING MODULE
      8. 7. AN INTEGRATED TEST: ROBOT AUTO PATROLLING IN A TYPICAL INDOOR ENVIRONMENT WITH AUTO-CHARGING
      9. 8. CONCLUSION AND FUTURE RESEARCH DIRECTIONS
      10. REFERENCES
      11. KEY TERMS AND DEFINITIONS
    5. Chapter 8: Prototyping of Lunabotic Excavator Robotic System
      1. ABSTRACT
      2. 1. INTRODUTION
      3. 2. NASA LUNABOTIC MINING COMPTITION
      4. 3. ROBOTIC SYSTEM DESIGN OF UB EXCAVATOR
      5. 4. DESIGN OF UB EXCAVATOR LUNABOTIC SYSTEM
      6. 5. PROTOTYPING OF UB EXCAVATOR ROBOTIC SYSTEM
      7. 6. RESULTS AND DISCUSSIONS
      8. 7. CONCLUSION
      9. ACKNOWLEDGMENT
      10. REFERENCES
  9. Section 3: Robotic Systems for Medical Applications
    1. Chapter 9: Medical Robotics
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. MEDICAL ROBOTICS
      4. 3 APPLICATIONS OF SURGICAL ROBOTS
      5. 4. LIMITATIONS OF SURGICAL ROBOTICS
      6. 5. FUTURE CHALLENGES OF SURGICAL ROBOTICS
      7. 6. CONCLUSION
      8. REFERENCES
    2. Chapter 10: Surgical Robots
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. BACKGROUND AND COMMUNITY
      4. 3. FUTURE RESEARCH DIRECTIONS
      5. 4. SUMMARY
      6. ADDITIONAL READING MATERIALS
      7. ACKNOWLEDGMENT
      8. REFERENCES
    3. Chapter 11: Design and Evaluation of a Piezo-Driven Ultrasonic Cell Injector
      1. ABSTRACT
      2. INTRODUCTION
      3. 1 BACKGROUND
      4. 2 SYSTEM SETUP
      5. 3 BATCH CELL INJECTION CONTROL DESIGN
      6. 4 CONTROL CIRCUIT FOR THE PIEZO-DRIVEN CELL INJECTOR
      7. 5 THEORY OF ULTRASONIC VIBRATION MICRO-DISSECTION
      8. 6 EXPERIMENTS
      9. 7 CONCLUSION
      10. ACKNOWLEDGMENT
      11. REFERENCES
    4. Chapter 12: Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. BACKGROUND
      4. 3. MECHANISM AND CONTROL OF ROBOTIC SYSTEMS
      5. 4. NEW RESEARCHES IN SURGICAL AND INDUSTRIAL ROBOTIC SYSTEMS
      6. 5. FUTURE IMPROVEMENT
      7. 6. CONCLUSION
      8. REFERENCES
  10. Section 4: Prototyping of Robotic Systems for Other Applications
    1. Chapter 13: Robotic Hardware and Software Integration for Changing Human Intentions
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. RELATED WORK
      4. 3. EXPERIMENTAL SETUP FOR HARDWARE PROTOTYPING
      5. 4. SOFTWARE PROTOTYPING
      6. 5. EXPERIMENTAL RESULTS
      7. 6. CONCLUSION AND FUTURE DIRECTIONS
      8. REFERENCES
      9. KEY TERMS AND DEFINITIONS
    2. Chapter 14: A Framework for Prototyping of Autonomous Multi-Robot Systems for Search, Rescue, and Reconnaissance
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. HARDWARE PROTOTYPING FOR MULTI-ROBOT SEARCH AND RESCUE TEAMS
      4. 3. PROTOTYPING CONTROL APPROACHES FOR SEARCH AND RESCUE MULTI-ROBOT TEAMS
      5. 4. FUTURE RESEARCH DIRECTIONS
      6. 5. CONCLUSION
      7. REFERENCES
      8. ADDITIONAL READING
      9. KEY TERMS AND DEFINITIONS
    3. Chapter 15: A Heuristic Approach for Disassembly Sequencing Problem for Robotic Disassembly Operations
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. LITERATURE REVIEW
      4. 3. GENETIC ALGORITHM FOR DISASSEMBLY SEQUENCING
      5. 4. NUMERICAL EXAMPLE
      6. 5. CONCLUSION
      7. REFERENCES
      8. KEY TERMS AND DEFINITIONS
  11. Compilation of References
  12. About the Contributors