Advances in Robotics & Automation

As robots are increasingly migrating out of factories and research laboratories and into our everyday lives, they should move and act in environments designed for humans. For this reason, the need of anthropomorphic movements is of utmost importance. This paper proposes a framework for solving the inverse kinematics problem of redundant robot arms that results to anthropomorphic configurations. The swivel angle of the elbow is used as a human arm motion parameter for the robot arm to mimic. The swivel angle is defined as the rotation angle of the plane defined by the upper and lower arm around a virtual axis that connects the shoulder and wrist joints. Using kinematic data recorded from human subjects during every-day life tasks, we validate the linear relations between intrinsic and extrinsic coordinates of the human arm that estimates the swivel angle, given the desired end-effector position. Defining the desired swivel angle simplifies the kinematic redundancy of the robot arm. The proposed method is tested with an anthropomorphic redundant robot arm and the computed motion profiles are compared to the ones of the human subjects. We show that the method computes anthropomorphic configurations for the robot arm, even if the robot arm has different link lengths than the human arm and starts its motion at random configurations.

This paper presents the development of a versatile robotic system with multiple training modes to serve as a test-bed that will facilitate the study of upper-limb rehabilitation following stroke. Seven different training modes, i.e., passive, low-impedance, assist-as-needed, resist-as-needed, visual error augmentation, viscous force field and force perturbation, have been integrated in this robotic system. A hierarchic control system is developed to coordinate these training modes. Initial experiments on unimpaired participants have verified that the robotic system is able to provide the above training modes properly.

Uretero-pelvic junction obstruction (UPJO) leads to impaired transport of urine from the renal pelvis to the ureter and might lead to deterioration of renal function. Congenital causes, acquired factors and presence of an aberrant crossing vessel are the etiologic factors. Surgical correction is applied in the treatment of UPJO. Minimally invasive approaches including laparoscopic and robotic approaches are increasingly being performed. Robotic pyeloplasty is most frequently applied transperitoneally. The outcomes of robotic (transperitoneal and retroperitoneal), laparoscopic and open pyeloplasties seem to be similar due to the published literature. Robotic approach has the advantages of enabling quicker tissue dissection, reconstruction, intracorporeal suturing, antegrade double-J stenting and better ergonomics for the console surgeon. Although cost is an issue for robotic surgery, being a minimally invasive surgical approach with excellent functional and surgical outcomes are the advantages in addition to better cosmetic results for the patient. In this paper, surgical technique of robotic pyeloplasty is explained and outcomes of this approach are summarized by reviewing the literature.

Latest research and technology development have been focusing on improving the performance and the efficiency of intelligent and automated machines / systems used in human services, factories , transportation means, space exploration and may others applications. As the tech world is shrinking rapidly, industries are seeking to miniaturize the devices to the level of nano-machines /nanorobots without compromising their efficiency. Scientists have made significant progress in nanoroboics research field but have not officially released their new products. On the other hand, they opened a new world of discoveries, possibilities and applications in different fields such as military defense, medicine, industry, space exploration, energy. In this article, we will present the role of nanotechnology and nanostructures in energy harvesting systems used in robots to be able to sense and adapt heat, light, sounds, surface texture and chemicals from the environment, as well as to move, communicate and perform complex calculations.

In this paper a new efficient algorithm for computation of corona power loss in grid is described. The algorithm is based on a new finite element method (FEM) which allows computing corona power loss in high-voltage lines transmission. The new algorithm method is intended for considering the effects of various parameters on corona current such as: the height of conductor, the radius of conductor, the surface factor, distribution of electric potentials in space of between conductor and ground plane with applying space charges, and ambient temperature. The algorithm results were compared with the existing methods and the result accuracy was confirmed. Also, the results show that the new algorithm has positional to reduce the number of iteration for calculation of the corona current. The knowledge of the corona phenomena discharge will assist in monitoring and controlling the reliability of high voltage systems. This information can be monitored for measuring, detecting and taking appropriate control actions.