Prototyping of Robotic Systems: Applications of Design and Implementation

521 Pages·2012·18.913 MB·English

by  Tarek Sobh, Xingguo Xiong

Prototyping of Robotic
Systems:
Applications of Design and
Implementation
Tarek Sobh
University of Bridgeport, USA
Xingguo Xiong
University of Bridgeport, USA
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Library of Congress Cataloging-in-Publication Data
Prototyping of robotic systems: applications of design and implementation / Tarek Sobh and Xingguo Xiong, editors.
p. cm.
Includes bibliographical references and index.
Summary: “This book 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 and simple robots for educational purposes”--Pro-
vided by publisher.
ISBN 978-1-4666-0176-5 (hardcover) -- ISBN 978-1-4666-0177-2 (ebook) -- ISBN 978-1-4666-0178-9 (print & perpetual
access) 1. Robots--Design and construction. 2. Prototypes, Engineering. I. Sobh, Tarek M. II. Xiong, Xingguo, 1973-
TJ211.P77 2012
629.8’92--dc23
2011043975
British Cataloguing in Publication Data
A Cataloguing in Publication record for this book is available from the British Library.
All work contributed to this book is new, previously-unpublished material. The views expressed in this book are those of the
authors, but not necessarily of the publisher.
List of Reviewers
Aarne Halme, Aalto University, Finland
Ahmad Taher Azar, International Journal of System Dynamics Applications (IJSDA), USA
Ahmed Elsayed, University of Bridgeport, USA
Akif Durdu, Middle East Technical University, Turkey
Andrew Goldenberg, University of Toronto, Canada
Aydan M. Erkmen, Middle East Technical University, Turkey
Ayssam Elkady, University of Bridgeport, USA
Barkan Ugurlu, Toyota Technological Institute, Japan
Brandon J. Stark, Utah State University, USA
Elif Kongar, University of Bridgeport, USA
Emin Faruk Kececi, Istanbul Technical University, Turkey
Erdem Erdemir, Vanderbilt University, USA
Gen’ichi Yasuda, Nagasaki Institute of Applied Science, Japan
Haibo Huang, Robotics and Micro-systems Center, Soochow University, China
Jack Toporovsky, University of Bridgeport, USA
Jeremy Li, University of Bridgeport, USA
Jianbing Hu, Schlumberger Ltd., USA
Jorge Manuel Miranda Dias, University of Coimbra, Portugal
Junling Hu, University of Bridgeport, USA
Kathiravelu Ganeshan, Unitec Institute of Technology, New Zealand
Lawrence Hmurcik, University of Bridgeport, USA
Linfeng Zhang, University of Bridgeport, USA
Madhav Patil, University of Bridgeport, USA
Nicola Ivan Giannoccaro, University of Salento, Italy
Nicolae Gari, University of Bridgeport, USA
Pierre Letier, Space Applications Services, Belgium
Qing’an Zeng, North Carolina A&T State University, USA
Sarosh Patel, University of Bridgeport, USA
Sebahattin Topal, Middle East Technical University, Turkey
Sedat Dogru, Middle East Technical University, Turkey
Srihari Yamanoor, Stellartech Research, USA
Tamás Haidegger, Budapest University of Technology and Economics, Hungary
Vicente Parra Vega, University of Texas at Dallas, USA
Vikas Reddy Enti, Kiva System, Inc., USA
Xiaojun Wu, Data Storage Institute, A*STAR, Singapore
Xuefu Zhou, University of Cincinnati, USA
YangQuan Chen, Utah State University, USA
Table of Contents
Preface .................................................................................................................................................xiii
Acknowledgment ................................................................................................................................xxi
Section 1
Robotic Prototyping: Methodologies and Design Optimizations
Chapter 1
Prototyping Robotic Systems: Methodology and Case Studies ..............................................................1
Andrew Goldenberg, Engineering Services Inc. (ESI), Canada & University of Toronto, Canada
Chapter 2
Modeling and Simulation of Discrete Event Robotic Systems Using Extended Petri Nets .................51
Gen’ichi Yasuda, Nagasaki Institute of Applied Science, Japan
Chapter 3
Optimal Design of Three-Link Planar Manipulators Using Grashof’s Criterion .................................70
Sarosh H. Patel, RISC Laboratory, University of Bridgeport, USA
Tarek Sobh, RISC Laboratory, University of Bridgeport, USA
Section 2
Implementation of Robotic Systems and their Applications
Chapter 4
AggieVTOL: A Vertical Take Off and Landing Unmanned Aerial Vehicle Platform
for Personal Remote Sensing ................................................................................................................85
Brandon J. Stark, Center for Self-Organizing & Intelligent Systems (CSOIS), Utah State University, USA
YangQuan Chen, Center for Self-Organizing & Intelligent Systems (CSOIS), Utah State University, USA
Mac McKee, The Utah Water Research Laboratory, Utah State University, USA
Chapter 5
Portable Haptic Arm Exoskeleton .......................................................................................................122
Pierre Letier, Space Applications Services N.V./S.A., Belgium
André Preumont, Université Libre de Bruxelles (ULB), Belgium
Chapter 6
Prototyping and Real-Time Implementation of Bipedal Humanoid Robots: Dynamically Equilibrated
Multimodal Motion Generation ..........................................................................................................146
Barkan Ugurlu, Toyota Technological Institute, Japan
Atsuo Kawamura, Yokohama National University, Japan
Chapter 7
Prototyping of Fully Autonomous Indoor Patrolling Mobile Robots .................................................182
Xiaojun Wu, Data Storage Institute, A*STAR, Singapore
Bingbing Liu, Institute for Infocomm Research, A*STAR, Singapore
Jun-Hong Lee, Dyson Operations, Inc. Singapore
Vikas Reddy, Kiva Systems, Inc. USA
Xi Zheng, Thinking Dots, Inc. Singapore
Chapter 8
Prototyping of Lunabotic Excavator Robotic System ........................................................................217
Nicolae Gari, University of Bridgeport, USA
Xingguo Xiong, University of Bridgeport, USA
Section 3
Robotic Systems for Medical Applications
Chapter 9
Medical Robotics ................................................................................................................................253
Ahmad Taher Azar, International Journal of System Dynamics Applications (IJSDA), USA
M. Sam Eljamel, The University of Dundee, UK
Chapter 10
Surgical Robots: System Development, Assessment, and Clearance .................................................288
Tamás Haidegger, Budapest University of Technology and Economics, Hungary
Chapter 11
Design and Evaluation of a Piezo-Driven Ultrasonic Cell Injector ....................................................327
Haibo Huang, Robotics and Micro-systems Center, Soochow University, China
Hao Su, Worcester Polytechnic Institute, USA
Changhai Ru, Robotics and Micro-systems Center, Soochow University, China
Chapter 12
Prototyping of Robotic Systems in Surgical Procedures and Automated
Manufacturing Processes ....................................................................................................................356
Zheng (Jeremy) Li, University of Bridgeport, USA
Section 4
Prototyping of Robotic Systems for Other Applications
Chapter 13
Robotic Hardware and Software Integration for Changing Human Intentions ..................................380
Akif Durdu, Middle East Technical University, Turkey
Ismet Erkmen, Middle East Technical University, Turkey
Aydan M. Erkmen, Middle East Technical University, Turkey
Alper Yilmaz, Photogrammetric Computer Vision Laboratory, The Ohio State University, USA
Chapter 14
A Framework for Prototyping of Autonomous Multi-Robot Systems for Search, Rescue,
and Reconnaissance ............................................................................................................................407
Sedat Dogru, Middle East Technical University, Turkey
Sebahattin Topal, Middle East Technical University, Turkey
Aydan M. Erkmen, Middle East Technical University, Turkey
Ismet Erkmen, Middle East Technical University, Turkey
Chapter 15
A Heuristic Approach for Disassembly Sequencing Problem for Robotic
Disassembly Operations ......................................................................................................................438
Ahmed ElSayed, University of Bridgeport, USA
Elif Kongar, University of Bridgeport, USA
Surendra M. Gupta, Laboratory for Responsible Manufacturing, Northeastern University, USA
Compilation of References ...............................................................................................................448
About the Contributors ....................................................................................................................487
Index ...................................................................................................................................................495
Detailed Table of Contents
Preface .................................................................................................................................................xiii
Acknowledgment ................................................................................................................................xxi
Section 1
Robotic Prototyping: Methodologies and Design Optimizations
In this section, the general design methodologies and implementation strategies used in robotic prototyp-
ing are discussed. Several case studies are included to demonstrate the concepts. Prior to prototyping, a
robotic system should be properly designed. A set of optimized design parameters needs to be decided,
and the design can be verified with simulations. The modeling and design optimization strategies for
some specific robotic systems are proposed. These include the modeling and simulation of discrete
event robotic systems using extended Petri nets, as well as the design optimization of three-link planar
manipulators using Grashof’s criterion.
Chapter 1
Prototyping Robotic Systems: Methodology and Case Studies ..............................................................1
Andrew Goldenberg, Engineering Services Inc. (ESI), Canada & University of Toronto, Canada
This chapter offers an overview of the general methodology and implementation strategy of robotic sys-
tems, supported by several case studies. Based on his practical industry experience as well as his teaching
and research results as a faculty in a university, the author shares some unique views and perceptions
about robotic prototyping. Three case studies are demonstrated in the chapter, which include a mobile
tracker, a robot arm for internal operations in nuclear reactors, and a MRI-guided robot for prostate focal
surgery. The chapter presents a general framework for robotic systems prototyping.
Chapter 2
Modeling and Simulation of Discrete Event Robotic Systems Using Extended Petri Nets .................51
Gen’ichi Yasuda, Nagasaki Institute of Applied Science, Japan
In this chapter, the modeling and simulation of discrete event robotic systems using extended Petri nets
are introduced. Extended Petri nets are used as a prototyping tool for expressing real-time control of
robotic systems. A coordination mechanism is introduced to coordinate the event activities of the distrib-
uted machine controllers through friability tests of shared global transitions. The proposed prototyping
method allows a direct coding of the inter-task cooperation by robots and intelligent machines from the
conceptual Petri net specification.
Chapter 3
Optimal Design of Three-Link Planar Manipulators Using Grashof’s Criterion .................................70
Sarosh H. Patel, RISC Laboratory, University of Bridgeport, USA
Tarek Sobh, RISC Laboratory, University of Bridgeport, USA
This chapter introduces a novel and effective algorithm for design optimization of three-link planar
manipulators using Grashof’s criterion. A three-link serial manipulator can be converted into a four-
link closed chain based on a simple assumption, so that its mobility can be studied using Grashof’s
criterion. With the help of Grashof’s criterion, a designer can not only predict and simulate the mobil-
ity of a manipulator during its design, but also map and identify the fully-dexterous regions within
its workspace. A simple algorithm using Grashof’s criterion for determining the optimal link lengths
of a three-link manipulator is proposed in order to achieve full dexterity at the desired regions of the
workspace.
Section 2
Implementation of Robotic Systems and their Applications
In this section, the prototyping and implementation of various robotic systems for different applications
are introduced. These include unmanned aerial vehicles, a portable haptic arm exoskeleton, a bipedal
humanoid robot, an indoor fully autonomous patrolling mobile robot, as well as a lunabotic regolith
excavator robot. The architecture design, modeling and implementation of each robot are discussed in
detail. The design and implementation strategies used in the prototyping of these robots may be extended
to other similar robotic systems as well.
Chapter 4
AggieVTOL: A Vertical Take Off and Landing Unmanned Aerial Vehicle Platform
for Personal Remote Sensing ................................................................................................................85
Brandon J. Stark, Center for Self-Organizing & Intelligent Systems (CSOIS), Utah State University, USA
YangQuan Chen, Center for Self-Organizing & Intelligent Systems (CSOIS), Utah State University, USA
Mac McKee, The Utah Water Research Laboratory, Utah State University, USA
In this chapter, the implementation of AggieVTOL, a vertical take-off and landing unmanned aerial
vehicle platform for personal remote sensing is proposed. Unmanned Aerial Vehicles (UAVs) for civilian
applications are part of a rapidly growing sector in the global aerospace industry that has only recently
begun to gain traction. This chapter presents the AggieVTOL, a modular multi-rotor rotorcraft UAV
prototype platform, and an overview of the prototyping phase of its development, including design
parameters and the implementation of its modular subsystems. Performance results demonstrate the
effectiveness of the platform.
Chapter 5
Portable Haptic Arm Exoskeleton .......................................................................................................122
Pierre Letier, Space Applications Services N.V./S.A., Belgium
André Preumont, Université Libre de Bruxelles (ULB), Belgium
In this chapter, the prototyping of a portable haptic arm exoskeleton for aerospace application is proposed.
The proposed robot is a seven-degree-of-freedom force-reflective device able to produce a haptic render-
ing of the human arm, either as master for teleoperation of a slave robot, or in interaction with a virtual
reality. The project was conducted on behalf of the European Space Agency (ESA) as a prototype of the
master device used for teleoperation of future anthropomorphic space robotic arms on the International
Space Station (ISS). The proposed robot can decrease the number of extravehicular activities of the
astronauts, even for complex situations.
Chapter 6
Prototyping and Real-Time Implementation of Bipedal Humanoid Robots: Dynamically Equilibrated
Multimodal Motion Generation ..........................................................................................................146
Barkan Ugurlu, Toyota Technological Institute, Japan
Atsuo Kawamura, Yokohama National University, Japan
This chapter presents the prototyping and real-time implementation of bipedal humanoid robots based
on dynamically equilibrated multimodal motion generation. The authors aim at developing a contem-
porary bipedal humanoid robot prototyping technology by utilizing a mathematically rigorous method
to generate real-time walking, jumping and running trajectories. The main strategy is to maintain the
overall dynamic equilibrium and to prevent undesired rotational actions for the purpose of smooth
maneuvering capabilities while the robot is in motion. This is achieved by utilizing the Zero Moment
Point criterion in spherical coordinates so that it is possible to fully exploit its properties with the help
of Euler’s equations of motion.
Chapter 7
Prototyping of Fully Autonomous Indoor Patrolling Mobile Robots .................................................182
Xiaojun Wu, Data Storage Institute, A*STAR, Singapore
Bingbing Liu, Institute for Infocomm Research, A*STAR, Singapore
Jun-Hong Lee, Dyson Operations, Inc. Singapore
Vikas Reddy, Kiva Systems, Inc. USA
Xi Zheng, Thinking Dots, Inc. Singapore
In this chapter, the prototyping of fully autonomous indoor patrolling mobile robots is proposed.
The mobile robot employs a modular design strategy by using the ROS (Robot Operating System)
software framework, which allows for an agile development and testing process. The primary
modules—omni-directional drive system, localization, navigation, and autonomous charging—are
described in detail. Special effort is put into the design of these modules to make them reliable and
robust in order to achieve autonomous patrolling without human intervention. The experimental
test results prove that an indoor mobile robot patrolling autonomously in a typical office environ-
ment is realizable.
Chapter 8
Prototyping of Lunabotic Excavator Robotic System ........................................................................217
Nicolae Gari, University of Bridgeport, USA
Xingguo Xiong, University of Bridgeport, USA
In this chapter, the prototyping of a lunar excavator robotic system for participating in the 2010 NASA
Lunar Excavating Competition is proposed. Remotely controlled by an operator using a computer via
Wi-Fi telecommunication, the autonomous lunabotic excavator can perform the tasks of excavating
regolith stimulant, collecting it in the excavator’s dumpster, and depositing it into the assigned collec-
tor box. The design and implementation of the lunabotic excavator with all the functional modules are
discussed. It is an interesting project, and the design strategy may offer hints leading to new and effective
robotic excavators for planetary exploration.