Articulated hybrid mobile robot mechanism with compounded mobility and manipulation and on-board wireless sensor/actuator control interfaces

This paper presents the development of a remotely operated mobile robot system with a hybrid mechanism whereby the locomotion platform and manipulator arm are designed as one entity to support both locomotion and manipulation interchangeably. The mechanical design is briefly described as well as the dynamic simulations used to analyze the robot mobility and functionality. As part of the development, this paper mainly focuses on a new generalized control hardware architecture based on embedded on-board wireless communication network between the robot’s subsystems. This approach results in a modular control hardware architecture since no wire connections are used between the actuators and sensors in each of the mobile robot subsystems and also provides operational fault-tolerance. The effectiveness of this approach is experimentally demonstrated and validated by implementing it in the hybrid mobile robot system. The new control hardware architecture and mechanical design demonstrate the qualitative and quantitative performance improvements of the mobile robot in terms of the new locomotion and manipulation capabilities it provides. Experimental results are presented to demonstrate new operative tasks that the robot was able to accomplish, such as traversing challenging obstacles, and manipulating objects of various capacities; functions often required in various challenging applications, such as search and rescue missions, hazardous site inspections, and planetary explorations.     

Robotic System for Closed-Bore MRI-Guided Prostatic Interventions

This paper reports on the development of a new closed-bore magnetic resonance imaging (MRI) compatible robotic system for image-guided prostatic interventions: ablation, brachytherapy, and biopsy. The first stage of development addresses only laser-based ablation. The robot actuators are ultrasonic motors. The first physical robot prototype was manufactured and tested in the MRI with an ablation tool. The tests covered magnetic resonance (MR) compatibility, tool visualization, and robot control accuracy. Robot tip position error is less than 2 mm at points closer than 0.5 m to the isocenter. A method to control ultrasonic motors for MRI-compatibility is reported.     

In vivo degradation of semi-rigid polymeric films made of alginate and polyethylene glycol

Alginate-based biomaterials can form naturally derived polymeric hydrogels with sufficient structural integrity to readily be used in many clinical applications. However, ionically cross-linked alginate gels do not always possess structural properties suitable for application as erodable polymeric films for controlled release of drugs and growth factors. In this study, semi-rigid polymeric films were constructed of sodium alginate and polyethylene glycol (PEG) by means of a rehydration cross-linking technique. The films were assembled by dehydrating a solution of alginate and PEG and cross-linking the alginate during its rehydration with a solution of calcium chloride. The product is a highly dense polymeric network that prevents in vivo cellular infiltration and disassembles primarily by surface erosion. By implanting the PEG-alginate films into the subcutis of rats, the mechanism of polymer degradation was demonstrated to occur via inflammation-mediated erosion of the material rather than by means of cellular infiltration. There were extensive areas of foamy macrophages at the site of the implant, indicating a likely mechanism of removal and disposal of the disassembled PEG and alginate polymer. The eroded fragments of the film that remained after six weeks did not exhibit signs of a cellular infiltrate but rather stayed intact, appearing as small, dense fragments of polymer. Our observations that nearly all the PEG-alginate material was cleared from the implantation site by the sixth postoperative week highlight the potential exploitation of these films as bioresorbable wound dressings with prospective utilization as a drug delivery device. Moreover, the employment of polymeric films made of functionalized PEG, which enables covalent attachment of biological molecules, potentiates their use for growth factor delivery applications.     

Real-time control of robots: Strategies for hardware and software development

A review of various strategies for hardware and software development of real-time controllers for commercial robots is presented. These developments, all depending on state-of-the-art hardware and software, are designed to correspond to specific research objectives. The Robotics and Automation Laboratory (RAL) TUNIS multiptocessor system, used to control a PUMA without VAL, is presented. The proposed scheme is suitable for implementing the computed torque technique, the feedback linearization technique, and various modern control methods applied to both joint and task space variables.     

Visual correlation of network alerts

The VisAlert visual correlation tool facilitates situational awareness in complex network environments by providing a holistic view of network security to help detect malicious activities. Information visualization techniques and methods in many applications have effectively increased operators' situational awareness, letting them more effectively detect, diagnose, and treat anomalous conditions. Visualization elevates information comprehension by fostering rapid correlation and perceived associations. Our visualization technique integrates the information in log and alert files into an intuitive, flexible, extensible, and scalable visualization tool - VisAlert - that presents critical information concerning network activity in an integrated manner, increasing the user's situational awareness.     

AHP-Based Equipment Selection Model for Construction Projects

Selection of equipment for construction projects, a key factor in the success of the project, is a complex process. Current models offered by the literature fail to provide adequate solutions for two major issues: the systematic evaluation of soft factors, and the weighting of soft benefits in comparison with costs. This paper presents a selection model based on analytic hierarchy process (AHP), a multiattribute decision analysis method, with a view to providing solutions for these two issues. The model has the capacity to handle a great number of different criteria in a way that truly reflects the complex reality, to incorporate the context and unique conditions of the project, and to allow for manifestation of user experience and subjective perception. The model was implemented in an in-house developed system that was improved and validated through testing by senior professionals. The main academic contribution of the study is in the modification of AHP to correspond with the nature of equipment selection and in its utilization as an effective means for the formalization of knowledge possessed by competent, experienced practitioners. On the practical side, the proposed model offers an efficient, convenient tool that forces the users into orderly, methodical thinking, guides them in making logical, consistent decisions, and provides a facility for all necessary computations.     

Effect of hydrogen on fracture of U-notched bend specimens of spheroidized AISI 1095 steel

The effect of hydrogen on fracture was studied in U-notch bend specimens of 1095 steel with three different notch acuities. The hydrogen was introduced by cathodic charging through the notch surfaces. Both precharging and dynamic charging effects on void initiation and growth, crack initiation and fracture were investigated. In prechargea specimens voids were initiated at lower strains and the void population increased more rapidly than in the uncharged case. The role of hydrogen is to promote plastic instability along characteristic slip lines and therefore accelerate void formation. In the dynamically charged specimens, cracks initiated at lower strains than for the other cases and propagated rapidly without accompanying void formation. The results are compared to those for the uncharged case and to previous theoretical and experimental results. formerly with Ohio State University, is now Metallurgist with Korea Institute of Science and Technology, Seoul, Korea, and formerly with Ohio State University, is now Metallurgist with Bell Telephone Laboratories, Allentown, PA 18103.