1,720,993 research outputs found
A robotic cutting tool for contaminated structure maintenance and decommissioning
No full textAbstract With the global dependency on fossil fuels being undermined by growing prices and environmental concerns, nuclear power is returning as a solution for energy demands, however the increased cost of maintaining and updating ageing plants could render them nuclear alternative counter-economic. The development of tools specifically targeted at the maintenance field is vital to ensure the longevity and safety of existing power plants. This paper proposes a robotic tool capable of remotely cutting composite material structures. With design and engineering focused on the safety of the operator and automation, the proposed machine presents sufficient flexibility to be utilised in both maintenance and decommissioning of structures with low to medium levels of radioactive contamination
Gecko, the walls cleaner
No full textThe paper discusses commercial cleaning robots available on the market. It introduces Gecko, a virtual prototype of a cleaning robot. Gecko has been conceived, assembling mainly standard components, and the actual behaviour in running conditions is shown by using consistent digital mock ups: Gecko is able to fully clean and sanitise floors, walls and ceilings. To comply with health needs, the robot cleans surfaces using steam. Details on abilities and components are provided. The wall sustentation is guaranteed by four suction cups. The path planning allows a 2D Cartesian motion. To simplify the robot control, innovative "automatic suspensions" are integrated in the sustain and actuation system. Finally, other possible applications fields for such a robot are discussed
Manoeuvring simulations of the personal vehicle PICAV
No full textThe greening of surface transport, ensuring sustainable urban mobility and improving safety and security are the three main paradigms reflecting the present and future urban transport strategic and policy challenges. The PICAV unit is a one person vehicle that is meant to ensure accessibility for everybody and some of its features are specifically designed for people whose mobility is restricted for different reasons, particularly (but not only) elderly and disabled people. Ergonomics, comfort, stability, assisted driving, eco-sustainability, parking and mobility dexterity as well as vehicle/infrastructures and intelligent networking are the main drivers of the PICAV design. The PICAV case is considered, investigating the advantages of four independently powered wheels and exploring how actuation redundancy could be used to grant proper manoeuvrability, at least, within the expected operative conditions and transport modes. © 2014 DIME Universita Di Genova
Automation of a garment sewing department assessment by smart simulation
No full textThe textile-garment industry needs great production flexibility to adapt, in terms of sustainability, to the fickle fashion market. This study proposes a new simulation model of manufacturing and production processes, which can be used as design support, performance evaluation and plant management of highly flexible production systems such as those operating in the fashion sector. The proposed simulation model aims to support industries in increasing their reactive flexibility by adjusting the production set-up. It is a distributed discrete event simulator based on the easy re-composition of resources in the production layout and on the availability of intelligent process management and control modules. The simulator has been applied to optimise the production of children’s garments. The development was done together with the production manager of an important European industry; the manager enjoyed the intuitive use of the software and the significance and reliability of the information obtained
Manoeuvring simulations of the personal vehicle PICAV
No full textThe greening of surface transport, ensuring sustainable urban mobility and improving safety and security are the three main paradigms reflecting the present and future urban transport strategic and policy challenges. The PICAV unit is a one person vehicle that is meant to ensure accessibility for everybody and some of its features are specifically designed for people whose mobility is restricted for different reasons, particularly (but not only) elderly and disabled people. Ergonomics, comfort, stability, assisted driving, eco-sustainability, parking and mobility dexterity as well as vehicle/infrastructures and intelligent networking are the main drivers of the PICAV design. The PICAV case is considered, investigating the advantages of four independently powered wheels and exploring how actuation redundancy could be used to grant proper manoeuvrability, at least, within the expected operative conditions and transport modes. © 2014 DIME Universita Di Genova
A family of co-robotic surgical set-ups
No full textThe paper describes co-robotic devices, aiming at accomplishing surgical operations by remote overseeing and manipulation. The concept design of a modular layout is presented, assuring body penetration by curved and twisted paths, with minimal impact. The fixture develops as an articulated snake-like forearm, carrying a wrist and the pertinent effectors; scalpels, scissors, sewing rigs, cameras, etc. The fixture is a good example of a micro electro mechanical system, with force-actuation and shape-control being intrinsic properties. Different options are studied and the related basic operational characteristics are summarised and compared. The jointed forearm might include one to six blocks. Specifically, task-oriented end-effectors are considered, e.g. a self-operating sewing rig, able to operate with a single thread. The robot co-operation will drastically modify surgery practice, giving freedom from anthropocentric bounds; the paper introduces such opportunities, with comments on typical control strategies and hints on actual performance, inferred by testing on virtual reality and digital mock-ups
Design of a robot for hygienization of walls in hospital environments
No full textThe paper describes the methodology applied to the design of a climbing robot that has been conceived and studied to solve the real task of cleaning the wall surfaces of hospital and clinic nursing home environments. The robot is able to spray different cleaning and disinfecting liquids for preventing infections. This robot is light and simple and it is thought to work in a team in order to guarantee a fast and coordinated cleaning system to all the room walls. It has been conceived, and designed taking into account critical issues in geometric modelling and functional requirements involving multiple engineering disciplines which concur to optimize the robot characteristics while reducing the development time
Personal full electric vehicle PICAV: Non linear dynamic model and simulation (Article)
No full textRequest of sustainable personalized transport is growing in different areas of service robotics, for aid to mobility of elderly and motion disabled people, for freight delivery in urban environment, for passengers transport in restricted zones as airports and greens because of the small dimensions, tiny footprint, on-board intelligence, friendly human car interface and zero environmental impact. The paper studies the feasibility of an electric vehicle with four non steering wheels considering as driving principle the skid steering that has been mainly used for tracked vehicles.The vehicle is a complex nonlinear multi body system with numerous mobilities either in stiff and in elastic motion. For evaluating the vehicle performances, the maneuverability and stability behavior it is needed the availability of a model able to describe all the significant motion modes in different operative conditions. The paper presents the PICAV model and some results of the simulation campaign that demonstrated its soundness and reliability. © 2015, North Atlantic University Union NAUN. All rights reserved
Trends in robotic surgery
No full textRobotic surgery began as a technology-driven innovation but is now becoming a genuine method of improving healthcare effectiveness worldwide. This comprehensive review introduces the current trends, using examples of specific systems to distinguish the various types of robotic surgical devices, from remote handling machines to those performing delicate local interventions. We end by commenting on how to extend existing systems and provide an account of the rapid developments in minimally invasive robotic surgery. © Mary Ann Liebert, Inc
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