1,721,125 research outputs found
Barriers preventing introduction of telemedicine
No full textThe data in this file is the raw data use to generate tables 4, 5 and 6, in the paper Jayasinghe, Dayani, Crowder, Richard and Wills, Gary (2016) Model for the adoption of telemedicine in Sri Lanka. Sage Open, 1-14. (doi:10.1177/2158244016668565).
The data is in cvs format. The data for each of the tables separated by a heading:- Clinician raw data; Hospital staff raw data; and public raw data. These correspond to the tables in the main paper.</span
A Manipulator for Glovebox Operation
No full textTo satisfy the safety demands required by certain industries, in particular those involved in the handling of chemical, biological and nuclear materials, there is an increasing reliance on robotics and manipulator systems. One area that has proved difficult to automate is the existing glove-box facilities. A possible solution is to allow manipulators to operate through the existing glove-ports instead of rebuilding the complete facilities. This paper discusses the development of a manipulator that is capable of fitting and operating in a standard synthetic rubber glove-box glove, and therefore gaining access to the hazardous area. A significant design feature of the manipulator is its anthropomorphic end effector, which consists of four mechanically adaptive fingers together with a simple opposing thumb. The mechanisms developed produce motions that are similar to that of the human finger. The hand is oriented by a compact six degrees of freedom arm, where the requirement for in-glove operation placed a number of significant design constraints on the size of the joints. To maximize the operational potential of this system, including the dexterous hand, full use is made of sensors and hierarchical control structures. The complete manipulator has been successfully installed in a glove-box facility for trials, the results of which are discussed in this paper
An anthropomorphic robotic end effector
No full textResearch into the development of artificial mechanical hands for prosthetic applications has been conducted over many hundreds of years. Dexterous mechanical hands are now being applied to advanced robotic applications, including tele-operated manipulators. The successful application of dexterous mechanical hands depends on the development of suitable mechanisms, actuators and control strategies. Recently the requirement arose for a manipulator to fit and operate within a standard glove box glove.. The design and development of a fully anthropomorphic dexterous end effector for the manipulator is discussed in this paper. To arrive at the final design a study of the operation of the human hand was undertaken. The end effector consists of four mechanically adaptive fingers and a thumb. The mechanism developed for the fingers will simulate the curl of the human finger. The complete finger mechanism requires only one actuator to produce fully the required motion, leading to a compact design for the end effector. To gain y=the full operational advantage of the dexterous hand a control strategy has been developed based on global sensing and a hierarchical control strategy. The results of handelling trials are presented
Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors
No full textThis paper presents design for a finger mechanism that has evolved from the stringent requirement of ruggedness and reliability in an industrial application. The paper initially describes the need for a special purpose end effector to operate in a constrained environment and then takes through the various stages of design modifications that were required to ensure safety and reliability. This resulted into a rigid link finger design, which is adaptive to different shapes and operated by a single actuator providing up to 3 degrees of freedom to the finger. A number of such finger mechanisms can be assembled together in different configurations to design special purpose end effectors. This paper covers two such designs and briefly discusses the grasping and control issues associated with the limited number of actuators built into the end effector, and evaluates their suitability in industrial environments. The design overcomes limitations of majority of existing tendon based end effectors requiring a large number of actuators to be controlled thus meeting the space and safety requirements for constrained industrial applications
Grasping and control issues in adaptive end effectors
No full textResearch into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been developed and commissioned for industrial applications. This paper presents design of a rigid link finger operated by a minimum number of actuators, which may be suitable for a number of adaptive end effectors. The adaptive nature built into the end effector (due to limited number of actuators) presents considerable problems in grasping and control. The paper discusses the issues associated with such designs. The research can be applicable to any adaptive end effectors that are controlled by limited number of actuators and evaluates their suitability in industrial environments
The Use of Open Hypermedia Systems in Engineering Applications
No full textThe complexities of advanced engineering facilities require a suitable engineering resource management system to be provided. The use of hypermedia provides such a platform. This paper reviews the use of hypermedia, by considering two case studies. With a suitable hypermedia application it is possible to integrate the information recourses into the engineering system, and provide additional facilities including on-line fault diagnostics. The paper concludes that by the use of an open hypermedia link service, the delivery of engineering information can be optimised
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