Showing papers by "Andrew A. Goldenberg published in 2009"

A mobile robot with autonomous climbing and descending of stairs

Abstract: Mobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for artificial environments, including stairways. This paper presents a mobile robot design that achieves autonomous climbing and descending of stairs. The robot uses sensors and embedded intelligence to achieve the task. The robot is a reconfigurable tracked mobile robot that has the ability to traverse obstacles by changing its track configuration. Algorithms have been further developed for conditions under which the mobile robot would halt its motion during the climbing process when at risk of flipping over. Technical problems related to the implementation of some of the robot functional attributes are presented, and proposed solutions are validated and experimentally tested. The experiments illustrate the effectiveness of the proposed approach to autonomous climbing and descending of stairs.

Mri compatible robot with calibration phantom and phantom

Abstract: A medical robot for use inside a magnetic resonance imager includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the horizontal motion assembly. The vertical motion assembly is operably connected to the horizontal motion assembly and it includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the vertical motion assembly. The controller is operably connected thereto and is adapted to be powered off when the magnetic resonance imager is being used to collect images. A medical instrument assembly is connectable to the medical robot.

Medical robot for use in a MRI

Abstract: A medical robot for use inside a magnetic resonance imager includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the horizontal motion assembly. The vertical motion assembly is operably connected to the horizontal motion assembly and it includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the vertical motion assembly. The controller is operably connected thereto and is adapted to be powered off when the magnetic resonance imager is being used to collect images. A medical instrument assembly is connectable to the medical robot.

Conceptual Design of a Variable Configuration Articulated Tracked Vehicle

Abstract: This paper presents a conceptual design for variable configurations articulated tracked vehicle (LMA) [1] that has active adaptability to suit for rough and unpredictable terrains, including stairways, obstacles and ditches. The active terrain adaptability is performed by a track configuration-controlling mechanism which is a simple 3-bar cam mechanism consisting of 2 moving elements and a cam fixedly mounted on the vehicle’s chassis. The mechanism has three functions: (1) ensuring the center of a planetary wheel mounted on the end of the track configuration-controlling mechanism to move along an exactly elliptic path; (2) providing the tracks with a continuously invariable spring force to tension tracks; and (3) changing and adjusting the center of gravity of the robot system to prevent it turning over from stairs.Copyright © 2009 by ASME