Showing papers by "Asokan Thondiyath published in 2013"
TL;DR: The methodology for task allocation using a set of static and mobile agents controlling a pool of multiple robots is presented and the objective is to minimize the turnaround time.
11 citations
TL;DR: The capability of this algorithm in complex formations is investigated and takes into account the dynamics of leader and follower robots and dynamic formation changes en route are analyzed.
Abstract: Teams of Autonomous Underwater Vehicles(AUVs) can extend the range and/or reliability of any underwater mission and are finding newer applications everyday. In this paper, we propose and analyze the performance of a leader-follower formation control algorithm based on state estimation. The controller estimates the next desired position of each follower robot from the previous and current positions of the leader and follower robots and drives each follower robot into the desired trajectory. This paper investigates the capability of this algorithm in complex formations and takes into account the dynamics of leader and follower robots. Dynamic formation changes en route is also analyzed. A brief description of the experimental setup for the real time testing of the system is provided.
2 citations
TL;DR: The link lengths of the active RCM mechanism have been optimised and the dexterity of the tool has been analysed for various trocar positions and the results of the dexterity analysis are presented.
Abstract: Conventional laparoscopic surgical tools penetrate a patient body through a fixed point called trocar point. Surgeons maintain this pivoting point on the patient body with their coordinated hand movements. Mechanism used for achieving this kinematic constraint is known as Remote Centre of Motion (RCM) mechanism and is widely used in surgical robots. Active RCM mechanism will enable positioning the constraint point virtually anywhere within the reach of the linkage. In this work, we present an optimisation strategy for an active RCM to minimise the extracorporeal workspace. The link lengths of the active RCM mechanism have been optimised and the dexterity of the tool has been analysed for various trocar positions. Kinematic analysis of the RCM mechanism, optimisation strategy, and the results of the dexterity analysis are presented.
1 citations
TL;DR: The proposed solution mainly consists of an image processing component which identifies the location and critical parameters of the wound, and a robotic arm which plays a major role in cleaning the wound.
Abstract: The use of robots in medical applications is ever increasing with many diagnostic and therapeutic robots being developed and implemented in hospitals. Research in bio-robotics has been focused on solving many complicated problems and automating tasks that require precision and accuracy. There are as well many tedious, but simple tasks, carried out in hospital settings which can be automated easily and provide ease to the patients as well as the hospital staff. Wound cleaning is one such task and to design a system to automate this task is the main aim of this paper. The proposed solution mainly consists of an image processing component which identifies the location and critical parameters of the wound, and a robotic arm which plays a major role in cleaning the wound. The system designed is theoretically evaluated, simulated and is currently being developed and tested. This system could form basis for a completely autonomous wound therapy system with additional features integrated in future.