According to W. Edwards Deming, American companies require nothing less than a transformation of management style and of governmental relations with industry. In Out of the Crisis, originally published in 1982, Deming offers a theory of management based on his famous 14 Points for Management. Management's failure to plan for the future, he claims, brings about loss of market, which brings about loss of jobs. Management must be judged not only by the quarterly dividend, but by innovative plans to stay in business, protect investment, ensure future dividends, and provide more jobs through improved product and service. In simple, direct language, he explains the principles of management transformation and how to apply them.

Out of the Crisis

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Guidance And Control Of Ocean Vehicles

A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body

Surgical Instrument with Shiftable Transmission

The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging. To further increase the versatility of quadrotors, recent works investigated the use of an adaptive morphology, which consists of modifying the shape of the vehicle during flight to suit a specific task or environment. However, these works either increase the complexity of the platform or decrease its controllability. In this letter, we propose a novel, simpler, yet effective morphing design for quadrotors consisting of a frame with four independently rotating arms that fold around the main frame. To guarantee stable flight at all times, we exploit an optimal control strategy that adapts on the fly to the drone morphology. We demonstrate the versatility of the proposed adaptive morphology in different tasks, such as negotiation of narrow gaps, close inspection of vertical surfaces, and object grasping and transportation. The experiments are performed on an actual, fully autonomous quadrotor relying solely on onboard visual-inertial sensors and compute. No external motion tracking systems and computers are used. This is the first work showing stable flight without requiring any symmetry of the morphology.

/pdf/the-foldable-drone-a-morphing-quadrotor-that-can-squeeze-and-1fmqg3g2kk.pdf

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of fish-inspired robot designs. The purpose of this review is to report different types of fish-inspired robot designs based upon their intended locomotion patterns. We present a detailed comparison of various design features like sensing, actuation, autonomy, waterproofing, and morphological structure of fish-inspired robots reported in the past decade. We believe that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots. The review also summarizes the open research issues that need to be taken up for the further advancement of the field and also for the deployment of fish-inspired robots in practice.

https://iopscience.iop.org/article/10.1088/1748-3190/11/3/031001/pdf

Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.

The primary challenge in implementing teleoperated master-slave robots is that both of its objectives - stability and transparency, are conflicting to each other. This trade-off is usually attributed to the time-delay in the communication channel, and state-of-the-art controllers are proposed primarily to counteract the effects of this time delay. Despite such controllers, it is observed that the system suffers from instability and inaccurate force feedback (loss of transparency), at least under certain conditions. This is because issues other than time delay which cause oscillations and inaccurate force feedback are rarely addressed in the literature. In this paper, such issues are clearly identified and it is shown here that controller design cannot counteract these issues. It is proposed in this paper that an isotropy based design of robots is necessary for recovering the additional stable and transparent behavior of the system, apart from what a controller can achieve. Another significant contribution of this paper is that because of the proposed design, the need for two signals from the traditional four-channel teleoperation architecture is eliminated, thus reducing the complexity of the system. Experimental validation is carried out by implementing a two-channel architecture on the designed robots.

/pdf/enhancement-of-stability-and-transparency-in-teleoperated-2uhyzv9do3.pdf

Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design

Design of multi-domain vehicles has been a focus in robotics research in the recent past. The objective behind developing such hybrid vehicle/robot is to combine the capabilities of systems operating in various domains. They can be of great use in numerous applications, as it maximizes the reach in multiple operation environments, especially in various challenging sectors to reduce risk to the human lives. This paper presents the design of multi-domain vehicle: a hybrid aerial-underwater robot, Acutus. Dynamic modelling of Acutus is one of the vital steps in the design process. The parameters involved in the model such as the hydrodynamic drag and added mass are critical in determining the accuracy of the model. Mathematical modelling and estimation of system parameters for Acutus are presented. The dynamics of the system, both in aerial and underwater domains, are initially studied individually for different possible sets of inputs. Later, simulation studies are carried out for transition between aerial and underwater domains. Preliminary mechatronic design and the experimental setup details are also presented.

Design, Estimation of Model Parameters, and Dynamical Study of a Hybrid Aerial-underwater Robot: Acutus.

Wrench space formulations and grasp quality measures based on wrench space are widely used in robotics community to evaluate the stability of robotic grasps. However, many simplifying assumptions are used in this approach in order to make the analysis feasible. For example, both the object and the hand are assumed to be rigid and the contacts are represented by their resultant forces and moments (wrenches), as a result of which most of the grasps identified by them fail in experiments. In this work, we discuss the discrepancies present in the wrench space analysis due to these assumptions and propose a Finite Element (FE)-based grasp synthesis methodology, which evaluates the grasp stability based on the well-established foundations of deformable solid mechanics. Using a spring-mass-damper model, we demonstrate the versatility of our FE-framework in analyzing the stability of robotic grasps during external perturbation. By performing several FE simulations of grasping an object of different masses, squeeze displacements and friction coefficients, we then study the influence of physical characteristics of object on grasp stability during perturbation. Finally, the most stable grasp is identified using our contact area-based metric, π.

A solid mechanics approach to robotic grasp analysis

The need for training surgeons for robotic surgeries is increasing with the increase in number of laparoscopic procedures performed with robots. The commercial simulators available are expensive and hence not available to all. This paper provides a method to develop a virtual reality based simulator with open source software and a game engine. Another feature included in the simulator is the use of patient-specific organ models. This is advantageous since it is safe and less expensive compared to other simulators, and also is more flexible due to the use of game engine. For a realistic simulation, a model of tool-tissue interaction is carried out between the tool and an external tumour using the method described. The reconstructed geometric organ model, after being meshed, is integrated into the laparoscopic surgical simulation system consisting of a haptic interface device and a graphic display.

Asokan Thondiyath

Papers

Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design

Design, Estimation of Model Parameters, and Dynamical Study of a Hybrid Aerial-underwater Robot: Acutus.

A solid mechanics approach to robotic grasp analysis

Development of virtual reality based robotic surgical trainer for patient-specific deformable anatomy

Empirical Mode Analysis for Characterization of Hand Tremor in the Design of Laparoscopic Tools