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.

This paper presents the design and analysis of a quadrotor with a novel configuration, VOOPS-Vertically Offset Overlapped Propulsion System. The objective of this configuration is to increase the payload capacity of a quadrotor without increasing the overall dimension and without compromising endurance. This has been achieved by vertically offsetting the propellers and allowing propeller overlaps so that an increase in propeller size can be achieved without any increase in the overall dimensions. The design details and the dynamic model of the VOOPS configuration are presented. The constraints on the design parameters such as propeller offset and overlap are determined using propeller deflection model and geometry respectively. The effects on change in the design parameters of VOOPS configuration were studied using bench tests and performance simulation of quadrotor with VOOPS configuration were carried out. Practical implementation of VOOPS configuration is also discussed.

Design and analysis of a novel quadrotor system - VOOPS

Mobile robots have become a topic of immense interest because of their ability to carry out terrain surface explorations. One of the major challenges for these mobile robots is handling uneven terrains and climbing obstacles autonomously without any human supervision. To improve the mobility of ground rovers or all-terrain rovers, numerous design concepts have been proposed in the literature. However, there is very limited research in analysing the effect of individual design parameters on the overall performance and stability. This paper presents the mathematical modelling and an overview of the general framework for evaluating the performance of an all-terrain robot. The design of a dune rover is presented and the complete kinematic and quasi-static dynamic model is developed for the rover. This mathematical model is further validated by the computational framework in MSc. ADAMS. Several performance metrics like stability margin, wheel load deviation, and rover posture are evaluated for rough terrain conditions. Sensitivity analysis is also performed to examine the effect of individual design parameters on the overall performance. The primary objective of this work is to present a framework that designers can use as a preliminary filter to evaluate and compare the performance of all-terrain rovers on uneven ground conditions. Improvements in the robot design could pave the way for the introduction of mobile robots in a collaborative socio-domestic environment and industrial settings.

Multibody dynamics framework for performance evaluation of an all-terrain rover

Rendering haptic feedback, particularly tactile feedback of various objects or the environment, extends its usage in a wide variety of applications in order to provide a realistic experience for the user. Conventional methods for reproducing tactile sensations involve utilizing piezoelectric, electro-tactile, and other types of actuators, which do not lend themselves the flexibility to reproduce various surface textures in real time. In this paper, we present the design and development of a novel three Degrees of Freedom (DoF) tactile haptic device to acquire haptic feedback from a known virtual/remote environment. The haptic sensations are rendered to the user through a two-DoF spherical segment of the device consisting of an array of surfaces. The roll and pitch motion of the spherical segment provides tactile cues like texture and shear. Additional DoF provides the stiffness and shape variations based on the feedback it receives. A semi-compliant four-link mechanism, mounted on a gimbal setup, provides the necessary stiffness/shape variation effects. A prototype of the device has been fabricated and tested. The preliminary experimental results confirm the fidelity of haptic feedback to the user while interacting with the environment.

A Novel Three Degrees of Freedom Haptic Device for Rendering Texture, Stiffness, Shape, and Shear

\n Robots utilize graspers for interacting with an environment. Conventional robotic graspers have difficulty conforming to objects of varied shape and exerting varying grasping forces. Variable stiffness soft robotic graspers provide these features but face issues such as slow response time, the requirement of external power packs for operation and low variation of stiffness. A variable stiffness compliant robotic grasper that is simple in design and operation would improve end effectors used in assistive robotics and prostheses for handling a wide array of objects. In this paper, we present the design of a novel variable stiffness compliant robotic grasper that can change its stiffness through structural transformations. Current designs utilizing structural transformations do not provide shape conformance while grasping objects. We propose a design for a soft robotic grasper using the concept of stability of truss structures. This design is capable of partially conforming to the surface of an object being grasped and can rapidly vary its stiffness utilizing compliant rotating elements embedded in the grasper jaws. The grasper behavior is modeled using finite element analysis (FEA) and validated experimentally. Our results demonstrate that structural transformation of flexible elements is a potential solution for achieving variable stiffness in a grasper.

A Novel Design for a Compliant Mechanism Based Variable Stiffness Grasper Through Structure Modulation

In this paper, we present the design of a novel, hybrid multipurpose robotic platform equipped with a pair of graspers to synergize grasping, manipulation, and locomotion. The multipurpose grasper consists of two underactuated fingers with an active gripping surface, which passively conforms to an object while grasping. Each finger has a spring loaded synchronous belt drive which functions as the active gripping surface. The grasper is capable of handling a range of objects with irregular geometry and size. Two such underactuated graspers are connected through a serial kinematic chain and this provides the platform both manipulation and locomotion capability. Graspers act as “legs” or “wheels” of the robot during locomotion and can easily adapt to terrain variations. Fewer number of actuators, simple and scalable kinematic structure, and computationally efficient control are some of the main features of the design. Design details and kinematic analysis are presented. Experiments were conducted on a prototype robot to demonstrate multiple modes of operation.

Asokan Thondiyath

Papers

Design and analysis of a novel quadrotor system - VOOPS

Multibody dynamics framework for performance evaluation of an all-terrain rover

A Novel Three Degrees of Freedom Haptic Device for Rendering Texture, Stiffness, Shape, and Shear

A Novel Design for a Compliant Mechanism Based Variable Stiffness Grasper Through Structure Modulation

GraspMan - A Novel Robotic Platform with Grasping, Manipulation, and Multimodal Locomotion Capability