Carl A. Nelson

Simplified Kinematic Analysis of Bevel Epicyclic Gear Trains With Application to Power-Flow and Efficiency Analyses

A kinematic analysis technique is introduced to find the angular velocities of all links in bevel epicyclic gear trains. The method relies on previous work in graph theory. It improves on existing techniques used for analysis of planar geared mechanisms in its ability to accurately solve the kinematics of spatial geared mechanisms, particularly bevel gear trains, in a simpler manner. Usefulness of the method is demonstrated through its application to power-flow and efficiency analyses as well as its implementation in computer software. This discussion is limited to gear trains whose input and output axes are collinear, such as automotive automatic transmissions.

ModRED: Hardware design and reconfiguration planning for a high dexterity modular self-reconfigurable robot for extra-terrestrial exploration

Abstract This paper presents a homogeneous modular robot system design based on four per-module degrees of freedom (DOF), including a prismatic DOF to increase the versatility of its reconfiguration and locomotion capabilities. The ModRED (Modular Robot for Exploration and Discovery) modules are developed with rotary-plate genderless single sided docking mechanisms (RoGenSiD) that allow chain-type configurations and lead towards hybrid-type configurations. Various locomotion gaits are simulated through the Webots robot simulator and implemented in the real ModRED system. This work also addresses the problem of dynamic reconfiguration in a modular self-reconfigurable robot (MSR). The self-reconfiguration problem is modeled as an instance of the graph-based coalition formation problem. We formulate the problem as a linear program that finds the “best” partition or coalition structure among a set of ModRED modules. The technique is verified experimentally for a variety of settings on an accurately simulated model of the ModRED robot within the Webots robot simulator. Our experimental results show that our technique can find the best partition with a reasonably low computational overhead.

A Model of Factors Contributing to STEM Learning and Career Orientation

The purpose of this research was to develop and test a model of factors contributing to science, technology, engineering, and mathematics (STEM) learning and career orientation, examining the complex paths and relationships among social, motivational, and instructional factors underlying these outcomes for middle school youth. Social cognitive career theory provided the foundation for the research because of its emphasis on explaining mechanisms which influence both career orientations and academic performance. Key constructs investigated were youth STEM interest, self-efficacy, and career outcome expectancy (consequences of particular actions). The study also investigated the effects of prior knowledge, use of problem-solving learning strategies, and the support and influence of informal educators, family members, and peers. A structural equation model was developed, and structural equation modeling procedures were used to test proposed relationships between these constructs. Results showed that educators, peers, and family-influenced youth STEM interest, which in turn predicted their STEM self-efficacy and career outcome expectancy. STEM career orientation was fostered by youth-expected outcomes for such careers. Results suggest that students’ pathways to STEM careers and learning can be largely explained by these constructs, and underscore the importance of youth STEM interest.

Power harvesting for railroad track health monitoring using piezoelectric and inductive devices

One of the most limiting factors for distributed sensor networks used for railroad track health monitoring applications is the lack of a long-term, low-maintenance power supply. Most existing systems still require a change of battery, and remoteness of location and low frequency of maintenance can limit their practical deployment. In this paper we describe an investigation of two principal methods for harvesting mechanical power from passing railcars in order to supply electrical power to remote networks of sensors. We first considered an inductive voice coil device directly driven by vertical rail displacement. We then considered a piezoelectric device that is attached to the bottom of the rail and is driven by the longitudinal strain produced by rail bending due to passing railcars. Theoretical models of the behavior of these devices were integrated with an analytical model of rail track deflection to perform numerical simulations of both of these power scavenging techniques. Lab and field tests were also performed to validate the simulation results. Resulting values of average power production show promise for scavenging near the targeted level of 1 mW, and the field data matched well with the simulations.

Power harvesting systems design for railroad safety

Railroad crossings represent a significant danger in railroad transportation systems. Each year thousands of accidents occur that involve trains and other vehicles at unprotected railroad crossings, resulting in hundreds of fatalities and injuries. Additionally, derailments occur on average once every 6 h across the United States due to mechanical failures and improperly maintained track, endangering property and lives. The lack of electrical infrastructure in remote areas is a primary barrier impeding the installation of safety enhancements such as warning light systems and track health monitoring sensors that could reduce the frequency of such accidents. Providing on-demand power by harvesting energy from deflecting railroad track during the passage of trains is a promising approach compared with the cost of installing electrical power lines or the lack of robust solar and/or wind power solutions. This paper discusses the design and development of several power harvesting devices capable of scavenging power from the vertical deflection of railroad track. The design of a cam-based generator device driven by the train wheels is also discussed. Simulation and testing results on these devices are also presented in this paper.

Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms Using Genetic Algorithms

A new kinematic design methodology is presented for optimization of spherical serial mechanisms. First, a new index, combining global manipulability and the uniformity of manipulability over the workspace, is presented to improve the synthesis results. This method integrates multiple criteria (workspace size, the new manipulability index, and mechanism size) linearly in one objective function. All these criteria are optimized simultaneously to lead to a solution with better performance. By changing the priorities of each criterion, different sets of desirable kinematic performance can be expressed. An adaptation of the method using a multiobjective Pareto front is also illustrated. The optimization result for a spherical bevel-geared mechanism using a genetic algorithm demonstrated that the proposed method effectively improves the quality of the optimum solution and provides insight into the workings of the mechanism. In addition, this flexible and adaptable methodology also presents a general optimization approach for linkage synthesis.

Multipurpose surgical robot as a laparoscope assistant.

BackgroundThis study demonstrates the effectiveness of a new, compact surgical robot at improving laparoscope guidance. Currently, the assistant guiding the laparoscope camera tends to be less experienced and requires physical and verbal direction from the surgeon. Human guidance has disadvantages of fatigue and shakiness leading to inconsistency in the field of view. This study investigates whether replacing the assistant with a compact robot can improve the stability of the surgeon’s field of view and also reduce crowding at the operating table.MethodsA compact robot based on a bevel-geared “spherical mechanism” with 4 degrees of freedom and capable of full dexterity through a 15-mm port was designed and built. The robot was mounted on the standard railing of the operating table and used to manipulate a laparoscope through a supraumbilical port in a porcine model via a joystick controlled externally by a surgeon. The process was videotaped externally via digital video recorder and internally via laparoscope. Robot position data were also recorded within the robot’s motion control software.ResultsThe robot effectively manipulated the laparoscope in all directions to provide a clear and consistent view of liver, small intestine, and spleen. Its range of motion was commensurate with typical motions executed by a human assistant and was well controlled with the joystick.ConclusionsQualitative analysis of the video suggested that this method of laparoscope guidance provides highly stable imaging during laparoscopic surgery, which was confirmed by robot position data. Because the robot was table-mounted and compact in design, it increased standing room around the operation table and did not interfere with the workspace of other surgical instruments. The study results also suggest that this robotic method may be combined with flexible endoscopes for highly dexterous visualization with more degrees of freedom.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

The size and limited dexterity of current surgical robotic systems are factors that limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOFs) (three rotational DOFs and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved, which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between the patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

Experimental and Numerical Investigation of the Mechanism of Blast Wave Transmission Through a Surrogate Head

This work is to develop an experiment-validated numerical model to elucidate the wave transmission mechanisms through a surrogate head under blast loading. Repeated shock tube tests were conducted on a surrogate head, i.e., water-filled polycarbonate shell. Surface strain on the skull simulant and pressure inside the brain simulant were recorded at multiple locations. A numerical model was developed to capture the shock wave propagation within the shock tube and the fluid-structure interaction between the shock wave and the surrogate head. The obtained numerical results were compared with the experimental measurements. The experiment-validated numerical model was then used to further understand the wave transmission mechanisms from the blast to the surrogate head, including the flow field around the head, structural response of the skull simulant, and pressure distributions inside the brain simulant. Results demonstrated that intracranial pressure in the anterior part of the brain simulant was dominated by the direct blast wave propagation, while in the posterior part it was attributed to both direct blast wave propagation and skull flexure, which took effect at a later time. This study served as an exploration of the physics of blast-surrogate interaction and a precursor to a realistic head model. [DOI: 10.1115/1.4026156]

Hardware Design and Testing of ModRED: A Modular Self-Reconfigurable Robot System

Unstructured environments are challenging for conventional robots, and modular self-reconfigurable robots (MSRs) can be deployed to overcome this challenge. The goal of the current work was to develop a flexible, cost effective multi-module robot system capable of self-reconfiguration and achieving various gaits in unstructured environments. This paper discusses the communication aspects of the Modular Robot for Exploration and Discovery (ModRED) robot system from a hardware perspective. To ensure enhanced flexibility and local autonomy as well as better reconfiguration, each robot module is built with four independent degrees of freedom, and a novel docking interface provides interconnection of modules. The prototyping effort is described with emphasis on the implementation of inter-module communication. The electronic hardware layout and control system are described, and the communication system is outlined. Finally, some preliminary testing of the developed prototype is presented.