Tendon-Driven Hyper-Redundant Manipulators: A Review on Design Solutions

Performative Microforests: Investigating the potential benefits of integrating spatial vegetation environments into buildings, in regards to the performance of buildings, their occupants + local ecosystems

In this article, we review the state of the art in hyper-redundant manipulators for applications in confined space such as <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">on</small> -orbit services. With their multiple degrees of freedom and slender links, hyper-redundant manipulators can offer superior dexterity and excellent operability. They can traverse freely, manipulate objects flexibly, and conform to curvilinear paths accurately in confined spaces. The by-design separation of the mechanical and electrical parts in these manipulators also offers inherent structural compliance and miniaturization. Due to the elastic characteristics of driving cables, hyper-redundant manipulators have both stiffness and flexibility. In this article, the overviews of the current state of the art in this field are provided from the perspectives of both typical applications and key technologies. We detailed the relevant studies on the configuration, obstacle avoidance, path planning, and control technologies for hyper-redundant manipulators and highlight the use of these studies in the development of practical applications. Furthermore, we propose several aspects that need to be further studied, namely efficient inverse kinematics solution, strong coupled dynamics modeling, variable stiffness control, and multiobjective trajectory optimization. Breakthroughs in these areas will provide valuable solutions for complex path planning and control of hyper-redundant manipulators. <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup>

Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obstacles. Our optimization-based algorithm simultaneously handles the task space constraints, the joint limit constraints, and the collision-free constraints for hyper-redundant manipulators based on the generalized framework. Second, we present an extension of our inverse kinematic algorithm to collision avoidance for the hyper-redundant manipulators, where the workspaces may have different types of obstacles. We highlight the performance of our algorithm on hyper-redundant manipulators with various degrees of freedom. The results show that our algorithm has made full use of dexterity of hyper-redundant manipulators in complex environments, enhancing the performance and increasing the flexibility.

OCCUPATIONAL APPLICATIONS Prevention through Design is the first U.S. macroergonomic initiative to address occupational and environmental risks associated with work operations. In the Prevention through Design approach, all aspects of the work operation (worker, equipment, materials, environment, processes) are evaluated, inherent risks identified, and design solutions generated. The National Institute for Occupational Safety and Health launched an initiative in 2008 to disseminate Prevention through Design methods in all industrial sectors. Innovative design solutions are being developed to reduce injury, illness, and pollution arising from agriculture, construction, manufacturing, commercial fishing, healthcare, and mining. Diffusion of new design solutions and adoption within the industries, though, remain major hurdles to implementation. Therefore, this article describes a conceptual model to predict industry acceptance of these innovations. Practicing ergonomists and occupational safety and health professionals can employ the constructs of this model in developing intervention strategies within the workplace.

11 - Energy harvesters for powering wireless systems

Low-carbon city provide both opportunity and challenge for landscape architecture. Urban green space planning and design are the most important way to achieve the landscape adaptive to globe climate change. In this paper, we introduced importance and significance of urban green space in low-carbon landscape, and reviewed many new design solutions, such as construction of green infrastructure, protection of natural vegetation and ecosystems, use of phytoremediation and application of urban productive landscape. Via innovative design solution and ecological principle, landscape architects would create a substantially new aesthetics to ensure the survivance of humanity.

Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.

Additive manufacturing (AM or 3D printing) holds the potential to revolutionize the ceramic industry by offering fresh avenues for manufacturing complicated ceramic components directly from digital models without the need for costly tooling. This advancement can lead to decreased production costs and lead times, while also enhancing design flexibility and tolerance for imperfections. Thus, there is an increasing interest in utilizing AM techniques to produce advanced ceramic components and explore their wide-ranging applications. This special issue consists of several articles from renowned groups worldwide, presenting their insights and recent progress in AM of advanced ceramic materials and applications. These articles discuss advances across various topics including novel materials, innovative techniques, and emerging applications, which broaden the understanding of the capabilities, challenges, future perspectives and implementation of AM of advanced ceramic materials. The collections in this special issue have attracted review and research articles addressing diverse aspects of the AM-fabricated advanced ceramic materials and applications. Fiume et al. (fmats.2023.1242480) discussed the vat-photopolymerization of ceramic materials and explored the state-of-the-art of the applications in advanced multidisciplinary fields including biomedicine, energy, environment, space and aerospace, with a special focus on current trends and project-specific requirements. Pan et al. (fmats.2020.00054) formed high-resolution, defect-free alumina ceramics using stereolithography-based 3D printing technology, which provides a rapid and cost-effective manner to produce ceramic cores used in astronautics engineering and material engineering fields related to high-temperature environments. Yan et al. (fmats.2023.1239692) introduced a hybrid approach methodology that combines experimental rheology with Finite Element simulations to determine the printability of ceramic-polymer ink formulations which aids in optimizing low-temperature extrusion 3D printing of novel inks for bone tissue engineering. Heise et al. (2024.1441812) presented the design and use of an inline mid-infrared optical coherence tomography (MIR-OCT) system combined with deep learning for classification and in-process feedback as a versatile tool for at-line and inline quality control in lithography-based ceramic manufacturing. This special issue has a strong focus on AM-fabricated advanced ceramic materials and their applications. The exceptional dimensional/chemical stability over a wide temperature range, along with high corrosion resistance and lower density in comparison to metal-based components, have made ceramic materials highly intriguing for space and aerospace applications, thus have becoming a fascinating research area. Fiume et al. (fmats.2023.1242480) summarized relevant outcomes and final considerations of various classes of AM-fabricated advanced ceramics used in space and aerospace industry, including both oxide- and non-oxide ceramics and ceramic composites. Pan et al. (fmats.2020.00054) discussed the influence of high-temperature sintering conditions on microstructure and properties of 3D-printed alumina ceramics and obtained high-performance intricate alumina ceramic cores essential for crafting high-temperature hollow turbine blades. Tissue engineering applications are another subfield where AM of bioceramics finds tremendous potential. Fiume et al. (fmats.2023.1242480) highlighted how the scientific community is devoting considerable efforts to the transfer of stereolithography-based 3D printing technology of bioceramic materials into clinical practice in various fields of application, such as orthopedics and dentistry. Yan et al. (fmats.2023.1239692) established a framework for streamlining the design of inks for extrusion 3D printing of ceramic-polymer scaffolds for bone tissue engineering. They evaluated the compressive properties of printed hydroxyapatite-polycaprolactone scaffolds and characterized the effects of ceramic content and component ratio ratio on the hyperelasticity observed in response to compressive deformations.In recent years, artificial intelligence (AI) has emerged as one of the most active subfields of AM. This is also reflected in AM of advanced ceramic materials. AI has been suggested in AM of ceramics for classification between accurately 3D-printed and ceramics specimens with failures at the micron scale. Specifically, deep learning methods involving convolutional neural networks or residual neural networks that have enabled easy training and model generation for image data are chosen. Deep learning plays a crucial role in advancing AM by enabling more efficient processes, better quality control, and innovative material and design solutions. Heise et al. (2024.1441812) highlighted the potential of MIR-OCT coupled with AI-based identification methods for inline process monitoring and quality control in additive ceramic manufacturing machinery. They integrated the OCT measurement head in a 3D ceramic printer that enables direct layer growth monitoring, geometry verification, and real-time defect development monitoring, providing immediate user alerts when misprints are produced. Such monitoring enhances production efficiency by promptly detecting potential defects, reducing the time and cost commitments, and minimizing resource consumption.As mentioned earlier, AM of advanced ceramic materials and its applications constitute a vibrant and rapidly evolving field. While the contents of this special issue may encompass just a fraction of the outstanding research efforts in progress, our aspiration is to offer fellow researchers a glimpse into the dynamic and swiftly evolving landscape of this field.

Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to other mobile manipulation platforms such as ground vehicles. Despite recent work, several major challenges remain to be overcome before it will be practical to manipulate objects from UAVs. Among these challenges are: (a) The constantly moving UAV platform and compliance of manipulator arms make it difficult to position the UAV and end-effector relative to an object of interest precisely enough for manipulation, and (b) The motions of the manipulator impact the stability of the host UAV, further complicating positioning. Solving these challenges will bring UAVs one step closer to being able to perform meaningful tasks such as infrastructure repair, disaster response, casualty extraction, and cargo resupply. Toward solutions to these challenges, this paper describes a hyper-redundant manipulator, manipulator control approaches and system design considerations to position the manipulator relative to objects of interest in such a way that impacts on platform stability are minimized.

This article opens a series of publications devoted to the problems of evaluating the effectiveness of the use of standard solutions in the oil and gas sector. The maximum effect of increasing the efficiency of production processes can be achieved with the introduction of a complex of new technologies, best practices, approaches and innovations (standardization, unification, effective design solutions, improving production efficiency, multi-level decomposition design, digital technologies, etc.). Both domestic and foreign scientists pay special attention to the theory and methodology of evaluating the effectiveness of enterprises. The publication provides general formulas for calculating economic efficiency, typification coefficients, reduction of the complexity of creating project products using standard solutions and the economic effect of using standard design solutions. The analysis of the innovative development programs of the largest companies of the complex allows us to determine its priority areas: cost reduction, development of new methods of energy extraction, discovery of new methods of equipment design, introduction of digital technologies, improving the efficiency of design solutions, search and implementation of innovative ones. The tasks of introducing innovative technologies and effective design solutions into the production process of oil and gas producing enterprises are solved by improving the methodological base, optimizing design solutions and managing design technology. Examples of effective design solutions are given. The development of standard design allows us to realize the qualitative and economic advantages of replicating effective design solutions, which is expressed in improving the quality of design solutions, reducing costs and timing of design and construction and installation work. Due to the development of typification and the analysis of technical solutions carried out on a constant basis, within the framework of large fuel and energy companies, it becomes possible to build an effective management platform and synthesis of best practices in a single solution. The publication presented to the readers sets out the main directions of obtaining an economic effect from the typification of project solutions, which are important for further understanding of the problems of evaluating the effectiveness of typing and unification.

To decouple the heavy rail entrance into the Port of Vancouver USA from a major north/south mainline of the nation’s rail system, a rail-under-rail grade-separation structure was designed along the northern bank of the Columbia River in Vancouver, Washington. To provide the required 23.5 foot (7.2 meter) clearance below an existing 100-year old rail bridge that crosses the river, the new rail line needed to descend more than 14 feet (4.3 meters) below the 100-year flood elevation. Because trains need to remain in operation during this flood condition, protection of the rail line from flood waters was required. Several innovative design solutions were developed to meet this design criteria in the most efficient manner. This case study is of regional, national, and international interest. The paper will discuss the project’s constraints, design challenges, and solutions utilized to meet the project criteria. The location and configuration of the structure posed special challenges and the solutions for this project will be of interest to practicing structural engineers as well as rail operators, owners, and land use professionals. The rail structure itself, a 1,350-foot (411.5 meter) long portion of the new rail entrance for the port, is a partially elevated reinforced concrete structure that protects the rail from flood waters and supports it along the irregular river bank. To resist flood waters, a continuous reinforced concrete U-shaped trench was selected as the optimal solution. This selection of structure type was the first of many challenges for this project. The superstructure borrows design innovations from the continuously reinforced concrete pavement industry to help eliminate expansion joints over the entire length of the structure. This helps minimize water infiltration during flood events and reduces lifetime maintenance costs. The substructure consists of closely spaced driven steel batter piles that support the majority of the rail trench structure and is extremely compatible with the expansion joint-free design. The new rail trench structure provides a unique facility that meets the design challenges of the site, maximizes operational efficiency for the port, and relieves congestion at this critical location along the Pacific Northwest’s high-speed rail corridor.

Since the early 1980s, hydraulic and pneumatic device are used to explore methods of orthotic devices for lower limb. Over the past decades, significant development has been made by researchers in rehabilitation robotics associating assistive orthotic device for the lower limb extremities. The aim in writing this review article is to present a detailed insight towards the development of the controlled ankle foot orthosis (AFO) device for enhancing the functionality of people disabled by injury to the lower limb or by neuromuscular disorders such as multiple sclerosis, spinal muscular atrophy, etc. Different types of approaches towards design, actuation and control strategies of passive and active AFOs are analysed in this article considering gait rehabilitation. In currently available commercialised ankle foot orthotic devices for lower limb, to overcome the weakness and instability produced by drop foot and to follow natural gait is still a challenge. This paper also focuses the impact of active control of AFO device mainly to enhance the functionality of lower limb reducing the deformities. Researchers have put in huge amount of efforts in terms of modelling, simulating and controlling of such devices mainly for gait rehabilitation with kinematic and dynamics analysis.

Today, designers have access to larger amounts of content information and consequently, groups of people working collaboratively can access and communicate information both synchronously and asynchronously. The role of pen-based technologies, and in particular, the tablet PC, has also played an increasingly important role in how designers communicate through external representations. By identifying the specific effects of the tablet PCs on team communication and matching design practices we investigate how technology and communication shape team design practices. It is also important to investigate the degree to which designers adopt and utilize these unique features of the technology. In addition, the impact of attitudes on usage is of important interest, due to its relationship with the adoption and implementation of tablet PC features. Under a previous project, students were assigned into teams based on prior experiences, and tasked with creating an innovative design solution for a client. This study will use the observational data collected from that project, coupled with researcher field notes, focus group interviews, and background questionnaires to investigate if the unique features of Tablet PCs shape team communication and corresponding design practices. In addition, I investigate whether teams' previous experience with technology has an effect on design practice. Initial results show teams who had previous experience with technology are more likely to use specific features of the tablet PC to facilitate communication compared to those with little prior experience in technology. Teams leverage the features of the tablet PC to assist in the design process produced the more innovative design solutions compared to those who use methods that are more traditional.

OBJECTIVES/GOALS: Since 2017, we have used the Design Lab methodology to support investigators taking innovative approaches to clinical effectiveness trial design. To date we have held 12 Design Labs and this year we are creating a handbook that will support dissemination of this approach across the Clinical and Translational Science Award consortium. METHODS/STUDY POPULATION: The Clinical Trial Design Lab brings together a multi-stakeholder group to consider innovative and impactful clinical trial designs. An investigative team is selected from a competitive pool of applicants, after which expert-led consultations support the investigator team to think about evidence generation in the context of the full treatment development pathway. Teams map the stakeholders at each step of this pathway (e.g. clinicians, patients, researchers, funders, industry experts, policy experts, regulatory experts, payers) and consider innovative design solutions. These consultations prepare investigators for an event that involves all stakeholders in a structured and facilitated discussion about trial designs that generate the best evidence and increase potential for health impact. RESULTS/ANTICIPATED RESULTS: The result of our work will be a set of Design Lab principles, a handbook with templates that support stakeholder mapping and structured discussions, and educational resources to accompany the handbook. The work is supported by a literature review that characterizes the multi-component processes included in the Design Lab, situates them within the larger context of team science interventions, and lays groundwork for the development of process metrics and impact evaluation criteria to assess the Design Lab method. In this poster presentation, we will share our multi-component broadly engaged team science approach, provide a brief outline of the principles and educational resources, and include an early version of the evaluation criteria. DISCUSSION/SIGNIFICANCE: Broadly engaged team science supports innovative thinking about study design and is especially important in the development of clinical trials. We have grown the Design Lab program of work over the past seven years and are now able to characterize our team science methodology and support others to use this approach to innovate for health impact.

Fast inverse kinematics (IK) algorithm is significant for real-time precise motion control for continuum and soft manipulators. In this paper, we studied an explicit expression of a two-segment continuum manipulator based on constant curvature assumptions and discussed the existence of the IK solutions. Utilizing the pseudo-rigid-body method, we contrast this model with the traditional six-axis rigid industrial robot arm, revealing that two-segment extensible continuum manipulators exhibit limited rotation angles around the directional vector of their tips, thereby showcasing reduced dexterity. By pre-constraining five degrees-of-freedom (DOF) and addressing the definition of the remaining DOF, we streamline the IK-solving process, resulting in minimal computational overhead suitable for a wide range of applications. This model promises a robust and real-time approach for controlling two-segment extensible continuum manipulators, enhancing their operational efficiency and effectiveness.