Irmhs Unit 6

Industrial Robotics and Material Handling System
Prabandh CHAKRABORTY
1
➢Unit-6: Advance Applications of Robots

➢Advanced Application of Robots
❑Military Robots
❑Medical Robots
❑Underwater Robots
❑Climbing Robots
➢Interfacing Robots
➢Obstacle Avoidance
❑ Lee's Algorithm
❑ Counter Path Defining using 'via' point(Blending)
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Advanced Application of Robots
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➢ Military Robots:
❑ Everyone knows that being a soldier is a dangerous job, but some of
the tasks that soldiers are required to do are more dangerous than
others.
❑ Walking through minefields, deactivating unexploded bombs or
clearing out hostile buildings, for example, are some of the most
dangerous tasks a person is asked to perform in the line of duty.
❑ What if we could send robots to do these jobs instead of humans?
Then, if something went wrong, we'd only lose the money it cost to
build the robot instead of losing a human life. And we could always
build more robots.
❑ The majority of military robots are tele-operated and not
equipped with weapons; they are used for reconnaissance,
surveillance, sniper detection, neutralizing explosive
devices, etc.
4
➢ Military Robots:
https://www.youtube.com/watch?v=LhUmatv10n4&t=48s
https://www.youtube.com/watch?v=y3RIHnK0_NE
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➢ Medical Robots:
❑ There are good reasons for engineers to develop medical robots
for use in healthcare. Unlike human beings, robots are tireless,
and their "hands" never shake.
❑ They can perform precise movements even beyond the human
range of motion and be present with patients for as long as
necessary.
❑ Plus, they can automate lower-level or repetitive tasks and leave
the high-level work to humans.
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➢Medical Robots:
❑There are five types of medical robots that
are used:
1. Surgical Robots
2. Zapping Robot
3. Therapeutic Robot
4. Cancer Treatment robot
5. Autonomous mobile robot(for supplying
meal in hospital)
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➢ Medical Robots:
1. Surgical Robots:
❖ It is unthinkable, but true: More than 250,000 people die in the U.S.
each year from medical errors, some of which are likely preventable.
❖ While this is a broad category encompassing a range of different
problems, it's certainly true that the more control surgeons have in
their operations, the better.
❖ The robots like da Vinci gives surgeons more precise control for a range
of procedures.
❖ Using magnified 3D high-definition vision and controls that strap to a
surgeon's wrists and hands.
❖ This makes tiny, exact incisions that human hands might not otherwise
be able to make.
❖ This offers enhanced control to surgeons and, since the surgery is less
invasive than traditional surgery, a faster healing time for patients.
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➢Medical Robots:
1. Surgical Robots:
https://www.youtube.com/watch?v=uFuCx5DLt7I
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➢ Medical Robots:
2. Zapping Robot:
❖ Hospital-acquired infections (HAIs) are another widespread problem in
healthcare that could be improved with robots.
❖ HAIs often occur because hospitals can't always clean rooms with 100
percent sterility between patients, whether due to time constraints or
the simple invisibility of germs.
❖ Whatever the reason, patients who are already immunocompromised
are more susceptible to bacterial infection.
❖ To combat this elemental problem the robots like Xenex Germ is used
to disinfect entire hospital rooms in minutes using pulsed, full-
spectrum UV rays that kill a range of infectious bacteria.
❖ These robots are designed to reduce HAIs by killing the microorganisms
that cause them, which can be particularly resistant to treatment via
UV rays.
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➢Medical Robots:
2. Zapping Robot:
https://www.youtube.com/watch?v=92P9JfpdO_Y
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➢ Medical Robots:
3. Therapeutic Robot:
❖ It is used for treatment for depression or other mental illness.
❖ The Therapeutic Robot like PARO, is an interactive device that is
designed to provide the benefits of animal therapy without
relying on live animals.
❖ Animal therapy is a common tool for easing patient stress
❖ But there are not always trained animals available to satisfy
current need.
❖ The Therapeutic Robot fits the bill.
❖ It is used extensively with elderly patients with dementia, and
has been proven to reduce stress and provide comfort to
anxious patients
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➢ Medical Robots:
3. Therapeutic Robot:
https://www.youtube.com/watch?v=2ZUn9qtG8ow
https://www.youtube.com/watch?v=cFvGAL9tesM
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➢ Medical Robots:
4. Cancer treatment Robot:
❖ Robot can be used for Radiation Therapy where due to
inaccessibility issue the Radio Therapy is difficult.
❖ The robots like Cyber Knife has a radiation source mounted on a
robot, which allows for a targeted beam of radiotherapy that
maneuvers and adapts quickly. It can deliver radiation to a
tumor (malignant or benign), repositioning itself at many
minutely different angles to target the tumor from all sides
without having to reposition the patient.
❖ There has been recent development in nano-robots that can
navigate through blood vessels to reach the site of a disease
could be used to deliver drugs to tumours that are otherwise
difficult to treat.
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➢Medical Robots:
4. Cancer treatment Robot:
https://www.youtube.com/watch?v=9ncYU_FF87A
https://www.youtube.com/watch?v=-QxioOUyFLg
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➢ Medical Robots:
5. Autonomous mobile Robot:
❖ Transporting supplies, meals and other materials around the
hospital is a drag on efficiency.
❖ One estimate shows that a typical 200-bed hospital moves
meals, linens, lab samples, waste and other items the
equivalent of 53 miles per day.
❖ An autonomous mobile robot like TUG, can ferry supplies to
where they are needed, freeing employees from heavy physical
loads and allowing them to focus on patient care.
❖ They are programmed with the hospital's floor plan and are
also equipped with a variety of sensors to ensure they don't run
into anything on their way to the lab.
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➢Medical Robots:
5. Autonomous mobile Robot:
https://www.youtube.com/watch?v=kCDJObCNufg
https://www.youtube.com/watch?v=XzhOifneIKw
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➢ Underwater Robots:
“An underwater robot are vehicle that travel underwater without
requiring which may or may not require input from an operator.”
❑ Currently, underwater robots are increasingly used for military,
commercial, and scientiﬁc applications, including deep-sea
exploration for resources like oil, gas and metals, pipeline repair,
shipwreck investigation, surveys, oceanographic sampling,
underwater archaeology and under ice survey, and the
understanding of natural forces such as hurricanes and
tsunamis.
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❑ Underwater Robots can be classified into:
1. Autonomous Underwater Vehicle(AUV)
2. Remote Operated Vehicle(ROV)
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1. Autonomous Underwater Vehicle(AUV):
“An autonomous underwater vehicle (AUV) is an autonomous vehicle that can travel
underwater without requiring input from an operator.”
❖ AUVs are part of a larger group of undersea systems known as unmanned
underwater vehicles.
❖ The design of these vehicles is influenced by the purpose of their operation.
❖ How the individual components function as a whole is also determined largely by
the circuital pathways and of course, it is necessary to factor into account, the
energy management.
❖ AUV's are sold by around 10 major manufacturers on the international market,
including prominent ones like Kongsberg Maritime, Bluefin Robotics, and
International Submarine Engineering (ISE) Ltd.
❖ Collections of propelled AUVs and gliding AUVs (also called gliders) are now often
used for mapping and oceanographic research, for military reconnaissance and
harbour protection, or for deep-sea oil-well maintenance and emergency
response.
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1. Autonomous Underwater Vehicle: Design
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1. Autonomous Underwater Vehicle: Equipment
❖AUVs operate independently of the ship and have no connecting
cables.
❖AUVs can be equipped with a wide variety of oceanographic sensors or
sonar systems. NOAA’s hydrographic survey AUVs are typically
equipped with side scan sonar, Conductivity-Temperature-Depth (CTD)
sensors, GPS-aided Inertial Navigation Systems (INS), and an Acoustic
Doppler Current Profiler (ADCP).
❖Primarily oceanographic tools, AUVs carry sensors to navigate
autonomously and map features of the ocean. Typical sensors include
compasses, depth sensors, sidescan and other sonars, magnetometers,
thermistors and conductivity probes.
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1. Autonomous Underwater Vehicle: Equipment
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1. Autonomous Underwater Vehicle:
https://www.youtube.com/watch?v=4aaPZ80Yo4s
https://www.youtube.com/watch?v=rril44oN63s
https://www.youtube.com/watch?v=OFCjhxsS6TU&t=175s
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2. Remote Operated Vehicle(ROV):
“A remotely operated underwater vehicles (ROVs) is a non-autonomous –
controlled and powered from the surface by an operator/pilot via an
umbilical cable or using the remote control. “
❖ All ROVs are equipped with a video camera, propulsion system, and
lights. Other equipment such as manipulator arm, water sampler,
instruments that measure clarity, light penetration, temperature, and
depth, is added depending on the specifications required.
❖ However, an ROV is smaller, cheaper and more readily expendable,
which is important because of the danger of underwater work.
❖ The most common danger is entanglement of the submersible's
cable or protruding parts with an underwater structure.
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2. Remote Operated Vehicle(ROV):
❖ The cable in ROV provides three functions:
1) Launching and retrieval: the cable supports the submersible
during launch and recovery from a ship by gantry or crane.
2) Power supply: submersibles use tens or hundreds of kilowatts,
which would need massive batteries if there were no cable.
3) Data transmission: in particular, video signals from underwater
cameras need so much bandwidth that wireless transmission is
not practicable, although low resolution, low frame rate television
pictures can possibly be sent over an acoustic link if data
compression techniques are used.
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2. Remote Operated Vehicle(ROV): Equipment
❖ The normal construction is a tubular metal framework topped with buoyancy elements.
To the frame are attached sealed electronics pods, cameras, lights, thrusters and
instruments.
❖ ROVs are generally lowered over the side or stern of a ship by a launcher incorporating a
boom or A-frame, which swings overboard, and a winch for the cable. When operating in
strong currents the ROVs is sometimes tethered to a vertical wire so that the thrusters do
not have to compensate for all the drag on the vehicle (see slide no. 28)
❖ Some submersibles are deployed from a 'garage’.
❖ For navigation ROVs are generally equipped with a depth gauge, a gyrocompass or
magnetic compass and an echo sounder. The signals from these are sometimes used by
servo systems to maintain a specified depth, heading or height above the sea-bed. There
may also be pitch and roll servoing using a gyro for the pitch and roll measurements.
❖ These instruments, together with television, are enough for many purposes.If absolute
position is important it can be obtained by placing acoustic beacons (transponders) at
known locations on the sea-bed or a structure.
❖ In this case the vehicle is fitted with a computer to calculate position by triangulation
using the range measurements to three or more transponders.
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(a) (b)
Methods of submersible deployment:
(a) use of a guide wire in strong currents; The 'garage ' from which the ROV is deployed (courtesy:
(b)deployment jrom a 'garage'. OSEL Offshore Systems Engineering Ltd).
28
https://www.youtube.com/watch?v=06BGxmeJPkg&t=6s
29
➢ Climbing Robots:
“Robots for climbing vertical or overhanging structures have
magnetic feet or suckers or mechanical grasping devices.”
❑ Principle:
❖ The machine holds on alternately with its body suckers and with
its feet, which can slide on longitudinal rails . They are placed
against the surface by swinging arms or telescopic joints. Certain
robots have electromagnetic feet, four at the corners of the
body and can rotate about a central axis for steering.
30
❑ Principle:
31
https://www.youtube.com/watch?v=9feBe5W7ci8
https://www.youtube.com/watch?v=50uX6hUajYA
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❑ An alternative climbing method is to use a wheeled vehicle with
permanent magnets in its wheels or, if under water, suction
pumps to hold it against the wall. Such a robot has been built by
for cleaning power station cooling water ducts of marine
growths.
https://www.youtube.com/watch?v=eCSQWg12cUo
https://www.youtube.com/watch?v=YkS6dBTTa9w
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Interfacing Robots
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➢ Interfacing Robots:
❑ While performing any robot operation, a user may interact with the
robot in various degrees ranging between two extremes: no
interaction and constant interaction. The two control modes
associated with these extremes are:
❖ Off-line programming: everything the robot is asked to do is encoded
in a program (in a suitable task description language) , downloaded to
the robot controller and executed
❖ Teleoperation: the user (operator) drives the robot through its tasks
by means of suitable human-computer-interfaces.
❑ The first mode is suited for applications where the same operation is
repeated in a well-known non-changing environment, while the
second suits applications where variation of the operation and
unknown/unpredictable environment are present, hence requiring
continuous human judgement.
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❑ The means for Robot-User Interaction:
❖ The interfacing goes through a chain of devices that on one side convert
human intelligible commands into robot commands and on the other side
convert robot feedback in human understandable information.
❖ At the beginning of the chain (close to the user) there is a Robot Control
Station equipped with a series of Human-machine interfaces (HMI), at the
other end there is a robot controller.
❖ According to the type of involvement of the user, different HMI are needed:
• for programming activities that consolidated HMI of computer consoles
are adequate.
• for advanced programming involving interaction with 3D computer
models, joysticks and space-mouse could be used.
• for limited teleoperation, set of joysticks have been traditionally used.
• for advanced/immersive teleoperation with force feedback master-
arms and Exoskeletons are the clear choice
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❑ The means for Robot-User Interaction:
❖ When the user has entered two points on the desired path, the robot's computer
calculates a straight line between the points which the robot can follow, at a speed chosen
by the user, at playback time.
❖ This method can be used only with a continuous path robot, although to the user teaching
the robot it resembles teaching a point to point robot.
❖ An example of its uses is in paint spraying in cases where there are long straight runs of
the spray gun, which can be specified by teaching just the start point and end point of the
run.
❖ Robots with this path control feature usually have a lot of computing power and good
servo control and so can offer other facilities, such as generating a circular path by
interpolation given three points on its circumference, or the ability to move in a straight
line in some useful coordinate system.
❖ In the simplest case the program consists of a series of commands of the form 'move axis
A through distance D’.
❖ These commands are expressed in some language designed for robot programming. Since
the program which actually controls the robot is not in this form but is instead concerned
with primitive operations such as turning valves on and off, the program that the user
enters must be compiled to yield a control program in the computer’s machine code.
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Obstacle Avoidance in Robots
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➢ Obstacle Avoidance in Robots:

❑ Concept of Obstacle Avoidance:
“In robotics, obstacle avoidance is the task of satisfying some control objective
subject to non-intersection or non-collision position constraints.”
❖ What is critical about obstacle avoidance concept in this area is the growing
need of usage of unmanned aerial vehicles in urban areas for especially
military applications where it can be very useful in city wars.
❖ Normally obstacle avoidance is considered to be distinct from path
planning in that one is usually implemented as a reactive control law while
the other involves the pre-computation of an obstacle-free path which a
controller will then guide a robot along.
❖ Reactive obstacle avoidance is a behavior based control strategy in a robot.
It is a task similar to the navigation problem and produces a collision free
motion.
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❑ Lee’s Algorithm:
• Where, S is the source and T is the target
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• The maze is represented as a MxN matrix where each element
can either be 0 or 1. A path can be created out of a cell only if its
value is 1. At any given time, we can only move one step in one
of the 4 directions. Thus, the valid steps are:
41

• As the Lee Algorithm that is based on the breadth-first-search (BFS)
procedure. Here we use a combination of a queue and a matrix to
identify which cell has been visited and by repeating this process
again and again, we finally find the shortest path from source cell to
the destination cell.
• The BFS technique is best suited to find the shortest path because it
doesn’t consider a single path at once, rather it considers all the
paths starting from the source and moves ahead one unit in all those
paths at the same time. All this ensures that the first time when the
destination cell is visited, it is the shortest path.
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• Algorithm:
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• Algorithm:
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• Algorithm:
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• Algorithm:
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• Algorithm:
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• Algorithm:
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• Illustration of Algorithm working:
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• Algorithm:
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Go through following research papers:

Obstacle Avoidance Procedure and Lee Algorithm Based Path Replanner for Autonomous Mobile
Platforms
DOI: 10.2478/eletel-2013-0010
Obstacle avoidance algorithm of the underwater robot in the underwater environment

DOI: 10.1109/AIM.2012.6265956
64

❑ Counter Path defining ‘Via-Point’(Blending):
https://www.youtube.com/watch?v=xg5DP1YEPv4
Go through research paper:
Automated Trajectory Planner of Industrial Robot for Pick-and-Place Task
DOI:10.5772/53940
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Industrial Robotics and Material Handling System

➢Unit-6: Advance Applications of Robots

Advanced Application of Robots

Obstacle Avoidance in Robots

➢ Obstacle Avoidance in Robots:

➢ Obstacle Avoidance in Robots:

• Where, S is the source and T is the target

➢ Obstacle Avoidance in Robots:

➢ Obstacle Avoidance in Robots:

Go through following research papers:

Obstacle avoidance algorithm of the underwater robot in the underwater environment

➢ Obstacle Avoidance in Robots:

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