3D locomotion biomimetic robot fish with haptic feedback

This thesis developed a biomimetic robot fish and built a novel haptic robot fish system based on the kinematic modelling and three-dimentional computational fluid dynamic (CFD) hydrodynamic analysis. The most important contribution is the successful CFD simulation of the robot fish, supporting users in understanding the hydrodynamic properties around it.

Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)

In this paper a 6-RRCRR parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) is introduced. Remote centre-of-motion (RCM) control algorithms of PRAMiSS suitable for minimally invasive surgery and microsurgery are also presented. The programmable RCM approach is implemented in order to achieve manipulation under the constraint of moving through the fixed penetration point. Having minimised the displacements of the mobile platform of the parallel micropositioning robot, the algorithms also apply orientation constraint to the instrument and prevent the tool tip to orient due to the robot movements during the manipulation. Experimental results are provided to verify accuracy and effectiveness of the proposed RCM control algorithms for minimally invasive surgery.

Stair climber smart mobile robot (MSRox)

MSRox is a wheeled mobile robot with two actuated degrees of freedom which enables it to have smooth motion on flat surfaces. It has the capability of climbing stairs and traversing obstacles, and adaptability toward uphill, downhill and slope surfaces. MSRox with 82 cm in length, 54 cm in width and 29 cm in height has been designed to climb stairs of 10 cm in height and 15 cm in width; nevertheless, it has the capability of climbing stairs up to about 17 cm in height and unlimited widt. In this paper, the motion systems and the capabilities of MSRox are described. Furthermore, experimental results of stair climbing and a comparison of the results with others are presented.