A compact low-cost electronic hardware design for actuating soft robots

A low cost, compact embedded design approach for actuating soft robots is presented. The complete fabrication procedure and mode of operation was demonstrated, and the performance of the complete system was also demonstrated by building a microcontroller based hardware system which was used to actuate a soft robot for bending motion. The actuation system including the electronic circuit board and actuation components was embedded in a 3D-printed casing to ensure a compact approach for actuating soft robots. Results show the viability of the system in actuating and controlling siliconebased soft robots to achieve bending motions. Qualitative measurements of uniaxial tensile test, bending distance and pressure were obtained. This electronic design is easy to reproduce and integrate into any specified soft robotic device requiring pneumatic actuation.

Low-cost HMD and EEG: using visual stimulation by the Oculus Rift® to detect stronger ERDs induced by motion imagery

Virtual Reality (VR) can provide visual stimuli for EEG studies that can be altered in real time and can produce effects that are difficult or impossible to reproduce in a non-virtual experimental platform. As part of this experiment the Oculus Rift, a commercial-grade, low-cost, Head Mounted Display (HMD) was assessed as a visual stimuli platform for experiments recording EEG. Following, the device was used to investigate the effect of congruent visual stimuli on Event Related Desynchronisation (ERD) due to motion imagery.

Low cost selective sensor for carbonyl compounds in air based on a novel conductive poly(p-xylylene) derivative

A novel poly(p-xylylene), PPX, derivative bearing phenyl side groups was electrochemically synthesized in 85% yield. The polymer, poly(2-phenyl-p-xylylene) (PPPX), presented a major fraction (88%) soluble in common organic solvents. It showed to be thermally resistant up to 140 degrees C. UV-VIS analysis revealed an Egap of similar to 3.0 eV. Gas sensors made from thin films of CSA doped PPPX deposited on interdigitated electrodes exhibited significant changes in electrical conductance upon exposure to five carbonyl compounds: acetaldehyde, propionaldehyde. benzaldehyde, acetone and butanone. Three-dimensional plots of relative response vs. time of half-response vs. time of half-recovery showed good discrimination between the five carbonyl Compounds tested. (C) 2008 Elsevier B.V. All rights reserved.

Efficient and low cost devices for solar energy conversion: Efficiency and stability of some natural-dye-sensitized solar cells

Dye-sensitized solar cells, named by us Dye-Cells, are one of the most promising devices for solar energy conversion due to their reduced production cost and low environmental impact, especially those sensitized by natural dyes. The efficiency and stability of devices based on natural sensitizers such as mulberry (Morus alba Lam), blueberry (Vaccinium myrtillus Lam), and jaboticaba`s skin (Mirtus cauliflora Mart) were investigated. Dye-Cells prepared with aqueous mulberry extract presented the highest P(max) value (1.6 mW cm(-2)) with J(sc) = 6.14 mA cm(-2) and V(oc) = 0.49 V, Photoelectrochemical parameters of 16 cm(2) active area devices sensitized by mulberry dye were constant for 14 weeks of continuous evaluation. Moreover, the cell remained stable even after 36 weeks with a fairly good efficiency. Therefore, mulberry dye opens up a perspective of commercial feasibility for inexpensive and environmentally friendly Dye-Cells. (C) 2009 Elsevier B.V. All rights reserved.

Development of low cost motion-sensing system

Micro-electro-mechanical system (MEMS) technology offers sensors with lower cost, smaller size, lower power consumption. In this paper, a kind of low cost motion-sensing system based MEMS sensors is developed. The objective of the design is low cost, small volume and light weight in order to be used in many fields. The constituting principle of the system is described. Algorithms and hardware of the system are researched. And the definition of coordinate, calculation of pose angle, transform of acceleration and calculation of the velocities and displacement of the moving object are presented with corresponding mathematics model and algorithms. The experiments are carried out in principle and results are given. It is proved that the low cost motion-sensing system is effective and correct.

A low-cost 3-D laser imaging system

This paper presents the design and development of a low cost three-dimensional laser imaging system for scanning suitable surfaces. A generic, low cost, off-the-shelf laser range finder is used to obtain the primary one dimensional distance measurement. The range finder’s laser beam is reflected by a twin-axis mirror assembly driven by stepper motors providing the system with two angular degrees of freedom, allowing 3-D measurements to be determined. A camera and image processing techniques are used to determine the measured 1-D range value from the generic range-finding device. A computer program then uses the obtained data to create a 3-D point cloud. An algorithm is then used to construct a 3-D wire frame mesh representing the scanned surface. The system has an angular resolution of 1.8° and the results obtained demonstrate the system to have an accuracy of approximately ± 2cm at a scanning distance of 1.0m.

A haptically enabled low-cost reconnaissance platform for law enforcement

Traditionally, the control system of a modern teleoperated mobile robot consists of one or more two-dimensional joysticks placed on a control interface. While this simplistic interface allows an operator to remotely drive the platform, feedback is limited to visual information supplied by on-board cameras. Significant advances in the field of haptics have the potential to meaningfully enhance situational awareness of a remote robot. The focus of this research is the augmentation of Deakin University's OzBot trade MkIV mobile platform to include haptic control methodologies. Utilising the platform's inertial measurement unit, a remote operator has the ability to gain knowledge of the vehicle's operating performance and terrain while supplying a finer level of control to the drive motors. Our development of a generic multi-platform ActiveX allows the easy implementation of haptic force feedback to many computer based robot controllers. Furthermore, development of communication protocols has progressed with Joint Architecture for Unmanned Systems (JAUS) compliance in mind. The haptic force control algorithms are presented along with results highlighting the benefits of haptic operator feedback on the MklV OzBot trade chassis.

Tendering for low cost generics in Australia

An Australian federal government committee recently proposed, as a cost-saving measure, the introduction of sealed-bid competitive tendering to exclusively supply the Pharmaceutical Benefits Scheme with specific generic medicines. A similar plan involved an open tender to supply generic products below a government set price, also linked with a reduced patient co-payment as an incentive. These proposals represented an opportunity to encourage the price of generic pharmaceuticals to move closer to the marginal cost of production—a process that could be subsequently applied to innovative (or brand-name) patented medicines in a therapeutic class with many competitors. This article examines these tendering proposals, particularly in relation to the potential for increased involvement of generic pharmaceutical manufacturers in the Australian market.

Thermal evaluation of a low cost wood burner

Small-scale producers of dried products in rural areas of developing countries must often rely on sun drying to dry their crops, but this can be unreliable and produce an inferior product. There is therefore a need for simple and inexpensive combustion devices that can be fabricated and used locally. A wood burner has been constructed from a "200 litre" steel drum and has then been evaluated experimentally. The thermal efficiency of the burner was found to be 31% in two trials. An energy balance, calculated for three trials, was within + 16%. Approximately one third of the energy available in the wood was lost in the flue gases, either as sensible heat or unburned volatile gases. Excess combustion air through the burner was calculated and measured to be approximately 400% of the stoichiometric requirements. A significant amount of energy was required to heat the thermal mass surrounding the burner, indicating that a lightweight insulated structure would be more suitable in most circumstances.

Design of a low cost underwater robotic research platform

To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels is not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Finally it must be able to navigate and avoid obstacles. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This paper describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics.

Design and analysis of hull configurations for a low-cost, autonomous underwater robot as an enabling technology for system of system applications

The objective of this research is to model and analyze candidate hull configurations for a low-cost, modular, autonomous underwater robot. As the computational power and speed of microprocessors continue to progress, we are seeing a growth in the research, development, and the utilization of underwater robots. The number of applications is broadening in the R&D and science communities, especially in the area of multiple, collaborative robots. These underwater collaborative robots represent an instantiation of a System of Systems (SoS). While each new researcher explores a unique application, control method, etc. a new underwater robot vehicle is designed, developed, and deployed. This sometimes leads to one-off designs that are costly. One limit to the wide-scale utilization of underwater robotics is the cost of development. Another limit is the ability to modify the configuration for new applications and evolving requirements. Consequently, we are exploring autonomous underwater vehicle (AUV) hull designs towards the goal of modularity, vehicle dexterity, and minimizing the cost. In our analysis, we have employed 3D solid modeling tools and finite element methods. In this paper we present our initial results and discuss ongoing work.

Low cost underwater robot sensor suite

One of the most expensive parts of underwater robotics is the sensors. This paper looks at modifying off the shelf components to create a sensor suite on a small budget. A big saving is made with sonar using a cheap commercial product to create a four sonar array. A depth sensor and acceleration navigation system are also developed.