An adjustable force field for multiple robot mission and path planning

Mission and path planning for multiple robots in dynamic environments is required when multiple mobile robots or unmanned vehicles are used for geographically distributed tasks. Assigning tasks and paths for robots for cooperatively accomplishing a mission of reaching to number of target points are addressed in this paper. The methodology that is proposed is based on using an adjustable force field which is suitable for dynamic environment. From the force field analysis, the decisions to assign tasks for each robot are then made. The force field is also used to plan a collision free path for each robot. Adjustable weights for the force field model are proposed to satisfy the constraints of the motion. In this research, the constraints are the cooperation of the robots, the precedence between the targets and between robots, and the discrimination between different obstacles. Two simulations for mission and path planning in 2D and 3D dynamic spaces with multiple robots are presented based on the proposed adjustable force filed. The result of the mission and path planning for three robots cooperatively doing eight target points are shown.

OzTug mobile robot for manufacturing transportation

Firstly, this paper introduces the OzTug mobile robot developed to autonomously manoeuvre large loads within a manufacturing environment. The mobile robot utilizes differential drive and necessary design criteria includes low-cost, mechanical robustness, and the ability to manoeuvre loads ranging up to 2000kg. The robot is configured to follow a predefined trajectory while maintaining the forward velocity of a user-specified velocity profile. A vision-based fuzzy logic line following controller enables the robot to track the paths on the floor of the manufacturing environment. Secondly, in order to tow large loads along predefined paths three different robot-load configurations are proposed. Simulation within the Webots environment was performed in order to empirically evaluate the three different robot-load configurations. The simulation results demonstrate the cost-performance trade-off of two of the approaches.

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.

Volunteering in a school kitchen garden program : cooking up confidence, capabilities and connections!

This paper reports on the evaluation of a kitchen garden program in primary schools in Victoria, Australia. It focuses on the motivations, impacts, and issues associated with volunteering in the program. The study revealed that volunteers are drawn from a range of sources, including: families of current and former students, former teachers, local residents, clients of aged care and/or disability services, other schools and communities, local universities, community organizations, the community services sector, and the corporate sector. Benefits to volunteers included: opportunities to use time productively, an increased sense of belonging, learning opportunities, and an increased sense of self-worth and enjoyment. For schools, volunteers enhanced engagement between the school and the local community, enabled them to engage more effectively with hard to reach groups, and increased student engagement. In addition, the involvement of volunteers improved the sustainability of the program, improved communication between teachers and families of students from minority ethnic groups, and gave students the chance to relate to new people, to learn from their experience and to have fun in working with the volunteers. Perhaps the most telling benefits to flow both to students and to volunteers were not the “three Rs—reading, w’riting and a’rithmetic” but the three Cs—confidence, capabilities, and connections. However, a clearly identified issue was the importance of matching volunteers’ motivations and needs with the roles they play to sustain current levels of volunteering and, therefore, the program itself.

Expanding children's food experiences : the impact of a school-based kitchen garden program

Objective: Evaluate achievement of the Stephanie Alexander Kitchen Garden Program in increasing child appreciation of diverse, healthy foods.

Design: Comparative 2-year study.

Setting: Six program and 6 comparison primary schools in rural and metropolitan Victoria, Australia, matched for socioeconomic status and size.

Participants: A total of 764 children in grades 3 to 6 (8–12 years of age) and 562 parents recruited. Retention rates at follow-up included 85% children and 75% parents.

Intervention: Each week of the school year, children spent 45 to 60 minutes in a garden class and 90 minutes in a kitchen class.

Phenomenon of interest: Program impact on children’s willingness to try new foods, capacity to describe foods, and healthy eating.

Analysis: Qualitative data analyzed using inductive thematic analysis. Quantitative data analyzed using random-effects linear regressions adjusted for school clustering.

Results: Child and parent qualitative and quantitative measures (if never tried before, odds ratio 2.0; confidence interval, 1.06–3.58) showed increases in children’s reported willingness to try new foods. No differences in articulation of food descriptions (program vs comparison groups). Qualitative evidence showed that the program extended its influence to healthy eating, but this was not reflected in the quantitative evidence.

Conclusions and Implications: Findings indicate program success in achieving its primary objective, meriting further program research.

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.