Hector Montes, Lisbeth Mena, Roemi Fernández and Manuel Armada
The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours…
Abstract
Purpose
The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours. To this end, the paper presents an experimental study for the evaluation of its energy efficiency.
Design/methodology/approach
First, the interest of using a walking robot for detection and localization of anti-personnel landmines is described, followed by the description of the mechanical system and the control architecture of the hexapod robot. Second, the energy efficiency of the hexapod robot is assessed to demonstrate its autonomy for performing humanitarian demining tasks. To achieve this, the power consumed by the robot is measured and logged, with a number of different payloads placed on-board (always including the scanning manipulator arm assembled on the robot front end), during the execution of a discontinuous gait on flat terrain.
Findings
The hexapod walking robot has demonstrated low energy consumption when it is carrying out several locomotion cycles with different loads on it, which is fundamental to have a desired autonomy. It should be considered that the robot has a mass of about 250 kg and that it has been loaded with additional masses of up to 170 kg during the experiments, with a consumption of mean power of 72 W, approximately.
Originality/value
This work provides insight on the use of a walking robot for humanitarian demining tasks, which has high stability and an autonomy of about 3 hours for a robot with high mass and high payload. In addition, the robot can be supervised and controlled remotely, which is an added value when it is working in the field.
Details
Keywords
Roemi Fernández, Héctor Montes, Carlota Salinas, Pablo González de Santos and Manuel Armada
The purpose of this paper is to introduce the design of a training tool intended to improve deminers' technique during close‐in detection tasks.
Abstract
Purpose
The purpose of this paper is to introduce the design of a training tool intended to improve deminers' technique during close‐in detection tasks.
Design/methodology/approach
Following an introduction that highlights the impact of mines and improvised explosive devices (IEDs), and the importance of training for enhancing the safety and the efficiency of the deminers, this paper considers the utilization of a sensory tracking system to study the skill of the hand‐held detector expert operators. With the compiled information, some critical performance variables can be extracted, assessed, and quantified, so that they can be used afterwards as reference values for the training task. In a second stage, the sensory tracking system is used for analysing the trainee skills. The experimentation phase aims to test the effectiveness of the elements that compose the sensory system to track the hand‐held detector during the training sessions.
Findings
The proposed training tool will be able to evaluate the deminers' efficiency during the scanning tasks and will provide important information for improving their competences.
Originality/value
This paper highlights the need of introducing emerging technologies for enhancing the current training techniques for deminers and proposes a sensory tracking system that can be successfully utilised for evaluating trainees' performance with hand‐held detectors.
Details
Keywords
Carlos Eduardo Díaz, Roemi Fernández, Manuel Armada and Felipe de Jesús García Gutiérrez
– This paper aims to provide an insight into recent advancements and developments of robotics for Natural Orifice Transluminal Surgery (NOTES) procedures.
Abstract
Purpose
This paper aims to provide an insight into recent advancements and developments of robotics for Natural Orifice Transluminal Surgery (NOTES) procedures.
Design/methodology/approach
Following an introduction that highlights the evolution from Minimally Invasive Surgery (MIS) to NOTES in the medical field, this paper reviews the main robotics systems that have been designed and implemented for MIS and NOTES, summarising their advantages and limitations and remarking the technological challenges and the requirements that still should be addressed and fulfilled.
Findings
The state-of-the-art presented in this paper shows that the majority of the platforms created for NOTES are laboratory prototypes, and their performances are still far from being optimal. New solutions are required to solve the problems confronted by the proposed systems such as the limited number of DOFs, the limited resolution, the optimal fixation and stiffening of the instruments for enabling stable and precise operation, the effective transmission of forces to the tip tools, the improvement of the force feedback feeling and the proper visualization and spatial orientation of the surgical field. Advances in robotics can contribute significantly to the development and future implementation of the NOTES procedure.
Originality/value
This paper highlights the current trends and challenges ahead in robotics applied to NOTES procedure.