The Future with Robots, AI, and Automation

The Future with Robots, AI, and Automation

Are you afraid that you lose your job to a robot, AI, or automation? Do you have questions about what the future will be like with current advances in technology? Do you concern about ethics when robots enter our world? If you have any of these questions, do not forget to watch Dr. Madi's discussion with the Roboticist, Michael Overstreet, on his YouTube Channel: https://www.youtube.com/watch?v=2kY8vlPv6qg Download the discussion presentation HERE! Download the free PDF of the talk containing more examples and an appendix of the professions and the degree to which they are susceptible to automation HERE. Do not forget…
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Task Space and Workspace for Robots

Task Space and Workspace for Robots

In this post, you will learn about the task space and workspace for robots and understand their difference with the robot's C-space. You can find a comprehensive post about the C-space of the robot HERE. ⚠️ This post also has a video version that complements the reading. Our suggestion is to watch the video and then read the reading for a deeper understanding. We saw before that the robot's C-space is the space of all possible configurations of a robot. But what does task space and workspace mean for robots? If you want to learn about task space and workspace,…
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Holonomic vs. Nonholonomic Constraints for Robots

Holonomic vs. Nonholonomic Constraints for Robots

In this post, you will learn that holonomic or configuration constraints reduce the degrees of freedom (dofs) of a robot, whereas nonholonomic constraints reduce the space of possible velocities. ⚠️ This post also has a video version that complements the reading. Our suggestion is to watch the video and then read the reading for a deeper understanding. Holonomic (Configuration) Constraints for Robots Let’s see this with an example. Remember our famous 4-bar linkage with one degree of freedom? If you do not, please refer to this lesson. For now, consider a 4-bar linkage that has 4 links (ground is a…
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Fundamentals of Robotics: Introduction

Fundamentals of Robotics: Introduction

This is the first post of the series of Fundamentals of Robotics course that provides an introduction to the course and some introductory remarks on Robotics. The course will cover all the fundamentals of robotics, including kinematics, mechanics, planning, and control. This course is needed because, in most robotics classes, only part of the fundamentals are covered, and advanced topics such as planning and control are usually neglected. To learn robotics efficiently, all of these topics should be covered in tandem, and neglecting each part will hinder the learning. We will use free robot simulators to implement most of the…
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Implementing Dynamics and Control of a Quadrotor in MATLAB

Implementing Dynamics and Control of a Quadrotor in MATLAB

In this post, we will implement the dynamics and control of a quadrotor in MATLAB and Simulink. Stabilizing and tracking controllers are simulated and implemented on Quadcopter. A square trajectory is specified for the tracking controller. The reference of the simulation equations is the paper "Modeling and control of quadcopter" by Teppo Luukkonen. You can download the paper HERE! It has a table of values that we will use for the simulation. Objective: Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink The objective is to implement a simulation of the quadcopter dynamics by implementing the equations…
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Computed Torque Control of a 3R Robot Arm Playing Ping Pong

Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…
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Viscoelastic Characteristics of Porcine Liver

Viscoelastic Characteristics of Porcine Liver

In this post, viscoelastic characteristics of porcine liver are measured using rheological experiments. These data were needed for needle insertion experiments. The contributors of this project are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John Swensen. Sample Preparation for Rheological Tests Porcine liver was obtained from the WSU's meat science lab right after slaughter to avoid the changing of tissue properties. No authorization or approval was required since the liver was qualified to be food. The liver is then put in the 0.9% Sodium Chloride solution (9g NaCl was dissolved in 700 ml water in clean container…
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Heat Treatment of Nitinol for Different Stylet Shapes

Heat Treatment of Nitinol for Different Stylet Shapes

In this post you will learn about an approach to fabricate different stylet shapes for our proposed stylet and tube steerable needles using heat treatment of the Nitinol (a Shape Memory Alloy SMA). Our lab developed a new class of steerable needles called Stylet and Tube Steerable Needles in which the direction of the tissue fracture is controlled by the inner Stylet followed by the outer tube to help steer the needle. Stylet and Tube Steerable Needles The shape of the stylet and the step length determine the radius of curvature of the steerable needle. For this reason, we have…
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Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Our paper "Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle" is accepted to be published at the proceedings of the International Conference on Intelligent Robots and Systems (IROS) which is scheduled to be held on Sun, Oct 25, 2020 – Thu, Oct 29, 2020 at Las Vegas, NV (most likely it will be virtual because of the Pandemic). The contributors of this project are Fan Yang, and Mahdieh Babaiasl who conducted the research under the supervision of Dr. John Swensen. Stylet-and-Tube Steerable Needles. The combined radius of curvature…
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How to Import the Math Equations from LaTex to Your Website (HTML)

How to Import the Math Equations from LaTex to Your Website (HTML)

As an Engineer and a researcher, we use math equations all the time. In old days, we used to use MathType with Word to write our scientific articles. However, MathType is not free and it is tedious to use with Word. So ditch them both and use LaTeX instead! LaTex makes life easier especially while typing mathematical equations. Articles written with LaTex are also aesthetically appealing. After we launched this Website (Mecharithm), we needed to include some of the projects with math equations that were written in LaTex. Because Madi was not very experienced with HTML, she was not sure…
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