Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges

Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges.

Design and Optimisation of a Three Layers Thermal Neutron, Fast Neutron and Gamma-Ray Imaging System

The design and configuration of a multi-layered imaging system with the ability to detect thermal neutrons, fast neutrons and gamma rays has been developed and its efficacy demonstrated. The work presented here numerically determines the systems efficiency and spatial resolution, using 252Cf and 137Cs as a case study. The novelty of this detection system lies in the use of small form factor detectors in a three-layer design, which utilises neutron elastic scattering and Compton scattering simultaneously. The current configuration consists of 10 mm thick natural lithium glass (GS10) scintillator integrated with a 20 mm thick plastic scintillator (EJ-204) in the first layer, a 15 mm thick lithium glass (GS10) scintillator in the second and a 30 mm thick CsI(Tl) scintillator forming the final layer. Each of these layers is backed with an 8 x 8 silicon photomultiplier diode (SiPM) array. The overall size of the imaging system is 27 mm x 27 mm x 135 mm. MCNPv6.1 and Geant4-10.04 were alternatively used to optimise the overall configuration and to investigate detection modalities. Results show promising performance with high precision source localisation and characterization abilities. Measurements were virtually obtained of two gamma-ray sources within steel enclosures at angles of 15°, 30° and 50° separation in order to test spatial resolution ability of the system. With the current active size of the system and the 8x8 SiPM configuration, the results estimate the spatial resolution to be close to 30°. The ability of the system to characterise and identify sources based on the type and energy of the radiation emitted, has been investigated and results show that for all radiation types the system can identify the source energy within the energy range of typical reported sources in literature.

Experimental platform to facilitate novel back brace development for the improvement of spine stability

The spine or 'back' has many functions including supporting our body frame whilst facilitating movement, protecting the spinal cord and nerves and acting as a shock absorber. In certain instances, individuals may develop conditions that not only cause back pain but also may require additional support for the spine. Common movements such as twisting, standing and bending motions could exacerbate these conditions and intensify this pain. Back braces can be used in certain instances to constrain such motion as part of an individual's therapy and have existed as both medical and retail products for a number of decades. Arguably, back brace designs have lacked the innovation expected in this time. Existing designs are often found to be heavy, overly rigid, indiscrete and largely uncomfortable. In order to facilitate the development of new designs of back braces capable of being optimised to constrain particular motions for specific therapies, a numerical and experimental design strategy has been devised, tested and proven for the first time. The strategy makes use of an experimental test rig in conjunction with finite element analysis simulations to investigate and quantify the effects of back braces on flexion, extension, lateral bending and torsional motions as experienced by the human trunk. This paper describes this strategy and demonstrates its effectiveness through the proposal and comparison of two novel back brace designs.

Light-modulating pressure sensor with integrated flexible organic light-emitting diode

Organic light-emitting diodes (OLEDs) are used almost exclusively for display purposes. Even when implemented as a sensing component, it is rarely in a manner that exploits the possible compliance of the OLED. Here it is shown that OLEDs can be integrated into compliant mechanical micro-devices making a new range of applications possible. A light-modulating pressure sensor is considered, whereby the OLED is integrated with a silicon membrane. It is shown that such devices have potential and advantages over current measurement techniques. An analytical model has been developed that calculates the response of the device. Ray tracing numerical simulations verify the theory and show that the design can be optimized to maximize the resolution of the sensor.