In this work we present a V-REP simulator for the da Vinci Research Kit (dVRK). The contains full robot kinematic model and integrated sensors. A operating system (ROS) interface has been created easy use development of common software components. Moreover, several scenes have implemented to illustrate performance potentiality developed simulator. Both example are available community as an open source software.

This letter considers the problem of collision-free navigation omnidirectional mobile robots in environments with obstacles. Information from a monocular camera, encoders, and an inertial measurement unit is used to achieve task. Three different visual servoing control schemes, compatible class considered robot kinematics sensor equipment, are analyzed their robustness properties respect actuation inaccuracies discussed. Then, controller proposed formal guarantee convergence bisector...

The design of a physics-based dynamic simulator robot requires to properly integrate the kinematic and properties in virtual environment. Naturally, closer is integrated information real properties, more accurate predicts behaviour. A reliable valuable asset for developing new research ideas; its use dramatically reduces costs it available all researchers. This letter presents da Vinci Research Kit (dVRK) patient-side manipulator (PSM). rely on parameters identified Wang et al. With respect...

Many interventional procedures, e.g., biopsies and tumor ablation, imply the insertion of a needle into soft tissues. The interaction force at tip can convey information important for accuracy placement patient’s safety. This is essential when feedback from an imaging system missing or only available low rate. To isolate exchanged during insertion, it necessary to remove other components needle-tissue force. In particular, friction along shaft becomes more relevant as penetrates deeper this...

This article presents a 4-degrees-of-freedom (4-DoF) hand wearable haptic device for Virtual Reality (VR). It is designed to support different end-effectors, that can be easily exchanged so as provide wide range of sensations. The composed static upper body, secured the back hand, and (changeable) end-effector, placed in contact with palm. two parts are connected by articulated arms, actuated four servo motors housed on body along arms. summarizes design kinematics position control scheme...

Research activity in Minimally Invasive Robotic Surgery (MIRS) has gained a considerable momentum the last years, due to availability of reliable and clinically relevant research platforms like da Vinci Kit (dVRK). However, despite wide sharing dVRK community, access platform remains limited because high maintenance costs difficulty replacing components. In this work we complete robotic simulator dVRK, previously developed by our group, with cheap haptic interfaces an Oculus Rift replicate...

AbstractThe aim of this work was to obtain the correct hydraulic proprieties a spool servo-valve using computational fluid-dynamics (CFD) techniques and adopting an accurate enough mesh analyse flow pattern inside valve. The zones where thickening is necessary have been detected method generate mesh, based on Reynolds numbers stroke, has successfully used minimize resources. A comparison with numerical experimental results (Dong Ueno, 1999) confirms description behaviour compared theoretical...

This paper evaluates the role and effectiveness of different types haptic feedback in presenting relevant information during needle insertion soft tissues through a remotely operated robot. We carried out three experiments with human subjects to analyze effect grounded kinesthetic feedback, cutaneous vibrotactile pressure for rendering elastic viscous force components simplified needle-tissue interaction model simulated environment. Results showed that providing two pieces channels, i.e.,...

In this paper, we address the problem of humanoid navigation in a priori unknown environments, cluttered by obstacles. The robot task is to move within environment without colliding with obstacles and using only ordinary on-board sensors, like monocular cameras encoders. proposed approach relies on: (i) optical flow information, construct local representation free space; (ii) visual servoing techniques, achieve safe motion while regulating appropriate features internal configuration. case...

This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking team of autonomous quadrotors carrying suspended load. Formation is provided by the combination passivity-based techniques backstepping, while supervisory policy responsible to reconfigure network topology objectives upon detection faults among vehicles.

This paper considers the problem of guaranteeing avoidance critical state space regions during tracking reference trajectories for systems with dynamics equivalent to r-th order decoupled integrators. The necessity avoid those trajectory may arise transient phase or because was planned without taking into account presence regions. A typical in mobile robotics, taken as this paper, is obstacles robot workspace trajectories. proposed controller ensures a safety clearance from forbidden by...

This paper proposes the combination of a fast motion planner, which generates potentially unfeasible trajectories for center mass an underactuated UAV, with tracking controller integrating Control Barrier Function. In this way avoidance both stationary and moving obstacles is guaranteed even when UAV deviates from collision-free trajectory issued by due to its unfeasibility. Simulations in dynamic cluttered environment validate method.

Gamma radiation measurements integrated between 200 keV and 10.0 MeV were performed 03/07/2017 05/24/2017 from a tower of 25 meters altitude in the region São José dos Campos, SP, Brazil.Throughout this period, there 9 intense moderate rains with 11 arrivals cold fronts coming southern Brazil.Through gamma energy range mentioned above, presence these meteorological parameters their variations can clearly be observed.Through potential calibration measured intensity observed rainfall...