Unit6:

Advanced Applications of robots

 Military and medical applications Robots

Military and Medical Applications of Robots

Robots have become indispensable tools in various fields, including military and
medical applications. They offer increased efficiency, precision, and safety,
particularly in hazardous environments.

Military Applications

 Unmanned Aerial Vehicles (UAVs):

o Surveillance and reconnaissance: UAVs provide real-time aerial
surveillance, enabling troops to gather intelligence and identify
potential threats.
o Precision strikes: Armed UAVs can deliver targeted strikes on enemy
positions, minimizing civilian casualties.

Opens in a new window

www.maris-tech.com

military drone flying over a battlefield

 Ground robots:
o Explosive ordnance disposal (EOD): Robots are used to safely
detect, identify, and disarm explosive devices.
o Combat support: Ground robots can assist troops with tasks such as
carrying supplies, providing fire support, and scouting ahead.
 Opens in a new window
www.twz.com

robot dog assisting soldiers in a military operation

 Exoskeletons:
o Enhanced strength and endurance: Exoskeletons augment human
capabilities, allowing soldiers to carry heavier loads and perform
physically demanding tasks for extended periods.
o Injury prevention: Exoskeletons can reduce the risk of
musculoskeletal injuries by providing support and stability.

Opens in a new window

www.militaryaerospace.com

soldier wearing an exoskeleton

Medical Applications

 Surgical robots:
o Increased precision and accuracy: Surgical robots enable surgeons to
perform delicate procedures with greater precision and control.
o Minimally invasive surgery: Robots can be used to perform
minimally invasive surgeries, resulting in smaller incisions, reduced
pain, and faster recovery times.
 Opens in a new window
www.yourpelvicfloor.org

surgical robot performing a laparoscopic procedure

 Rehabilitation robots:
o Improved mobility and function: Rehabilitation robots assist patients
in regaining mobility and strength after injuries or illnesses.
o Personalized therapy: Robots can provide tailored therapy programs
to meet the specific needs of each patient.

Opens in a new window

www.yikangmedical.com

patient using a rehabilitation robot to improve arm strength

 Telemedicine robots:
o Remote consultations and care: Telemedicine robots allow doctors to
remotely diagnose and treat patients, expanding access to healthcare in
remote areas.
o Improved patient outcomes: Telemedicine robots can help reduce
healthcare costs and improve patient outcomes.
 Opens in a new window
www.dr-hempel-network.com

doctor using a telemedicine robot to consult with a patient

In conclusion, robots are playing an increasingly important role in both military and
medical applications. They offer numerous benefits, including increased efficiency,
precision, and safety. As technology continues to advance, we can expect to see even
more innovative applications of robots in these fields.

 Robot for underwater applications

Underwater robots, also known as Underwater Autonomous Vehicles (UAVs) or

Remotely Operated Vehicles (ROVs), are designed for various underwater
applications such as exploration, inspection, data collection, and maintenance. These
robots are crucial for industries like oil and gas, marine biology, oceanography, and
military operations because they can operate in deep or hazardous environments that
are difficult or dangerous for humans.

Key Types of Underwater Robots:

1. Remotely Operated Vehicles (ROVs):

o Description: ROVs are tethered robots controlled by an operator from
the surface. They have cameras, lights, sensors, and tools for
navigation and manipulation tasks.
o Applications: ROVs are widely used in deep-sea exploration,
underwater construction, pipeline inspections, shipwreck
investigations, and offshore drilling.
2. Autonomous Underwater Vehicles (AUVs):
o Description: AUVs operate autonomously without a tether and can
follow pre-programmed paths or adapt to environmental conditions
using sensors and AI.
o Applications: AUVs are used for ocean mapping, environmental
monitoring, and gathering data on marine life, temperature, currents,
and underwater structures.
3. Hybrid ROV/AUV Systems:
 o Description: These systems combine the autonomy of AUVs with the
control flexibility of ROVs. They can operate autonomously and
switch to tethered control for more delicate or complex tasks.
o Applications: Useful in deep-sea exploration where autonomous
operation is needed for long-range missions, but human control may be
required for specific tasks.
4. Crawling or Climbing Underwater Robots:
o Description: These robots move along the ocean floor or structures
like the legs of oil rigs. They use wheels, tracks, or limbs to traverse
underwater terrain.
o Applications: Inspection and repair of underwater structures, coral
reef monitoring, and seafloor mapping.

Key Features and Technologies:

1. Pressure Resistance and Durability:

o Underwater robots are designed to withstand high-pressure
environments, especially in deep-sea exploration. Materials used
include specialized metals, synthetic rubbers, and composites.
2. Buoyancy Control:
o Many underwater robots adjust their buoyancy to sink, float, or
maintain a neutral position at a specific depth. This is crucial for
controlling their movement in a stable manner underwater.
3. Power Supply:
o ROVs are typically powered through a tether from the surface, while
AUVs use onboard batteries, which must be energy-dense for long
missions.
4. Navigation and Communication:
o Sonar: Used for navigation, object detection, and mapping. Sonar
systems are vital for underwater robots where GPS and radio signals
are ineffective.
o Acoustic Modems: Since radio waves don't travel well underwater,
robots use acoustic modems for communication with surface stations
or other robots.
o Inertial Navigation Systems (INS): Used for autonomous robots to
determine their position and orientation relative to the surfac
5. Cameras and Sensors:
o High-resolution cameras: Provide real-time video for visual
inspection and exploration.
o Environmental Sensors: Robots are often equipped with sensors to
measure salinity, pressure, temperature, currents, and water quality.
o Manipulators and Tools: Some robots have robotic arms or claws to
perform repairs, retrieve samples, or interact with the environment.

Applications of Underwater Robots:

 1. Marine Research and Exploration:
o Underwater robots play a key role in studying marine ecosystems,
geological formations, deep-sea species, and shipwrecks. For example,
AUVs and ROVs have explored hydrothermal vents, coral reefs, and
the wreck of the Titanic.
2. Oil and Gas Industry:
o Inspection and maintenance of underwater pipelines, offshore drilling
platforms, and other subsea infrastructure is critical to the oil and gas
industry. ROVs and crawling robots are often used for these tasks.
3. Military and Defense:
o Underwater robots are employed for mine detection, surveillance, and
reconnaissance. They can also assist in search and recovery missions
for lost equipment or vessels.
4. Search and Rescue:
o ROVs are often deployed in rescue missions to locate submerged
objects, vehicles, or people in challenging environments like collapsed
ships or flooded areas.
5. Environmental Monitoring:
o Autonomous robots can track pollution levels, monitor coral bleaching,
assess the health of marine habitats, and study the effects of climate
change on oceans.
6. Underwater Archaeology:
o Robots allow archaeologists to explore ancient shipwrecks, submerged
ruins, and other underwater cultural heritage sites without disturbing
the environment.

Examples of Underwater Robots:

1. Saab Seaeye Falcon: A compact, powerful ROV used for underwater

inspection, research, and maintenance.
2. Aquanaut: A hybrid AUV/ROV system capable of transforming between
free-swimming and manipulator-equipped modes for complex underwater
tasks.
3. BlueROV2: A versatile, affordable ROV used for a range of underwater
applications, from research to inspections.
4. BoatyMcBoatface: An AUV known for its role in studying deep-sea currents
and their effects on climate change.
  Climbing robots
Climbing robots are robotic systems designed to move vertically or along inclined surfaces,
such as walls, cliffs, poles, or other challenging terrains. These robots often incorporate
unique mechanisms to handle adhesion, mobility, and navigation in difficult environments.
They are used in a wide range of industries, including inspection, maintenance, and
exploration, especially in environments that are dangerous or inaccessible to humans.

Key Features of Climbing Robots:

1. Adhesion Mechanisms:

o Magnetic: Useful for metallic surfaces, magnets allow the robot to cling to
the surface while moving.

o Suction: Vacuum or suction cups can create a temporary attachment to

surfaces.

o Gecko-inspired Adhesion: Mimics the gripping abilities of geckos, utilizing

microstructures for temporary attachment.

o Claws or Grippers: Some robots use mechanical claws or grippers to hold

onto rough surfaces like tree trunks or brick walls.

2. Locomotion Systems:

o Wheels and Tracks: Often equipped with high-friction wheels or tracks that
work in combination with adhesion methods to move smoothly along
surfaces.

o Legs: Some designs mimic the movement of insects or animals, using legs to
climb and balance.

o Hybrid Designs: Combining legs, wheels, or tracks, depending on the surface

to be navigated.

3. Sensors:

o Proximity Sensors: To detect obstacles and make real-time adjustments to

movement.

o Cameras: For inspection tasks or autonomous navigation.

o LIDAR and Infrared Sensors: For mapping and understanding the

surrounding environment.

4. Autonomy and Control:

 o Many climbing robots are remote-controlled, while others use AI for
autonomous navigation. Robots designed for specific tasks, such as building
inspections, are often pre-programmed to follow certain paths or use real-
time data for adaptive decision-making.

Applications:

 Building and Infrastructure Inspection: Climbing robots are used to inspect tall
structures like wind turbines, bridges, dams, and skyscrapers. They can detect
damage, corrosion, or other faults.

 Maintenance: In areas like nuclear power plants or oil rigs, climbing robots perform
maintenance tasks that are hazardous for humans.

 Search and Rescue: Climbing robots can reach areas inaccessible after natural
disasters or in collapsed structures.

 Space Exploration: These robots could be used on planetary surfaces with steep
cliffs or walls, like on Mars or the Moon.

 Entertainment: In some cases, robots are designed for climbing walls as part of
amusement park attractions or exhibitions.

Examples of Climbing Robots:

1. Stickybot: Inspired by geckos, it uses dry adhesives to cling to surfaces.

2. RISE Robot: Developed by Boston Dynamics, RISE can climb vertical surfaces using
claws and legs.

3. LIMBED (Legged Inspired Mechanical Designs): These robots combine advanced

legged locomotion with gripping mechanisms for extreme terrain.

Would you like to dive deeper into any specific types of climbing robots or their
technologies?
  Machine mounted Robots

Machine-Mounted Robots: Enhancing Efficiency and

Productivity
Machine-mounted robots have become an integral part of modern manufacturing and
industrial processes, offering a multitude of benefits in terms of efficiency, precision,
and safety. These robots are designed to be attached to or integrated with various
machines, allowing them to perform tasks that would be difficult, dangerous, or time-
consuming for human workers.

Common Types of Machine-Mounted Robots

1. Robot Arms: These are the most common type of machine-mounted robot,
consisting of a series of connected segments that allow for flexible movement.
They can be used for tasks such as loading and unloading machines, material
handling, assembly, and welding.

Opens in a new window

www.fanucamerica.com

robot arm mounted on a CNC machine

2. Cartesian Robots: Also known as linear robots, these have a rectangular

structure with three linear axes of motion. They are often used for pick-and-
place applications, precision machining, and packaging.
 Opens in a new window
www.therobotreport.com

Cartesian robot mounted on a packaging machine

3. Polar Robots: These robots have a cylindrical structure with a rotating base
and a vertical arm. They are well-suited for tasks that require a large
workspace, such as painting, spraying, and material handling.

Opens in a new window

www.slideshare.net

polar robot mounted on a spray painting machine

4. Scara Robots: Selective compliance articulated robot arms are designed for
fast and precise movements in two dimensions. They are commonly used in
assembly operations, electronics manufacturing, and laboratory automation.
 Opens in a new window
www.evsint.com

SCARA robot mounted on an assembly line

Benefits of Machine-Mounted Robots

 Increased Efficiency: Robots can perform tasks faster and with greater
accuracy than humans, leading to increased productivity.
 Improved Quality: Consistent and precise movements ensure high-quality
products.
 Enhanced Safety: Robots can handle dangerous or repetitive tasks, reducing
the risk of injuries to human workers.
 Flexibility: Many machine-mounted robots can be easily reprogrammed to
handle different tasks, making them versatile and adaptable.
 Cost Savings: In the long run, robots can help reduce labor costs and improve
overall efficiency.

Machine-mounted robots have revolutionized various industries, from automotive

manufacturing to electronics production. As technology continues to advance, we can
expect to see even more innovative and capable machine-mounted robots in the
future.

 Interfacing Robots with computers

Interfacing Robots with Computers: A Bridge to

Automation
Interfacing robots with computers is a fundamental aspect of modern robotics,
enabling seamless communication, control, and data exchange. This connection
allows for complex tasks, data analysis, and integration with other systems.

Key Components and Technologies

1. Robot Controllers: These are specialized computers that control the
movements and functions of robots. They often have embedded systems and
real-time operating systems for precise control.

Opens in a new window

www.pololu.com

robot controller

2. Communication Protocols: Standards like RS-232, RS-485, Ethernet, and

USB are used to establish communication channels between robots and
computers.

Opens in a new window

lv.farnell.com

different communication protocols

3. Software Development Kits (SDKs): These provide libraries, tools, and APIs
for developers to create applications that interact with robots.
 Opens in a new window
www.spaceo.ca

software development kit

4. Programming Languages: Languages like C++, Python, and Java are

commonly used for robot programming.

Opens in a new window

www.youtube.com

popular programming languages

5. Human-Machine Interfaces (HMIs): These provide a user-friendly way for

operators to interact with robots, often through touchscreens or graphical
interfaces.
 Opens in a new window
inductiveautomation.com

humanmachine interface

Benefits of Interfacing Robots with Computers

 Automation: Computers can automate repetitive tasks, freeing up human

workers for more complex or creative activities.
 Flexibility: Robots can be easily reprogrammed to perform different tasks,
adapting to changing production needs.
 Data Analysis: Computers can collect and analyze data from robots,
providing valuable insights into performance and optimization.
 Integration: Robots can be integrated with other systems, such as ERP or
MES, for seamless workflow management.
 Remote Control: Computers can allow for remote monitoring and control of
robots, enabling operations from distant locations.

Common Applications

 Industrial Automation: Robots are used in manufacturing, assembly, and

logistics, controlled by computers for precise and efficient operations.
 Research and Development: Robots are employed in laboratories for tasks
like sample handling, experimentation, and data collection.
 Healthcare: Robots assist in surgeries, rehabilitation, and patient care, often
controlled by computers.
 Service Robotics: Robots in fields like hospitality, retail, and security can be
controlled and monitored through computer interfaces

 Obstacle Avoidance: Lee's Algorithm Application of robots

Lee's Algorithm for Obstacle Avoidance in Robotics

Lee's algorithm is a popular method used for pathfinding and obstacle avoidance in
robotics. It's a grid-based algorithm that searches for the shortest path between a
starting point and a goal point while avoiding obstacles.

How Lee's Algorithm Works

1. Grid Representation: The environment is represented as a grid, where each

cell can be either occupied (by an obstacle) or unoccupied.
2. Starting Point and Goal: The starting point and the goal point are identified
on the grid.
3. Wavefront Propagation:
o The starting point is assigned a value of 0.
o Neighboring unoccupied cells are assigned a value of 1.
o This process continues, with each new cell's value being one more than
its neighboring cell with the lowest value.
o The wavefront expands outward until it reaches the goal point.
4. Path Tracing:
o Once the goal point is reached, the path is traced backward by
following the cells with decreasing values until the starting point is
reached.

Example

Opens in a new window

www.geeksforgeeks.org

grid with obstacles and starting/goal points

In this example, the starting point is labeled 'S' and the goal point is labeled 'G'. The
obstacles are represented by shaded cells.

The algorithm would proceed as follows:

1. The starting point (S) is assigned a value of 0.

2. Neighboring unoccupied cells are assigned a value of 1.
3. The wavefront continues to expand until it reaches the goal point (G).
4. The path is traced backward by following the cells with decreasing values.
Advantages of Lee's Algorithm

 Simplicity: Lee's algorithm is relatively easy to implement.

 Efficiency: For small grids and simple environments, it can be efficient.
 Guaranteed Path: If a path exists, Lee's algorithm will find it.

Disadvantages of Lee's Algorithm

 Computational Complexity: For large grids or complex environments, the

computational complexity can be high.
 Suboptimal Paths: Lee's algorithm may not always find the shortest possible
path, especially in environments with diagonal movements.

Applications

 Robot Navigation: Lee's algorithm can be used for robots to navigate through
environments with obstacles.
 Video Game AI: It can be used for game characters to find paths to their
targets.
 Maze Solving: Lee's algorithm can be used to solve mazes.

Note: While Lee's algorithm is a useful tool, for more complex environments or real-
time applications, other algorithms like A* or Dijkstra's algorithm might be more
suitable due to their improved efficiency and ability to handle more complex
scenarios.

 Counter Path Defining using 'via' point

"Counter Path Defining using 'via' point," incorporating insights from the ratings and
addressing potential shortcomings:

Counter Path Defining with 'Via' Points

A counter path, in the context of robotics or motion planning, refers to a trajectory

that avoids obstacles and reaches a desired goal. A "via" point is an intermediate point
that the robot must pass through on its way to the goal. By defining counter paths
using via points, you can create more complex and flexible motion plans that
accommodate various constraints and scenarios.

Key Concepts and Considerations:

 Path Planning Algorithms: Various algorithms (e.g., A*, RRT, Dijkstra's)

can be used to generate counter paths, considering the robot's capabilities,
obstacles, and via points.
 Obstacle Avoidance: The path planner must ensure that the robot avoids
collisions with obstacles while navigating to the via points and the final goal.
  Smoothness: The generated path should be smooth and continuous to
minimize jerk and ensure efficient movement.
 Safety: Consider safety factors, such as avoiding hazardous areas or ensuring
the robot's orientation is appropriate at certain points.
 Flexibility: Allow for adjustments to the via points or the goal during runtime
to accommodate changing conditions.

Practical Applications:

 Manufacturing: Robots can perform complex tasks like assembly or welding

by following counter paths defined by via points.
 Autonomous Vehicles: Self-driving cars can navigate through traffic and
avoid obstacles by using via points to plan their routes.
 Robotics Research: Researchers can experiment with different path planning
algorithms and via point configurations to study robot behavior and optimize
performance.

Example:

Consider a robot tasked with moving from point A to point B while avoiding a
rectangular obstacle. By defining a via point on the opposite side of the obstacle, the
robot can plan a counter path that safely navigates around the obstacle.

Additional Considerations:

 Multiple Via Points: You can define multiple via points to create more
complex paths and accommodate various constraints.
 Dynamic Environments: If the environment changes during runtime (e.g.,
moving obstacles), the robot's path may need to be replanned to avoid
collisions.
 Robot Constraints: Consider the robot's physical limitations, such as joint
limits or maximum velocity, when planning the path.
 Uncertainty: Account for uncertainties in the robot's position and the
environment to ensure safe and reliable navigation.

By effectively utilizing via points in counter path planning, you can enable robots to
perform a wide range of tasks with precision, efficiency, and safety.

ounterpath Defining Using 'Via' Points

Understanding Counterpaths

A counterpath in robotics is a planned trajectory that a robot follows to avoid

obstacles or reach a specific goal. It's often used in environments with dynamic
obstacles or complex geometries.

Defining Counterpaths Using 'Via' Points

A 'via' point is a designated intermediate point that a robot must pass through on its
way to a final destination. By defining multiple 'via' points, you can create a
counterpath that effectively navigates around obstacles and reaches the desired goal.

Steps to Define a Counterpath Using 'Via' Points:

1. Identify the Starting Point: Determine the robot's initial position.

2. Define the Destination: Specify the desired final location.
3. Locate 'Via' Points: Identify intermediate points that the robot must pass
through. These points should be chosen to avoid obstacles and ensure a safe
and efficient path.
4. Create a Path Planning Algorithm: Use a path planning algorithm (e.g., A*,
RRT, Dijkstra) to generate a path that connects the starting point, 'via' points,
and the destination.
5. Execute the Path: Send the generated path to the robot's controller, which
will guide the robot along the planned trajectory.

Example:

Opens in a new window m.youtube.com

robot navigating around obstacles using 'via' points

In this example, the robot needs to reach the destination while avoiding the obstacles.
By defining 'via' points A, B, and C, the robot can create a counterpath that safely
navigates around the obstacles and reaches its goal.

Benefits of Using 'Via' Points:

 Flexibility: You can easily modify the counterpath by adding, removing, or

adjusting 'via' points.
 Obstacle Avoidance: 'Via' points can be used to guide the robot around
obstacles and avoid collisions.
 Precision: By defining specific 'via' points, you can ensure that the robot
follows a precise trajectory.
 Efficiency: Well-placed 'via' points can help optimize the robot's path and
minimize travel time.

Additional Considerations:
  Obstacle Detection: To ensure safe navigation, the robot should be equipped
with sensors (e.g., LiDAR, cameras) to detect obstacles in real-time.
 Path Replanning: If unexpected obstacles appear during execution, the robot
may need to replan its path using a new set of 'via' points.

By effectively using 'via' points, you can create efficient and safe counterpaths for
robots operating in complex environments.

 Blending

Advanced Applications of Robot Blending

Robot blending, a technique that involves seamlessly transitioning between multiple
robot motions or tasks, is becoming increasingly prevalent in various industries. This
advanced application offers enhanced flexibility, efficiency, and precision. Here are
some notable examples:

1. Collaborative Robotics

 Human-Robot Interaction: Blending allows robots to safely and efficiently

work alongside humans, sharing tasks and avoiding collisions.
 Task Sharing: Robots can seamlessly transition from performing repetitive or
dangerous tasks to assisting humans in more complex activities.

2. Adaptive Manufacturing

 Dynamic Task Switching: Robots can quickly adapt to changes in production

lines by blending between different tasks or products.
 Customization: Blending enables robots to create highly customized products
by seamlessly transitioning between different assembly steps.

3. Complex Assembly Processes

 Multi-Robot Collaboration: Multiple robots can work together to assemble

complex products, blending their motions to achieve precise and efficient
results.
 Precise Positioning: Blending allows for precise positioning and alignment of
components, ensuring high-quality assembly.

4. Logistics and Warehousing

 Efficient Material Handling: Robots can blend between different tasks, such
as picking, packing, and transporting goods, to optimize warehouse
operations.
  Dynamic Routing: Blending allows robots to adapt to changes in inventory or
orders, ensuring efficient routing and delivery.

5. Service Robotics

 Personalized Assistance: Service robots can blend between different tasks,

such as greeting customers, providing information, and performing specific
services.
 Adaptive Behavior: Blending enables robots to adapt to changing
environments and user preferences, providing a more personalized experience.

6. Medical Robotics

 Surgical Procedures: Blending allows surgical robots to seamlessly transition

between different instruments or procedures, improving precision and
reducing patient trauma.
 Rehabilitation: Robots can blend between different exercises or therapy
techniques to provide personalized rehabilitation for patients.

7. Entertainment and Education

 Interactive Experiences: Robots can blend between different behaviors or

performances to create engaging and interactive experiences for audiences.
 Educational Tools: Blending allows robots to adapt to different learning
styles and provide personalized educational experiences.

By combining multiple robot motions or tasks, blending offers a wide range of

possibilities for advanced applications across various industries. As technology
continues to advance, we can expect to see even more innovative and sophisticated
uses of robot blending in the future.