NDLI: The Design and Characterization of a Testing Platform for Quantitative Evaluation of Tread Performance on Multiple Biological Substrates

Content Provider	IEEE Xplore Digital Library
Author	Sliker, L. J. Rentschler, M. E.
Copyright Year	1964
Abstract	In this study, an experimental platform is developed to quantitatively measure the performance of robotic wheel treads in a dynamic environment. The platform imposes a dynamic driving condition for a single robot wheel, where the wheel is rotated on a translating substrate, thereby inducing slip. The normal force of the wheel can be adjusted mechanically, while the rotational velocity of the wheel and the translational velocity of the substrate can be controlled using an open-loop control system. Wheel slip and translational speed can be varied autonomously while wheel traction force is measured using a load cell. The testing platform is characterized by testing one micropatterned polydimethylsiloxane (PDMS) tread on three substrates (dry synthetic tissue, hydrated synthetic tissue, and excised porcine small bowel tissue), at three normal forces (0.10, 0.20, and 0.30 N), 13 slip ratios (−0.30 to 0.30 in increments of 0.05), and three translational speeds (2, 3, and 6 mm/s). Additionally, two wheels (micropatterned and smooth PDMS) are tested on beef liver at the same three normal forces and translational speeds for a tread comparison. An analysis of variance revealed that the platform can detect statistically significant differences between means when observing normal forces, translational speeds, slip ratios, treads, and substrates. The variance due to within (platform error, P = 1) and between trials (human error, P = 0.152) is minimal when compared to the normal force (P = 0.036), translational speed ( P = 0.059), slip ratio (P = 0), tread (P = 0.004), and substrate variances ( P = 0). In conclusion, this precision testing platform can be used to determine wheel tread performance differences on the three substrates and for each of the studied parameters. Future use of the platform could lead to an optimized micropattern-based mobility system, under given operating conditions, for implementation on a robotic capsule endoscope.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	7
File Size	566691
Starting Page	2524
Ending Page	2530
File Format	PDF
ISSN	00189294
Volume Number	59
Issue Number	9
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Force Substrates Testing Force measurement Mobile robots traction Capsule endoscopy micropatterned treads robot mobility
Content Type	Text
Resource Type	Article
Subject	Biomedical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

An Automated Traction Measurement Platform and Empirical Model for Evaluation of Rolling Micropatterned Wheels

Micropatterned Treads for Robotic Mobility

Preliminary experimental results and modeling for a four degree of freedom automated traction measurement platform for quantitative evaluation of in vivo robotic capsule colonoscopy mobility effectiveness

Mobility Performance Analysis of an Out-Door Mobile Robot with Foldable Wheels

Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

Mechanism design and dynamic simulation of high maneuverable mobile platform for wall-climbing robot

Robotic grinding force regulation: design, implementation and benefits

A screw propelling capsule robot

Control of a Passive Mobility Assist Robot

The Design and Characterization of a Testing Platform for Quantitative Evaluation of Tread Performance on Multiple Biological Substrates

Similar Documents

An Automated Traction Measurement Platform and Empirical Model for Evaluation of Rolling Micropatterned Wheels

Micropatterned Treads for Robotic Mobility

Preliminary experimental results and modeling for a four degree of freedom automated traction measurement platform for quantitative evaluation of in vivo robotic capsule colonoscopy mobility effectiveness

Mobility Performance Analysis of an Out-Door Mobile Robot with Foldable Wheels

Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

Mechanism design and dynamic simulation of high maneuverable mobile platform for wall-climbing robot

Robotic grinding force regulation: design, implementation and benefits

A screw propelling capsule robot

Control of a Passive Mobility Assist Robot

The Design and Characterization of a Testing Platform for Quantitative Evaluation of Tread Performance on Multiple Biological Substrates