Search for: All records

Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures naturally yield circular cross-sections when inflated, whereas a robotic sling must be both thin enough to grow between a human and their resting surface and wide enough to cradle the human. Recent works have achieved flattened cross-sections by including rigid components into the structure, but this reduces conformability to the human. We present a method of mechanically programming the cross-section of soft everting robotic structures using flexible strips that constrain radial expansion between points along the outer membrane. Our method enables simultaneously wide and thin inflated profiles, and maintains the full multi-axis flexibility of traditional slings when deflated. We develop and validate a model relating geometric design specifications to fabrication parameters, and experimentally characterize their effects on growth rate. Finally, we prototype a soft growing robotic sling system and demonstrate its use for assisting a single caregiver in bed-to-chair patient transfer. 

This paper explores the addition of AI into ChangeMaker K-12, a set of experiences and materials designed to support teacher candidates (TC) in learning to teach engineering design. The ChangeMaker K-12 model and materials consist of four progressive stages: design awareness, design for function, design with empathy, and design for change. This new research explores the introduction of AI assistance into these four stages. 

We present a pneumatic actuator capable of changing length by 1000%, applying both pushing and pulling forces, and independently modulating its length and stiffness. These characteristics are enabled by individually addressable internal and external chambers that work antagonistically against one another. The high deformation with low hysteresis is achieved by wrinkling of thin materials that are assumed to be inextensible but flexible, as opposed to stretchable. A model for the actuator is presented and validated with experimental results, showing capabilities of high strain, pushing and pulling, and independent control of length and stiffness. These charac- teristics are motivated by the application of a compliant truss robot. Accordingly, we show a simple grounded tetrahedron with three actuator elements and three static elements. We demonstrate motion of the tetrahedron apex against external loads and the ability of the structure to vary its stiffness. The actuator offers a unique set of characteristics that could increase the capabilities of soft robotic devices. 

For many types of robots, avoiding obstacles is necessary to prevent damage to the robot and environment. As a result, obstacle avoidance has historically been an im- portant problem in robot path planning and control. Soft robots represent a paradigm shift with respect to obstacle avoidance because their low mass and compliant bodies can make collisions with obstacles inherently safe. Here we consider the benefits of intentional obstacle collisions for soft robot navigation. We develop and experimentally verify a model of robot-obstacle interaction for a tip-extending soft robot. Building on the obstacle interaction model, we develop an algorithm to determine the path of a growing robot that takes into account obstacle collisions. We find that obstacle collisions can be beneficial for open-loop navigation of growing robots because the obstacles passively steer the robot, both reducing the uncertainty of the location of the robot and directing the robot to targets that do not lie on a straight path from the starting point. Our work shows that for a robot with predictable and safe interactions with obstacles, target locations in a cluttered, mapped environment can be reached reliably by simply setting the initial trajectory. This has implications for the control and design of robots with minimal active steering. 

ABSTRACT We present K2-2016-BLG-0005Lb, a densely sampled, planetary binary caustic-crossing microlensing event found from a blind search of data gathered from Campaign 9 of the Kepler K2 mission (K2C9). K2-2016-BLG-0005Lb is the first bound microlensing exoplanet discovered from space-based data. The event has caustic entry and exit points that are resolved in the K2C9 data, enabling the lens-source relative proper motion to be measured. We have fitted a binary microlens model to the Kepler data and to simultaneous observations from multiple ground-based surveys. Whilst the ground-based data only sparsely sample the binary caustic, they provide a clear detection of parallax that allows us to break completely the microlensing mass-position-velocity degeneracy and measure the planet’s mass directly. We find a host mass of 0.58 ± 0.04 M⊙ and a planetary mass of 1.1 ± 0.1 MJ. The system lies at a distance of 5.2 ± 0.2 kpc from Earth towards the Galactic bulge, more than twice the distance of the previous most distant planet found by Kepler. The sky-projected separation of the planet from its host is found to be 4.2 ± 0.3 au which, for circular orbits, deprojects to a host separation $$a = 4.4^{+1.9}_{-0.4}$$ au and orbital period $$P = 13^{+9}_{-2}$$ yr. This makes K2-2016-BLG-0005Lb a close Jupiter analogue orbiting a low-mass host star. According to current planet formation models, this system is very close to the host mass threshold below which Jupiters are not expected to form. Upcoming space-based exoplanet microlensing surveys by NASA’s Nancy Grace Roman Space Telescope and, possibly, ESA’s Euclid mission, will provide demanding tests of current planet formation models. 

Context. Brown dwarfs are transition objects between stars and planets that are still poorly understood, for which several competing mechanisms have been proposed to describe their formation. Mass measurements are generally difficult to carry out for isolated objects as well as for brown dwarfs orbiting low-mass stars, which are often too faint for a spectroscopic follow-up. Aims. Microlensing provides an alternative tool for the discovery and investigation of such faint systems. Here, we present an analysis of the microlensing event OGLE-2019-BLG-0033/MOA-2019-BLG-035, which is caused by a binary system composed of a brown dwarf orbiting a red dwarf. Methods. Thanks to extensive ground observations and the availability of space observations from Spitzer, it has been possible to obtain accurate estimates of all microlensing parameters, including the parallax, source radius, and orbital motion of the binary lens. Results. Following an accurate modeling process, we found that the lens is composed of a red dwarf with a mass of M 1 = 0.149 ± 0.010 M ⊙ and a brown dwarf with a mass of M 2 = 0.0463 ± 0.0031 M ⊙ at a projected separation of a ⊥ = 0.585 au. The system has a peculiar velocity that is typical of old metal-poor populations in the thick disk. A percent-level precision in the mass measurement of brown dwarfs has been achieved only in a few microlensing events up to now, but will likely become more common in the future thanks to the Roman space telescope.