NRI: FND: Multi-Manipulator Extensible Robotic Platforms

NRI：FND：多机械手可扩展机器人平台

• 批准号: 2024435
• 负责人: Nadya Peek
• 金额: $ 70万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-10-01 至 2024-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2024435&HistoricalAwards=false
• 关键词: NRI; FND; Multi; Manipulator; Extensible

For a long time, robotics has emphasized "dangerous, dirty, or dull" tasks. This project aims to make skilled experts more productive rather than automate lower skilled mass-manufacturing tasks. The project will enable automation of custom, specialized, and niche tasks conducted collaboratively by domain experts together with robots. Laboratory scientists rely on precise and accurate manipulation of samples for the gathering of data. This project will develop co-botic automation tools that enable scientific exploration. These tools will include open-source motion platforms which can be customized for different applications, novel end effectors which can move objects without touching them, and software programming environments that can be used for authoring workflows that will be conducted with these tools. These tools allow scientists to delegate the precise manipulation to a robot without loss of the ability to explore and iteratively develop experiments and workflows. This research will broaden and diversify access to automation technology by providing low-cost and accessible infrastructure that is relevant to many scientific domains.The research will establish tools for co-botic workflows which end-users can customize for application specific tasks. It will contribute novel end-effectors for ultrasonic manipulation, including for applications such as manipulating trapped powders and liquids. It will contribute new design patterns for motion platforms which automatically change between multiple end-effectors. These motion platforms will be customizable, with application experts able to produce them in the field without additional expertise in robotics. It will contribute software tools for controlling these end-effectors and motion platforms developed from an end-user perspective, providing abstractions that allow domain experts to define and execute collaborative robotic workflows. This work will substantially advance research efforts in robotics and human-machine interaction by developing contactless manipulation, customizable co-bots, and iterative design of automated workflows.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

长期以来，机器人技术一直强调“危险、肮脏或乏味”的任务。该项目旨在提高熟练专家的工作效率，而不是使技能水平较低的大规模制造任务实现自动化。该项目将实现由领域专家与机器人协作执行的定制、专业和利基任务的自动化。实验室科学家依靠精确和准确的样本操作来收集数据。该项目将开发协作机器人自动化工具，以实现科学探索。这些工具将包括可针对不同应用进行定制的开源运动平台、无需接触即可移动物体的新型末端执行器，以及可用于创作使用这些工具执行的工作流程的软件编程环境。 这些工具使科学家能够将精确的操作委托给机器人，而不会丧失探索和迭代开发实验和工作流程的能力。 这项研究将通过提供与许多科学领域相关的低成本且可访问的基础设施来扩大自动化技术的使用范围并使其多样化。该研究将为协作机器人工作流程建立工具，最终用户可以针对应用程序特定任务进行定制。它将为超声波操纵提供新颖的末端执行器，包括操纵捕获的粉末和液体等应用。它将为运动平台贡献新的设计模式，在多个末端执行器之间自动切换。这些运动平台将是可定制的，应用专家能够在现场生产它们，而无需额外的机器人专业知识。它将提供从最终用户角度开发的用于控制这些末端执行器和运动平台的软件工具，提供允许领域专家定义和执行协作机器人工作流程的抽象。这项工作将通过开发非接触式操作、可定制的协作机器人和自动化工作流程的迭代设计，极大地推进机器人和人机交互的研究工作。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力评估进行评估，被认为值得支持。优点和更广泛的影响审查标准。

项目成果

A high-throughput workflow for the synthesis of CdSe nanocrystals using a sonochemical materials acceleration platform

• DOI: 10.1039/d3dd00033h
• 发表时间: 2023
• 期刊: Digital Discovery
• 作者: Mara Politi;Fábio Baum;K. Vaddi;Edwin Antonio;J. Vasquez;Brittany P. Bishop;Nadya Peek;V. Holmberg;L. Pozzo

Contact-less Manipulation of Millimeter-scale Objects via Ultrasonic Levitation

• DOI: 10.1109/biorob49111.2020.9224384
• 发表时间: 2020-02
• 期刊: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
• 作者: Jared Nakahara;Boling Yang;Joshua R. Smith

Jubilee: A Case Study of Distributed Manufacturing in an Open Source Hardware Project

Jubilee：开源硬件项目中分布式制造的案例研究

• DOI: 10.5334/joh.51
• 发表时间: 2023
• 期刊: Journal of Open Hardware
• 作者: Dunn, Kellie;Feng, Cynthia;Peek, Nadya
• 通讯作者: Peek, Nadya

Acoustic Balance: Weighing in Ultrasonic Non-Contact Manipulators

声学天平：超声波非接触式机械手中的称重

• DOI: 10.1109/lra.2022.3190075
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Nakahara, Jared;Smith, Joshua R.
• 通讯作者: Smith, Joshua R.