Metallic robotic arms, or manipulators, currently dominate automated industrial operations, but due to their intrinsic weight, have limited usefulness for large-scale applications in terms of precision, speed, and repeatability. This thesis focuses on exploring the feasibility of using polymeric composite materials for the construction of long-reach robotic arms. Different manipulator layouts were investigated and an ideal design was selected for a robotic arm that has a 5 [m] reach, 50 [kg] payload, and is intended to operate on large objects with complex curvature. The cross-sectional geometry of the links of the arm were analyzed for optimal stiffness- and strength-to-weight ratios that are capable of preserving high precision and repeatability under time-dependent external excitations. The results lead to a novel multi-segment link design and method of production. A proof-of-concept prototype of a two degrees-of-freedom (2-DOF) robotic arm with a reach of 1.75 [m] was developed. Both static and repeatability testing were performed for verification. The results indicated that the prototype robot main-arm constructed of carbon fiber-epoxy composite material provides good stiffness-to-weight and strength-to-weight ratios. Finite element analysis (FEA) was performed on a 3-D computer model of the arm. Successful verification led to the use of the 3-D model to define the dimensions of an industrial-sized robotic arm. The results obtained indicate high stiffness and minimal deflection while achieving a significant weight reduction when compared to commercial arms of the same size and capability.

The research initiatives addressed in this thesis are geared towards improving the performance of passive optical networks (PONs) through the development of advanced dynamic bandwidth allocation (DBA) protocols. In particular, the aim of the research undertaken is to enhance the quality of service (QoS) offered by standard PONs by means of providing subscribers with service level agreement (SLA) to fulfil applications and associated bandwidth requirements on demand. To accomplish the research objectives, a novel service and bandwidth focused DBA protocol is developed for standard time division multiplexing (TDM), gigabit-capable PONs (GPONs) by flexibly assigning a guaranteed minimum bandwidth to each optical network unit (ONU),terminated at subscribers premises. Modelling and simulation of the developed algorithms have displayed a tenfold enhancement in network performance, showing a superior performance to other published DBA protocols, in terms of mean packet delay. To accomplish protocol optimisation, the ONU upstream transmission properties of TDM-PONs have been further analysed and subsequently the ONU data transfer order in each communication cycle has been dynamically configured to increase the network upstream throughput by overlapping the upstream transmission period with parts of the bandwidth request-allocation process between OLT and ONUs. In addition, with the objective of extending the application of the developed protocol to long-reach PONs by means of reducing the augmented propagation delays due to the network’s extensive reach, the concept of virtual communication cycles has been incorporated into the optimised DBA algorithm. This approach demonstrates comparable transmission efficiency in the context of subscriber throughput and packet delay as in a standard PON but at much longer distances from the network exchange. To overcome the inevitably limited communication capacity of single wavelength TDM protocols and with the transportation of the ever increasing, time-sensitive, multi-media services in mind, a novel multi-wavelength DBA protocol is then developed to be applied to a wavelength division multiplexing–PON. With this protocol, both the downstream and upstream network capacity is dynamically adjusted according to subscribers’ service level and bandwidth demand in each polling cycle as opposed to a fixed upstream network capacity in TDM-PONs. It therefore also demonstrates improved upstream transmission efficiency.

[pt] Recentemente, grande interesse tem se voltado na robótica para o conceito de manipuladores flexíveis. Estes dispositivos apresentam uma coluna vertebral deformável continuamente, em oposição aos tradicionais manipuladores robóticos elo/junta/elo com elos rígidos. Sistemas flexíveis oferecem um aumento em potencial da capacidade de interação com o ambiente, estando aptos a se ajustarem às limitações do meio através de sua deformação. Robôs flexíveis oferecem possibilidades atrativas para o uso em diversas aplicações, como em posicionamento em ambientes complexos com obstáculos, endoscópios ativos, e manuseamento de materiais frágeis. O uso de polímeros, em particular elastômeros, tem sido explorado nestes manipuladores para promover simplicidade de operação e menor rigidez, necessária para uma interação homemmáquina com maior segurança. Usufruindo-se destes conceitos, esta dissertação aborda o desenvolvimento de um manipulador pneumático flexível de longo alcance. O manipulador é composto por uma estrutura modular, formada por vários elos ligados serialmente, permitindo que em sua extremidade sejam acopladas ferramentas que auxiliem a execução de diferentes tarefas. O sistema é baseado em um atuador pneumático denominado Músculo Artificial Pneumático (Pneumatic Artificial Muscles, PAM). Ao serem pressurizados, estes dispositivos se contraem, exercendo uma força em sua extremidade proporcional à pressão aplicada. A movimentação do manipulador desenvolvido é obtida a partir da diferença de pressão entre câmaras independentes localizadas em seu interior. Modelos analíticos dos sistemas desenvolvidos foram elaborados. O controle do manipulador é feito a partir de servoválvulas pneumáticas controladas por computador. Experimentos foram realizados para verificar os modelos desenvolvidos. O sistema desenvolvido pode ser aplicado à tarefa de inspeção interna de reservatórios de combustíveis. Inspeções internas atualmente requerem um completo esvaziamento do reservatório, se tornando muito trabalhosas e resultando em altos custos. Uma versão do manipulador é adaptada para executar esta tarefa sem a necessidade de esvaziar os tanques, devido à segurança intrínseca do sistema pneumático. / [en] Recently, the concept of flexible manipulators has attract great interest. These devices present a continuously deforming vertebral column, in opposition to the traditional robotic manipulators link/joint/link with rigid links. Flexible systems offer a potential increase in the capacity of interaction with the environment, being apt to adjust itself to the constrants through its deformation. Flexible robots offer attractive possibilities for usage in many applications, as complex environments positioning with active obstacles, endoscopies, and manipulating fragile materials. Polymers, specially elastomers, have been explored in these manipulators to guarantee simple operation and minor rigidity, necessary for a higher security man-machine interaction. Making a good use of these conceptions, this dissertation presents the development of a long-reach flexible pneumatic manipulator. The manipulator is composed of a modular structure, formed by links attached serially, allowing tools to be connected in its end-point for assistence in different tasks. The system is based on a pneumatic actuator called Pneumatic Artificial Muscle (PAM). When pressurized, these devices contract themselves, exerting a proportional force in its end-points proportional to the applied pressure. The manipulator´s motion is obtained from the pressure difference between the independent chambers located in its interior. Developed systems analytical models have been elaborated. Pneumatic valves, commanded by computer, control the manipulator. Experiments have been carried through to test the developed models. The developed system can be applied to internal inspection of fuel tanks. Internal inspections currently require a complete tank ullage, becoming very laborious and resulting in high costs. A manipulator´s version is adapted to execute this task in a full fueled tank, due to intrinsic security of the pneumatic system.

京都大学 / 0048 / 新制・課程博士 / 博士(情報学) / 甲第21216号 / 情博第669号 / 新制||情||115(附属図書館) / 京都大学大学院情報学研究科通信情報システム専攻 / (主査)教授 守倉 正博, 教授 大木 英司, 教授 梅野 健 / 学位規則第4条第1項該当 / Doctor of Informatics / Kyoto University / DFAM