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Proceedings Paper

Computer assisted robotic examination swab sampling (CARESS)
Author(s): Shawn Hunt; Gary Witus; Darin Ellis
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Paper Abstract

This paper describes progress toward robotic arm system to collect swab samples for trace chemical analysis. Collecting a swab sample requires bringing the swab in contact with the target object, maintaining adequate pressure against the object while dragging the swab tip across the surface, conforming to the surface compliance, curvature and irregularities. It also requires detecting when the swipe motion is blocked, when it has reached the end or edge of the object, and when the normal swipe excursion has been completed. Remote or robotic swab sample collection is complicated by the fact that key physical properties of the target object, e.g., its location, surface contour, compliance, friction, are unknown or, at best, uncertain. We are pursuing a two-fold approach to computer assisted robotic examination swab sampling. We are developing a force-feedback master-slave puppet arm control system in which the operator manipulates and receives force feedback through a scale model of the remote arm. We are also developing adaptive motion behaviors for autonomous swab sample collection, in which the arm feels its way over the surface, adjusting its configuration to conform to the surface contour, while maintaining pressure and keeping the swab tip in the desired orientation with respect to the surface as it drags the swab across the target object. Experiments with the master-slave system will provide data on human operator adaptive motion behaviors, and provide a baseline for evaluation of the automatic system. This paper describes the force-feedback master-slave puppet arm control system, presents example teleoperated swab dynamics data, describes the emerging framework for analysis of adaptive motion behaviors in swab sample collection, and describes our approach to autonomous swab sampling adaptive behavior and control.

Paper Details

Date Published: 16 April 2008
PDF: 9 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69620O (16 April 2008); doi: 10.1117/12.783229
Show Author Affiliations
Shawn Hunt, Turing Associates, Inc. (United States)
Gary Witus, Turing Associates, Inc. (United States)
Darin Ellis, Wayne State Univ. (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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