Soldier Protective Clothing and Equipment Feasibility of Chemical Testing Using a Fully Articulated Robotic Mannequin (2008) / Chapter Skim
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4 Design Challenge: Robotic Capability for PETMAN
4 Design Challenge: Robotic Capability for PETMAN
Pages 77-92
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From page 77... ...
and a realistic variability in skin temperature, perspiration rates, and respiration rates based on the amount of physical activity/exertion (O) defined in 3.3.4.1-3.3.4.3.
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From page 78... ...
3.2.8 The study will determine the feasibility of designing a PETMAN system with fully articulated hands and feet that simulate human motion, the minimum amount of hand and foot articulation required for the PETMAN system operation and a partial level of hand and foot articulation. Relevant PETMAN Requirements Additional relevant PETMAN requirements are presented in Box 4.1.
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From page 79... ...
3.3.10.1 M4 Modular Weapon 3.3.10.2 M24 Sniper Rifle 3.3.10.3 M16A2 Rifle 5.56 MM 3.3.10.4 XM8 Lightweight Assault Rifle 3.3.13 The PETMAN system shall record the following system parameters over time: skin temperature, respiration rate, perspiration rate, and total mass (in nanograms) of chemical vapor that penetrates/permeates through the protective ensemble.
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From page 80... ...
80 SOLDIER PROTECTIVE CLOTHING AND EQUIPMENT Figure 4.1 WABOT-1, developed at Waseda University in the early 1970s, was the first humanoid robot. SOURCE: WABOT-1, Humanoid Robotics Institute, Waseda University.
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From page 81... ...
The major limitations of the current humanoid robots for PETMAN applications are of four types: • Proportion. Most humanoid robots look like a man in a space suit.
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From page 82... ...
In light of the available technology, the PETMAN requirements describing degrees of freedom are too vague and do not highlight the specific needs of the project. We recommend that the sponsor add specific range-ofmotion and maximal-velocity requirements for the desired behaviors to any broad agency announcement (BAA)
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From page 83... ...
Isozumi. Humanoid Robot HRP-2.
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From page 84... ...
Most commercial humanoid robots use electric torque motors and harmonic drives, but there are many other possibilities, including: • Electric systems with battery power • Electric systems with a tether to deliver power • Hydraulic systems with an onboard battery-powered hydraulic pump • Hydraulic systems with an onboard hydraulic pump and an exter nal power source (electric tether) • Hydraulic systems with an external hydraulic pump (pressurized hydraulic fluid in the tether)
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From page 85... ...
actuation - Motor-reduction gear set-harmonic - Requires heat dissipation drive can produce large torques - Extensive gearing is typical - Joint torque feedback can be used with poor backdriveability and to achieve backdriveability and little torque control good torque control Hydraulic - Can produce large forces - Requires hydraulic fluid lines, - Linear actuation can be with space requirements appropriate for some joints - Needs to handle hydraulic - Precisely controlled high- control fluid leakage bandwidth - Requirse hydraulic pump -Joint torque feedback can be used - Inappropriate form factor for to achieve backdriveability and some joints; complicated design good torque control for rotary actuation - Pump may need heat dissipation - Difficult to achieve human range of motion with rigid linear actuators Pneumatic - Compact - Pneumatic system must be - Lightweight closed; air cannot be exhausted - Inherently backdriveable into ensemble - Difficult to control because of air compressibility and transmission delay; low-control bandwidth - Requires air lines and air compressor with associated space requirements - Range of motion may be low - Bulky size or high air pressure needed for large force - Inappropriate form factor for some joints; complicated design for rotary actuation
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From page 86... ...
Examples of other robotic systems that perform legged locomotion suggest power requirements of around 300 W at the battery terminals during moderate walking.11 ASIMO uses a NiMH 38.4-V 10-Ah battery; HRP-2 uses a NiMH 48-V 14.8-Ah battery; and Hubo uses a 24-V, 20-AhLi-polymer battery.12 Use of Li-polymer batteries at 150 W-h per kilogram would require batteries weighing 2 kg for an hour of operation. New models of ASIMO run for 1 h between charges.13 Hubo runs for about 60 min between charges.14 Considering only the power requirements for motion and actuation (not including simulation of human physiology, sensors, and so on)
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From page 87... ...
Having considered various cooling systems, it is feasible to develop distribution and cooling systems for integration into a test mannequin.15 For example, it may be possible to preload the system with a disposable coolant, such as liquid nitrogen or solid CO2, with a circulating liquid and vent exhaust gases as part of the breathing simulation. Spacesuit technologies may be adaptable to the mannequin's needs, but they usually require the presence of a convenient radiator.
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From page 88... ...
A tether on the back of the heel might minimize interaction with the mannequin motion and still allow normal foot placement in standing, walking, jumping, and crawling tests. In summary, we believe that a tether incorporating electric power, coolant, and command signals could be flexible and run through the face plate or the side of the boot to allow longer tests.
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From page 89... ...
Specifically, it may be difficult to reduce the size of the ankle and wrist to human size and form with electric rotary actuators and harmonic drives (the current technology)
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From page 90... ...
Finally, given the small number of humanoid robots in existence, we do not have extensive data on maintenance requirements. Cost-Benefit Analysis Developing a PETMAN system that can perform all the desired motions will require substantial modifications of current humanoid-robot designs.
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From page 91... ...
In light of the currently available technology, the PETMAN requirements regarding degrees of freedom are too vague and do not represent the specific needs of the project. Recommendation 4-1a: Specific range-of-motion and maximal-velocity requirements for the desired behaviors should be included in any broad agency announcement (BAA)
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From page 92... ...
In particular, it may be difficult to reduce the ankle and wrist to human size and form with electric rotary actuators and harmonic drives (the current technology)
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