Cyclops: Miniature Robotic Reconnaissance System

Active Video Modules for Launchable Reconnaissance Robots

In this paper we present an active video module that consists of a miniature video sensor, a wireless video transmitter and a pan-tilt mechanism driven by micromotors. The video module is part of a miniature mobile robot that is projected to areas of the environment to be surveyed. A single-chip CMOS video sensor and miniature brushless D.C. gearmotors are used to comply with restrictions impos...

A Miniature Robotic System for Reconnaissance and Surveillance

Dispersion behaviors for a team of multiple miniature robots

To safely and efficiently guide search and rescue operations in disaster areas, gathering of relevant information such as the locations of victims, must occur swiftly. Using the concept of “repellent virtual pheromones” inspired by insect colony coordination behaviors, miniature robots can be quickly dispersed to survey a disaster site. Assisted by visual servoing, dispersion of the miniature r...

Design, implementation, and evaluation of an under-actuated miniature biped climbing robot

The design, implementation, and evaluation of a miniature biped robot for urban reconnaissance are presented. Design specifications for mobility, space requirement, weight, sensing, and control are defined. A revolute hip joint is selected based on its enhanced mobility and capability to function in reasonably confined spaces. Small size dictates minimal weight, which is achieved by an under ac...

ESD CYCLOPS: A new robotic surgical system for GI surgery

Gastrointestinal (GI) cancers account for 1.5 million deaths worldwide. Endoscopic Submucosal Dissection (ESD) is an advanced therapeutic endoscopy technique with superior clinical outcome due to the minimally invasive and en bloc removal of tumours. In the western world, ESD is seldom carried out, due to its complex and challenging nature. Various surgical systems are being developed to make t...