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Dr P Paoletti
Dr S Fichera
No more applications being accepted
Funded PhD Project (European/UK Students Only)
About the Project
This project will create the first integrated framework for modelling, control and design of soft actuated manipulators (graspers) for chemical lab robots.
Soft robotics is an emerging and promising technology with the potential of solving some of the major issues faced by traditional “hard robotics” [1]. Our expectation is that the main benefits of soft robotics will be realized in applications involving fragile objects handling, human-robot interaction, and locomotion on uncertain/uneven environments [2]. This project will focus on the first aspect: handling of fragile and delicate objects, within the context of development of the next generation of Chemistry labs. Some major challenges need to be addressed to unlock the full potential of soft robotics, such as the lack of joints, the continuous deformation of the actuator and the interaction with a stiffer-than-the-actuator object.
This project will directly address these challenges by blending ideas coming from different disciplines including mathematical modelling [3], mechanical design, robotics [4] and chemistry. The project will be based on the newly-established Leverhulme Centre for Functional Material Design at the University of Liverpool (https://www.liverpool.ac.uk/leverhulme-research-centre/) and will be linked to the Intelligent Automation theme.
The final goal is to prove that soft actuators can be successfully used to handle the typical objects present in a Chemistry lab and act on them or transport them between different “stations”. A demonstrator using Kuka mobile robots (https://www.kuka.com/en-gb/products/mobility/mobile-robots/kmr-iiwa) equipped with the proposed soft actuator will be created to show a first-of-a-kind automated platform for next-gen Chemistry labs and to engage with potential external partners (companies, other research groups etc.).
Qualifications:
The applicant is required to have achieved a 1st or 2.1 degree in an engineering discipline or computer science, with genuine interest and ability in mechanical design, dynamics and programming. Previous experience on robotics, mechatronics and coding in C/C++ would be desirable, though not essential.
Please apply by completing the online postgraduate research application form here: https://www.liverpool.ac.uk/study/postgraduate-taught/applying/online/
Please ensure you quote the following reference on your application: Soft Manipulator for next generation of chemical lab robots (Reference PAOLETTI LRC124)
Soft robotics is an emerging and promising technology with the potential of solving some of the major issues faced by traditional “hard robotics” [1]. Our expectation is that the main benefits of soft robotics will be realized in applications involving fragile objects handling, human-robot interaction, and locomotion on uncertain/uneven environments [2]. This project will focus on the first aspect: handling of fragile and delicate objects, within the context of development of the next generation of Chemistry labs. Some major challenges need to be addressed to unlock the full potential of soft robotics, such as the lack of joints, the continuous deformation of the actuator and the interaction with a stiffer-than-the-actuator object.
This project will directly address these challenges by blending ideas coming from different disciplines including mathematical modelling [3], mechanical design, robotics [4] and chemistry. The project will be based on the newly-established Leverhulme Centre for Functional Material Design at the University of Liverpool (https://www.liverpool.ac.uk/leverhulme-research-centre/) and will be linked to the Intelligent Automation theme.
The final goal is to prove that soft actuators can be successfully used to handle the typical objects present in a Chemistry lab and act on them or transport them between different “stations”. A demonstrator using Kuka mobile robots (https://www.kuka.com/en-gb/products/mobility/mobile-robots/kmr-iiwa) equipped with the proposed soft actuator will be created to show a first-of-a-kind automated platform for next-gen Chemistry labs and to engage with potential external partners (companies, other research groups etc.).
Qualifications:
The applicant is required to have achieved a 1st or 2.1 degree in an engineering discipline or computer science, with genuine interest and ability in mechanical design, dynamics and programming. Previous experience on robotics, mechatronics and coding in C/C++ would be desirable, though not essential.
Please apply by completing the online postgraduate research application form here: https://www.liverpool.ac.uk/study/postgraduate-taught/applying/online/
Please ensure you quote the following reference on your application: Soft Manipulator for next generation of chemical lab robots (Reference PAOLETTI LRC124)
Funding Notes
This studentship is available to home/EU applicants only, with a start date of 1st October 2018. Tuition fees and stipend are fully covered by the studentship. Moreover, a budget of £2,500 per annum will be made available to support the research costs.
References
1. P. Polygerinos et al., “Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction”, Advanced Engineering Materials, 1700016, 2017
2. J. Rossiter, H.Hauser, “Soft robotics—the next industrial revolution?”, IEEE Robotics & Automation Magazine, 23, 17–20, 2016
3. P. Paoletti, G.W. Jones and L. Mahadevan, “Grasping with a soft glove: intrinsic impedance control in pneumatic actuators,” Journal of The Royal Society Interface, 14(128), 2017
4. Soft robotics toolkit website: https://softroboticstoolkit.com/
2. J. Rossiter, H.Hauser, “Soft robotics—the next industrial revolution?”, IEEE Robotics & Automation Magazine, 23, 17–20, 2016
3. P. Paoletti, G.W. Jones and L. Mahadevan, “Grasping with a soft glove: intrinsic impedance control in pneumatic actuators,” Journal of The Royal Society Interface, 14(128), 2017
4. Soft robotics toolkit website: https://softroboticstoolkit.com/
Project supervisors
Career overview
EPSRC Rising Star (EPSRC, 2014)
Research interests
Control Systems, Robotics & Autonomous systems, Microscopy and nanosensors
View Dr Paolo Paoletti's profileCareer overview
Dr Sebastiano Fichera is a Lecturer in Aerospace Engineering at the University of Liverpool, where he focuses on experimental research in linear and nonlinear aeroelasticity and active control. His long-term research goal is to develop a framework for embedding active aeroelastic control systems into the early stages of aircraft design, aiming to exploit their beneficial effects on the overall aircraft performance. Dr Fichera possesses expertise in aeroelastic model design, which involves complex interactions between aero- and structural dynamics, as well as actuation and sensing. He is skilled in wind tunnel testing and active control in real-time environments. His research priorities include probabilistic robust control in nonlinear aeroelastic systems, active, semi-active, and passive morphing techniques, as well as soft robotics, autonomous manufacturing, and mechatronics for healthcare.
Research interests
Dr Fichera''s research focuses on linear and nonlinear aeroelasticity and active control. His long-term goal is to develop a framework for embedding active aeroelastic control systems into the early stages of aircraft design to exploit their beneficial effects on the entire aircraft. He has expertise in aeroelastic model design, which involves complex interactions of aero- and structural dynamics, as well as actuation and sensing. His research priorities include probabilistic robust control in nonlinear aeroelastic systems, active/semi-active/passive morphing techniques, and the application of soft robotics, autonomous manufacturing, and mechatronics for healthcare. Key areas of interest encompass aeroelasticity, flutter, active control, modal analysis and testing, nonlinear dynamics, wind tunnel testing, finite element methods (FEM), mechatronics, and soft robotics in manufacturing.
Aeroelasticity
Flutter
Active Control
Modal Analysis
Testing
Nonlinear Dynamics
Wind Tunnel Testing
FEM
Mechatronics
Soft Robotics
Manufacturing
Probabilistic Robust Control
Nonlinear Aeroelastic Systems
Active Morphing Techniques
Semi-active Morphing Techniques
Passive Morphing Techniques
Autonomous Manufacturing
Healthcare.
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