Computer Assisted Robotic Examination Swab Sampling (CARESS) Shawn Hunt *a , Gary Witus a Darin Ellis b a Turing Associates, 1392 Honey Run Drive, Ann Arbor, MI 48103 b Wayne State University, 4815 Fourth Street, Detroit, MI 48202 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. Keywords: robotic arm, haptic control, swab sampling, master-slave arm, adaptive motion, adaptive behavior 1. INTRODUCTION Mobile robots have potential use in inspection tasks for physical security, HAZMAT emergency response and environmental contamination survey. In the envisioned applications, a mobile robot approaches the suspicious item or potentially contaminated area, collects surface samples, and transfers the samples to an on-board chemical analyzer, e.g., ion mobility spectroscopy, mass spectroscopy, surface enhanced Raman spectroscopy, or other technology. These technologies are highly sensitive, and can identify a chemical from only a few micrograms in the sample. Microgram samples are not present in vapor phase for many crystalline and other low vapor pressure substances (e.g., many explosives). The standard approach to collecting a sample is to swipe a swab over the area, then insert the swab into the analysis unit where the particulates are desorbed. Sample collection requires firm pressure at the swab tip while it is dragged across the object’s surface. Collecting a swab sample is a relatively simple process for human inspectors: they position the swab on the object, apply pressure, drag across the surface while maintaining pressure between the swab and surface, conforming to surface curvature, compliance and irregularities. The process is halted when the swipe is completed, when they can not go any farther without bumping into an obstruction, or when they reach a corner of the object. Human swab sample collection is a close-quarters task that puts the human inspector at risk of exposure to hazardous substances or explosives. An important task for remotely operated robotic vehicles is to perform hazardous or high-risk inspection tasks, allowing the human controller to operate from a safe standoff distance. * shawn.t.hunt@gmail.com; phone 734-645-3883; fax 734 741-8788 Unmanned Systems Technology X, edited by Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker Proc. of SPIE Vol. 6962, 69620O, (2008) · 0277-786X/08/$18 · doi: 10.1117/12.783229 Proc. of SPIE Vol. 6962 69620O-1 2008 SPIE Digital Library -- Subscriber Archive Copy