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This article presents the micro-electro-mechanical systems (MEMS) microrobot which demonstrates locomotion controlled by hardware neural networks (HNN). The size of the microrobot fabricated by the MEMS technology is 4 ? 4 ? 3.5 mm. The frame of the robot is made of silicon wafer, and it is equipped with a rotary-type actuator, a link mechanism, and six legs. The rotary-type actuator generates rotational movement by applying an electrical current to artificial muscle wires. The locomotion of the microrobot is obtained by the rotation of the rotary-type actuator. As in a living organism, the HNN realized robot control without using any software programs, A/D converters, or additional driving circuits. A central pattern generator (CPG) model was implemented as an HNN system to emulate the lo...

Science.gov (United States)

...QUALIFICATION AND CERTIFICATION OF LOCOMOTIVE ENGINEERS Implementation of the Certification...operations and certifies locomotive engineers from a different railroad...designated supervisor of locomotive engineers or a certified train...

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... less humans have to do to operate a robot. ... Robots can help human operators with the increase ... important mission outlined by the UUV master plan. ...

Science.gov (United States)

Summer employees in the Robotics section for 2008. ... Activity: Will work on developing behaviors for UUV's. Alberto Ko, Caltech University, CA, SURF, Abhi ...

KoreaScience (Korea)

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UK PubMed Central (United Kingdom)

Locomotive drivers in the steam engine era were exposed to asbestos during their vocational training for two years while training in workshops. Later in their career they had exposure to coal and diesel...Full Text Available

International Nuclear Information System (INIS)

The main trends of research carried out in remote handling systems in the fields of ergonomy, robotics and reliability are presented.

Science.gov (United States)

... learned will be applicable to all UUV systems. ... started the mobile robot baseline. ... demonstrated artificial intelligence in mobile robots for military use. ...

Science.gov (United States)

... The relatively large, low frequency multi-axis motions observed at the chest may be a contributor to discomfort in locomotive engineers. ...

UK PubMed Central (United Kingdom)

Methods: A total of 253 locomotive engineers (249 male, 4 female, mean age 39.7 years) participated. Data were collected at 14 rail depots, where participants drove electric or diesel locomotives;...Full Text Available

International Nuclear Information System (INIS)

The paper gives a generic idea of the solutions that the neuronal nets contribute to the robotics. The advantages and the inconveniences are exposed that have regarding the conventional techniques. It also describe the more excellent applications as the pursuit of trajectories, the positioning based on images, the force control or of the mobile robots management, among others

International Nuclear Information System (INIS)

To encourage the application of robotics technology for routine radiobench applications, a laboratory dedicated to the research and development of contained robotic systems is being constructed. The facility will have several robots located in laminar flow hoods, and the hoods are being designed to allow the possibility for multiple robots to work together. This paper presents both the design features of the hoods and the general layout of the laboratory, and also discusses an application of a robotic system for the routine nuclear counting of gamma tube samples. The gamma tube system is presently operating in one of the routine analysis laboratories. 5 figs.

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... UGV), in the air (UAV), or underwater (UUV) -across ... Figure 2 Tactical Mobile Robot MOUT concept: ... 10 robots to clear 20 rooms in 60 minutes ...

Medline Plus

ROBOT-ASSISTED RADICAL LAPAROSCOPIC PROSTATECTOMY WAKE FOREST UNIVERSITY BAPTIST MEDICAL CENTER WINSTON-SALEM, NC 00:00:08 ANTHONY ATALA, MD: I would like ...

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... laws between particles (modeling UGV/UAV/UUV collectives) to ... A mobile robot test-bed is used in ... of this work on mobile robots executing pursuit ...

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... and Unmanned Undersea Vehicle (UUV) communities as well. ... utilizes the Multi-Robot Operator Control ... Extending Mobile Security Robots to Force ...

ScienceCinema

@ work highlights Idaho National Laboratory employees and the jobs they perform.This segment features Robotic Software Engineer Miles Walton.

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... This Level 2 analysis will be somewhat less detailed, but experience in other fields including pipe whip 4 , locomotive dynamics, and nuclear fuel ...

KoreaScience (Korea)

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developed for our government and industrial robots were used by .... UUV capabilities, into a product. The licensing agreement and ...

British Library Electronic Table of Contents (United Kingdom)

We have developed a playmate robot system for playing the rock-paper-scissors game with humans. The playmate robot recognizes the hand motions of a human using image processing without attaching any additional units to the human. The playmate robot system consists of three parts: a game management part, a hand motion recognition part, and a robot hand control part. The system functions as follows. (1) Before the game is played, the game management part decides on the motion of the robot hand from amongst rock, paper, and scissors. After the game is played, the robot develops a reaction using speech and facial expressions depending on the result of the game. (2) The hand motion recognition part recognizes the hand motion of the human. It does not use any additional units on the human?s body...

Energy Technology Data Exchange (ETDEWEB)

The six-axes industrial robot MANUTEC r15 UW was modified to work underwater and successfully tested down to the simulated water depth of 1100 m. Next step in the program was to use this robot as a handling tool for inspection tasks at the welding seam of an underwater structure conducted with CCD-cameras and distance sensors. This was also to demonstrate the possibility to assist and later on to replace divers from this work. Additional research was focussed on the stiffness and rigidity of the robot during the precise guiding of tools and workpieces under current water conditions up to a flow velocity of 1.1 m/s. Present work is concentrated on the application of this subsea robot on a maintenance task at the Brazilian underwater template OCTOS-1000. For this experiments the robot is integrated in a large mock-up which simulates a quarter section of this template. (orig.)

CERN Document Server

Land snails move via adhesive locomotion. Through muscular contraction and expansion of their foot, they transmit waves of shear stress through a thin layer of mucus onto a solid substrate. Since a free surface cannot support shear stress, adhesive locomotion is not a viable propulsion mechanism for water snails that travel inverted beneath the free surface. Nevertheless, the motion of the freshwater snail, Sorbeoconcha physidae, is reminiscent of that of its terrestrial counterparts, being generated by the undulation of the snail foot that is separated from the free surface by a thin layer of mucus. Here, a lubrication model is used to describe the mucus flow in the limit of small amplitude interfacial deformations. By assuming the shape of the snail foot to be a traveling sine wave and the mucus to be Newtonian, an evolution equation for the interface shape is obtained and the resulting propulsive force on the snail is calculated. This ...

UK PubMed Central (United Kingdom)

PurposeThe objective of this study is to evaluate the continence rate following reconstruction of the posterior urethral plate in robot-assisted laparoscopic radical prostatectomy...Full Text Available

Energy Technology Data Exchange (ETDEWEB)

R and D of the robot control system was conducted in the following items: 1) integrated open control system, 2) remote control robot manipulation language, 3) human factor robot use built-in LAN system, 4) built-in actuator driver. In 1), there were some problems to be pointed out around the system, but the effectiveness was confirmed as system architecture of each verification item. In 2), development/design were made of RCML(R-Cube Manipulation Language) as a remote robot manipulation language, telecommunication protocol, and the experimental system, and the international standardization was targeted. In 3), the R and D was conducted of the realtime telecommunication protocol which clears the standards for the distributed control required for construction of human factor robot and the advanced realtime micro-controller, ULSI, which is the one that the protocol was made IC. In 4), ...

UK PubMed Central (United Kingdom)

BackgroundThe aim of the study was to examine the role that melatonin production plays in the regulation of sleep consolidation in a population of shiftworkers working and sleeping...Full Text Available

UK PubMed Central (United Kingdom)

The mechanism of cytokinesis has been difficult to define because of the short duration and the temporal-spatial dynamics involved in the formation, activation, force production, and disappearance of...Full Text Available

Energy Technology Data Exchange (ETDEWEB)

The device is designed for automatic testing of the degree of discharge of tractive storage batteries (AB) for electric loaders, electric cars and electric ore locomotives. The basic electrical schematic of the device is cited.

Science.gov (United States)

...persons from danger of runaway haulage equipment. (f) An audible warning...within 300 feet of preceding haulage equipment, except trailing locomotives...provided for all rubber-tired haulage equipment where such equipment is...

Science.gov (United States)

hicle [UUV (essentially, a small ex- ploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warm- ...

Energy Technology Data Exchange (ETDEWEB)

Calibration system for spot welding robots has been developed. The purpose of this system is to reduce the misalignment of tool center point (TCP) generated when teaching data made by off-line system is input to an actual robot. After the factor of the misalignment was analyzed, the relation between a main factor and the misalignment was modeled. In addition, the model was verified on experiment. The achievement of the accuracy requirement and practical use in the site was confirmed by the result of the verification. (author)

International Nuclear Information System (INIS)

These proceedings compile the papers presented at the international conference (1988) sponsored by IEEE Council on ''Robotics and Automation''. The subjects discussed were: automation and robots of nuclear power stations; algorithms of multiprocessors; parallel processing and computer architecture; and U.S. DOE research programs on nuclear power plants.

International Nuclear Information System (INIS)

A report on the Canadian Nuclear Society Conference on robotics and remote handling in the nuclear industry, September 1984. Remote handling in reactor operations, particularly in the Candu reactors is discussed, and the costs and benefits of use of remote handling equipment are considered. Steam generator inspection and repair is an area in which practical application of robotic technology has made a major advance. (U.K.).

International Nuclear Information System (INIS)

Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that the systems operate safely and reliably and pose a minimum risk to humans and the environment. This paper describes the SQA approach for the control and data acquisition system for a robotic system being developed for remote surveillance and inspection of underground storage tanks (UST) at the Hanford Site.

International Nuclear Information System (INIS)

The University of Michigan (UM) is a member of a team of researchers, including the universities of Florida, Texas, and Tennessee, along with Oak Ridge National Laboratory, developing robotic for hazardous environments. The goal of this research is to develop the intelligent and capable robots which can perform useful functions in the new generation of nuclear reactors currently under development. By augmenting human capabilities through remote robotics, increased safety, functionality, and reliability can be achieved. In accordance with the established lines of research responsibilities, our primary efforts during 1991 will continue to focus on the following areas: radiation imaging; mobile robot navigation; three-dimensional vision capabilities for navigation; and machine-intelligence. This report discuss work that has been and will be done in these areas.

Science.gov (United States)

The introduction of numerical control (NC) machine tools has made it possible to automate machining in series and small series production. The organization of automated production sections merged NC machine tools with automated transport systems. However, both the one and the other require the presence of an operative at the machine for low skilled operations. Industrial robots perform a number of auxiliary operations, such as equipment loading-unloading and control, changing cutting and auxiliary tools, controlling workpieces and parts, and cleaning of location surfaces. When used with a group of equipment they perform transfer operations between the machine tools. Industrial robots eliminate the need for workers to form auxiliary operations. This underscores the importance of developing robotized manufacturing centers providing for minimal human participation in production and creating conditions for two and three shift ...

Science.gov (United States)

Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system ...

International Nuclear Information System (INIS)

This report describes accomplishment of simulations of Pyrochemical Process Operation by using virtual engineering models. The pyrochemical process using molten salt electrorefining would introduce new technologies for new fuels of particle oxide, particle nitride and metallic fuels. This system is a batch treatment system of reprocessing and re-fabrication, which transports products of solid form from a process to next process. As a results, this system needs automated transport system for process operations by robotics. In this study, a simulation code system has been prepared, which provides virtual engineering environment to evaluate the pyrochemical process operation of a batch treatment system using handling robots. And the simulation study has been conducted to evaluate the required system functions, which are the function of handling robots, the interactions between robot and process equipment, ...

International Nuclear Information System (INIS)

As a direct result of its interest in the use of robotics within active plants, British Nuclear Fuels Ltd. (BNFL) has adopted a positive attitude toward both national and European initiatives in this area. During the early operation of the Sellafield reprocessing plant, the process vessels and cell voids were monitored using simple pole and camera combinations. In 1985, BNFL embarked on the provision of a series of machines intended to satisfy the advancing needs for inspection while increasing the level of expertise within the company in this important area. DIMAN 1, DIMAN 2, RODMAN, REPMAN, and RAFFMAN remote handling and robotic machines are described.

Science.gov (United States)

Challenges of robotic cars, sponsored by the Defense Advanced Research Projects Agency (DARPA) of the U.S. Defense Department. Carroll Cordes, recently retired USGS branch chief,...

International Nuclear Information System (INIS)

... Russian Federation) 978-5-85855-125-6 246 p. ENGINEERING adaptive

Science.gov (United States)

A Self-Powered Underwater Robot for Ocean Exploration and Beyond ... first unmanned underwater vehicle (UUV) that is completely powered by renewable energy . ...

Science.gov (United States)

Jun 8, 2005... competition June 17-19, organized by the Marine Advanced Technology Education (MATE) Center and the Marine Technology Society. ...

Science.gov (United States)

... of China Lake Naval Weapons Center, California. ... Figure 4: The Space-Based Laser cleaning ... of Aeronautics and Astronautics (AIAA) Space 2001 ...

Science.gov (United States)

... investigates the convergence of three main areas of UUV development; mission ... with an improved low-cost embedded-system robot controller, to ...

Science.gov (United States)

... Our primary work to date in this area has been with the Automated Transport and Retrieval System (ATRS) [1]. ATRS enables independent mobility ...

International Nuclear Information System (INIS)

The philosophy of containing tritium and activated products very close to the source and of operating by remote techniques is justified by a comparison with other concepts on protection and availability points of view. Several design options are studied according to the optimization protection methodology of ICRP. Provided that an important technological development is accomplished, the utilization of robotics and the limitation of containment volumes should be generalized.

International Nuclear Information System (INIS)

This book contains the proceedings of the International Topical Meeting on Remote Systems and Robotics in Hostile Environments. It is organized under the following sessions: Worldwide Applications Overview; Operating Mobile Systems; Sensors and Control Systems; Space Applications; Reactor Operations and Surveillance; Remote Equipment for Hazardous Operations; Future Mobile System; Mining and Construction Operations; Special Applications; Hot Cell Applications; Processing; Reactor Operations and Maintenance; Decontamination and Waste Handling; Remote Handling Development and Demonstration.

International Nuclear Information System (INIS)

A model designed to evaluate the cost-effectiveness of the use of robotics and remote tooling in achieving reduction of occupational exposure at nuclear installations is presented. The operational cost saving of implementing dose reduction action is introduced as a key parameter. Through specific example, a partial demonstration of the model is given. (author).

Wastenet

... The final strand is to invest in new infrastructure, supporting the growth of small and medium-sized businesses and developing new productive industries like pharmaceuticals, locomotive engineering and plastics. Having acted as an adviser to the government, I can see several reasons why the EU should welcome and support this model of economic development. The most important is that Kazakhstan's diversification and its determination to move production up the ...

British Library Electronic Table of Contents (United Kingdom)

Because the state of a free-floating space robot model is uncertain and sudden changes in the model parameters might undermine the stability of the system, this paper proposes a control strategy based on a variable structure neural integrated controller. This scheme does not need a precise space robot model, making use of the radial basis function neural network ability approach to learn about an uncertain model. The network weights are adjusted online in real-time. During the early period of the control phase and parameter changes, the variable structure controller compensates for the uncertain model which the neural network could not learn well. It also creates global asymptotic stability for the whole closed-loop system. Simulation results show that the controller can handle bad changea...

International Nuclear Information System (INIS)

The introduction of automation technology into the analytical laboratory holds the promise of higher efficiency, improved productivity, and lower costs. However, the conventional ''laboratory robot'' widely used today may not offer the work envelope or reliability required in a high workload laboratory performing quality control or environmental analytical services. To address this need, a demonstration workcell was assembled utilizing an industrial-class robotics system to automate a standard EPA acid digestion protocol. With further development of graphical user interfaces and error recovery software, the technology will significantly enhance the ability of laboratories to meet increasingly complex environmental demands. 7 refs., 2 figs., 1 tab.

International Nuclear Information System (INIS)

The US Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of an advanced robotic system capable of performing tasks that are hazardous to humans, that generate significant occupational radiation exposure, and/or whose execution times can be reduced if performed by an automated system. The goal is to develop a generation of advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. This goal will be achieved through a team effort among the Universities of Florida, Michigan, Tennessee, Texas, and the Oak Ridge National Laboratory, and their industrial partners, Combustion Engineering, Martin Marietta Baltimore Aerospace, Odetics, Remotec, and Telerobotics International. Each of the universities and ORNL have ongoing activities and ...

International Nuclear Information System (INIS)

The production of radiopharmaceuticals used in positron emission tomography (PET) can require large amounts of activity at the start of synthesis in order to yield sufficient labeled material for clinical studies. Several investigators have developed remote and automated systems for the routine production of PET radiopharmaceuticals in order to reduce radiation exposure to personnel. Such devices, however, suffer from limited flexibility and can be relatively complicated in design. These systems are also limited to the production of a single or a few closely related compounds. Furthermore, changes in chemistry would require considerable modifications in hardware and/or software in order to bring the device back into operation. To circumvent the above limitations associated with the remote production of PET radiopharmaceuticals, the authors have investigated the use of laboratory robotics as a flexible alternative to the synthesis of several short-lived ...

Energy Technology Data Exchange (ETDEWEB)

To investigate the usefulness of a newly developed magnetic resonance (MR) image-guided surgical robotic system for minimally invasive laparoscopic surgery. The system consists of MR image guidance [interactive scan control (ISC) imaging, three-dimensional (3-D) navigation, and preoperative planning], an MR-compatible operating table, and an MR-compatible master-slave surgical manipulator that can enter the MR gantry. Using this system, we performed in vivo experiments with MR image-guided laparoscopic puncture on three pigs. We used a mimic tumor made of agarose gel and with a diameter of approximately 2 cm. All procedures were successfully performed. The operator only advanced the probe along the guidance device of the manipulator, which was adjusted on the basis of the preoperative plan, and punctured the target while maintaining the operative field using robotic forceps. The position of the probe was monitored continuously with 3-D ...

Science.gov (United States)

Locomotive engineers (train drivers) on irregular work schedules reported a general coffee consumption rate higher than that reported by a comparison sample of permanent shift factory workers. The present study examines the impact of this consumption on workday and non-workday sleep behaviour and mood ratings. Twenty-seven engineers and their spouses each completed daily logs for 30 consecutive days. Daily logs were then sorted into workday and non-workday categories. Workday sleep length was significantly shorter than non-workday sleep length for both engineers and spouses. For the engineers only, coffee consumption on workdays was higher than on non-workdays. This increased coffee consumption was correlated with longer sleep latency, increased negative mood, and decreased positive mood on both work and non-workdays. This was not true for spouses. These results may be related to a days-off carry-over effect of caffeine or a general consumption behaviour ...

Energy Technology Data Exchange (ETDEWEB)

Micropatterned surfaces with different chemical topographies were synthesised in order to investigate the influence of surface chemistry and topography on cell behaviour. The microstructured materials were synthesised by photoimmobilising natural Hyaluronan (Hyal) and its sulphated derivative (HyalS), both adequately functionalised with a photorective moiety, on glass substrates. Four different grating patterns (10, 25, 50 and 100 {mu}m) were used to pattern the hyaluronan. The micropatterned samples were analysed by Secondary Ions Mass Spectrometry, Scanning Electron Microscopy (SEM) and Atomic Force Microscopy to investigate the chemistry and the topography of the surfaces. The spectroscopic and microscopic analysis of the microstructured surfaces revealed that the photoimmobilisation process was successful, demonstrating that the photomask patterns were well reproduced on the sample surface. The influence of chemical topographies on the cell behaviour was then analysed. Human and ...

Energy Technology Data Exchange (ETDEWEB)

The Savannah River Site has successfully used robots, teleoperators, and remote video to reduce exposure to ionizing radiation, improve worker safety, and improve the quality of operations. Previous reports have described the use of mobile teleoperators in coping with a high level liquid waste spill, the removal of highly contaminated equipment, and the inspection of nuclear reactor vessels. This report will cover recent applications at the Savannah River, as well as systems which SRS has delivered to other DOE site customers.

Energy Technology Data Exchange (ETDEWEB)

The role of robotics and remote handling equipment in future nuclear power plant maintenance activities is discussed in the context of artificial intelligence applications. Special requirements manipulators, control systems, and man-machine interfaces for nuclear applications are noted. Tasks might include inspection with cameras, eddy current probes, and leak detectors; the collection of material samples; radiation monitoring; and the disassembly, repair and reassembly of a variety of system components. A robot with vision and force sensing and an intelligent control system that can access a knowledge base is schematically described. Recent advances in image interpretation systems are also discussed.

Energy Technology Data Exchange (ETDEWEB)

Autonomous robots or remotely operated vehicles have raised high hopes in the military and industrial communities because of the potential safety improvement and gain of productivity they may provide. Waste management on nuclear sites, pallet manipulation in factories, interventions on battle-fields, etc., are actively studied. A lot of these applications require powerful four-wheel vehicles, the kinematics of which is similar to that of a car. Such vehicles have three degrees of freedom: the (x,y) positions in a plane and the orientation of the vehicle. Path planning is often understood as only changing the position of the vehicle, whereas the tasks performed by this kind of robot requires a perfect orientation of the vehicle: forklifting a pallet or docking at a loading or unloading station requires accuracy in the orientation of the vehicle. It is this requirement and the kinematic constraints of the motion mode which have led to the ...

International Nuclear Information System (INIS)

The application of robotics for repair, refurbishing or dismantling of nuclear installations implies eventually severe radiation resistance requirements on embarked components and subsystems. This is particularly critical when optical sensing is considered. Optoelectronic components and optical fibers are indeed quite sensitive to radiation, and without special design are rapidly out-of-operation in such an environment. This paper reports the results of a series of #gamma# irradiation experiments on such devices, and identify their behavior under radiation. Test results show that carefully selected optical fibers can keep their radiation induced attenuation lower than 0.3 dB/m even up to a total dose of 10 MGy. Temperature annealing can even lower this attenuation down to 0.1 dB/m. On the other hand, commercially available light emitting diodes and photodiodes present attenuations figures up to 15 dB, even after a gamma irradiation as low as 250 kGy. However, ...

International Nuclear Information System (INIS)

Radioactive waste shipping and receiving facilities presently planned for commercial and defence high level nuclear waste will handle waste packages at frequencies far in excess of those in common practice today. If current limits for radiation levels at the cask surface and current handling methods are used, high cumulative personnel exposure to ionizing radiation is projected to occur. To reduce these exposure levels, alternate handling methods are being developed and demonstrated. The production nature of cask receiving operations suggests commercial robotics be incorporated into a remote handling system to reduce predicted worker exposure to acceptable levels while maintaining or increasing throughput. The first phase of cask handling system development culminated in a proof-of-principle test demonstrating the feasibility of performing cask receiving and unloading operations in a remote and partially automated manner. (author).

International Nuclear Information System (INIS)

Radioactive waste shipping and receiving facilities presently planned for commercial and defense nuclear waste will handle waste packages at frequencies far in excess of those in common practice today. Unacceptable personnel exposure to ionizing radiation is projected to occur if current limits for radiation levels at the cask surface and current handling methods are used. To reduce these exposure levels, alternate handling methods are being developed and demonstrated. The production nature of cask receiving operations suggests commercial robotics be incorporated into a remote handling system to reduce predicted worker exposure to acceptable levels, while maintaining or increasing throughput. The first phase of cask handling system development culminated in a proof-of-principle test demonstrating the feasibility of performing cask receiving and unloading operations in a remote and partially automated manner. 6 refs., 12 figs.

British Library Electronic Table of Contents (United Kingdom)

On Oct. 24, 2005, Hurricane Wilma, a category 5 storm, made landfall at Cape Romano, Florida. Three days later, the Center for Robot-Assisted Search and Rescue at the University of South Florida deployed an iSENYS helicopter and a prototype unmanned water surface vehicle, AEOS-1, to survey damage in parts of Marco Island, 14 km from landfall. The effort was the first known use of unmanned sea surface vehicles (USVs) for emergency response and established their suitability for the recovery phase of disaster management by detecting damage to seawalls and piers, locating submerged debris (moorings and handrails), and determining safe lanes for sea navigation. It provides a preliminary domain theory of postdisaster port and littoral inspection with unmanned vehicles for use by the human-robot ...

Energy Technology Data Exchange (ETDEWEB)

An investigation of current dual-fuel natural gas/diesel engine design, performance, and emissions was conducted. The most pressing technological problems associated with dual-fuel engine use were identified along with potential solutions. It was concluded that dual-fuel engines can achieve low NOx and particulate emissions while retaining fuel-efficiency and BMEP levels comparable to those of diesel engines. The investigation also examined the potential economic impact of dual-fuel engines in diesel-electric locomotives, marine vessels, farm equipment, construction, mining, and industrial equipment, and stand-alone electricity generation systems. Recommendations for further additional funding to support research, development, and demonstration in these applications were then presented.

International Nuclear Information System (INIS)

In order to meet the needs of remote servicing performed in nuclear power plants, in fuel reprocessing plants and in atomic research centers three companies: - STMI, subsidiary of CEA, EDF and SGN, specialized in decontamination and dismantling, - La Calhene, subsidiary of CEA and SGN, specialized in robotics, - Inspectronic, manufacturer of closed circuit television cameras, have combined to create the Visionic Society, the main objectives of which are observation by television and inspections in radioactive environment.

International Nuclear Information System (INIS)

Protecting Earth and planets against the invasion of 'alien life forms' is not military science fiction, but it is the peaceful daily job of engineers and scientists of space agencies. 'Planetary Protection' is preventing microbial contamination of both the target planet and the Earth when sending robots on interplanetary space mission. It is important to preserve the 'natural' conditions of other planets and to not bring with robots 'earthly microbes' (forward contamination) when looking for 'spores of extra terrestrial life'. The Earth and its biosphere must be protected from potential extraterrestrial biological contamination when returning samples of other planets to the Earth (backward contamination). The NASA-Caltech Laboratory for Planetary Protection of Dr. Kasthuri Venkateswaran at the Jet Propulsion Laboratory (JPL) (California, USA) routinely monitors and characterizes the microbes of NASA spacecraft assembly rooms and space ...

International Nuclear Information System (INIS)

Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water. It is because that any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulatory. In-service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal of SG chambers limits free access of human worker, remote manipulators are required. In South Korea, Manipulators such as the Zetec SM series and the Westinghouse ROSA series have been used. Such manipulators are rigidly mounted to manways or tube sheets of SG. Confusions for the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators ...

International Nuclear Information System (INIS)

There are two major distinct activities involved with reprocessing of nuclear fuel. They are: a) Mechanical handling of the fuel in the head end plants; and b) chemical dissolution and separation of unused fuel, useful by-products and waste products. Plants and facilities associated with the former include significant remote handling equipment that is designed for handling of fuel for normal production processes. These equipment are selected and designed to meet the design throughput of the plant taking into consideration ease of their operation and maintenance in conjunction with statutory regulations on safety and operator dose uptake. Nevertheless, during the life of the plant, there are instances when special equipment is called for to access part of the plant and undertake tasks such as inspection, maintenance and modification to improve the existing process. BNFL has much experience in the design and application of remote handling equipment for normal production operations and ...

British Library Electronic Table of Contents (United Kingdom)

Locomotion is a complex behavior affected by many different brain- and spinal cord systems, as well as by variations in the peripheral nervous system. Recently, we found increased gene expression for EphA4, a gene intricately involved in motor neuron development, between high-active parental strain C57BL/6J and the low-active chromosome substitution strain 1 (CSS1). CSS1 mice carry chromosome 1 from A/J mice in a C57BL/6J genetic background, allowing localization of quantitative trait loci (QTL) on chromosome 1. To find out whether differences in motor neuron anatomy, possibly related to the changes in EphA4 expression, are involved in the motor activity differences observed in these strains, motor performance in various behavioral paradigms and anatomical differences in the ventral roots ...

Science.gov (United States)

The risk of lung cancer associated with diesel exhaust has been calculated from 14 case-control or cohort studies. We evaluated the findings from these studies to determine whether there is sufficient evidence to implicate diesel exhaust as a human lung carcinogen. Four studies found increased risks associated with long-term exposure, although two of the four studies were based on the same cohort of railroad workers. Six studies were inconclusive due to missing information on smoking habits, internal inconsistencies, or inadequate characterization of diesel exposure. Four studies found no statistically significant association. It can be concluded that short-term exposure to diesel engine exhaust (20 years) increases the risk of lung cancer for locomotive engineers, brakemen, and diesel engine mechanics. There is inconsistent evidence on the effects of long-term exposure to diesel exhaust in the trucking industry. There is no evidence for a joint effect of diesel ...

CERN Document Server

What makes teamwork tick?. Cooperation matters, in daily life and in complex applications. After all, many tasks need more than a single agent to be effectively performed. Therefore, teamwork rules!. Teams are social groups of agents dedicated to the fulfilment of particular persistent tasks. In modern multiagent environments, heterogeneous teams often consist of autonomous software agents, various types of robots and human beings. Teamwork in Multi-agent Systems: A Formal Approach explains teamwork rules in terms of agents' attitudes and their complex interplay. It provides the first comprehe

International Nuclear Information System (INIS)

Division of Remote Handling and Robotics (DRHR) at Bhabha Atomic Research Centre (BARC) has been working on design and development of Reactivity Control Mechanisms for Nuclear Research Reactors (Dhruva, KAMINI and recently Critical Facility of Advanced Heavy Water Reactor (AHWR)) as well as Power Reactors in India (Pressurized Heavy Water Reactors of 220 MWe at Narora and recently India's first 540 MWe PHWR Unit -1 and 2 at Tarapur). This paper gives a brief account of evolution of reactivity control mechanisms for nuclear research and power reactors in India. (author)

International Nuclear Information System (INIS)

The CyberKnife Robotic Radiosurgery System (Accuracy Incorporated, Sunnyvale, CA, USA) is used worldwide to treat tumors and neurological disorders anywhere in the body with sub-millimetre beam delivery accuracy. Accuracy has developed a number of new technologies in recent years to enhance the treatment of cancer patients. Such new technologies include a fast Monte Carlo Dose Calculation algorithm, Sequential Optimization dose planning, the IrisTM Variable Aperture Collimator, an 800 MU/min Linear Accelerator, and Optimized Path Traversal. These technologies enable physicists and physicians to plan treatments quickly and easily and deliver them with unrivalled accuracy and precision

International Nuclear Information System (INIS)

The author says ''barehand'' methods, where specially trained utility workers are called in conductive suits to equalize voltage over their bodies, to maintain high-voltage transmission lines are on the rise. Utilities are building lines at higher voltages and selling more power to other utilities, making it highly inconvenient to take the lines out of service. However, some unions view the barehand work with less than enthusiasm. Touching lines energized at hundreds of thousands of volts demands flawless equipment and rigid work procedures followed to the letter. Some local unions contend that adequate safety procedures and training, and appropriate penalties for workplace negligence, should be in place before utilities may do barehand work. The author discusses some of the methods of barehand work and the equipment used, i.e. steel-mesh lineman's suit, bucket truck's boom, helicopters, and robots.

International Nuclear Information System (INIS)

This paper is concerned with the real time automatic discriminating of flaws from two categories; i. cracks (planar defect) and ii. Non-cracks (volumetric defect such as cluster porosity and slag) using pulse-echo ultrasound. The raw ultrasonic flaws signal were collected from a computerized robotic plane scanning system over the whole of each reflector as the primary source of data. The signal is then filtered and the analysis in both time and frequency domain were executed to obtain the selected feature. The real time feature analysis techniques measured the number of peaks, maximum index, pulse duration, rise time and fall time. The obtained features could be used to distinguish between quantitatively classified flaws by using various tools in artificial intelligence such as neural networks. The proposed algorithm and complete system were implemented in a computer software developed using Microsoft Visual BASIC 6.0 (author)

Science.gov (United States)

This paper summarizes the IHY and BSS activities in West Asia and their importance in many Arab countries, such as Algeria, Egypt, Iraq, Jordan, Kuwait, Qatar, Saudi Arabia, UAE, etc. BSS future plans for some of these countries are as follows: It is proposed by the astronomers from the Arabian Gulf Region to build the Gulf Observatory on top of Jabal Shams (2980 msl) which will have a 2-3 m optical telescope. Libya signed a contract with a French company for building an observatory which will have a 2-m optical robotic telescope. It is also proposed to rebuild the Iraqi National Astronomical Observatory (INAO) which was destroyed during the two wars. It is planned to build a 5-6 m optical telescope and a small solar telescope on the top of Korek mountain, which has excellent observing conditions.

Energy Technology Data Exchange (ETDEWEB)

In this paper, we propose a new cooperative control method for multiple robotic systems that eliminates several issues in the discentralized control method. The proposed control method is constructed by extending a Passive Velocity Field Control (PVFC). It is easy to guarantee the stability in control, because the PVFC can keep the passivity of the controlled system. In this study, the cooperative control method is proposed and then it`s stability is proven. Moreover, it is extended so as to control an internal force and to control a virtual time. Finally, the efficiency of the proposed cooperative control method are examined by computer simulations for cooperation tasks with two manipulators. 11 refs., 7 figs., 1 tab.

Energy Technology Data Exchange (ETDEWEB)

Technology roadmaps serve as pathways to the future. They call attention to future needs for research and development; provide a structure for organizing technology forecasts and programs; and help communicate technological needs and expectations among end users and the research and development (R and D) community. Critical Technology roadmaps, of which the Robotics and Intelligent Machines (RIM) Roadmap is one example, focus on enabling or cross-cutting technologies that address the needs of multiple US Department of Energy (DOE) offices. Critical Technology roadmaps must be responsive to mission needs of the offices; must clearly indicate how the science and technology can improve DOE capabilities; and must describe an aggressive vision for the future of the technology itself. The RIM Roadmap defines a DOE research and development path for the period beginning today, and continuing through the year 2020. Its purpose is to identify, select and develop objectives ...

Science.gov (United States)

The widespread use of tobacco and alcohol among adolescents might be related to the ability of nicotine and ethanol to facilitate social interactions. To investigate the neurobehavioral mechanisms underlying the prosocial effects of nicotine and ethanol, we focused on social play behavior, the most characteristic social activity in adolescent rats. Social play behavior is rewarding, and it is modulated through opioid, cannabinoid and dopaminergic neurotransmission, which are also involved in the reinforcing properties of nicotine and ethanol. We found that nicotine and ethanol increased social play, without affecting locomotion or social exploration. Their effects depended on the level of social activity of the partner, and were comparable in familiar and unfamiliar environments. At doses that increased social play, nicotine and ethanol had no anxiolytic effects in the elevated plus-maze. By contrast, the prototypical anxiolytic drug diazepam reduced social play at ...

International Nuclear Information System (INIS)

The gender-specific expression pattern of aromatase and 5alpha-reductases (5alpha-R) during brain development provides neurons the right amount of estradiol and DHT to induce a dimorphic organization of the structure. Polychlorinated biphenyls (PCBs) are endocrine disruptive pollutants; exposure to PCBs through placental transfer and breast-feeding may adversely affect the organizational action of sex steroid, resulting in long-term alteration of reproductive neuroendocrinology. The study was aimed at: a) evaluating the hypothalamic expression of aromatase, 5alpha-R1 and 5alpha-R2 in fetuses (GD20), infant (PN12), weaning (PN21) and young adult (PN60) male and female rats exposed to PCBs during development; b) correlating these parameters with the time of testicular descent, puberty onset, estrous cyclicity and copulatory behavior; c) evaluating possible alterations of some non reproductive behaviors (locomotion, learning and memory, depression/anxiety behavior). A ...

Science.gov (United States)

Lunar resource utilization has focused principally on the extraction of oxygen from the lunar regolith. A number of schemes have been proposed for oxygen extraction from Ilmenite and Anorthite. Serendipitously, these schemes have as their by-products (or more directly as their "waste products"), materials needed for the fabrication of thin film silicon solar cells. Thus lunar surface possesses both the elemental components needed for the fabrication of silicon solar cells and a vacuum environment that allows for vacuum deposition of thin film solar cells directly on the surface of the Moon without the need for vacuum chambers. In support of the US space exploration initiative a new architecture for the production of thin film solar cells on directly on the lunar surface is proposed. The paper discusses experimental data on the fabrication and properties of lunar glass substrates, evaporated lunar regolith thin films (anti-reflect coatings and insulators), and preliminary attempts in ...

International Nuclear Information System (INIS)

SAFT-UT technology is shown to provide significant enhancements to the inspection of materials used in US nuclear power plants. This report provides guidelines for the implementation of SAFT-UT technology and shows the results from its application. An overview of the development of SAFT-UT is provided so that the reader may become familiar with the technology. Then the basic fundamentals are presented with an extensive list of references. A comprehensive operating procedure, which is used in conjunction with the SAFT-UT field system developed by Pacific Northwest Laboratory (PNL), provides the recipe for both SAFT data acquisition and analysis. The specification for the hardware implementation is provided for the SAFT-UT system along with a description of the subsequent developments and improvements. One development of technical interest is the SAFT real time processor. Performance of the real-time processor is impressive and comparison is made of this dedicated parallel processor to a ...

Energy Technology Data Exchange (ETDEWEB)

High-throughput synthesis and screening methods have been developed for the discovery of highly active catalysts for the control of emissions from stationary and mobile sources. Low temperature CO oxidation, CO methanation, NOx abatement and the destruction of Volatile Organic Compounds (VOCs) will be discussed. The discovery libraries for primary screening consisted of both 11x11 and 16x16 catalyst arrays on 3 inch and 4 inch quartz wafers, respectively. Catalysts were prepared by robotic liquid dispensing techniques and screened for catalytic activity in Symyx's Scanning Mass Spectrometer. The screening protocols encompassed mixed metal oxides, perovskites and supported base and noble metals. Active hits were further optimized in focus libraries using shallower compositional gradients. The ScanMS is a fast serial screening tool that uses flat wafer catalyst surfaces, local laser heating, a scanning/sniffing nozzle and a quadrupolar mass spectrometer to ...

Science.gov (United States)

Photorefractives, in general, are among the most promising materials solutions to real time optical correlation. Applications include military target recognition and civilian robotic vision. Crystals of sillenite structure photorefractives, Bi12XO20, where X equals Si, Ge, or Ti, have been grown by melt techniques and in the case of bismuth silicon oxide (BSO) and bismuth titanium oxide (BTO) by the hydrothermal method of high-temperature/high-pressure solution growth. The two growth methods are discussed and crystals grown by the two methods are compared in this paper. Optical absorption and TSC studies show that hydrothermal BSO is essentially free of the native antisite Bi defect which usually acts as a donor. These studies also show that the trap density is greatly reduced in hydrothermal material. Preliminary experiments show that hydrothermal BTO crystals have improved properties over melt grown samples. Al and P act as donors and acceptors respectively and ...

British Library Electronic Table of Contents (United Kingdom)

We evaluated robotically assisted laparoscopic adrenalectomy (RLA) in a prospective study of 100 consecutive patients (60 women and 40 men) undergoing unilateral adrenalectomy at the University Hospital. The median age was 59 (24?82) years and BMI 27.6 (17.1?40.9) kg/m2. Preoperative diagnoses were Conn?s syndrome 30%, pheochromocytoma 23%, Cushing syndrome 27% and non-functional tumor 20%. The median tumor size was 53 (10?106) mm. The majority of the 7% of the patients who were converted to open surgery were in the early phase after the introduction of the technique. The BMI of the patients who were converted to open surgery was significantly higher, 31.5 (range 25.3?37.8) compared to, 27.5 (range 17.1?40.9) in patients without conversion (P?=?0.047). The median weight of the tumor was 51...

Science.gov (United States)

To fulfill the President s Vision for Space Exploration - successful human and robotic missions between the Earth and other solar system bodies in order to explore their atmospheres and surfaces - NASA must reduce trip time, cost, and vehicle weight so that payload and scientific experiment capabilities are maximized. As a collaboration among NASA Centers, this project will generate products that will enable greater fidelity in mission/vehicle design trade studies, support risk reduction for material selections, assist in optimization of vehicle weights, and provide the material and process templates for development of human-rated qualification and certification Thermal Protection System (TPS) plans. Missions performing aerocapture, aerobraking, or direct aeroentry rely on technologies that reduce vehicle weight by minimizing the need for propellant. These missions use the destination planet s atmosphere to slow the spacecraft. Such mission profiles induce heating ...

Energy Technology Data Exchange (ETDEWEB)

This bibliography contains abstracts relating to various aspects of ALARA program implementation and dose reduction activities, with a focus on DOE facilities. Abstracts included in this bibliography were selected from proceedings of technical meetings, journals, research reports, searches of the DOE Energy, Science and Technology Database (in general, the citation and abstract information is presented as obtained from this database), and reprints of published articles provided by the authors. Facility types and activities covered in the scope of this report include: radioactive waste, uranium enrichment, fuel fabrication, spent fuel storage and reprocessing, facility decommissioning, hot laboratories, tritium production, research, test and production reactors, weapons fabrication and testing, fusion, uranium and plutonium processing, radiography, and aocelerators. Information on improved shielding design, decontamination, containments, robotics, source prevention ...

Energy Technology Data Exchange (ETDEWEB)

A new opportunity to improve the safety and efficiency of environmental restoration operations, using robotics has emerged from advances in industry, academia, and government labs. Self-Guided Vehicles (SGV`s) have recently been developed in industry and early systems have already demonstrated much, though not all, of the functionality necessary to support driverless transportation of waste within and between processing facilities. Improved materials databases are being developed by at least two DOE remediation sites, the Fernald Environmental Management Project (FEME) in the State of Ohio and the Hanford Complex in the State of Washington. SGV`s can be developed that take advantage of the information in these databases and yield improved dispatch, waste tracking, report and shipment documentation. In addition, they will reduce the radiation hazard to workers and the risk of damaging containers through accidental collision. In this document, features of remediation ...

Science.gov (United States)

Recent work on the aerodynamics of flapping flight reveals fundamental differences in the mechanisms of aerodynamic force generation between fixed and flapping wings. When fixed wings translate at high angles of attack, they periodically generate and shed leading and trailing edge vortices as reflected in their fluctuating aerodynamic force traces and associated flow visualization. In contrast, wings flapping at high angles of attack generate stable leading edge vorticity, which persists throughout the duration of the stroke and enhances mean aerodynamic forces. Here, we show that aerodynamic forces can be controlled by altering the trailing edge flexibility of a flapping wing. We used a dynamically scaled mechanical model of flapping flight (Re approximately 2000) to measure the aerodynamic forces on flapping wings of variable flexural stiffness (EI). For low to medium angles of attack, as flexibility of the wing increases, its ability to generate aerodynamic forces decreases ...

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