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Sample records for artemis automated robotic

  1. Lunabotics Mining: Evolution of ARTEMIS PRIME

    Science.gov (United States)

    Bertke, Sarah; Gries, Christine; Huff, Amanda; Logan, Brittany; Oliver, Kaitlin; Rigney, Erica; Tyree, Whitney; Young, Maegan

    2010-01-01

    This slide presentation reviews the development of Amassing Regolith with Topper Engineers eMploying Innovative Solutions (ARTEMIS) in a competition to develop robotic lunar mining capabilities. The goal of the competition was to design, build and operate a remotely controlled device that is capable of excavating, transporting and discharging lunar regolith simulant in a lunar environment over a 13 minute period.

  2. Automated technological equipment-robot complexes

    International Nuclear Information System (INIS)

    Zhitomirskii, S.V.; Samorodskikh, B.L.

    1984-01-01

    This paper surveys the types of automated technological equipment robot complexes. The principal elements of such complexes are described. Complexes are divided into two principal groups: those using simultaneously acting robots, and those using successively acting robots. The great variety of types of robots using successive action is then described

  3. Human-Automation Allocations for Current Robotic Space Operations

    Science.gov (United States)

    Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

    2018-01-01

    Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To

  4. Manned spacecraft automation and robotics

    Science.gov (United States)

    Erickson, Jon D.

    1987-01-01

    The Space Station holds promise of being a showcase user and driver of advanced automation and robotics technology. The author addresses the advances in automation and robotics from the Space Shuttle - with its high-reliability redundancy management and fault tolerance design and its remote manipulator system - to the projected knowledge-based systems for monitoring, control, fault diagnosis, planning, and scheduling, and the telerobotic systems of the future Space Station.

  5. OGLE‐2008‐BLG‐510: first automated real‐time detection of a weak microlensing anomaly – brown dwarf or stellar binary?★

    DEFF Research Database (Denmark)

    Bozza, V.; Dominik, M.; Rattenbury, N. J.

    2012-01-01

    , efficient and sensitive, (2) rather common weak features intrinsically come with ambiguities that are not easily resolved from photometric light curves, (3) a modelling approach that finds all features of parameter space rather than just the ‘favourite model’ is required and (4) the data quality is most......The microlensing event OGLE‐2008‐BLG‐510 is characterized by an evident asymmetric shape of the peak, promptly detected by the Automated Robotic Terrestrial Exoplanet Microlensing Search (ARTEMiS) system in real time. The skewness of the light curve appears to be compatible both with binary...

  6. Robotics/Automated Systems Technicians.

    Science.gov (United States)

    Doty, Charles R.

    Major resources exist that can be used to develop or upgrade programs in community colleges and technical institutes that educate robotics/automated systems technicians. The first category of resources is Economic, Social, and Education Issues. The Office of Technology Assessment (OTA) report, "Automation and the Workplace," presents analyses of…

  7. The role of automation and robotics in space stations

    Science.gov (United States)

    Black, D. C.

    1985-01-01

    Automation and robotics have played important roles in space research, most notably in planetary exploration. While an increased need for automation and robotics in space research is anticipated, some of the major challenges and opportunities for automation and robotics will be provided by the Space Station. Examples of these challenges are briefly reviewed.

  8. Air Force construction automation/robotics

    Science.gov (United States)

    Nease, AL; Dusseault, Christopher

    1994-01-01

    The Air Force has several unique requirements that are being met through the development of construction robotic technology. The missions associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and that more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL to develop robotic teleoperation, telerobotics, robotic vehicle communications, automated damage assessment, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of robotic repair capability operating at the level of supervised autonomy. The authors of this paper will discuss current and planned efforts in construction/repair, explosive ordnance disposal, hazardous waste cleanup, fire fighting, and space construction.

  9. 1st Latin American Congress on Automation and Robotics

    CERN Document Server

    Baca, José; Moreno, Héctor; Carrera, Isela; Cardona, Manuel

    2017-01-01

    This book contains the proceedings of the 1st Latin American Congress on Automation and Robotics held at Panama City, Panama in February 2017. It gathers research work from researchers, scientists, and engineers from academia and private industry, and presents current and exciting research applications and future challenges in Latin American. The scope of this book covers a wide range of themes associated with advances in automation and robotics research encountered in engineering and scientific research and practice. These topics are related to control algorithms, systems automation, perception, mobile robotics, computer vision, educational robotics, robotics modeling and simulation, and robotics and mechanism design. LACAR 2017 has been sponsored by SENACYT (Secretaria Nacional de Ciencia, Tecnologia e Inovacion of Panama).

  10. Fully automated MRI-guided robotics for prostate brachytherapy

    International Nuclear Information System (INIS)

    Stoianovici, D.; Vigaru, B.; Petrisor, D.; Muntener, M.; Patriciu, A.; Song, D.

    2008-01-01

    The uncertainties encountered in the deployment of brachytherapy seeds are related to the commonly used ultrasound imager and the basic instrumentation used for the implant. An alternative solution is under development in which a fully automated robot is used to place the seeds according to the dosimetry plan under direct MRI-guidance. Incorporation of MRI-guidance creates potential for physiological and molecular image-guided therapies. Moreover, MRI-guided brachytherapy is also enabling for re-estimating dosimetry during the procedure, because with the MRI the seeds already implanted can be localised. An MRI compatible robot (MrBot) was developed. The robot is designed for transperineal percutaneous prostate interventions, and customised for fully automated MRI-guided brachytherapy. With different end-effectors, the robot applies to other image-guided interventions of the prostate. The robot is constructed of non-magnetic and dielectric materials and is electricity free using pneumatic actuation and optic sensing. A new motor (PneuStep) was purposely developed to set this robot in motion. The robot fits alongside the patient in closed-bore MRI scanners. It is able to stay fully operational during MR imaging without deteriorating the quality of the scan. In vitro, cadaver, and animal tests showed millimetre needle targeting accuracy, and very precise seed placement. The robot tested without any interference up to 7T. The robot is the first fully automated robot to function in MRI scanners. Its first application is MRI-guided seed brachytherapy. It is capable of automated, highly accurate needle placement. Extensive testing is in progress prior to clinical trials. Preliminary results show that the robot may become a useful image-guided intervention instrument. (author)

  11. Robotics and Automation Education: Developing the Versatile, Practical Lab.

    Science.gov (United States)

    Stenerson, Jon

    1986-01-01

    Elements of the development of a robotics and automation laboratory are discussed. These include the benefits of upgrading current staff, ways to achieve this staff development, formation of a robotics factory automation committee, topics to be taught with a robot, elements of a laboratory, laboratory funding, and design safety. (CT)

  12. Automation and robotics for the National Space Program

    Science.gov (United States)

    1985-01-01

    The emphasis on automation and robotics in the augmentation of the human centered systems as it concerns the space station is discussed. How automation and robotics can amplify the capabilities of humans is detailed. A detailed developmental program for the space station is outlined.

  13. Technology demonstration of space intravehicular automation and robotics

    Science.gov (United States)

    Morris, A. Terry; Barker, L. Keith

    1994-01-01

    Automation and robotic technologies are being developed and capabilities demonstrated which would increase the productivity of microgravity science and materials processing in the space station laboratory module, especially when the crew is not present. The Automation Technology Branch at NASA Langley has been working in the area of intravehicular automation and robotics (IVAR) to provide a user-friendly development facility, to determine customer requirements for automated laboratory systems, and to improve the quality and efficiency of commercial production and scientific experimentation in space. This paper will describe the IVAR facility and present the results of a demonstration using a simulated protein crystal growth experiment inside a full-scale mockup of the space station laboratory module using a unique seven-degree-of-freedom robot.

  14. The contaminant analysis automation robot implementation for the automated laboratory

    International Nuclear Information System (INIS)

    Younkin, J.R.; Igou, R.E.; Urenda, T.D.

    1995-01-01

    The Contaminant Analysis Automation (CAA) project defines the automated laboratory as a series of standard laboratory modules (SLM) serviced by a robotic standard support module (SSM). These SLMs are designed to allow plug-and-play integration into automated systems that perform standard analysis methods (SAM). While the SLMs are autonomous in the execution of their particular chemical processing task, the SAM concept relies on a high-level task sequence controller (TSC) to coordinate the robotic delivery of materials requisite for SLM operations, initiate an SLM operation with the chemical method dependent operating parameters, and coordinate the robotic removal of materials from the SLM when its commands and events has been established to allow ready them for transport operations as well as performing the Supervisor and Subsystems (GENISAS) software governs events from the SLMs and robot. The Intelligent System Operating Environment (ISOE) enables the inter-process communications used by GENISAS. CAA selected the Hewlett-Packard Optimized Robot for Chemical Analysis (ORCA) and its associated Windows based Methods Development Software (MDS) as the robot SSM. The MDS software is used to teach the robot each SLM position and required material port motions. To allow the TSC to command these SLM motions, a hardware and software implementation was required that allowed message passing between different operating systems. This implementation involved the use of a Virtual Memory Extended (VME) rack with a Force CPU-30 computer running VxWorks; a real-time multitasking operating system, and a Radiuses PC compatible VME computer running MDS. A GENISAS server on The Force computer accepts a transport command from the TSC, a GENISAS supervisor, over Ethernet and notifies software on the RadiSys PC of the pending command through VMEbus shared memory. The command is then delivered to the MDS robot control software using a Windows Dynamic Data Exchange conversation

  15. High-throughput mouse genotyping using robotics automation.

    Science.gov (United States)

    Linask, Kaari L; Lo, Cecilia W

    2005-02-01

    The use of mouse models is rapidly expanding in biomedical research. This has dictated the need for the rapid genotyping of mutant mouse colonies for more efficient utilization of animal holding space. We have established a high-throughput protocol for mouse genotyping using two robotics workstations: a liquid-handling robot to assemble PCR and a microfluidics electrophoresis robot for PCR product analysis. This dual-robotics setup incurs lower start-up costs than a fully automated system while still minimizing human intervention. Essential to this automation scheme is the construction of a database containing customized scripts for programming the robotics workstations. Using these scripts and the robotics systems, multiple combinations of genotyping reactions can be assembled simultaneously, allowing even complex genotyping data to be generated rapidly with consistency and accuracy. A detailed protocol, database, scripts, and additional background information are available at http://dir.nhlbi.nih.gov/labs/ldb-chd/autogene/.

  16. Translation: Aids, Robots, and Automation.

    Science.gov (United States)

    Andreyewsky, Alexander

    1981-01-01

    Examines electronic aids to translation both as ways to automate it and as an approach to solve problems resulting from shortage of qualified translators. Describes the limitations of robotic MT (Machine Translation) systems, viewing MAT (Machine-Aided Translation) as the only practical solution and the best vehicle for further automation. (MES)

  17. Automation and Robotics for Space-Based Systems, 1991

    Science.gov (United States)

    Williams, Robert L., II (Editor)

    1992-01-01

    The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

  18. Artemi Moiseev

    CERN Multimedia

    The ATLAS LAr community heard with great shock that Artemi Moiseev died on 18th August 2002 after a short, serious illness in hospital. His career as a physicist included outstanding contributions to several experiments using a wide variety of technologies. He was the leader of teams engaged in: the Mirabel bubble chamber working closely with the Saclay team, several spectrometer experiments at the 70 GeV accelerator at Serpukhov, in particular looking at Charm production, a proposal for a large LAr calorimeter project for the UNK, the R&D phase of the LHC heavily contributing to RD33. Right from the beginning of the ATLAS LAr activity he was one of the major carriers of the hadronic end-cap calorimeter project. His group in Protvino took over the construction and assembly of a major fraction of the hadronic calorimeter modules. This work is now close to completion. Artemi was also partly engaged in the cryostat area. Artemi contributed with a wide interest to the overall ongoing work of th...

  19. Delineated Analysis of Robotic Process Automation Tools

    OpenAIRE

    Ruchi Isaac; Riya Muni; Kenali Desai

    2017-01-01

    In this age and time when celerity is expected out of all the sectors of the country, the speed of execution of various processes and hence efficiency, becomes a prominent factor. To facilitate the speeding demands of these diverse platforms, Robotic Process Automation (RPA) is used. Robotic Process Automation can expedite back-office tasks in commercial industries, remote management tasks in IT industries and conservation of resources in multiple sectors. To implement RPA, many software ...

  20. Automation and robotics for the Space Station - An ATAC perspective

    Science.gov (United States)

    Nunamaker, Robert R.

    1989-01-01

    The study of automation and robotics for the Space Station by the Advanced Technology Advisory Committee is surveyed. The formation of the committee and the methodology for the Space Station automation study are discussed. The committee's recommendations for automation and robotics research and development are listed.

  1. Summary of astronaut inputs on automation and robotics for Space Station Freedom

    Science.gov (United States)

    Weeks, David J.

    1990-01-01

    Astronauts and payload specialists present specific recommendations in the form of an overview that relate to the use of automation and robotics on the Space Station Freedom. The inputs are based on on-orbit operations experience, time requirements for crews, and similar crew-specific knowledge that address the impacts of automation and robotics on productivity. Interview techniques and specific questionnaire results are listed, and the majority of the responses indicate that incorporating automation and robotics to some extent and with human backup can improve productivity. Specific support is found for the use of advanced automation and EVA robotics on the Space Station Freedom and for the use of advanced automation on ground-based stations. Ground-based control of in-flight robotics is required, and Space Station activities and crew tasks should be analyzed to assess the systems engineering approach for incorporating automation and robotics.

  2. Automation, robotics and remote handling technology in the nuclear fuel cycle

    International Nuclear Information System (INIS)

    Rajagopalan, C.; Venugopal, S.

    2013-01-01

    Automation and Robotics technology are making significant contributions in almost all fields of engineering and technology and their presence is felt in all spheres of human life. The importance of automation and robotics has increased rapidly in the recent years to cater to the global competitive pressures by the manufacturing industry by utilizing the increased productivity and improved quality this technology offers. Improvement of productivity, quality, profitability and, indeed, survival are the major motivating factors in the implementation of automation and robotics technology in the manufacturing sector. Robots are used extensively in the automotive industry, primarily for welding, painting and material handling applications. The electronics, aerospace, metalworking and consumer goods industries are also major potential robot users. The common uses of robots in industries mostly include the four Ps - Picking, Placing, Packaging and Painting - apart from other industrial routines like assembly and welding. As is the case with industrial tools and machineries, a properly designed robot (for the appropriate task) has almost unlimited endurance with the added benefit of precisions unmatched by human workers. With robot technology as a key element, integrated factory automation systems touch on nearly all types of manufacturing. The productivity and competitiveness in these industries will depend in large part on flexible automation through robotics

  3. Automated Cable Preparation for Robotized Stator Cable Winding

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2017-04-01

    Full Text Available A method for robotized cable winding of the Uppsala University Wave Energy Converter generator stator has previously been presented and validated. The purpose of this study is to present and validate further developments to the method: automated stand-alone equipment for the preparation of the winding cables. The cable preparation consists of three parts: feeding the cable from a drum, forming the cable end and cutting the cable. Forming and cutting the cable was previously done manually and only small cable drums could be handled. Therefore the robot cell needed to be stopped frequently. The new equipment was tested in an experimental robot stator cable winding setup. Through the experiments, the equipment was validated to be able to perform fully automated and robust cable preparation. Suggestions are also given on how to further develop the equipment with regards to performance, robustness and quality. Hence, this work represents another important step towards demonstrating completely automated robotized stator cable winding.

  4. The ARTEMIS mission

    CERN Document Server

    Angelopoulos, Vassilis

    2014-01-01

    The ARTEMIS mission was initiated by skillfully moving the two outermost Earth-orbiting THEMIS spacecraft into lunar orbit to conduct unprecedented dual spacecraft observations of the lunar environment. ARTEMIS stands for Acceleration, Reconnection, Turbulence and Electrodynamics of the Moon's Interaction with the Sun. Indeed, this volume discusses initial findings related to the Moon’s magnetic and plasma environments and the electrical conductivity of the lunar interior. This work is aimed at researchers and graduate students in both heliophysics and planetary physics. Originally published in Space Science Reviews, Vol. 165/1-4, 2011.

  5. Automation and robotics technology for intelligent mining systems

    Science.gov (United States)

    Welsh, Jeffrey H.

    1989-01-01

    The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

  6. Space station automation: the role of robotics and artificial intelligence (Invited Paper)

    Science.gov (United States)

    Park, W. T.; Firschein, O.

    1985-12-01

    Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.

  7. Automated robotic workcell for waste characterization

    International Nuclear Information System (INIS)

    Dougan, A.D.; Gustaveson, D.K.; Alvarez, R.A.; Holliday, M.

    1993-01-01

    The authors have successfully demonstrated an automated multisensor-based robotic workcell for hazardous waste characterization. The robot within this workcell uses feedback from radiation sensors, a metal detector, object profile scanners, and a 2D vision system to automatically segregate objects based on their measured properties. The multisensor information is used to make segregation decisions of waste items and to facilitate the grasping of objects with a robotic arm. The authors used both sodium iodide and high purity germanium detectors as a two-step process to maximize throughput. For metal identification and discrimination, the authors are investigating the use of neutron interrogation techniques

  8. Becoming Earth Independent: Human-Automation-Robotics Integration Challenges for Future Space Exploration

    Science.gov (United States)

    Marquez, Jessica J.

    2016-01-01

    Future exploration missions will require NASA to integrate more automation and robotics in order to accomplish mission objectives. This presentation will describe on the future challenges facing the human operator (astronaut, ground controllers) as we increase the amount of automation and robotics in spaceflight operations. It will describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. This presentation will outline future human-automation-robotic integration challenges.

  9. 12th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Gusikhin, Oleg; Madani, Kurosh; Sasiadek, Jurek

    2016-01-01

    The present book includes a set of selected extended papers from the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), held in Vienna, Austria, from 1 to 3 September 2014. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four simultaneous tracks will be held, covering Intelligent Control Systems, Optimization, Robotics, Automation, Signal Processing, Sensors, Systems Modelling and Control, and Industrial Engineering, Production and Management. Informatics applications are pervasive in many areas of Control, Automation and Robotics. ICINCO 2014 received 301 submissions, from 49 countries, in all continents. After a double blind paper review performed by the Program Committee, 20% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the Conference, ba...

  10. 12th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Madani, Kurosh; Gusikhin, Oleg; Sasiadek, Jurek

    2016-01-01

    The present book includes a set of selected extended papers from the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015), held in Colmar, France, from 21 to 23 July 2015. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four simultaneous tracks will be held, covering Intelligent Control Systems, Optimization, Robotics, Automation, Signal Processing, Sensors, Systems Modelling and Control, and Industrial Engineering, Production and Management. Informatics applications are pervasive in many areas of Control, Automation and Robotics. ICINCO 2015 received 214 submissions, from 42 countries, in all continents. After a double blind paper review performed by the Program Committee, 14% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the Conference, based ...

  11. Synthesis of tracers using automated radiochemistry and robotics

    International Nuclear Information System (INIS)

    Dannals, R.F.

    1992-07-01

    Synthesis of high specific activity radiotracers labeled with short-lived positron-emitting radionuclides for positron emission tomography (PET) often requires handling large initial quantities of radioactivity. High specific activities are required when preparing tracers for use in PET studies of neuroreceptors. A fully automated approach for tracer synthesis is highly desirable. This proposal involves the development of a system for the Synthesis of Tracers using Automated Radiochemistry and Robotics (STARR) for this purpose. While the long range objective of the proposed research is the development of a totally automated radiochemistry system for the production of major high specific activity 11 C-radiotracers for use in PET, the specific short range objectives are the automation of 11 C-methyl iodide ( 11 CH 3 I) production via an integrated approach using both radiochemistry modular labstations and robotics, and the extension of this automated capability to the production of several radiotracers for PET (initially, 11 C-methionine, 3-N-[ 11 C-methyl]spiperone, and [ 11 C]-carfentanil)

  12. The NASA automation and robotics technology program

    Science.gov (United States)

    Holcomb, Lee B.; Montemerlo, Melvin D.

    1986-01-01

    The development and objectives of the NASA automation and robotics technology program are reviewed. The objectives of the program are to utilize AI and robotics to increase the probability of mission success; decrease the cost of ground control; and increase the capability and flexibility of space operations. There is a need for real-time computational capability; an effective man-machine interface; and techniques to validate automated systems. Current programs in the areas of sensing and perception, task planning and reasoning, control execution, operator interface, and system architecture and integration are described. Programs aimed at demonstrating the capabilities of telerobotics and system autonomy are discussed.

  13. Automated platform for designing multiple robot work cells

    Science.gov (United States)

    Osman, N. S.; Rahman, M. A. A.; Rahman, A. A. Abdul; Kamsani, S. H.; Bali Mohamad, B. M.; Mohamad, E.; Zaini, Z. A.; Rahman, M. F. Ab; Mohamad Hatta, M. N. H.

    2017-06-01

    Designing the multiple robot work cells is very knowledge-intensive, intricate, and time-consuming process. This paper elaborates the development process of a computer-aided design program for generating the multiple robot work cells which offer a user-friendly interface. The primary purpose of this work is to provide a fast and easy platform for less cost and human involvement with minimum trial and errors adjustments. The automated platform is constructed based on the variant-shaped configuration concept with its mathematical model. A robot work cell layout, system components, and construction procedure of the automated platform are discussed in this paper where integration of these items will be able to automatically provide the optimum robot work cell design according to the information set by the user. This system is implemented on top of CATIA V5 software and utilises its Part Design, Assembly Design, and Macro tool. The current outcomes of this work provide a basis for future investigation in developing a flexible configuration system for the multiple robot work cells.

  14. Advances in Automation and Robotics

    CERN Document Server

    International conference on Automation and Robotics ICAR2011

    2012-01-01

    The international conference on Automation and Robotics-ICAR2011 is held during December 12-13, 2011 in Dubai, UAE. The proceedings of ICAR2011 have been published by Springer Lecture Notes in Electrical Engineering, which include 163 excellent papers selected from more than 400 submitted papers.   The conference is intended to bring together the researchers and engineers/technologists working in different aspects of intelligent control systems and optimization, robotics and automation, signal processing, sensors, systems modeling and control, industrial engineering, production and management.   This part of proceedings includes 81 papers contributed by many researchers in relevant topic areas covered at ICAR2011 from various countries such as France, Japan, USA, Korea and China etc.     Many papers introduced their advanced research work recently; some of them gave a new solution to problems in the field, with powerful evidence and detail demonstration. Others stated the application of their designed and...

  15. Automation &robotics for future Mars exploration

    Science.gov (United States)

    Schulte, W.; von Richter, A.; Bertrand, R.

    2003-04-01

    Automation and Robotics (A&R) are currently considered as a key technology for Mars exploration. initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. Kayser-Threde led the study AROMA (Automation &Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals was to define new developments and to maintain the competitiveness of European industry within this field. We present a summary of the A&R study in respect to a particular system: The Autonomous Research Island (ARI). In the Mars exploration scenario initially a robotic outpost system lands at pre-selected sites in order to search for life forms and water and to analyze the surface, geology and atmosphere. A&R systems, i.e. rovers and autonomous instrument packages, perform a number of missions with scientific and technology development objectives on the surface of Mars as part of preparations for a human exploration mission. In the Robotic Outpost Phase ARI is conceived as an automated lander which can perform in-situ analysis. It consists of a service module and a micro-rover system for local investigations. Such a system is already under investigation and development in other TRP activities. The micro-rover system provides local mobility for in-situ scientific investigations at a given landing or deployment site. In the long run ARI supports also human Mars missions. An astronaut crew would travel larger distances in a pressurized rover on Mars. Whenever interesting features on the surface are identified, the crew would interrupt the travel and perform local investigations. In order to save crew time ARI could be deployed by the astronauts to perform time-consuming investigations as for example in-situ geochemistry analysis of rocks/soil. Later, the crew could recover the research island for refurbishment and deployment at another

  16. Geologic map of the Artemis Chasma quadrangle (V-48), Venus

    Science.gov (United States)

    Bannister, Roger A.; Hansen, Vicki L.

    2010-01-01

    Artemis, named for the Greek goddess of the hunt, represents an approximately 2,600 km diameter circular feature on Venus, and it may represent the largest circular structure in our solar system. Artemis, which lies between the rugged highlands of Aphrodite Terra to the north and relatively smooth lowlands to the south, includes an interior topographic high surrounded by the 2,100-km-diameter, 25- to 200-km-wide, 1- to 2-km-deep circular trough, called Artemis Chasma, and an outer rise that grades outward into the surrounding lowland. Although several other chasmata exist in the area and globally, other chasmata have generally linear trends that lack the distinctive circular pattern of Artemis Chasma. The enigmatic nature of Artemis has perplexed researchers since Artemis Chasma was first identified in Pioneer Venus data. Although Venus' surface abounds with circular to quasi-circular features at a variety of scales, including from smallest to largest diameter features: small shield edifices (>1 km), large volcanic edifices (100-1,000 km), impact craters (1-270 km), coronae (60-1,010 km), volcanic rises and crustal plateaus (~1,500-2,500 km), Artemis defies classification into any of these groups. Artemis dwarfs Venus' largest impact crater, Mead (~280 km diameter); Artemis also lacks the basin topography, multiple ring structures, and central peak expected for large impact basins. Topographically, Artemis resembles some Venusian coronae; however Artemis is an order of magnitude larger than the average corona (200 km) and about twice the size of Heng-O Corona (which is 1,010 km in diameter), the largest of Venusian coronae. In map view Artemis' size and shape resemble volcanic rises and crustal plateaus; however, both of these classes of features differ topographically from Artemis. Volcanic rises and crustal plateaus form broad domical regions, and steep-sided regions with flat tops, respectively; furthermore, neither rises nor plateaus include circular troughs

  17. Safeguards and security considerations for automated and robotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Jordan, S.E.; Jaeger, C.D.

    1994-09-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A&R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S&S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S&S into the design of future A&R systems. Towards this, the authors first examined existing A and R systems from a security perspective to identify areas of concern and possible solutions of these problems. They then were able to develop generalized S&S guidance and design considerations for automation and robotics.

  18. Task Analysis and Descriptions of Required Job Competencies of Robotics/Automated Systems Technicians. Outlines for New Courses and Modules.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    The six new robotics and automated systems specialty courses developed by the Robotics/Automated Systems Technician (RAST) project are described in this publication. Course titles are Fundamentals of Robotics and Automated Systems, Automated Systems and Support Components, Controllers for Robots and Automated Systems, Robotics and Automated…

  19. Automation of microfactories: towards using small industrial robots

    DEFF Research Database (Denmark)

    Eriksson, Torbjörn Gerhard; Hansen, Hans Nørgaard; Mazzola, Stefano

    2005-01-01

    with tweezers under a microscope. This is tedious work for the operators and it is very hard to keep an even quality. This process would be excellent to automate, for example by using small industrial robots. There are mainly two properties that are significant for selecting a robot for micro...

  20. System approach to automation and robotization of drivage

    Science.gov (United States)

    Zinov’ev, VV; Mayorov, AE; Starodubov, AN; Nikolaev, PI

    2018-03-01

    The authors consider the system approach to finding ways of no-man drilling and blasting in the face area by means of automation and robotization of operations with a view to reducing injuries in mines. The analysis is carried out in terms of the drilling and blasting technology applied in Makarevskoe Coal Field, Kuznetsk Coal Basin. Within the system-functional approach and using INDEFO procedure, the processes of drilling and blasthole charging are decomposed into related elementary operations. The automation and robotization methods to avoid the presence of miners in the face are found for each operation.

  1. State of the art on construction automation and robotic system in domestic and foreign construction industry

    International Nuclear Information System (INIS)

    Lee, Sung Uk; Seo, Yong Chil; Jung, Seung Ho; Cho, Jai Wan; Choi, Young Soo

    2007-08-01

    In this report, we review the existing concept of construction automation and also survey the state of the art on construction automation and robotic system in domestic and foreign construction industry. On the basis of the result of review and survey, we want to suggest an applicable robotic technology to construction industry and points to be duly considered for activating construction automation. We investigate the state of the art on construction automation and robotic system in domestic and foreign construction industry and also applicable area and direction of domestic construction automation and robotic system. We hope that construction automation and robotic technology, which are improved rapidly nowadays, can contribute to the growth of construction industry

  2. Automation and Robotics in the Laboratory.

    Science.gov (United States)

    DiCesare, Frank; And Others

    1985-01-01

    A general laboratory course featuring microcomputer interfacing for data acquisition, process control and automation, and robotics was developed at Rensselaer Polytechnic Institute and is now available to all junior engineering students. The development and features of the course are described. (JN)

  3. Safeguards and security considerations for automated and robotic systems

    International Nuclear Information System (INIS)

    Jordan, S.E.; Jaeger, C.D.

    1994-01-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A ampersand R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S ampersand S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S ampersand S into the design of future A ampersand R systems. Towards this, the authors first examined existing A and R systems from a security perspective to identify areas of concern and possible solutions of these problems. They then were able to develop generalized S ampersand S guidance and design considerations for automation and robotics

  4. Safeguards and security considerations for automated and robotic systems

    International Nuclear Information System (INIS)

    Jordan, S.E.; Jaeger, C.D.

    1994-01-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A ampersand R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S ampersand S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S ampersand S into the design of future A ampersand R systems. Towards this, we first examined existing A ampersand R systems from a security perspective to identify areas of concern and possible solutions to these problems. We then were able to develop generalized S ampersand S guidance and design considerations for automation and robotics

  5. Comparative analysis of automation of production process with industrial robots in Asia/Australia and Europe

    Directory of Open Access Journals (Sweden)

    I. Karabegović

    2017-01-01

    Full Text Available The term "INDUSTRY 4.0" or "fourth industrial revolution" was first introduced at the fair in 2011 in Hannover. It comes from the high-tech strategy of the German Federal Government that promotes automation-computerization to complete smart automation, meaning the introduction of a method of self-automation, self-configuration, self-diagnosing and fixing the problem, knowledge and intelligent decision-making. Any automation, including smart, cannot be imagined without industrial robots. Along with the fourth industrial revolution, ‘’robotic revolution’’ is taking place in Japan. Robotic revolution refers to the development and research of robotic technology with the aim of using robots in all production processes, and the use of robots in real life, to be of service to a man in daily life. Knowing these facts, an analysis was conducted of the representation of industrial robots in the production processes on the two continents of Europe and Asia /Australia, as well as research that industry is ready for the introduction of intelligent automation with the goal of establishing future smart factories. The paper gives a representation of the automation of production processes in Europe and Asia/Australia, with predictions for the future.

  6. In vivo robotics: the automation of neuroscience and other intact-system biological fields.

    Science.gov (United States)

    Kodandaramaiah, Suhasa B; Boyden, Edward S; Forest, Craig R

    2013-12-01

    Robotic and automation technologies have played a huge role in in vitro biological science, having proved critical for scientific endeavors such as genome sequencing and high-throughput screening. Robotic and automation strategies are beginning to play a greater role in in vivo and in situ sciences, especially when it comes to the difficult in vivo experiments required for understanding the neural mechanisms of behavior and disease. In this perspective, we discuss the prospects for robotics and automation to influence neuroscientific and intact-system biology fields. We discuss how robotic innovations might be created to open up new frontiers in basic and applied neuroscience and present a concrete example with our recent automation of in vivo whole-cell patch clamp electrophysiology of neurons in the living mouse brain. © 2013 New York Academy of Sciences.

  7. Automation and Robotics for Human Mars Exploration (AROMA)

    Science.gov (United States)

    Hofmann, Peter; von Richter, Andreas

    2003-01-01

    Automation and Robotics (A&R) systems are a key technology for Mars exploration. All over the world initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. From December 2000 to February 2002 Kayser-Threde GmbH, Munich, Germany lead a study called AROMA (Automation and Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals of this effort is to initiate new developments and to maintain the competitiveness of European industry within this field. c2003 Published by Elsevier Science Ltd.

  8. General impact of robotics and automation in radiation environments

    International Nuclear Information System (INIS)

    Meghdari, A.; Salehi, M.

    1993-01-01

    Robotics and automation systems in nuclear environments require special design considerations. This paper presents an overview of selected robotic systems already designed and developed for use in nuclear applications at some U.S. laboratories. It will further emphasize on tasks identification, operational constraints, special considerations in materials selection, and a general guideline for robotic systems design in radiation environments. (author). 5 refs, 5 figs

  9. 3rd International Asia Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Informatics in Control, Automation and Robotics

    2012-01-01

    Session 2 includes 110 papers selected from 2011 3rd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China.   As we all know, the ever growing technology in robotics and automation will help build a better human society. This session will provide a unique opportunity for the academic and industrial communities to address new challenges, share solutions, and discuss research directions for the future. Robotics research emphasizes intelligence and adaptability to cope with unstructured environments. Automation research emphasizes efficiency, productivity, quality, and reliability, focusing on systems that operate autonomously. The main focus of this session is on the autonomous acquisition of semantic information in intelligent robots and systems, as well as the use of semantic knowledge to guide further acquisition of information.

  10. The Adam and Eve Robot Scientists for the Automated Discovery of Scientific Knowledge

    Science.gov (United States)

    King, Ross

    A Robot Scientist is a physically implemented robotic system that applies techniques from artificial intelligence to execute cycles of automated scientific experimentation. A Robot Scientist can automatically execute cycles of hypothesis formation, selection of efficient experiments to discriminate between hypotheses, execution of experiments using laboratory automation equipment, and analysis of results. The motivation for developing Robot Scientists is to better understand science, and to make scientific research more efficient. The Robot Scientist `Adam' was the first machine to autonomously discover scientific knowledge: both form and experimentally confirm novel hypotheses. Adam worked in the domain of yeast functional genomics. The Robot Scientist `Eve' was originally developed to automate early-stage drug development, with specific application to neglected tropical disease such as malaria, African sleeping sickness, etc. We are now adapting Eve to work with on cancer. We are also teaching Eve to autonomously extract information from the scientific literature.

  11. A robotic system for automation of logistics functions on the Space Station

    Science.gov (United States)

    Martin, J. C.; Purves, R. B.; Hosier, R. N.; Krein, B. A.

    1988-01-01

    Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.

  12. Automation and robotics human performance

    Science.gov (United States)

    Mah, Robert W.

    1990-01-01

    The scope of this report is limited to the following: (1) assessing the feasibility of the assumptions for crew productivity during the intra-vehicular activities and extra-vehicular activities; (2) estimating the appropriate level of automation and robotics to accomplish balanced man-machine, cost-effective operations in space; (3) identifying areas where conceptually different approaches to the use of people and machines can leverage the benefits of the scenarios; and (4) recommending modifications to scenarios or developing new scenarios that will improve the expected benefits. The FY89 special assessments are grouped into the five categories shown in the report. The high level system analyses for Automation & Robotics (A&R) and Human Performance (HP) were performed under the Case Studies Technology Assessment category, whereas the detailed analyses for the critical systems and high leverage development areas were performed under the appropriate operations categories (In-Space Vehicle Operations or Planetary Surface Operations). The analysis activities planned for the Science Operations technology areas were deferred to FY90 studies. The remaining activities such as analytic tool development, graphics/video demonstrations and intelligent communicating systems software architecture were performed under the Simulation & Validations category.

  13. Automated Manufacturing/Robotics Technology: Certificate and Associate Degree Programs.

    Science.gov (United States)

    McQuay, Paul L.

    A description is provided of the Automated Manufacturing/Robotics program to be offered at Delaware County Community College beginning in September 1984. Section I provides information on the use of reprogramable industrial robots in manufacturing and the rapid changes in production that can be effected through the application of automated…

  14. The evolution of automation and robotics in manned spaceflight

    Science.gov (United States)

    Moser, T. L.; Erickson, J. D.

    1986-01-01

    The evolution of automation on all manned spacecraft including the Space Shuttle is reviewed, and a concept for increasing automation and robotics from the current Shuttle Remote Manipulator System (RMS) to an autonomous system is presented. The requirements for robotic elements are identified for various functions on the Space Station, including extravehicular functions and functions within laboratory and habitation modules which expand man's capacity in space and allow selected teleoperation from the ground. The initial Space Station will employ a telerobot and necessary knowledge based systems as an advisory to the crew on monitoring, fault diagnosis, and short term planning and scheduling.

  15. Proceedings of the international conference on advancements in automation, robotics and sensing: souvenir

    International Nuclear Information System (INIS)

    Vinod, B.; Sundaram, M.; Sujatha, K.S.; Brislin, J. Joe; Prabhakarab, S.

    2016-01-01

    Robotics and automation is a thriving domain in the field of engineering, comprising of major areas like electrical, electronics, mechanical, automation, computer and robotics engineering. This conference address issues related to technical advances in all these fields. Papers relevant to INIS are indexed separately

  16. Robotic automation of medication-use management.

    Science.gov (United States)

    Enright, S M

    1993-11-01

    In the October 1993 issue of Physician Assistant, we published "Robots for Health Care," the first of two articles on the medical applications of robotics. That article discussed ways in which robots could help patients with manipulative disabilities to perform activities of daily living and hold paid employment; transfer patients from bed to chair and back again; add precision to the most exacting surgical procedures; and someday carry out diagnostic and therapeutic techniques from within the human body. This month, we are pleased to offer an article by Sharon Enright, an authority on pharmacy operations, who considers how an automated medication-management system that makes use of bar-code technology is capable of streamlining drug dispensing, controlling safety, increasing cost-effectiveness, and ensuring accurate and complete record-keeping.

  17. Space environments and their effects on space automation and robotics

    Science.gov (United States)

    Garrett, Henry B.

    1990-01-01

    Automated and robotic systems will be exposed to a variety of environmental anomalies as a result of adverse interactions with the space environment. As an example, the coupling of electrical transients into control systems, due to EMI from plasma interactions and solar array arcing, may cause spurious commands that could be difficult to detect and correct in time to prevent damage during critical operations. Spacecraft glow and space debris could introduce false imaging information into optical sensor systems. The presentation provides a brief overview of the primary environments (plasma, neutral atmosphere, magnetic and electric fields, and solid particulates) that cause such adverse interactions. The descriptions, while brief, are intended to provide a basis for the other papers presented at this conference which detail the key interactions with automated and robotic systems. Given the growing complexity and sensitivity of automated and robotic space systems, an understanding of adverse space environments will be crucial to mitigating their effects.

  18. Moving NASA Beyond Low Earth Orbit: Future Human-Automation-Robotic Integration Challenges

    Science.gov (United States)

    Marquez, Jessica

    2016-01-01

    This presentation will provide an overview of current human spaceflight operations. It will also describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. Additionally, there are many implications regarding advanced automation and robotics, and this presentation will outline future human-automation-robotic integration challenges.

  19. Czech Companies Involved in the ARTEMIS Programme

    Czech Academy of Sciences Publication Activity Database

    Kadlec, Jiří

    -, special issue (2013), s. 4-5 ISSN 1210-9592 R&D Projects: GA MŠk(CZ) LE13020 Keywords : ARTEMIS JU * embedded systems * european technology platforms * FP7 * ICT * microelectronics * ENIAC JU Subject RIV: AF - Documentation, Librarianship, Information Studies http://library.utia.cas.cz/separaty/2013/ZS/kadlec-czech companies involved in the artemis programme.pdf

  20. Robotic liquid handling and automation in epigenetics.

    Science.gov (United States)

    Gaisford, Wendy

    2012-10-01

    Automated liquid-handling robots and high-throughput screening (HTS) are widely used in the pharmaceutical industry for the screening of large compound libraries, small molecules for activity against disease-relevant target pathways, or proteins. HTS robots capable of low-volume dispensing reduce assay setup times and provide highly accurate and reproducible dispensing, minimizing variation between sample replicates and eliminating the potential for manual error. Low-volume automated nanoliter dispensers ensure accuracy of pipetting within volume ranges that are difficult to achieve manually. In addition, they have the ability to potentially expand the range of screening conditions from often limited amounts of valuable sample, as well as reduce the usage of expensive reagents. The ability to accurately dispense lower volumes provides the potential to achieve a greater amount of information than could be otherwise achieved using manual dispensing technology. With the emergence of the field of epigenetics, an increasing number of drug discovery companies are beginning to screen compound libraries against a range of epigenetic targets. This review discusses the potential for the use of low-volume liquid handling robots, for molecular biological applications such as quantitative PCR and epigenetics.

  1. First Annual Workshop on Space Operations Automation and Robotics (SOAR 87)

    Science.gov (United States)

    Griffin, Sandy (Editor)

    1987-01-01

    Several topics relative to automation and robotics technology are discussed. Automation of checkout, ground support, and logistics; automated software development; man-machine interfaces; neural networks; systems engineering and distributed/parallel processing architectures; and artificial intelligence/expert systems are among the topics covered.

  2. Robotic Automation in Computer Controlled Polishing

    Science.gov (United States)

    Walker, D. D.; Yu, G.; Bibby, M.; Dunn, C.; Li, H.; Wu, Y.; Zheng, X.; Zhang, P.

    2016-02-01

    We first present a Case Study - the manufacture of 1.4 m prototype mirror-segments for the European Extremely Large Telescope, undertaken by the National Facility for Ultra Precision Surfaces, at the OpTIC facility operated by Glyndwr University. Scale-up to serial-manufacture demands delivery of a 1.4 m off-axis aspheric hexagonal segment with surface precision robots and computer numerically controlled ('CNC') polishing machines for optical fabrication. The objective was not to assess which is superior. Rather, it was to understand for the first time their complementary properties, leading us to operate them together as a unit, integrated in hardware and software. Three key areas are reported. First is the novel use of robots to automate currently-manual operations on CNC polishing machines, to improve work-throughput, mitigate risk of damage to parts, and reduce dependence on highly-skilled staff. Second is the use of robots to pre-process surfaces prior to CNC polishing, to reduce total process time. The third draws the threads together, describing our vision of the automated manufacturing cell, where the operator interacts at cell rather than machine level. This promises to deliver a step-change in end-to-end manufacturing times and costs, compared with either platform used on its own or, indeed, the state-of-the-art used elsewhere.

  3. An overview of the program to place advanced automation and robotics on the Space Station

    Science.gov (United States)

    Heydorn, Richard P.

    1987-01-01

    The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

  4. Proceedings of the 1988 IEEE international conference on robotics and automation. Volume 1

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    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

  5. International Conference Automation : Challenges in Automation, Robotics and Measurement Techniques

    CERN Document Server

    Zieliński, Cezary; Kaliczyńska, Małgorzata

    2016-01-01

    This book presents the set of papers accepted for presentation at the International Conference Automation, held in Warsaw, 2-4 March of 2016. It presents the research results presented by top experts in the fields of industrial automation, control, robotics and measurement techniques. Each chapter presents a thorough analysis of a specific technical problem which is usually followed by numerical analysis, simulation, and description of results of implementation of the solution of a real world problem. The presented theoretical results, practical solutions and guidelines will be valuable for both researchers working in the area of engineering sciences and for practitioners solving industrial problems. .

  6. Robotics and automation activities in South Africa

    CSIR Research Space (South Africa)

    Utete, S

    2013-09-01

    Full Text Available Second in the series of articles focusing on the state of robotics and automation in the BRICS countries: Brazil, Russia, India, China, and South Africa, this article provides an overview on South Africa written by researchers from the Council...

  7. Using Modeling and Simulation to Predict Operator Performance and Automation-Induced Complacency With Robotic Automation: A Case Study and Empirical Validation.

    Science.gov (United States)

    Wickens, Christopher D; Sebok, Angelia; Li, Huiyang; Sarter, Nadine; Gacy, Andrew M

    2015-09-01

    The aim of this study was to develop and validate a computational model of the automation complacency effect, as operators work on a robotic arm task, supported by three different degrees of automation. Some computational models of complacency in human-automation interaction exist, but those are formed and validated within the context of fairly simplified monitoring failures. This research extends model validation to a much more complex task, so that system designers can establish, without need for human-in-the-loop (HITL) experimentation, merits and shortcomings of different automation degrees. We developed a realistic simulation of a space-based robotic arm task that could be carried out with three different levels of trajectory visualization and execution automation support. Using this simulation, we performed HITL testing. Complacency was induced via several trials of correctly performing automation and then was assessed on trials when automation failed. Following a cognitive task analysis of the robotic arm operation, we developed a multicomponent model of the robotic operator and his or her reliance on automation, based in part on visual scanning. The comparison of model predictions with empirical results revealed that the model accurately predicted routine performance and predicted the responses to these failures after complacency developed. However, the scanning models do not account for the entire attention allocation effects of complacency. Complacency modeling can provide a useful tool for predicting the effects of different types of imperfect automation. The results from this research suggest that focus should be given to supporting situation awareness in automation development. © 2015, Human Factors and Ergonomics Society.

  8. Framework to Implement Collaborative Robots in Manual Assembly: A Lean Automation Approach

    DEFF Research Database (Denmark)

    Malik, Ali Ahmad; Bilberg, Arne

    The recent proliferation of smart manufacturing technologies has emerged the concept of hybrid automation for assembly systems utilizing the best of humans and robots in a combination. Based on the ability to work alongside human-workers the next generation of industrial robots (or robotics 2...... of virtual simulations is discussed for validation and optimization of human-robot work environment....

  9. Automation, parallelism, and robotics for proteomics.

    Science.gov (United States)

    Alterovitz, Gil; Liu, Jonathan; Chow, Jijun; Ramoni, Marco F

    2006-07-01

    The speed of the human genome project (Lander, E. S., Linton, L. M., Birren, B., Nusbaum, C. et al., Nature 2001, 409, 860-921) was made possible, in part, by developments in automation of sequencing technologies. Before these technologies, sequencing was a laborious, expensive, and personnel-intensive task. Similarly, automation and robotics are changing the field of proteomics today. Proteomics is defined as the effort to understand and characterize proteins in the categories of structure, function and interaction (Englbrecht, C. C., Facius, A., Comb. Chem. High Throughput Screen. 2005, 8, 705-715). As such, this field nicely lends itself to automation technologies since these methods often require large economies of scale in order to achieve cost and time-saving benefits. This article describes some of the technologies and methods being applied in proteomics in order to facilitate automation within the field as well as in linking proteomics-based information with other related research areas.

  10. Automated dental implantation using image-guided robotics: registration results.

    Science.gov (United States)

    Sun, Xiaoyan; McKenzie, Frederic D; Bawab, Sebastian; Li, Jiang; Yoon, Yongki; Huang, Jen-K

    2011-09-01

    One of the most important factors affecting the outcome of dental implantation is the accurate insertion of the implant into the patient's jaw bone, which requires a high degree of anatomical accuracy. With the accuracy and stability of robots, image-guided robotics is expected to provide more reliable and successful outcomes for dental implantation. Here, we proposed the use of a robot for drilling the implant site in preparation for the insertion of the implant. An image-guided robotic system for automated dental implantation is described in this paper. Patient-specific 3D models are reconstructed from preoperative Cone-beam CT images, and implantation planning is performed with these virtual models. A two-step registration procedure is applied to transform the preoperative plan of the implant insertion into intra-operative operations of the robot with the help of a Coordinate Measurement Machine (CMM). Experiments are carried out with a phantom that is generated from the patient-specific 3D model. Fiducial Registration Error (FRE) and Target Registration Error (TRE) values are calculated to evaluate the accuracy of the registration procedure. FRE values are less than 0.30 mm. Final TRE values after the two-step registration are 1.42 ± 0.70 mm (N = 5). The registration results of an automated dental implantation system using image-guided robotics are reported in this paper. Phantom experiments show that the practice of robot in the dental implantation is feasible and the system accuracy is comparable to other similar systems for dental implantation.

  11. Space station automation and robotics study. Operator-systems interface

    Science.gov (United States)

    1984-01-01

    This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.

  12. Artemis: Integrating Scientific Data on the Grid (Preprint)

    National Research Council Canada - National Science Library

    Tuchinda, Rattapoom; Thakkar, Snehal; Gil, Yolanda; Deelman, Ewa

    2004-01-01

    .... Artemis exploits several AI techniques including a query mediator, a query planning and execution system, ontologies and semantic web tools to model metadata attributes, and an intelligent user interface that guides users through these ontologies to formulate queries. We describe our experiences using Artemis with large metadata catalogs from two projects in the physics domain.

  13. Site overview of robotics and automation

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1985-01-01

    This paper summarizes the robotics and automation activities at the Savannah River Laboratory and the Savannah River Plant. The purpose is to provide an overview to facilitate the exchange of technology between various sites involved in development and production work for the Department of Energy. Throughout the paper references are made to assigned project engineers so that they may be contacted directly

  14. Standards for space automation and robotics

    Science.gov (United States)

    Kader, Jac B.; Loftin, R. B.

    1992-01-01

    The AIAA's Committee on Standards for Space Automation and Robotics (COS/SAR) is charged with the identification of key functions and critical technologies applicable to multiple missions that reflect fundamental consideration of environmental factors. COS/SAR's standards/practices/guidelines implementation methods will be based on reliability, performance, and operations, as well as economic viability and life-cycle costs, simplicity, and modularity.

  15. Automating the Incremental Evolution of Controllers for Physical Robots

    DEFF Research Database (Denmark)

    Faina, Andres; Jacobsen, Lars Toft; Risi, Sebastian

    2017-01-01

    the evolution of digital objects.…” The work presented here investigates how fully autonomous evolution of robot controllers can be realized in hardware, using an industrial robot and a marker-based computer vision system. In particular, this article presents an approach to automate the reconfiguration...... of the test environment and shows that it is possible, for the first time, to incrementally evolve a neural robot controller for different obstacle avoidance tasks with no human intervention. Importantly, the system offers a high level of robustness and precision that could potentially open up the range...

  16. Shared robotic system: automated pipette calibration and pipette tip filter assembly

    International Nuclear Information System (INIS)

    Addison, J.H. Jr.; Dyches, G.M.

    1985-01-01

    At the Savannah River Laboratory a Zymate Laboratory Automation System has been developed to perform two completely independent tasks within one work cell. One operation is the precise calibration of pipettes; the other is the assembly of a filter in a pipette tip. Since neither task requires full robot time, the shared system is an economical means of robotizing both processes. These are tedious, repetitive, time consuming tasks; and human operators fail to yield constant results. Automation insures a repeatable process which increases product quality

  17. A&R challenges for in-space operations. [Automation and Robotic technologies

    Science.gov (United States)

    Underwood, James

    1990-01-01

    Automation and robotics (A&R) challenges for in-space operations are examined, with emphasis on the interaction between developing requirements, developing solutions, design concepts, and the nature of the applicability of automation in robotic technologies. Attention is first given to the use of A&R in establishing outposts on the moon and Mars. Then emphasis is placed on the requirements for the assembly of transportation systems in low earth orbit. Concepts of the Space Station which show how the assembly, processing, and checkout of systems in LEO might be accommodated are examined.

  18. Advancing automation and robotics technology for the Space Station and for the US economy, volume 2

    Science.gov (United States)

    1985-01-01

    In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Technical Report, Volume 2, provides background information on automation and robotics technologies and their potential and documents: the relevant aspects of Space Station design; representative examples of automation and robotics; applications; the state of the technology and advances needed; and considerations for technology transfer to U.S. industry and for space commercialization.

  19. Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

    Science.gov (United States)

    Glass, Brian; Cannon, Howard; Stoker, Carol; Davis, Kiel

    2005-01-01

    Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important

  20. 5th International Conference on Automation, Robotics and Applications (ICARA 2011)

    CERN Document Server

    Bailey, Donald; Demidenko, Serge; Carnegie, Dale; Recent Advances in Robotics and Automation

    2013-01-01

    There isn’t a facet of human life that has not been touched and influenced by robots and automation. What makes robots and machines versatile is their computational intelligence. While modern intelligent sensors and powerful hardware capabilities have given a huge fillip to the growth of intelligent machines, the progress in the development of algorithms for smart interaction, collaboration and pro-activeness will result in the next quantum jump. This book deals with the recent advancements in design methodologies, algorithms and implementation techniques to incorporate intelligence in robots and automation systems. Several articles deal with navigation, localization and mapping of mobile robots, a problem that engineers and researchers are grappling with all the time. Fuzzy logic, neural networks and neuro-fuzzy based techniques for real world applications have been detailed in a few articles. This edited volume is targeted to present the latest state-of-the-art computational intelligence techniques in Rob...

  1. The nuclear protein Artemis promotes AMPK activation by stabilizing the LKB1-AMPK complex

    Energy Technology Data Exchange (ETDEWEB)

    Nakagawa, Koji, E-mail: k_nakagawa@pharm.hokudai.ac.jp [Department of Pathophysiology and Therapeutics, Division of Pharmascience, Faculty of Pharmaceutical Sciences, Hokkaido University, N12 W6, Kita-ku, Sapporo, Hokkaido 060-0812 (Japan); Uehata, Yasuko; Natsuizaka, Mitsuteru; Kohara, Toshihisa; Darmanin, Stephanie [Department of Gastroenterology and Hematology, Graduate School of Medicine, Hokkaido University, N15 W7, Kita-ku, Sapporo, Hokkaido 060-8638 (Japan); Asaka, Masahiro [Department of Gastroenterology and Hematology, Graduate School of Medicine, Hokkaido University, N15 W7, Kita-ku, Sapporo, Hokkaido 060-8638 (Japan); Department of Cancer Preventive Medicine, Graduate School of Medicine, Hokkaido University, N15 W7, Kita-ku, Sapporo, Hokkaido 060-8638 (Japan); Takeda, Hiroshi [Department of Pathophysiology and Therapeutics, Division of Pharmascience, Faculty of Pharmaceutical Sciences, Hokkaido University, N12 W6, Kita-ku, Sapporo, Hokkaido 060-0812 (Japan); Department of Gastroenterology and Hematology, Graduate School of Medicine, Hokkaido University, N15 W7, Kita-ku, Sapporo, Hokkaido 060-8638 (Japan); Kobayashi, Masanobu [Department of Cancer Preventive Medicine, Graduate School of Medicine, Hokkaido University, N15 W7, Kita-ku, Sapporo, Hokkaido 060-8638 (Japan); School of Nursing and Social Services, Health Sciences University of Hokkaido, Ishikari-Toubetsu, Hokkaido 061-0293 (Japan)

    2012-11-02

    Highlights: Black-Right-Pointing-Pointer The nuclear protein Artemis physically interacts with AMPK{alpha}2. Black-Right-Pointing-Pointer Artemis co-localizes with AMPK{alpha}2 in the nucleus. Black-Right-Pointing-Pointer Artemis promotes phosphorylation and activation of AMPK. Black-Right-Pointing-Pointer The interaction between AMPK{alpha}2 and LKB1 is stabilized by Artemis. -- Abstract: AMP-activated protein kinase (AMPK) is a hetero-trimeric Ser/Thr kinase composed of a catalytic {alpha} subunit and regulatory {beta} and {gamma} subunits; it functions as an energy sensor that controls cellular energy homeostasis. In response to an increased cellular AMP/ATP ratio, AMPK is activated by phosphorylation at Thr172 in the {alpha}-subunit by upstream AMPK kinases (AMPKKs), including tumor suppressor liver kinase B1 (LKB1). To elucidate more precise molecular mechanisms of AMPK activation, we performed yeast two-hybrid screening and isolated the complementary DNA (cDNA) encoding the nuclear protein Artemis/DNA cross-link repair 1C (DCLRE1C) as an AMPK{alpha}2-binding protein. Artemis was found to co-immunoprecipitate with AMPK{alpha}2, and the co-localization of Artemis with AMPK{alpha}2 in the nucleus was confirmed by immunofluorescence staining in U2OS cells. Moreover, over-expression of Artemis enhanced the phosphorylation of AMPK{alpha}2 and the AMPK substrate acetyl-CoA carboxylase (ACC). Conversely, RNAi-mediated knockdown of Artemis reduced AMPK and ACC phosphorylation. In addition, Artemis markedly increased the physical association between AMPK{alpha}2 and LKB1. Taken together, these results suggest that Artemis functions as a positive regulator of AMPK signaling by stabilizing the LKB1-AMPK complex.

  2. A literature review on new robotics : automation from love to war

    OpenAIRE

    Royakkers, L.M.M.; Est, van, Q.C.

    2015-01-01

    This article investigates the social significance of robotics for the years to come in Europe and the US by studying robotics developments in five different areas: the home, health care, traffic, the police force, and the army. Our society accepts the use of robots to perform dull, dangerous, and dirty industrial jobs. But now that robotics is moving out of the factory, the relevant question is how far do we want to go with the automation of care for children and the elderly, of killing terro...

  3. Artemis and ACT: viewing, annotating and comparing sequences stored in a relational database

    Science.gov (United States)

    Carver, Tim; Berriman, Matthew; Tivey, Adrian; Patel, Chinmay; Böhme, Ulrike; Barrell, Barclay G.; Parkhill, Julian; Rajandream, Marie-Adèle

    2008-01-01

    Motivation: Artemis and Artemis Comparison Tool (ACT) have become mainstream tools for viewing and annotating sequence data, particularly for microbial genomes. Since its first release, Artemis has been continuously developed and supported with additional functionality for editing and analysing sequences based on feedback from an active user community of laboratory biologists and professional annotators. Nevertheless, its utility has been somewhat restricted by its limitation to reading and writing from flat files. Therefore, a new version of Artemis has been developed, which reads from and writes to a relational database schema, and allows users to annotate more complex, often large and fragmented, genome sequences. Results: Artemis and ACT have now been extended to read and write directly to the Generic Model Organism Database (GMOD, http://www.gmod.org) Chado relational database schema. In addition, a Gene Builder tool has been developed to provide structured forms and tables to edit coordinates of gene models and edit functional annotation, based on standard ontologies, controlled vocabularies and free text. Availability: Artemis and ACT are freely available (under a GPL licence) for download (for MacOSX, UNIX and Windows) at the Wellcome Trust Sanger Institute web sites: http://www.sanger.ac.uk/Software/Artemis/ http://www.sanger.ac.uk/Software/ACT/ Contact: artemis@sanger.ac.uk Supplementary information: Supplementary data are available at Bioinformatics online. PMID:18845581

  4. Automated Sample Exchange Robots for the Structural Biology Beam Lines at the Photon Factory

    International Nuclear Information System (INIS)

    Hiraki, Masahiko; Watanabe, Shokei; Yamada, Yusuke; Matsugaki, Naohiro; Igarashi, Noriyuki; Gaponov, Yurii; Wakatsuki, Soichi

    2007-01-01

    We are now developing automated sample exchange robots for high-throughput protein crystallographic experiments for onsite use at synchrotron beam lines. It is part of the fully automated robotics systems being developed at the Photon Factory, for the purposes of protein crystallization, monitoring crystal growth, harvesting and freezing crystals, mounting the crystals inside a hutch and for data collection. We have already installed the sample exchange robots based on the SSRL automated mounting system at our insertion device beam lines BL-5A and AR-NW12A at the Photon Factory. In order to reduce the time required for sample exchange further, a prototype of a double-tonged system was developed. As a result of preliminary experiments with double-tonged robots, the sample exchange time was successfully reduced from 70 seconds to 10 seconds with the exception of the time required for pre-cooling and warming up the tongs

  5. Design of a robotic automation system for transportation of goods in hospitals

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Sørensen, Torben; Fan, Zhun

    2007-01-01

    Hospitals face with heavy traffic of goods everyday, where transportation tasks are mainly carried by human. Analysis of the current situation of transportation in a typical hospital showed several transportation tasks are suitable for automation. This paper presents a system, consisting of a fleet...... of robot vehicles, automatic stations and smart containers for automation of transportation of goods in hospitals. Design of semi-autonomous robot vehicles, containers and stations are presented and the overall system architecture is described. Implementing such a system in an existing hospital showed...

  6. The nuclear protein Artemis promotes AMPK activation by stabilizing the LKB1–AMPK complex

    International Nuclear Information System (INIS)

    Nakagawa, Koji; Uehata, Yasuko; Natsuizaka, Mitsuteru; Kohara, Toshihisa; Darmanin, Stephanie; Asaka, Masahiro; Takeda, Hiroshi; Kobayashi, Masanobu

    2012-01-01

    Highlights: ► The nuclear protein Artemis physically interacts with AMPKα2. ► Artemis co-localizes with AMPKα2 in the nucleus. ► Artemis promotes phosphorylation and activation of AMPK. ► The interaction between AMPKα2 and LKB1 is stabilized by Artemis. -- Abstract: AMP-activated protein kinase (AMPK) is a hetero-trimeric Ser/Thr kinase composed of a catalytic α subunit and regulatory β and γ subunits; it functions as an energy sensor that controls cellular energy homeostasis. In response to an increased cellular AMP/ATP ratio, AMPK is activated by phosphorylation at Thr172 in the α-subunit by upstream AMPK kinases (AMPKKs), including tumor suppressor liver kinase B1 (LKB1). To elucidate more precise molecular mechanisms of AMPK activation, we performed yeast two-hybrid screening and isolated the complementary DNA (cDNA) encoding the nuclear protein Artemis/DNA cross-link repair 1C (DCLRE1C) as an AMPKα2-binding protein. Artemis was found to co-immunoprecipitate with AMPKα2, and the co-localization of Artemis with AMPKα2 in the nucleus was confirmed by immunofluorescence staining in U2OS cells. Moreover, over-expression of Artemis enhanced the phosphorylation of AMPKα2 and the AMPK substrate acetyl-CoA carboxylase (ACC). Conversely, RNAi-mediated knockdown of Artemis reduced AMPK and ACC phosphorylation. In addition, Artemis markedly increased the physical association between AMPKα2 and LKB1. Taken together, these results suggest that Artemis functions as a positive regulator of AMPK signaling by stabilizing the LKB1–AMPK complex.

  7. Human-rating Automated and Robotic Systems - (How HAL Can Work Safely with Astronauts)

    Science.gov (United States)

    Baroff, Lynn; Dischinger, Charlie; Fitts, David

    2009-01-01

    Long duration human space missions, as planned in the Vision for Space Exploration, will not be possible without applying unprecedented levels of automation to support the human endeavors. The automated and robotic systems must carry the load of routine housekeeping for the new generation of explorers, as well as assist their exploration science and engineering work with new precision. Fortunately, the state of automated and robotic systems is sophisticated and sturdy enough to do this work - but the systems themselves have never been human-rated as all other NASA physical systems used in human space flight have. Our intent in this paper is to provide perspective on requirements and architecture for the interfaces and interactions between human beings and the astonishing array of automated systems; and the approach we believe necessary to create human-rated systems and implement them in the space program. We will explain our proposed standard structure for automation and robotic systems, and the process by which we will develop and implement that standard as an addition to NASA s Human Rating requirements. Our work here is based on real experience with both human system and robotic system designs; for surface operations as well as for in-flight monitoring and control; and on the necessities we have discovered for human-systems integration in NASA's Constellation program. We hope this will be an invitation to dialog and to consideration of a new issue facing new generations of explorers and their outfitters.

  8. Artemis JU and Eniac JU Projects with Czech Participation

    Czech Academy of Sciences Publication Activity Database

    Kadlec, Jiří; Nedvědová, K.

    -, special issue (2013), s. 6-9 ISSN 1210-9592 R&D Projects: GA MŠk(CZ) LE13020 Keywords : ARTEMIS JU * ENIAC JU * embedded systems * microelectronics * European Technology Platforms * FP7 * ICT Subject RIV: AF - Documentation, Librarianship, Information Studies http://library.utia.cas.cz/separaty/2013/ZS/kadlec-artemis ju and eniac ju projects with czech participation.pdf

  9. Attributing Agency to Automated Systems: Reflections on Human-Robot Collaborations and Responsibility-Loci.

    Science.gov (United States)

    Nyholm, Sven

    2017-07-18

    Many ethicists writing about automated systems (e.g. self-driving cars and autonomous weapons systems) attribute agency to these systems. Not only that; they seemingly attribute an autonomous or independent form of agency to these machines. This leads some ethicists to worry about responsibility-gaps and retribution-gaps in cases where automated systems harm or kill human beings. In this paper, I consider what sorts of agency it makes sense to attribute to most current forms of automated systems, in particular automated cars and military robots. I argue that whereas it indeed makes sense to attribute different forms of fairly sophisticated agency to these machines, we ought not to regard them as acting on their own, independently of any human beings. Rather, the right way to understand the agency exercised by these machines is in terms of human-robot collaborations, where the humans involved initiate, supervise, and manage the agency of their robotic collaborators. This means, I argue, that there is much less room for justified worries about responsibility-gaps and retribution-gaps than many ethicists think.

  10. Artemis and ACT: viewing, annotating and comparing sequences stored in a relational database.

    Science.gov (United States)

    Carver, Tim; Berriman, Matthew; Tivey, Adrian; Patel, Chinmay; Böhme, Ulrike; Barrell, Barclay G; Parkhill, Julian; Rajandream, Marie-Adèle

    2008-12-01

    Artemis and Artemis Comparison Tool (ACT) have become mainstream tools for viewing and annotating sequence data, particularly for microbial genomes. Since its first release, Artemis has been continuously developed and supported with additional functionality for editing and analysing sequences based on feedback from an active user community of laboratory biologists and professional annotators. Nevertheless, its utility has been somewhat restricted by its limitation to reading and writing from flat files. Therefore, a new version of Artemis has been developed, which reads from and writes to a relational database schema, and allows users to annotate more complex, often large and fragmented, genome sequences. Artemis and ACT have now been extended to read and write directly to the Generic Model Organism Database (GMOD, http://www.gmod.org) Chado relational database schema. In addition, a Gene Builder tool has been developed to provide structured forms and tables to edit coordinates of gene models and edit functional annotation, based on standard ontologies, controlled vocabularies and free text. Artemis and ACT are freely available (under a GPL licence) for download (for MacOSX, UNIX and Windows) at the Wellcome Trust Sanger Institute web sites: http://www.sanger.ac.uk/Software/Artemis/ http://www.sanger.ac.uk/Software/ACT/

  11. Automation, robotics, and inflight training for manned Mars missions

    Science.gov (United States)

    Holt, Alan C.

    1986-01-01

    The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.

  12. An innovative approach for modeling and simulation of an automated industrial robotic arm operated electro-pneumatically

    Science.gov (United States)

    Popa, L.; Popa, V.

    2017-08-01

    The article is focused on modeling an automated industrial robotic arm operated electro-pneumatically and to simulate the robotic arm operation. It is used the graphic language FBD (Function Block Diagram) to program the robotic arm on Zelio Logic automation. The innovative modeling and simulation procedures are considered specific problems regarding the development of a new type of technical products in the field of robotics. Thus, were identified new applications of a Programmable Logic Controller (PLC) as a specialized computer performing control functions with a variety of high levels of complexit.

  13. Robotic weeding and automated weed measurements

    DEFF Research Database (Denmark)

    Christensen, S.; Søgaard, H.T.; Jørgensen, R.N.

    2003-01-01

    The goal of decreasing herbicide usage has so far focused on reducing the herbicide dosage or replacing chemical weed control by hoeing and harrowing. The conventional weed control strategy is to apply the same dose of herbicide or the same intensity of hoeing and harrowing in the whole field. Th...... the state-of-the-art of automated weed measurement methods and the research projects concerning autonomous platform and information system for crop and weed monitoring and robotic weeding....

  14. D-3He fueled FRC reactor 'ARTEMIS-L'

    International Nuclear Information System (INIS)

    Momota, Hiromu; Tomita, Yukihiro; Ishida, Akio; Kohzaki, Yasuji; Nakao, Yasuyuki; Nishikawa, Masabumi; Ohi, Shoichi; Ohnishi, Masami.

    1992-09-01

    A neutron-lean D- 3 He fueled field reversed configuration (FRC) fusion reactor is studied on the bases of former high-efficiency ARTEMIS design. Certain improvements such as effective axial contracting plasma heating and cusp-type direct energy converters as well as an empirical scale of the energy confinement are introduced. The resultant total neutron load onto the first wall of the plasma chamber is as low as 0.1 MW/m 2 , which enable the life of the first wall or the structural materials to be longer than the whole life of the reactor. The attractive characteristics of the neutron-lean reactor follow in the ARTEMIS design: it is socially acceptable in views of radioactivity and fuel resources, and the cost of electricity appears to be cheap compared with that from a light water reactor. Critical physics and engineering issues for performing the ARTEMIS-L reactor are clarified. (author)

  15. Automation and robotics for the Space Exploration Initiative: Results from Project Outreach

    Science.gov (United States)

    Gonzales, D.; Criswell, D.; Heer, E.

    1991-01-01

    A total of 52 submissions were received in the Automation and Robotics (A&R) area during Project Outreach. About half of the submissions (24) contained concepts that were judged to have high utility for the Space Exploration Initiative (SEI) and were analyzed further by the robotics panel. These 24 submissions are analyzed here. Three types of robots were proposed in the high scoring submissions: structured task robots (STRs), teleoperated robots (TORs), and surface exploration robots. Several advanced TOR control interface technologies were proposed in the submissions. Many A&R concepts or potential standards were presented or alluded to by the submitters, but few specific technologies or systems were suggested.

  16. Second Annual Workshop on Space Operations Automation and Robotics (SOAR 1988)

    Science.gov (United States)

    Griffin, Sandy (Editor)

    1988-01-01

    Papers presented at the Second Annual Workshop on Space Operation Automation and Robotics (SOAR '88), hosted by Wright State University at Dayton, Ohio, on July 20, 21, 22, and 23, 1988, are documented herein. During the 4 days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Panel discussions on Human Factors, Artificial Intelligence, Robotics, and Space Systems were held but are not documented herein. Technical topics addressed included knowledge-based systems, human factors, and robotics.

  17. Robotics and Office Automation: Implications for Vocational Education.

    Science.gov (United States)

    Fraser, Jeannette L.; And Others

    Directed to individuals responsible for program planning in vocational education at the national and state levels, this review and synthesis of technological developments in robotics and office automation identifies the potential demand for skills in these technologies in the next 3 to 5 years. The procedures for the study are described in the…

  18. The Artemis workbench for system-level performance evaluation of embedded systems

    NARCIS (Netherlands)

    Pimentel, A.D.

    2008-01-01

    In this paper, we present an overview of the Artemis workbench, which provides modelling and simulation methods and tools for efficient performance evaluation and exploration of heterogeneous embedded multimedia systems. More specifically, we describe the Artemis system-level modelling methodology,

  19. Automation and robotics for the Space Station - The influence of the Advanced Technology Advisory Committee

    Science.gov (United States)

    Nunamaker, Robert R.; Willshire, Kelli F.

    1988-01-01

    The reports of a committee established by Congress to identify specific systems of the Space Station which would advance automation and robotics technologies are reviewed. The history of the committee, its relation to NASA, and the reports which it has released are discussed. The committee's reports recommend the widespread use of automation and robotics for the Space Station, a program for technology development and transfer between industries and research and development communities, and the planned use of robots to service and repair satellites and their payloads which are accessible from the Space Station.

  20. Development of automation and robotics for space via computer graphic simulation methods

    Science.gov (United States)

    Fernandez, Ken

    1988-01-01

    A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

  1. Use of laboratory robots in the automation of a urine plutonium bioassay

    International Nuclear Information System (INIS)

    Gonzales, E.R.; Moss, W.D.; Rodriguez, R.; Martinez, G.M.

    1986-01-01

    Determination of plutonium in urine is a routine procedure performed at Los Alamos. Samples are taken from the many workers who handle plutonium in their day to day activities and from those individuals whose jobs may bring them into contact with this metal. The analytical procedure used is based on alkaline earth phosphate precipitation that coprecipitates the plutonium. This procedure gives excellent results but it involves many manipulative steps and the chances for human error are ever present. In order to eliminate potential human error and decrease analysis time this procedure was automated using a Zymark Corporation robotic workcell. The developmental work for the automation process was divided into two parts: robot programmatic needs - software and hardware, and chemical modifications of existing methods for utilization with the robotic system. The optimum integration of these developments are discussed in this paper

  2. Automated Planning Enables Complex Protocols on Liquid-Handling Robots.

    Science.gov (United States)

    Whitehead, Ellis; Rudolf, Fabian; Kaltenbach, Hans-Michael; Stelling, Jörg

    2018-03-16

    Robotic automation in synthetic biology is especially relevant for liquid handling to facilitate complex experiments. However, research tasks that are not highly standardized are still rarely automated in practice. Two main reasons for this are the substantial investments required to translate molecular biological protocols into robot programs, and the fact that the resulting programs are often too specific to be easily reused and shared. Recent developments of standardized protocols and dedicated programming languages for liquid-handling operations addressed some aspects of ease-of-use and portability of protocols. However, either they focus on simplicity, at the expense of enabling complex protocols, or they entail detailed programming, with corresponding skills and efforts required from the users. To reconcile these trade-offs, we developed Roboliq, a software system that uses artificial intelligence (AI) methods to integrate (i) generic formal, yet intuitive, protocol descriptions, (ii) complete, but usually hidden, programming capabilities, and (iii) user-system interactions to automatically generate executable, optimized robot programs. Roboliq also enables high-level specifications of complex tasks with conditional execution. To demonstrate the system's benefits for experiments that are difficult to perform manually because of their complexity, duration, or time-critical nature, we present three proof-of-principle applications for the reproducible, quantitative characterization of GFP variants.

  3. Use of automation and robotics for the Space Station

    Science.gov (United States)

    Cohen, Aaron

    1987-01-01

    An overview is presented of the various possible applications of automation and robotics technology to the Space Station system. The benefits of such technology to the private sector and the national economy are addressed. NASA's overall approach to incorporating advanced technology into the Space Station is examined.

  4. Automation and Robotics for space operation and planetary exploration

    Science.gov (United States)

    Montemerlo, Melvin D.

    1990-01-01

    This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.

  5. The ORT Open Tech Robotics and Automation Literacy Course.

    Science.gov (United States)

    Sharon, Dan; And Others

    1987-01-01

    Presents an overview of a course on robotics and automation developed by the Organization for Rehabilitation through Training (ORT) to be offered through an open learning environment in the United Kingdom. Highlights include hardware and software requirements, an educational model, design principles, and future developments. (LRW)

  6. Towards an automated checked baggage inspection system augmented with robots

    Science.gov (United States)

    DeDonato, Matthew P.; Dimitrov, Velin; Padır, Taskin

    2014-05-01

    We present a novel system for enhancing the efficiency and accuracy of checked baggage screening process at airports. The system requirements address the identification and retrieval of objects of interest that are prohibited in a checked luggage. The automated testbed is comprised of a Baxter research robot designed by Rethink Robotics for luggage and object manipulation, and a down-looking overhead RGB-D sensor for inspection and detection. We discuss an overview of current system implementations, areas of opportunity for improvements, robot system integration challenges, details of the proposed software architecture and experimental results from a case study for identifying various kinds of lighters in checked bags.

  7. Space Missions for Automation and Robotics Technologies (SMART) Program

    Science.gov (United States)

    Cliffone, D. L.; Lum, H., Jr.

    1985-01-01

    NASA is currently considering the establishment of a Space Mission for Automation and Robotics Technologies (SMART) Program to define, develop, integrate, test, and operate a spaceborne national research facility for the validation of advanced automation and robotics technologies. Initially, the concept is envisioned to be implemented through a series of shuttle based flight experiments which will utilize telepresence technologies and real time operation concepts. However, eventually the facility will be capable of a more autonomous role and will be supported by either the shuttle or the space station. To ensure incorporation of leading edge technology in the facility, performance capability will periodically and systematically be upgraded by the solicitation of recommendations from a user advisory group. The facility will be managed by NASA, but will be available to all potential investigators. Experiments for each flight will be selected by a peer review group. Detailed definition and design is proposed to take place during FY 86, with the first SMART flight projected for FY 89.

  8. The use of robots for automation in the radiochemical laboratory

    International Nuclear Information System (INIS)

    Huddleston, J.

    1988-01-01

    The use of robotic systems for automated processes such as overnight operations, procedures involving radiation hazards in radiochemical laboratories is discussed. Particular reference is made to their use in analytical problems. Their flexibility is emphasised. (U.K.)

  9. Advancing automation and robotics technology for the space station and the US economy

    Science.gov (United States)

    Cohen, A.

    1985-01-01

    In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and rebotics for use in the space station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the space station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the space station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.

  10. Application of automation and robotics to lunar surface human exploration operations

    Science.gov (United States)

    Woodcock, Gordon R.; Sherwood, Brent; Buddington, Patricia A.; Bares, Leona C.; Folsom, Rolfe; Mah, Robert; Lousma, Jack

    1990-01-01

    Major results of a study applying automation and robotics to lunar surface base buildup and operations concepts are reported. The study developed a reference base scenario with specific goals, equipment concepts, robot concepts, activity schedules and buildup manifests. It examined crew roles, contingency cases and system reliability, and proposed a set of technologies appropriate and necessary for effective lunar operations. This paper refers readers to four companion papers for quantitative details where appropriate.

  11. Automated visual fruit detection for harvest estimation and robotic harvesting

    OpenAIRE

    Puttemans, Steven; Vanbrabant, Yasmin; Tits, Laurent; Goedemé, Toon

    2016-01-01

    Fully automated detection and localisation of fruit in orchards is a key component in creating automated robotic harvesting systems, a dream of many farmers around the world to cope with large production and personnel costs. In recent years a lot of research on this topic has been performed, using basic computer vision techniques, like colour based segmentation, as a suggested solution. When not using standard RGB cameras, research tends to resort to other sensors, like hyper spectral or 3D. ...

  12. Automating the Incremental Evolution of Controllers for Physical Robots.

    Science.gov (United States)

    Faíña, Andrés; Jacobsen, Lars Toft; Risi, Sebastian

    2017-01-01

    Evolutionary robotics is challenged with some key problems that must be solved, or at least mitigated extensively, before it can fulfill some of its promises to deliver highly autonomous and adaptive robots. The reality gap and the ability to transfer phenotypes from simulation to reality constitute one such problem. Another lies in the embodiment of the evolutionary processes, which links to the first, but focuses on how evolution can act on real agents and occur independently from simulation, that is, going from being, as Eiben, Kernbach, & Haasdijk [2012, p. 261] put it, "the evolution of things, rather than just the evolution of digital objects.…" The work presented here investigates how fully autonomous evolution of robot controllers can be realized in hardware, using an industrial robot and a marker-based computer vision system. In particular, this article presents an approach to automate the reconfiguration of the test environment and shows that it is possible, for the first time, to incrementally evolve a neural robot controller for different obstacle avoidance tasks with no human intervention. Importantly, the system offers a high level of robustness and precision that could potentially open up the range of problems amenable to embodied evolution.

  13. Evidence Report, Risk of Inadequate Design of Human and Automation/Robotic Integration

    Science.gov (United States)

    Zumbado, Jennifer Rochlis; Billman, Dorrit; Feary, Mike; Green, Collin

    2011-01-01

    The success of future exploration missions depends, even more than today, on effective integration of humans and technology (automation and robotics). This will not emerge by chance, but by design. Both crew and ground personnel will need to do more demanding tasks in more difficult conditions, amplifying the costs of poor design and the benefits of good design. This report has looked at the importance of good design and the risks from poor design from several perspectives: 1) If the relevant functions needed for a mission are not identified, then designs of technology and its use by humans are unlikely to be effective: critical functions will be missing and irrelevant functions will mislead or drain attention. 2) If functions are not distributed effectively among the (multiple) participating humans and automation/robotic systems, later design choices can do little to repair this: additional unnecessary coordination work may be introduced, workload may be redistributed to create problems, limited human attentional resources may be wasted, and the capabilities of both humans and technology underused. 3) If the design does not promote accurate understanding of the capabilities of the technology, the operators will not use the technology effectively: the system may be switched off in conditions where it would be effective, or used for tasks or in contexts where its effectiveness may be very limited. 4) If an ineffective interaction design is implemented and put into use, a wide range of problems can ensue. Many involve lack of transparency into the system: operators may be unable or find it very difficult to determine a) the current state and changes of state of the automation or robot, b) the current state and changes in state of the system being controlled or acted on, and c) what actions by human or by system had what effects. 5) If the human interfaces for operation and control of robotic agents are not designed to accommodate the unique points of view and

  14. Advancing automation and robotics technology for the space station and for the US economy

    Science.gov (United States)

    Nunamaker, Robert

    1988-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memo 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixth in a series of progress updates and covers the period between October 1, 1987 and March 1, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station program and serve as a highly visible stimulator affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.

  15. Task Analysis and Job Descriptions for Robotics/Automated Systems Technicians. Final Report. Volume 1.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    The Robotics/Automated Systems Technician (RAST) project developed a robotics technician model curriculum for the use of state directors of vocational education and two-year college vocational/technical educators. A baseline management plan was developed to guide the project. To provide awareness, project staff developed a dissemination plan…

  16. An expert system for automated robotic grasping

    International Nuclear Information System (INIS)

    Stansfield, S.A.

    1990-01-01

    Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option

  17. AREVA main steam line break fully coupled methodology based on CATHARE-ARTEMIS - 15496

    International Nuclear Information System (INIS)

    Denis, L.; Jasserand, L.; Tomatis, D.; Segond, M.; Royere, C.; Sauvage, J.Y.

    2015-01-01

    The CATHARE code developed since 1979 by AREVA, CEA, EDF and IRSN is one of the major thermal-hydraulic system codes worldwide. In order to have at disposal realistic methodologies based on CATHARE for the whole transient and accident analysis in Chapter 15 of Safety Reports, a coupling with the code ARTEMIS was developed. ARTEMIS is the core code in AREVA's new reactor simulator system ARCADIA, using COBRA-FLX to model the thermal-hydraulics in the core. The Fully Coupled Methodology was adapted to the CATHARE-ARTEMIS coupling to perform Main Steam Line Break studies. This methodology, originally applied to the MANTA-SMART-FLICA coupling, is dedicated to Main Steam Line Break transients at zero power. The aim of this paper is to present the coupling between CATHARE and ARTEMIS and the application of the Fully Coupled Methodology in a different code environment. (authors)

  18. ARTEMIS stabilizes the genome and modulates proliferative responses in multipotent mesenchymal cells

    Directory of Open Access Journals (Sweden)

    Tompkins Kathleen

    2010-10-01

    Full Text Available Abstract Background Unrepaired DNA double-stranded breaks (DSBs cause chromosomal rearrangements, loss of genetic information, neoplastic transformation or cell death. The nonhomologous end joining (NHEJ pathway, catalyzing sequence-independent direct rejoining of DSBs, is a crucial mechanism for repairing both stochastically occurring and developmentally programmed DSBs. In lymphocytes, NHEJ is critical for both development and genome stability. NHEJ defects lead to severe combined immunodeficiency (SCID and lymphoid cancer predisposition in both mice and humans. While NHEJ has been thoroughly investigated in lymphocytes, the importance of NHEJ in other cell types, especially with regard to tumor suppression, is less well documented. We previously reported evidence that the NHEJ pathway functions to suppress a range of nonlymphoid tumor types, including various classes of sarcomas, by unknown mechanisms. Results Here we investigate roles for the NHEJ factor ARTEMIS in multipotent mesenchymal stem/progenitor cells (MSCs, as putative sarcomagenic cells of origin. We demonstrate a key role for ARTEMIS in sarcoma suppression in a sensitized mouse tumor model. In this context, we found that ARTEMIS deficiency led to chromosomal damage but, paradoxically, enhanced resistance and proliferative potential in primary MSCs subjected to various stresses. Gene expression analysis revealed abnormally regulated stress response, cell proliferation, and signal transduction pathways in ARTEMIS-defective MSCs. Finally, we identified candidate regulatory genes that may, in part, mediate a stress-resistant, hyperproliferative phenotype in preneoplastic ARTEMIS-deficient MSCs. Conclusions Our discoveries suggest that Art prevents genome damage and restrains proliferation in MSCs exposed to various stress stimuli. We propose that deficiency leads to a preneoplastic state in primary MSCs and is associated with aberrant proliferative control and cellular stress

  19. Demonstration of automated robotic workcell for hazardous waste characterization

    International Nuclear Information System (INIS)

    Holliday, M.; Dougan, A.; Gavel, D.; Gustaveson, D.; Johnson, R.; Kettering, B.; Wilhelmsen, K.

    1993-02-01

    An automated robotic workcell to classify hazardous waste stream items with previously unknown characteristics has been designed, tested and demonstrated The object attributes being quantified are radiation signature, metal content, and object orientation and volume. The multi sensor information is used to make segregation decisions plus do automatic grasping of objects. The work-cell control program uses an off-line programming system by Cimetrix Inc. as a server to do both simulation control as well as actual hardware control of the workcell. This paper will discuss the overall workcell layout, sensor specifications, workcell supervisory control, 2D vision based automated grasp planning and object classification algorithms

  20. Automation of pharmaceutical warehouse using groups robots with remote climate control and video surveillance

    OpenAIRE

    Zhuravska, I. M.; Popel, M. I.

    2015-01-01

    In this paper, we present a complex solution for automation pharmaceutical warehouse, including the implementation of climate-control, video surveillance with remote access to video, robotics selection of medicine with the optimization of the robot motion. We describe all the elements of local area network (LAN) necessary to solve all these problems.

  1. Automating the control of robotic systems in unstructured environments

    International Nuclear Information System (INIS)

    Harrigan, R.W.

    1993-01-01

    The US Department Energy's Office of Technology Development has sponsored the development of generic robotics technologies for application to a wide range of remote systems. Of primary interest is the development of technologies which enable faster, safer, and cheaper cleanup of hazardous waste sites than is possible using conventional human contact or remote manual approaches. The development of model-based sensor-directed robot control approaches supports these goals by developing modular control technologies which reduce the time and cost of development by allowing reuse of control system software. In addition, the use of computer models improves the safety of remote site cleanup by allowing automated errors detection and recovery while reducing the time for technology development

  2. Matching technologies of home automation, robotics, assistance, geriatric telecare and telemedicine

    NARCIS (Netherlands)

    Franchimon, F.; Brink, M.

    2009-01-01

    The aging society could have a greater societal impact than the current financial crisis. The percentage of older adults has increased while the size of the health care workforce has remained constant. Home automation, robotics, assistive technology, geriatric telecare and telemedicine can support

  3. Progress in automation, robotics and measuring techniques

    CERN Document Server

    Zieliński, Cezary; Kaliczyńska, Małgorzata

    2015-01-01

    This book presents recent progresses in control, automation, robotics, and measuring techniques. It includes contributions of top experts in the fields, focused on both theory and industrial practice. The particular chapters present a deep analysis of a specific technical problem which is in general followed by a numerical analysis and simulation, and results of an implementation for the solution of a real world problem. The presented theoretical results, practical solutions and guidelines will be useful for both researchers working in the area of engineering sciences and for practitioners solving industrial problems.    .

  4. Advancing automation and robotics technology for the Space Station and for the US economy. Volume 1: Executive overview

    Science.gov (United States)

    1985-01-01

    In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the Space Station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the Space Station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.

  5. Type I IFN-related NETosis in ataxia telangiectasia and Artemis deficiency.

    Science.gov (United States)

    Gul, Ersin; Sayar, Esra Hazar; Gungor, Bilgi; Eroglu, Fehime Kara; Surucu, Naz; Keles, Sevgi; Guner, Sukru Nail; Findik, Siddika; Alpdundar, Esin; Ayanoglu, Ihsan Cihan; Kayaoglu, Basak; Geckin, Busra Nur; Sanli, Hatice Asena; Kahraman, Tamer; Yakicier, Cengiz; Muftuoglu, Meltem; Oguz, Berna; Cagdas Ayvaz, Deniz Nazire; Gursel, Ihsan; Ozen, Seza; Reisli, Ismail; Gursel, Mayda

    2017-11-16

    Pathological inflammatory syndromes of unknown etiology are commonly observed in ataxia telangiectasia (AT) and Artemis deficiency. Similar inflammatory manifestations also exist in patients with STING-associated vasculopathy in infancy (SAVI). We sought to test the hypothesis that the inflammation-associated manifestations observed in patients with AT and Artemis deficiency stem from increased type I IFN signature leading to neutrophil-mediated pathological damage. Cytokine/protein signatures were determined by ELISA, cytometric bead array, or quantitative PCR. Stat1 phosphorylation levels were determined by flow cytometry. DNA species accumulating in the cytosol of patients' cells were quantified microscopically and flow cytometrically. Propensity of isolated polymorhonuclear granulocytes to form neutrophil extracellular traps (NETs) was determined using fluorescence microscopy and picogreen assay. Neutrophil reactive oxygen species levels and mitochondrial stress were assayed using fluorogenic probes, microscopy, and flow cytometry. Type I and III IFN signatures were elevated in plasma and peripheral blood cells of patients with AT, Artemis deficiency, and SAVI. Chronic IFN production stemmed from the accumulation of DNA in the cytoplasm of AT and Artemis-deficient cells. Neutrophils isolated from patients spontaneously produced NETs and displayed indicators of oxidative and mitochondrial stress, supportive of their NETotic tendencies. A similar phenomenon was also observed in neutrophils from healthy controls exposed to patient plasma samples or exogeneous IFN-α. Type I IFN-mediated neutrophil activation and NET formation may contribute to inflammatory manifestations observed in patients with AT, Artemis deficiency, and SAVI. Thus, neutrophils represent a promising target to manage inflammatory syndromes in diseases with active type I IFN signature. Copyright © 2017 American Academy of Allergy, Asthma & Immunology. Published by Elsevier Inc. All rights

  6. Space station as a vital focus for advancing the technologies of automation and robotics

    Science.gov (United States)

    Varsi, Giulio; Herman, Daniel H.

    1988-01-01

    A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.

  7. Robotics/Automated Systems Task Analysis and Description of Required Job Competencies Report. Task Analysis and Description of Required Job Competencies of Robotics/Automated Systems Technicians.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    This task analysis report for the Robotics/Automated Systems Technician (RAST) curriculum project first provides a RAST job description. It then discusses the task analysis, including the identification of tasks, the grouping of tasks according to major areas of specialty, and the comparison of the competencies to existing or new courses to…

  8. 9th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Bernard, Alain; Gusikhin, Oleg; Madani, Kurosh

    2014-01-01

    This book includes extended and revised versions of a set of selected papers from the Ninth International Conference on Informatics in Control Automation and Robotics (ICINCO 2012), held in Rome, Italy, from 28 to 31 July 2012. The conference was organized in four simultaneous tracks: Intelligent Control Systems and Optimization, Robotics and Automation, Systems Modeling, Signal Processing and Control and Industrial Engineering, Production and Management.   ICINCO 2012 received 360 paper submissions, from 58 countries in all continents. From these, after a blind review process, only 40 were accepted as full papers, of which 20 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers reflect the interdisciplinary nature of the conference as well as the logic equilibrium between the four abovementioned tracks. The diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and...

  9. The digital code driven autonomous synthesis of ibuprofen automated in a 3D-printer-based robot.

    Science.gov (United States)

    Kitson, Philip J; Glatzel, Stefan; Cronin, Leroy

    2016-01-01

    An automated synthesis robot was constructed by modifying an open source 3D printing platform. The resulting automated system was used to 3D print reaction vessels (reactionware) of differing internal volumes using polypropylene feedstock via a fused deposition modeling 3D printing approach and subsequently make use of these fabricated vessels to synthesize the nonsteroidal anti-inflammatory drug ibuprofen via a consecutive one-pot three-step approach. The synthesis of ibuprofen could be achieved on different scales simply by adjusting the parameters in the robot control software. The software for controlling the synthesis robot was written in the python programming language and hard-coded for the synthesis of ibuprofen by the method described, opening possibilities for the sharing of validated synthetic 'programs' which can run on similar low cost, user-constructed robotic platforms towards an 'open-source' regime in the area of chemical synthesis.

  10. The digital code driven autonomous synthesis of ibuprofen automated in a 3D-printer-based robot

    Directory of Open Access Journals (Sweden)

    Philip J. Kitson

    2016-12-01

    Full Text Available An automated synthesis robot was constructed by modifying an open source 3D printing platform. The resulting automated system was used to 3D print reaction vessels (reactionware of differing internal volumes using polypropylene feedstock via a fused deposition modeling 3D printing approach and subsequently make use of these fabricated vessels to synthesize the nonsteroidal anti-inflammatory drug ibuprofen via a consecutive one-pot three-step approach. The synthesis of ibuprofen could be achieved on different scales simply by adjusting the parameters in the robot control software. The software for controlling the synthesis robot was written in the python programming language and hard-coded for the synthesis of ibuprofen by the method described, opening possibilities for the sharing of validated synthetic ‘programs’ which can run on similar low cost, user-constructed robotic platforms towards an ‘open-source’ regime in the area of chemical synthesis.

  11. Automated PCR setup for forensic casework samples using the Normalization Wizard and PCR Setup robotic methods.

    Science.gov (United States)

    Greenspoon, S A; Sykes, K L V; Ban, J D; Pollard, A; Baisden, M; Farr, M; Graham, N; Collins, B L; Green, M M; Christenson, C C

    2006-12-20

    Human genome, pharmaceutical and research laboratories have long enjoyed the application of robotics to performing repetitive laboratory tasks. However, the utilization of robotics in forensic laboratories for processing casework samples is relatively new and poses particular challenges. Since the quantity and quality (a mixture versus a single source sample, the level of degradation, the presence of PCR inhibitors) of the DNA contained within a casework sample is unknown, particular attention must be paid to procedural susceptibility to contamination, as well as DNA yield, especially as it pertains to samples with little biological material. The Virginia Department of Forensic Science (VDFS) has successfully automated forensic casework DNA extraction utilizing the DNA IQ(trade mark) System in conjunction with the Biomek 2000 Automation Workstation. Human DNA quantitation is also performed in a near complete automated fashion utilizing the AluQuant Human DNA Quantitation System and the Biomek 2000 Automation Workstation. Recently, the PCR setup for casework samples has been automated, employing the Biomek 2000 Automation Workstation and Normalization Wizard, Genetic Identity version, which utilizes the quantitation data, imported into the software, to create a customized automated method for DNA dilution, unique to that plate of DNA samples. The PCR Setup software method, used in conjunction with the Normalization Wizard method and written for the Biomek 2000, functions to mix the diluted DNA samples, transfer the PCR master mix, and transfer the diluted DNA samples to PCR amplification tubes. Once the process is complete, the DNA extracts, still on the deck of the robot in PCR amplification strip tubes, are transferred to pre-labeled 1.5 mL tubes for long-term storage using an automated method. The automation of these steps in the process of forensic DNA casework analysis has been accomplished by performing extensive optimization, validation and testing of the

  12. Role for Artemis nuclease in the repair of radiation-induced DNA double strand breaks by alternative end joining.

    Science.gov (United States)

    Moscariello, Mario; Wieloch, Radi; Kurosawa, Aya; Li, Fanghua; Adachi, Noritaka; Mladenov, Emil; Iliakis, George

    2015-07-01

    Exposure of cells to ionizing radiation or radiomimetic drugs generates DNA double-strand breaks that are processed either by homologous recombination repair (HRR), or by canonical, DNA-PKcs-dependent non-homologous end-joining (C-NHEJ). Chemical or genetic inactivation of factors involved in C-NHEJ or HRR, but also their local failure in repair proficient cells, promotes an alternative, error-prone end-joining pathway that serves as backup (A-EJ). There is evidence for the involvement of Artemis endonuclease, a protein deficient in a human radiosensitivity syndrome associated with severe immunodeficiency (RS-SCID), in the processing of subsets of DSBs by HRR or C-NHEJ. It is thought that within HRR or C-NHEJ Artemis processes DNA termini at complex DSBs. Whether Artemis has a role in A-EJ remains unknown. Here, we analyze using pulsed-field gel electrophoresis (PFGE) and specialized reporter assays, DSB repair in wild-type pre-B NALM-6 lymphocytes, as well as in their Artemis(-/-), DNA ligase 4(-/-) (LIG4(-/-)), and LIG4(-/-)/Artemis(-/-) double mutant counterparts, under conditions allowing evaluation of A-EJ. Our results substantiate the suggested roles of Artemis in C-NHEJ and HRR, but also demonstrate a role for the protein in A-EJ that is confirmed in Artemis deficient normal human fibroblasts. We conclude that Artemis is a nuclease participating in DSB repair by all major repair pathways. Copyright © 2015 Elsevier B.V. All rights reserved.

  13. Space Station Initial Operational Concept (IOC) operations and safety view - Automation and robotics for Space Station

    Science.gov (United States)

    Bates, William V., Jr.

    1989-01-01

    The automation and robotics requirements for the Space Station Initial Operational Concept (IOC) are discussed. The amount of tasks to be performed by an eight-person crew, the need for an automated or directed fault analysis capability, and ground support requirements are considered. Issues important in determining the role of automation for the IOC are listed.

  14. Robotic and nuclear safety for an automated/teleoperated glove box system

    International Nuclear Information System (INIS)

    Domning, E.E.; McMahon, T.T.; Sievers, R.H.

    1991-09-01

    Lawrence Livermore National Laboratory (LLNL) is developing a fully automated system to handle the processing of special nuclear materials (SNM). This work is performed in response to the new goals at the Department of Energy (DOE) for hazardous waste minimization and radiation dose reduction. This fully automated system, called the automated test bed (ATB), consists of an IBM gantry robot and automated processing equipment sealed within a glove box. While the ATB is a cold system, we are designing it as a prototype of the future hot system. We recognized that identification and application of safety requirements early in the design phase will lead to timely installation and approval of the hot system. This paper identifies these safety issues as well as the general safety requirements necessary for the safe operation of the ATB. 4 refs., 2 figs

  15. Eighth International Conference on Informatics in Control Automation and Robotics (ICINCO 2011)

    CERN Document Server

    Bernard, Alain; Gusikhin, Oleg; Madani, Kurosh; Informatics in Control, Automation and Robotics

    2013-01-01

    The present book includes a set of selected papers from the eighth "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2011), held in Noordwijkerhout, The Netherlands, from 28 to 31 July 2011. The conference was organized in four simultaneous tracks: "Intelligent Control Systems and Optimization", "Robotics and Automation", "Signal Processing, Sensors, Systems Modeling and Control" and "Industrial Engineering, Production and Management". The book is based on the same structure.   ICINCO received 322 paper submissions, not including those of workshops or special sessions, from 52 countries, in all continents. After a double blind paper review performed by the Program Committee only 33 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 10%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality,...

  16. Overview of the NASA automation and robotics research program

    Science.gov (United States)

    Holcomb, Lee; Larsen, Ron

    1985-01-01

    NASA studies over the last eight years have identified five opportunities for the application of automation and robotics technology: (1) satellite servicing; (2) system monitoring, control, sequencing and diagnosis; (3) space manufacturing; (4) space structure assembly; and (5) planetary rovers. The development of these opportunities entails two technology R&D thrusts: telerobotics and system autonomy; both encompass such concerns as operator interface, task planning and reasoning, control execution, sensing, and systems integration.

  17. Advancing automation and robotics technology for the Space Station Freedom and for the U.S. Economy

    Science.gov (United States)

    1991-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the thirteenth in a series of progress updates and covers the period between 14 Feb. - 15 Aug. 1991. The progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology is described. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 12, and issues of A&R implementation into Ground Mission Operations and A&R enhancement of science productivity. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

  18. Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy

    Science.gov (United States)

    1993-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixteenth in a series of progress updates and covers the period between 15 Sep. 1992 - 16 Mar. 1993. The report describes the progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 15; and includes a status review of Space Station Freedom Launch Processing facilities at Kennedy Space Center. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

  19. A Multidisciplinary PBL Robot Control Project in Automation and Electronic Engineering

    Science.gov (United States)

    Hassan, Houcine; Domínguez, Carlos; Martínez, Juan-Miguel; Perles, Angel; Capella, Juan-Vicente; Albaladejo, José

    2015-01-01

    This paper presents a multidisciplinary problem-based learning (PBL) project consisting of the development of a robot arm prototype and the implementation of its control system. The project is carried out as part of Industrial Informatics (II), a compulsory third-year course in the Automation and Electronic Engineering (AEE) degree program at the…

  20. Becoming Classical Artemis: A Glimpse at the Evolution of the Goddess as Traced in Ancient Arcadia

    Directory of Open Access Journals (Sweden)

    Olga Albert Zolotnikova

    2017-04-01

    Full Text Available This paper is concerned with the evolution of the goddess Artemis in Ancient Greek religion from prehistoric till late historic times. In the related studies, still there is no certainty as to the beginning of worship of Artemis in Ancient Greece and her original concept. Moreover, Artemis’ appearance in the early historic period with the features of the prehistoric Mountain-Mother-Goddess, the Mistress of Animals, the goddess of lakes, the goddess of trees, the goddess of birth and child-care, on the one hand, and as a virgin-huntress who presented rudimentary traits of bear-goddess and deer-goddess, on the other, raises questions whether Artemis originally had all these hypostases or acquired them gradually through assimilation with different goddesses. This paper argues that the concept of Artemis as attested during the historic period was the result of its long development, which consisted of two major phases. Originally, Artemis was a goddess of wild animals and herself was imagined as a bear and a doe. Perhaps, from the beginning, she was regarded as a guardian of sacred rules and a punisher for inappropriate religious behavior. Gradually, Artemis was identified with the old universal goddess of nature and received from her connection with mountain-tops and lakes, responsibility for plant growth and fertility in general, obligation to protect childbirth, etc.. In this paper, the evolution of the concept of Artemis is traced on the basis of her cults practiced in Arcadia, one of a few areas of Ancient Greece where ethno-cultural continuity remained unbroken from prehistoric to late historic times.

  1. Robotic control architecture development for automated nuclear material handling systems

    International Nuclear Information System (INIS)

    Merrill, R.D.; Hurd, R.; Couture, S.; Wilhelmsen, K.

    1995-02-01

    Lawrence Livermore National Laboratory (LLNL) is engaged in developing automated systems for handling materials for mixed waste treatment, nuclear pyrochemical processing, and weapon components disassembly. In support of these application areas there is an extensive robotic development program. This paper will describe the portion of this effort at LLNL devoted to control system architecture development, and review two applications currently being implemented which incorporate these technologies

  2. Characteristics of D(-3)He fueled FRC reactor: ARTEMIS-L

    Science.gov (United States)

    Momota, H.; Motojima, O.; Okamoto, M.; Sudo, S.; Tomita, Y.; Yamaguchi, S.; Iiyoshi, A.; Onozuka, M.; Ohnishi, M.; Uenosono, C.

    1993-11-01

    The characteristics of D(-3)He fueled commercial fusion reactor ARTEMIS-L are discussed. By using favorable characteristics of a field-reversed configuration, the fusion plasma of ARTEMIS-L becomes compact and its veta-value is extremely high. Consequently, it is possible to construct an economical fusion power plant based on this concept. The life of the structural materials is found during the full reactor life (30 years) and the safety of the reactor is intrinsic to D(-3)He fuels. The amount of disposed materials is rather small and the level of the intruder dose is so low that the plant appears to be acceptable in regards to the environment.

  3. Space Station Freedom automation and robotics: An assessment of the potential for increased productivity

    Science.gov (United States)

    Weeks, David J.; Zimmerman, Wayne F.; Swietek, Gregory E.; Reid, David H.; Hoffman, Ronald B.; Stammerjohn, Lambert W., Jr.; Stoney, William; Ghovanlou, Ali H.

    1990-01-01

    This report presents the results of a study performed in support of the Space Station Freedom Advanced Development Program, under the sponsorship of the Space Station Engineering (Code MT), Office of Space Flight. The study consisted of the collection, compilation, and analysis of lessons learned, crew time requirements, and other factors influencing the application of advanced automation and robotics, with emphasis on potential improvements in productivity. The lessons learned data collected were based primarily on Skylab, Spacelab, and other Space Shuttle experiences, consisting principally of interviews with current and former crew members and other NASA personnel with relevant experience. The objectives of this report are to present a summary of this data and its analysis, and to present conclusions regarding promising areas for the application of advanced automation and robotics technology to the Space Station Freedom and the potential benefits in terms of increased productivity. In this study, primary emphasis was placed on advanced automation technology because of its fairly extensive utilization within private industry including the aerospace sector. In contrast, other than the Remote Manipulator System (RMS), there has been relatively limited experience with advanced robotics technology applicable to the Space Station. This report should be used as a guide and is not intended to be used as a substitute for official Astronaut Office crew positions on specific issues.

  4. Automated processing of forensic casework samples using robotic workstations equipped with nondisposable tips: contamination prevention.

    Science.gov (United States)

    Frégeau, Chantal J; Lett, C Marc; Elliott, Jim; Yensen, Craig; Fourney, Ron M

    2008-05-01

    An automated process has been developed for the analysis of forensic casework samples using TECAN Genesis RSP 150/8 or Freedom EVO liquid handling workstations equipped exclusively with nondisposable tips. Robot tip cleaning routines have been incorporated strategically within the DNA extraction process as well as at the end of each session. Alternative options were examined for cleaning the tips and different strategies were employed to verify cross-contamination. A 2% sodium hypochlorite wash (1/5th dilution of the 10.8% commercial bleach stock) proved to be the best overall approach for preventing cross-contamination of samples processed using our automated protocol. The bleach wash steps do not adversely impact the short tandem repeat (STR) profiles developed from DNA extracted robotically and allow for major cost savings through the implementation of fixed tips. We have demonstrated that robotic workstations equipped with fixed pipette tips can be used with confidence with properly designed tip washing routines to process casework samples using an adapted magnetic bead extraction protocol.

  5. Repeatability and interobserver reproducibility of Artemis-2 high-frequency ultrasound in determination of human corneal thickness

    Directory of Open Access Journals (Sweden)

    Ogbuehi KC

    2012-05-01

    Full Text Available Kelechi C Ogbuehi, Uchechukwu L OsuagwuOutpatient Clinic, Department of Optometry, King Saud University, Riyadh, Kingdom of Saudi ArabiaBackground: The purpose of this study was to assess the repeatability and limits of agreement of corneal thickness values measured by a high-frequency ultrasound (Artemis-2, hand-held ultrasound pachymeter (DGH-500 and a specular microscope (SP-3000P.Methods: Central corneal thickness (CCT was analyzed in this prospective randomized study that included 32 patients (18 men and 14 women aged 21–24 years. Measurements were obtained in two sessions, one week apart, by two examiners with three devices in a randomized order. Nine measurements were taken (three with each device on one randomly selected eye of each patient in each measurement session. The coefficient of repeatability and interobserver reproducibility for the values of each method were calculated. The limits of agreement between techniques were also evaluated.Results: There were no significant differences in CCT values between sessions for each of the three devices (P > 0.05. The repeatability coefficients for the Artemis-2 (±8 µm/±9 µm were superior to those of the SP-3000P (±9 µm/±11 µm and DGH 500 (±12 µm/±12 µm in session 1/session 2 respectively, while the interobserver reproducibility index (differences between session 1 and session 2 was superior for the SP-3000P (±17 µm with respect to DHG-500 (±29 µm and the Artemis-2 (±31 µm. In session 1 and session 2, the limits of agreement between the techniques were 35 µm to -31 µm and 34 to -20 µm, respectively, for DGH-500 versus Artemis-2, 73 µm to 3 µm and 60 µm to 9 µm for Artemis-2 versus SP-3000P, and 58 µm to 22 µm and 72 µm to 10 µm for DGH-500 versus SP-3000P comparisons. The DGH-500 and Artemis-2 gave similar values (P > 0.05 in both sessions, but both (Artemis-2 and DGH-500 values were significantly greater than that of the SP-3000P (P < 0.05 in both sessions

  6. Development of a robotics system for automated chemical analysis of sediments, sludges, and soils

    International Nuclear Information System (INIS)

    McGrail, B.P.; Dodson, M.G.; Skorpik, J.R.; Strachan, D.M.; Barich, J.J.

    1989-01-01

    Adaptation and use of a high-reliability robot to conduct a standard laboratory procedure for soil chemical analysis are reported. Results from a blind comparative test were used to obtain a quantitative measure of the improvement in precision possible with the automated test method. Results from the automated chemical analysis procedure were compared with values obtained from an EPA-certified lab and with results from a more extensive interlaboratory round robin conducted by the EPA. For several elements, up to fivefold improvement in precision was obtained with the automated test method

  7. Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

    Science.gov (United States)

    1994-01-01

    The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.

  8. i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

    Science.gov (United States)

    1990-01-01

    The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

  9. Laser experiments in light cloudiness with the geostationary satellite ARTEMIS

    Science.gov (United States)

    Kuzkov, V.; Kuzkov, S.; Sodnik, Z.

    2016-08-01

    The geostationary satellite ARTEMIS was launched in July 2001. The satellite is equipped with a laser communication terminal, which was used for the world's first inter-satellite laser communication link between ARTEMIS and the low earth orbit satellite SPOT-4. Ground-to-space laser communication experiments were also conducted under various atmospheric conditions involving ESA's optical ground station. With a rapidly increasing volume of information transferred by geostationary satellites, there is a rising demand for high-speed data links between ground stations and satellites. For ground-to-space laser communications there are a number of important design parameters that need to be addressed, among them, the influence of atmospheric turbulence in different atmospheric conditions and link geometries. The Main Astronomical Observatory of NAS of Ukraine developed a precise computer tracking system for its 0.7 m AZT-2 telescope and a compact laser communication package LACES (Laser Atmosphere and Communication experiments with Satellites) for laser communication experiments with geostationary satellites. The specially developed software allows computerized tracking of the satellites using their orbital data. A number of laser experiments between MAO and ARTEMIS were conducted in partial cloudiness with some amount of laser light observed through clouds. Such conditions caused high break-up (splitting) of images from the laser beacon of ARTEMIS. One possible explanation is Raman scattering of photons on molecules of a water vapor in the atmosphere. Raman scattering causes a shift in a wavelength of the photons.In addition, a different value for the refraction index appears in the direction of the meridian for the wavelength-shifted photons. This is similar to the anomalous atmospheric refraction that appears at low angular altitudes above the horizon. We have also estimated the atmospheric attenuation and the influence of atmospheric turbulence on observed results

  10. Automated Trajectory Planner of Industrial Robot for Pick-and-Place Task

    Directory of Open Access Journals (Sweden)

    S. Saravana Perumaal

    2013-02-01

    Full Text Available Industrial robots, due to their great speed, precision and cost-effectiveness in repetitive tasks, now tend to be used in place of human workers in automated manufacturing systems. In particular, they perform the pick-and-place operation, a non-value-added activity which at the same time cannot be eliminated. Hence, minimum time is an important consideration for economic reasons in the trajectory planning system of the manipulator. The trajectory should also be smooth to handle parts precisely in applications such as semiconductor manufacturing, processing and handling of chemicals and medicines, and fluid and aerosol deposition. In this paper, an automated trajectory planner is proposed to determine a smooth, minimum-time and collision-free trajectory for the pick-and-place operations of a 6-DOF robotic manipulator in the presence of an obstacle. Subsequently, it also proposes an algorithm for the jerk-bounded Synchronized Trigonometric S-curve Trajectory (STST and the ‘forbidden-sphere’ technique to avoid the obstacle. The proposed planner is demonstrated with suitable examples and comparisons. The experiments show that the proposed planner is capable of providing a smoother trajectory than the cubic spline based trajectory.

  11. First Results from ARTEMIS, A New Two-Spacecraft Lunar Mission: Counter-Streaming Plasma Populations in the Lunar Wake

    Science.gov (United States)

    Halekas, J. S.; Angelopoulos, V.; Sibeck, D. G.; Khurana, K. K.; Russell, C. T.; Delory, G. T.; Farrell, W. M.; McFadden, J. P.; Bonnell, J. W.; Larson, D.; hide

    2014-01-01

    We present observations from the first passage through the lunar plasma wake by one of two spacecraft comprising ARTEMIS (Acceleration, Reconnection, Turbulence, and Electrodynamics of the Moon's Interaction with the Sun), a new lunar mission that re-tasks two of five probes from the THEMIS magnetospheric mission. On Feb 13, 2010, ARTEMIS probe P1 passed through the wake at approximately 3.5 lunar radii downstream from the Moon, in a region between those explored by Wind and the Lunar Prospector, Kaguya, Chandrayaan, and Chang'E missions. ARTEMIS observed interpenetrating proton, alpha particle, and electron populations refilling the wake along magnetic field lines from both flanks. The characteristics of these distributions match expectations from self-similar models of plasma expansion into vacuum, with an asymmetric character likely driven by a combination of a tilted interplanetary magnetic field and an anisotropic incident solar wind electron population. On this flyby, ARTEMIS provided unprecedented measurements of the interpenetrating beams of both electrons and ions naturally produced by the filtration and acceleration effects of electric fields set up during the refilling process. ARTEMIS also measured electrostatic oscillations closely correlated with counter-streaming electron beams in the wake, as previously hypothesized but never before directly measured. These observations demonstrate the capability of the comprehensively instrumented ARTEMIS spacecraft and the potential for new lunar science from this unique two spacecraft constellation.

  12. Characteristics of D-3He fueled frc reactor: ARTEMIS-L

    International Nuclear Information System (INIS)

    Momota, H.; Motojima, O.; Okamoto, M.; Sudo, S.; Tomita, Y.; Yamaguchi, S.; Iiyoshi, A.; Onozuka, M.; Ohnishi, M.; Uenosono, C.

    1993-11-01

    The paper introduces briefly the scenario and discuss the attractive characteristics of D-3He fueled commercial fusion reactor ARTEMIS-L. By using favorable characteristics of a field-reversed configuration, the fusion plasma of ARTEMIS-L is compact and its beta-value is extremely high. One find consequently a possibility of constructing an economical fusion power power plant on this prospect. The life of the structural materials is sound during the full reactor life (30 years) and the safety of the reactor is intrinsic to D-3He fuels. The amount of disposed materials is rather small and the level of these intruder dose is so low that the plant appears to be acceptable in view of the environment. (author)

  13. Importing statistical measures into Artemis enhances gene identification in the Leishmania genome project

    Directory of Open Access Journals (Sweden)

    McDonagh Paul D

    2003-06-01

    Full Text Available Abstract Background Seattle Biomedical Research Institute (SBRI as part of the Leishmania Genome Network (LGN is sequencing chromosomes of the trypanosomatid protozoan species Leishmania major. At SBRI, chromosomal sequence is annotated using a combination of trained and untrained non-consensus gene-prediction algorithms with ARTEMIS, an annotation platform with rich and user-friendly interfaces. Results Here we describe a methodology used to import results from three different protein-coding gene-prediction algorithms (GLIMMER, TESTCODE and GENESCAN into the ARTEMIS sequence viewer and annotation tool. Comparison of these methods, along with the CODONUSAGE algorithm built into ARTEMIS, shows the importance of combining methods to more accurately annotate the L. major genomic sequence. Conclusion An improvised and powerful tool for gene prediction has been developed by importing data from widely-used algorithms into an existing annotation platform. This approach is especially fruitful in the Leishmania genome project where there is large proportion of novel genes requiring manual annotation.

  14. Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989)

    Science.gov (United States)

    Griffin, Sandy (Editor)

    1990-01-01

    Papers presented at the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), hosted by the NASA Lyndon B. Johnson Space Center at Houston, Texas, on July 25 to 27, 1989, are given. Approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Also held were panel discussions on Air Force/NASA Artificial Intelligence Overview and Expert System Verification and Validation.

  15. Automation and robotics considerations for a lunar base

    Science.gov (United States)

    Sliwa, Nancy E.; Harrison, F. Wallace, Jr.; Soloway, Donald I.; Mckinney, William S., Jr.; Cornils, Karin; Doggett, William R.; Cooper, Eric G.; Alberts, Thomas E.

    1992-01-01

    An envisioned lunar outpost shares with other NASA missions many of the same criteria that have prompted the development of intelligent automation techniques with NASA. Because of increased radiation hazards, crew surface activities will probably be even more restricted than current extravehicular activity in low Earth orbit. Crew availability for routine and repetitive tasks will be at least as limited as that envisioned for the space station, particularly in the early phases of lunar development. Certain tasks are better suited to the untiring watchfulness of computers, such as the monitoring and diagnosis of multiple complex systems, and the perception and analysis of slowly developing faults in such systems. In addition, mounting costs and constrained budgets require that human resource requirements for ground control be minimized. This paper provides a glimpse of certain lunar base tasks as seen through the lens of automation and robotic (A&R) considerations. This can allow a more efficient focusing of research and development not only in A&R, but also in those technologies that will depend on A&R in the lunar environment.

  16. Integration of biotechnology, visualisation technology and robot technology for automated mass propagation af elite trees

    DEFF Research Database (Denmark)

    Find, Jens

    for the production of Christmas trees and Sitka spruce has gained renewed interest as a fast growing species for the production biofuels. These species are used as model systems for the development of automated plant production based on robot and visualisation technology. The commercial aspect of the project aims at......: 1) the market for cloned elite plants in the forestry sector and 2) the market for robot technology in the production of plants for the forestry sector....

  17. Robotics and automation for oil sands bitumen production and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Lipsett, M.G. [Alberta Univ., Edmonton, AB (Canada). Dept. of Mechanical Engineering

    2008-07-01

    This presentation examined technical challenges and commercial challenges related to robotics and automation processes in the mining and oil sands industries. The oil sands industry has on-going cost pressures. Challenges include the depths to which miners must travel, as well as problems related to equipment reliability and safety. Surface mines must operate in all weather conditions with a variety of complex systems. Barriers for new technologies include high capital and operating expenses. It has also proven difficult to integrate new technologies within established mining practices. However, automation has the potential to improve mineral processing, production, and maintenance processes. Step changes can be placed in locations that are hazardous or inaccessible. Automated sizing, material, and ventilation systems are can also be implemented as well as tele-operated equipment. Prototypes currently being developed include advanced systems for cutting; rock bolting; loose rock detection systems; lump size estimation; unstructured environment sensing; environment modelling; and automatic task execution. Enabling technologies are now being developed for excavation, haulage, material handling systems, mining and reclamation methods, and integrated control and reliability. tabs., figs.

  18. Development of Articulated Competency-Based Curriculum in Automated Systems/Robotics Technology. Final Report.

    Science.gov (United States)

    Luzerne County Community Coll., Nanticoke, PA.

    The project described in this report was conducted at the Community College of Luzerne County (Pennsylvania) to develop, in conjunction with area vocational-technical schools, the second year of a competency-based curriculum in automated systems/robotics technology. During the project, a task force of teachers from the area schools and the college…

  19. Conceptual Design and Feasibility Analyses of a Robotic System for Automated Exterior Wall Painting

    Directory of Open Access Journals (Sweden)

    Young S. Kim

    2008-11-01

    Full Text Available There are approximately 6,677,000 apartment housing units in South Korea. Exterior wall painting for such multi-dwelling apartment housings in South Korea represents a typical area to which construction automation technology can be applied for improvement in safety, productivity, quality, and cost over the conventional method. The conventional exterior wall painting is costly and labor-intensive, and it especially exposes workers to significant health and safety risks. The primary objective of this study is to design a conceptual model of an exterior wall painting robot which is applicable to apartment housing construction and maintenance, and to conduct its technical?economical feasibility analyses. In this study, a design concept using a high ladder truck is proposed as the best alternative for automation of the exterior wall painting. Conclusions made in this study show that the proposed exterior wall painting robot is technically and economically feasible, and can greatly enhance safety, productivity, and quality compared to the conventional method. Finally, it is expected that the conceptual model of the exterior wall painting robot would be efficiently used in various applications in exterior wall finishing and maintenance of other architectural and civil structures such as commercial buildings, towers, and high-rise storage tanks.

  20. Stationkeeping of Lissajous Trajectories in the Earth-Moon System with Applications to ARTEMIS

    Science.gov (United States)

    Folta, D. C.; Pavlak, T. A.; Howell, K. C.; Woodard, M. A.; Woodfork, D. W.

    2010-01-01

    In the last few decades, several missions have successfully exploited trajectories near the.Sun-Earth L1 and L2 libration points. Recently, the collinear libration points in the Earth-Moon system have emerged as locations with immediate application. Most libration point orbits, in any system, are inherently unstable. and must be controlled. To this end, several stationkeeping strategies are considered for application to ARTEMIS. Two approaches are examined to investigate the stationkeeping problem in this regime and the specific options. available for ARTEMIS given the mission and vehicle constraints. (I) A baseline orbit-targeting approach controls the vehicle to remain near a nominal trajectory; a related global optimum search method searches all possible maneuver angles to determine an optimal angle and magnitude; and (2) an orbit continuation method, with various formulations determines maneuver locations and minimizes costs. Initial results indicate that consistent stationkeeping costs can be achieved with both approaches and the costs are reasonable. These methods are then applied to Lissajous trajectories representing a baseline ARTEMIS libration orbit trajectory.

  1. Characteristics of D-{sup 3}He fueled frc reactor: ARTEMIS-L

    Energy Technology Data Exchange (ETDEWEB)

    Momota, H.; Motojima, O.; Okamoto, M.; Sudo, S.; Tomita, Y.; Yamaguchi, S.; Iiyoshi, A.; Onozuka, M.; Ohnishi, M.; Uenosono, C.

    1993-11-01

    The paper introduces briefly the scenario and discuss the attractive characteristics of D-3He fueled commercial fusion reactor ARTEMIS-L. By using favorable characteristics of a field-reversed configuration, the fusion plasma of ARTEMIS-L is compact and its beta-value is extremely high. One find consequently a possibility of constructing an economical fusion power power plant on this prospect. The life of the structural materials is sound during the full reactor life (30 years) and the safety of the reactor is intrinsic to D-3He fuels. The amount of disposed materials is rather small and the level of these intruder dose is so low that the plant appears to be acceptable in view of the environment. (author).

  2. The use of automation and robotic systems to establish and maintain lunar base operations

    Science.gov (United States)

    Petrosky, Lyman J.

    1992-01-01

    Robotic systems provide a means of performing many of the operations required to establish and maintain a lunar base. They form a synergistic system when properly used in concert with human activities. This paper discusses the various areas where robotics and automation may be used to enhance lunar base operations. Robots are particularly well suited for surface operations (exterior to the base habitat modules) because they can be designed to operate in the extreme temperatures and vacuum conditions of the Moon (or Mars). In this environment, the capabilities of semi-autonomous robots would surpass that of humans in all but the most complex tasks. Robotic surface operations include such activities as long range geological and mineralogical surveys with sample return, materials movement in and around the base, construction of radiation barriers around habitats, transfer of materials over large distances, and construction of outposts. Most of the above operations could be performed with minor modifications to a single basic robotic rover. Within the lunar base habitats there are a few areas where robotic operations would be preferable to human operations. Such areas include routine inspections for leakage in the habitat and its systems, underground transfer of materials between habitats, and replacement of consumables. In these and many other activities, robotic systems will greatly enhance lunar base operations. The robotic systems described in this paper are based on what is realistically achievable with relatively near term technology. A lunar base can be built and maintained if we are willing.

  3. Automation and robotics - Key to productivity. [in industry and space

    Science.gov (United States)

    Cohen, A.

    1985-01-01

    The automated and robotic systems requirements of the NASA Space Station are prompted by maintenance, repair, servicing and assembly requirements. Trend analyses, fault diagnoses, and subsystem status assessments for the Station's electrical power, guidance, navigation, control, data management and environmental control subsystems will be undertaken by cybernetic expert systems; this will reduce or eliminate on-board or ground facility activities that would otherwise be essential, enhancing system productivity. Additional capabilities may also be obtained through the incorporation of even a limited amount of artificial intelligence in the controllers of the various Space Station systems.

  4. Automation and use of robotic arm for development and routine production of radiopharmaceuticals

    International Nuclear Information System (INIS)

    Salvadori, P.A.; Di Sacco, S.; Riva, A.; Fusani, L.

    1993-01-01

    The target of a radiopharmaceutical group is twofold: production of radiotracers for clinical use (routine) and development of new compounds. The level of activity to be handled selects the strategy to be used for radiocompounds handling, ranging from direct manipulation during basic development at microcurie level to sophisticated equipments such as automated black-boxes and robotic arms at curie level. The authors looked for a common solution, to both the management of routine productions and the problems arising during activity scaling up in new tracer development, by choosing a robotic arm integrated by a variety of specialized automatic devices able to perform actions which are difficult (too slow, too precise, too complicated, etc.,) to be made by the robot. The final solution from this approach is a open-quotes synthetic stationclose quotes with flexible architecture which can be used for different applications without harware modification/adaptation

  5. Second AIAA/NASA USAF Symposium on Automation, Robotics and Advanced Computing for the National Space Program

    Science.gov (United States)

    Myers, Dale

    1987-01-01

    An introduction is given to NASA goals in the development of automation (expert systems) and robotics technologies in the Space Station program. Artificial intelligence (AI) has been identified as a means to lowering ground support costs. Telerobotics will enhance space assembly, servicing and repair capabilities, and will be used for an estimated half of the necessary EVA tasks. The general principles guiding NASA in the design, development, ground-testing, interactions with industry and construction of the Space Station component systems are summarized. The telerobotics program has progressed to a point where a telerobot servicer is a firm component of the first Space Station element launch, to support assembly, maintenance and servicing of the Station. The University of Wisconsin has been selected for the establishment of a Center for the Commercial Development of Space, specializing in space automation and robotics.

  6. Design and Development of a Robot-Based Automation System for Cryogenic Crystal Sample Mounting at the Advanced Photon Source

    International Nuclear Information System (INIS)

    Shu, D.; Preissner, C.; Nocher, D.; Han, Y.; Barraza, J.; Lee, P.; Lee, W.-K.; Cai, Z.; Ginell, S.; Alkire, R.; Lazarski, K.; Schuessler, R.; Joachimiak, A.

    2004-01-01

    X-ray crystallography is the primary method to determine the 3D structures of complex macromolecules at high resolution. In the years to come, the Advanced Photon Source (APS) and similar 3rd-generation synchrotron sources elsewhere will become the most powerful tools for studying atomic structures of biological molecules. One of the major bottlenecks in the x-ray data collection process is the constant need to change and realign the crystal sample. This is a very time- and manpower-consuming task. An automated sample mounting system will help to solve this bottleneck problem. We have developed a novel robot-based automation system for cryogenic crystal sample mounting at the APS. Design of the robot-based automation system, as well as its on-line test results at the Argonne Structural Biology Center (SBC) 19-BM experimental station, are presented in this paper

  7. Robotics and Automation for Flight Deck Aircraft Servicing

    Energy Technology Data Exchange (ETDEWEB)

    Chesser, J.B.; Draper, J.V.; Pin, F.G.

    1999-03-01

    One of the missions of the Future Aircraft Carriers Program is to investigate methods that would improve aircraft turnaround servicing activities on carrier decks. The major objectives and criteria for evaluating alternative aircraft servicing methods are to reduce workload requirements, turnaround times (TAT), and life-cycle costs (LCC). Technologies in the field of Robotics and Automation (R and A) have the potential to significantly contribute to these objectives. The objective of this study was to investigate aircraft servicing functions on carrier decks which would offer the potentially most significant payoff if improved by various R and A technologies. Improvement in this case means reducing workload, time and LCC. This objective was accomplished using a ''bottom-up'' formalized approach as described in the following.

  8. Effects of imperfect automation and individual differences on concurrent performance of military and robotics tasks in a simulated multitasking environment.

    Science.gov (United States)

    Chen, J Y C; Terrence, P I

    2009-08-01

    This study investigated the performance and workload of the combined position of gunner and robotics operator in a simulated military multitasking environment. Specifically, the study investigated how aided target recognition (AiTR) capabilities for the gunnery task with imperfect reliability (false-alarm-prone vs. miss-prone) might affect the concurrent robotics and communication tasks. Additionally, the study examined whether performance was affected by individual differences in spatial ability and attentional control. Results showed that when the robotics task was simply monitoring the video, participants had the best performance in their gunnery and communication tasks and the lowest perceived workload, compared with the other robotics tasking conditions. There was a strong interaction between the type of AiTR unreliability and participants' perceived attentional control. Overall, for participants with higher perceived attentional control, false-alarm-prone alerts were more detrimental; for low attentional control participants, conversely, miss-prone automation was more harmful. Low spatial ability participants preferred visual cueing and high spatial ability participants favoured tactile cueing. Potential applications of the findings include personnel selection for robotics operation, robotics user interface designs and training development. The present results will provide further understanding of the interplays among automation reliability, multitasking performance and individual differences in military tasking environments. These results will also facilitate the implementation of robots in military settings and will provide useful data to military system designs.

  9. The ARTEMIS European driving cycles for measuring car pollutant emissions.

    Science.gov (United States)

    André, Michel

    2004-12-01

    In the past 10 years, various work has been undertaken to collect data on the actual driving of European cars and to derive representative real-world driving cycles. A compilation and synthesis of this work is provided in this paper. In the frame of the European research project: ARTEMIS, this work has been considered to derive a set of reference driving cycles. The main objectives were as follows: to derive a common set of reference real-world driving cycles to be used in the frame of the ARTEMIS project but also in the frame of on-going national campaigns of pollutant emission measurements, to ensure the compatibility and integration of all the resulting emission data in the European systems of emission inventory; to ensure and validate the representativity of the database and driving cycles by comparing and taking into account all the available data regarding driving conditions; to include in three real-world driving cycles (urban, rural road and motorway) the diversity of the observed driving conditions, within sub-cycles allowing a disaggregation of the emissions according to more specific driving conditions (congested and free-flow urban). Such driving cycles present a real advantage as they are derived from a large database, using a methodology that was widely discussed and approved. In the main, these ARTEMIS driving cycles were designed using the available data, and the method of analysis was based to some extent on previous work. Specific steps were implemented. The study includes characterisation of driving conditions and vehicle uses. Starting conditions and gearbox use are also taken into account.

  10. Development and anti-swing control of an automated measurement robot system for multi-stud tensioning machine

    International Nuclear Information System (INIS)

    Li Haoyuan; Li Meng; Duan Xingguang; Gao Liang; Cui Tengfei; Guo Yanjun

    2017-01-01

    During nuclear power plant maintenance, the multi-stud tensioning machine is used to perform opening/sealing the cap of the reactor pressure vessel. This process incorporates elongations of 58 studs, whose extension values are monitored in real time by measurement meters. Conventionally, the placements of the meters are performed by human labor, which is time consuming and radioactively hazardous. In this paper, we introduce an automated measurement robot system, consisting of 58 node robots and multiple field bus based distributed control devices, to complete meter placement and data acquisition tasks without human involvement in the hazardous working site. In order to eliminate the swing phenomenon of the wire-driven meter adaptor on the robot distal end, extra-insensitive input shaper is employed for robot motion control, thus saving the overall operation time from traditionally over 10 minutes to less than 22 s. (author)

  11. Assessment Study on Sensors and Automation in the Industries of the Future. Reports on Industrial Controls, Information Processing, Automation, and Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, Bonnie [Adventium Labs; Boddy, Mark [Adventium Labs; Doyle, Frank [Univ. of California, Santa Barbara, CA (United States); Jamshidi, Mo [Univ. of New Mexico, Albuquerque, NM (United States); Ogunnaike, Tunde [Univ. of Delaware, Newark, DE (United States)

    2004-11-01

    This report presents the results of an expert study to identify research opportunities for Sensors & Automation, a sub-program of the U.S. Department of Energy (DOE) Industrial Technologies Program (ITP). The research opportunities are prioritized by realizable energy savings. The study encompasses the technology areas of industrial controls, information processing, automation, and robotics. These areas have been central areas of focus of many Industries of the Future (IOF) technology roadmaps. This report identifies opportunities for energy savings as a direct result of advances in these areas and also recognizes indirect means of achieving energy savings, such as product quality improvement, productivity improvement, and reduction of recycle.

  12. Development of Autonomous Boat-Type Robot for Automated Velocity Measurement in Straight Natural River

    Science.gov (United States)

    Sanjou, Michio; Nagasaka, Tsuyoshi

    2017-11-01

    The present study describes an automated system to measure the river flow velocity. A combination of the camera-tracking system and the Proportional/Integral/Derivative (PID) control could enable the boat-type robot to remain in position against the mainstream; this results in reasonable evaluation of the mean velocity by a duty ratio which corresponds to rotation speed of the screw propeller. A laser range finder module was installed to measure the local water depth. Reliable laboratory experiments with the prototype boat robot and electromagnetic velocimetry were conducted to obtain a calibration curve that connects the duty ratio and mean current velocity. The remaining accuracy in the target point was also examined quantitatively. The fluctuation in the spanwise direction is within half of the robot length. It was therefore found that the robot remains well within the target region. We used two-dimensional navigation tests to guarantee that the prototype moved smoothly to the target points and successfully measured the streamwise velocity profiles across the mainstream. Moreover, the present robot was found to move successfully not only in the laboratory flume but also in a small natural river. The robot could move smoothly from the starting point near the operator's site toward the target point where the velocity is measured, and it could evaluate the cross-sectional discharge.

  13. SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

    Science.gov (United States)

    1991-01-01

    Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.

  14. SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

    International Nuclear Information System (INIS)

    1991-06-01

    Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity

  15. The readout system for the ArTeMis camera

    Science.gov (United States)

    Doumayrou, E.; Lortholary, M.; Dumaye, L.; Hamon, G.

    2014-07-01

    During ArTeMiS observations at the APEX telescope (Chajnantor, Chile), 5760 bolometric pixels from 20 arrays at 300mK, corresponding to 3 submillimeter focal planes at 450μm, 350μm and 200μm, have to be read out simultaneously at 40Hz. The read out system, made of electronics and software, is the full chain from the cryostat to the telescope. The readout electronics consists of cryogenic buffers at 4K (NABU), based on CMOS technology, and of warm electronic acquisition systems called BOLERO. The bolometric signal given by each pixel has to be amplified, sampled, converted, time stamped and formatted in data packets by the BOLERO electronics. The time stamping is obtained by the decoding of an IRIG-B signal given by APEX and is key to ensure the synchronization of the data with the telescope. Specifically developed for ArTeMiS, BOLERO is an assembly of analogue and digital FPGA boards connected directly on the top of the cryostat. Two detectors arrays (18*16 pixels), one NABU and one BOLERO interconnected by ribbon cables constitute the unit of the electronic architecture of ArTeMiS. In total, the 20 detectors for the tree focal planes are read by 10 BOLEROs. The software is working on a Linux operating system, it runs on 2 back-end computers (called BEAR) which are small and robust PCs with solid state disks. They gather the 10 BOLEROs data fluxes, and reconstruct the focal planes images. When the telescope scans the sky, the acquisitions are triggered thanks to a specific network protocol. This interface with APEX enables to synchronize the acquisition with the observations on sky: the time stamped data packets are sent during the scans to the APEX software that builds the observation FITS files. A graphical user interface enables the setting of the camera and the real time display of the focal plane images, which is essential in laboratory and commissioning phases. The software is a set of C++, Labview and Python, the qualities of which are respectively used

  16. Automated dried blood spots standard and QC sample preparation using a robotic liquid handler.

    Science.gov (United States)

    Yuan, Long; Zhang, Duxi; Aubry, Anne-Francoise; Arnold, Mark E

    2012-12-01

    A dried blood spot (DBS) bioanalysis assay involves many steps, such as the preparation of standard (STD) and QC samples in blood, the spotting onto DBS cards, and the cutting-out of the spots. These steps are labor intensive and time consuming if done manually, which, therefore, makes automation very desirable in DBS bioanalysis. A robotic liquid handler was successfully applied to the preparation of STD and QC samples in blood and to spot the blood samples onto DBS cards using buspirone as the model compound. This automated preparation was demonstrated to be accurate and consistent. However the accuracy and precision of automated preparation were similar to those from manual preparation. The effect of spotting volume on accuracy was evaluated and a trend of increasing concentrations of buspirone with increasing spotting volumes was observed. The automated STD and QC sample preparation process significantly improved the efficiency, robustness and safety of DBS bioanalysis.

  17. R-Tourism: Introducing the Potential Impact of Robotics and Service Automation in Tourism

    OpenAIRE

    Papathanassis Alexis

    2017-01-01

    Robotics and artificial intelligence are expected to reach their ‘tipping points’ over the nextdecade. Digitalization and service automation are already visible in the tourism sector, raisingquestions on their wider impact on the industry and the holiday-experience per se. Numerousapplication examples and cases of those technologies across the entire holiday value-chain areoutlined and their diffusion drivers are discussed. Apart from providing a typology for R-tourismapplications, this paper...

  18. Robot Control Overview: An Industrial Perspective

    Directory of Open Access Journals (Sweden)

    T. Brogårdh

    2009-07-01

    Full Text Available One key competence for robot manufacturers is robot control, defined as all the technologies needed to control the electromechanical system of an industrial robot. By means of modeling, identification, optimization, and model-based control it is possible to reduce robot cost, increase robot performance, and solve requirements from new automation concepts and new application processes. Model-based control, including kinematics error compensation, optimal servo reference- and feed-forward generation, and servo design, tuning, and scheduling, has meant a breakthrough for the use of robots in industry. Relying on this breakthrough, new automation concepts such as high performance multi robot collaboration and human robot collaboration can be introduced. Robot manufacturers can build robots with more compliant components and mechanical structures without loosing performance and robots can be used also in applications with very high performance requirements, e.g., in assembly, machining, and laser cutting. In the future it is expected that the importance of sensor control will increase, both with respect to sensors in the robot structure to increase the control performance of the robot itself and sensors outside the robot related to the applications and the automation systems. In this connection sensor fusion and learning functionalities will be needed together with the robot control for easy and intuitive installation, programming, and maintenance of industrial robots.

  19. Use of an Automated Mobile Phone Messaging Robot in Postoperative Patient Monitoring.

    Science.gov (United States)

    Anthony, Chris A; Lawler, Ericka A; Ward, Christina M; Lin, Ines C; Shah, Apurva S

    2018-01-01

    Mobile phone messaging software robots allow clinicians and healthcare systems to communicate with patients without the need for human intervention. The purpose of this study was to (1) describe a method for communicating with patients postoperatively outside of the traditional healthcare setting by utilizing an automated software and mobile phone messaging platform and to (2) evaluate the first week of postoperative pain and opioid use after common ambulatory hand surgery procedures. The investigation was a prospective, multicenter investigation of patient-reported pain and opioid usage after ambulatory hand surgery. Inclusion criteria included any adult with a mobile phone capable of text messaging, who was undergoing a common ambulatory hand surgical procedure at one of three tertiary care institutions. Participants received daily, automated text messages inquiring about their pain level and how many tablets of prescription pain medication they had taken in the past 24 h. Initial 1-week response rate was assessed and compared between different patient demographics. Patient-reported pain and opioid use were also quantified for the first postoperative week. Statistical significance was set as p tablets of prescription opioid pain medication. We find that a mobile phone messaging software robot allows for effective data collection of postoperative pain and pain medication use. Patients undergoing common ambulatory hand procedures utilized an average of 16 tablets of opioid medication in the first postoperative week.

  20. ARTEMIS: Reinvigorating History and Theory in Art and Design Education

    Science.gov (United States)

    Janet, Jeff; Miles, Melissa

    2009-01-01

    ARTEMIS (Art Educational Multiplayer Interactive Space) is an online multi-user virtual environment that is designed around the objects, artefacts, philosophies, personalities and critical discourses of the histories and theories of art and design. Conceived as a means of reinvigorating art history and theory education in the digital age, ARTEMIS…

  1. An Adaptive Web-Based Support to e-Education in Robotics and Automation

    Science.gov (United States)

    di Giamberardino, Paolo; Temperini, Marco

    The paper presents the hardware and software architecture of a remote laboratory, with robotics and automation applications, devised to support e-teaching and e-learning activities, at an undergraduate level in computer engineering. The hardware is composed by modular structures, based on the Lego Mindstorms components: they are reasonably sophisticated in terms of functions, pretty easy to use, and sufficiently affordable in terms of cost. Moreover, being the robots intrinsically modular, wrt the number and distribution of sensors and actuators, they are easily and quickly reconfigurable. A web application makes the laboratory and its robots available via internet. The software framework allows the teacher to define, for the course under her/his responsibility, a learning path made of different and differently complex exercises, graduated in terms of the "difficulty" they require to meet and of the "competence" that the solver is supposed to have shown. The learning path of exercises is adapted to the individual learner's progressively growing competence: at any moment, only a subset of the exercises is available (depending on how close their levels of competence and difficulty are to those of the exercises already solved by the learner).

  2. Human-Robot Interaction in High Vulnerability Domains

    Science.gov (United States)

    Gore, Brian F.

    2016-01-01

    Future NASA missions will require successful integration of the human with highly complex systems. Highly complex systems are likely to involve humans, automation, and some level of robotic assistance. The complex environments will require successful integration of the human with automation, with robots, and with human-automation-robot teams to accomplish mission critical goals. Many challenges exist for the human performing in these types of operational environments with these kinds of systems. Systems must be designed to optimally integrate various levels of inputs and outputs based on the roles and responsibilities of the human, the automation, and the robots; from direct manual control, shared human-robotic control, or no active human control (i.e. human supervisory control). It is assumed that the human will remain involved at some level. Technologies that vary based on contextual demands and on operator characteristics (workload, situation awareness) will be needed when the human integrates into these systems. Predictive models that estimate the impact of the technologies on the system performance and the on the human operator are also needed to meet the challenges associated with such future complex human-automation-robot systems in extreme environments.

  3. Development and verification testing of automation and robotics for assembly of space structures

    Science.gov (United States)

    Rhodes, Marvin D.; Will, Ralph W.; Quach, Cuong C.

    1993-01-01

    A program was initiated within the past several years to develop operational procedures for automated assembly of truss structures suitable for large-aperture antennas. The assembly operations require the use of a robotic manipulator and are based on the principle of supervised autonomy to minimize crew resources. A hardware testbed was established to support development and evaluation testing. A brute-force automation approach was used to develop the baseline assembly hardware and software techniques. As the system matured and an operation was proven, upgrades were incorprated and assessed against the baseline test results. This paper summarizes the developmental phases of the program, the results of several assembly tests, the current status, and a series of proposed developments for additional hardware and software control capability. No problems that would preclude automated in-space assembly of truss structures have been encountered. The current system was developed at a breadboard level and continued development at an enhanced level is warranted.

  4. Advancing automation and robotics technology for the Space Station Freedom and for the US economy: Submitted to the United States Congress

    Science.gov (United States)

    1990-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the ninth in a series of progress updates and covers the period between February 24, 1989, and July 12, 1989. NASA has accepted the basic recommendation of ATAC for its Space Station Freedom efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station program and serve as a highly visible stimulator, affecting the U.S. long-term economy. The work of NASA and the Freedom contractors, e.g., Work Packages, as well as the Flight Telerobotic Servicer is identified. Research in progress is also described and assessments of the advancement of automation and robotics technology on the Space Station Freedom are given.

  5. Selective automation and skill transfer in medical robotics: a demonstration on surgical knot-tying.

    Science.gov (United States)

    Knoll, Alois; Mayer, Hermann; Staub, Christoph; Bauernschmitt, Robert

    2012-12-01

    Transferring non-trivial human manipulation skills to robot systems is a challenging task. There have been a number of attempts to design research systems for skill transfer, but the level of the complexity of the actual skills transferable to the robot was rather limited, and delicate operations requiring a high dexterity and long action sequences with many sub-operations were impossible to transfer. A novel approach to human-machine skill transfer for multi-arm robot systems is presented. The methodology capitalizes on the metaphor of 'scaffolded learning', which has gained widespread acceptance in psychology. The main idea is to formalize the superior knowledge of a teacher in a certain way to generate support for a trainee. In our case, the scaffolding is constituted by abstract patterns, which facilitate the structuring and segmentation of information during 'learning by demonstration'. The actual skill generalization is then based on simulating fluid dynamics. The approach has been successfully evaluated in the medical domain for the delicate task of automated knot-tying for suturing with standard surgical instruments and a realistic minimally invasive robotic surgery system. Copyright © 2012 John Wiley & Sons, Ltd.

  6. Automation and robotics

    Science.gov (United States)

    Montemerlo, Melvin

    1988-01-01

    The Autonomous Systems focus on the automation of control systems for the Space Station and mission operations. Telerobotics focuses on automation for in-space servicing, assembly, and repair. The Autonomous Systems and Telerobotics each have a planned sequence of integrated demonstrations showing the evolutionary advance of the state-of-the-art. Progress is briefly described for each area of concern.

  7. Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress May 15, 1987

    Science.gov (United States)

    1987-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fourth in a series of progress updates and covers the period October 1, 1986 to May 15, 1987. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the will of Congress is to build an advanced automation and robotics technology base that will support an evolutionary space station program and serve as a highly visible stimulator affecting the long-term U.S. economy. The progress report identifies the work of NASA and the space station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the space station.

  8. Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress October 1, 1986

    Science.gov (United States)

    1986-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committer (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the third in a series of progress updates and covers the period between April 1, 1986 and September 30, 1986. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the will of Congress is to build an advanced automation and robotics technology base that will support an evolutionary space station program and serve as a highly visible stimulater affecting the long-term U.S. economy. The progress report identifies the work of NASA and the space station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the space station.

  9. An Assessment of the State of the Art of Curriculum Materials and a Status Assessment of Training Programs for Robotics/Automated Systems Technicians. Task Analysis and Descriptions of Required Job Competencies of Robotics/Automated Systems Technicians.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    This report presents the results of research conducted to determine the current state of the art of robotics/automated systems technician (RAST) training offered in the United States. Section I discusses the RAST curriculum project, of which this state-of-the-art review is a part, and offers a RAST job description. Section II describes the…

  10. Remote Minimally Invasive Surgery – Haptic Feedback and Selective Automation in Medical Robotics

    Directory of Open Access Journals (Sweden)

    Christoph Staub

    2011-01-01

    Full Text Available The automation of recurrent tasks and force feedback are complex problems in medical robotics. We present a novel approach that extends human-machine skill-transfer by a scaffolding framework. It assumes a consolidated working environment for both, the trainee and the trainer. The trainer provides hints and cues in a basic structure which is already understood by the learner. In this work, the scaffolding is constituted by abstract patterns, which facilitate the structuring and segmentation of information during “Learning by Demonstration” (LbD. With this concept, the concrete example of knot-tying for suturing is exemplified and evaluated. During the evaluation, most problems and failures arose due to intrinsic system imprecisions of the medical robot system. These inaccuracies were then improved by the visual guidance of the surgical instruments. While the benefits of force feedback in telesurgery has already been demonstrated and measured forces are also used during task learning, the transmission of signals between the operator console and the robot system over long-distances or across-network remote connections is still a challenge due to time-delay. Especially during incision processes with a scalpel into tissue, a delayed force feedback yields to an unpredictable force perception at the operator-side and can harm the tissue which the robot is interacting with. We propose a XFEM-based incision force prediction algorithm that simulates the incision contact-forces in real-time and compensates the delayed force sensor readings. A realistic 4-arm system for minimally invasive robotic heart surgery is used as a platform for the research.

  11. Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy. Submitted to the Congress of the U.S. May 1991

    Science.gov (United States)

    Lum, Henry, Jr.

    1991-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. The report describes the progress made by Levels 1, 2 and 3 of the Office Space Station in developing and applying advanced automation and robotics technology. Emphasis has been placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 11, the status of the Flight Telerobotic Servicer, and the status of the Advanced Development Program. In addition, an assessment is provided of the automation and robotics status of the Canadian Space Station Program.

  12. Application of robotic principles to laboratory automation

    International Nuclear Information System (INIS)

    Pierce, T.B.

    1986-01-01

    The possibility of applying robotic techniques to some laboratory tasks is considered. A low-cost rig was constructed, at AERE Harwell, to examine the performance of a number of low-cost commercial robots. The importance of justifying the costs of introducing robotic systems and the difficulty of analysing the cost-benefit of robotic over mechanical systems is stressed. (UK)

  13. Model-based systems engineering to design collaborative robotics applications

    NARCIS (Netherlands)

    Hernandez Corbato, Carlos; Fernandez-Sanchez, Jose Luis; Rassa, Bob; Carbone, Paolo

    2017-01-01

    Novel robot technologies are becoming available to automate more complex tasks, more flexibly, and collaborating with humans. Methods and tools are needed in the automation and robotics industry to develop and integrate this new breed of robotic systems. In this paper, the ISE&PPOOA

  14. Robotic Automation of In Vivo Two-Photon Targeted Whole-Cell Patch-Clamp Electrophysiology.

    Science.gov (United States)

    Annecchino, Luca A; Morris, Alexander R; Copeland, Caroline S; Agabi, Oshiorenoya E; Chadderton, Paul; Schultz, Simon R

    2017-08-30

    Whole-cell patch-clamp electrophysiological recording is a powerful technique for studying cellular function. While in vivo patch-clamp recording has recently benefited from automation, it is normally performed "blind," meaning that throughput for sampling some genetically or morphologically defined cell types is unacceptably low. One solution to this problem is to use two-photon microscopy to target fluorescently labeled neurons. Combining this with robotic automation is difficult, however, as micropipette penetration induces tissue deformation, moving target cells from their initial location. Here we describe a platform for automated two-photon targeted patch-clamp recording, which solves this problem by making use of a closed loop visual servo algorithm. Our system keeps the target cell in focus while iteratively adjusting the pipette approach trajectory to compensate for tissue motion. We demonstrate platform validation with patch-clamp recordings from a variety of cells in the mouse neocortex and cerebellum. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

  15. Modeling and control of tissue compression and temperature for automation in robot-assisted surgery.

    Science.gov (United States)

    Sinha, Utkarsh; Li, Baichun; Sankaranarayanan, Ganesh

    2014-01-01

    Robotic surgery is being used widely due to its various benefits that includes reduced patient trauma and increased dexterity and ergonomics for the operating surgeon. Making the whole or part of the surgical procedure autonomous increases patient safety and will enable the robotic surgery platform to be used in telesurgery. In this work, an Electrosurgery procedure that involves tissue compression and application of heat such as the coaptic vessel closure has been automated. A MIMO nonlinear model characterizing the tissue stiffness and conductance under compression was feedback linearized and tuned PID controllers were used to control the system to achieve both the displacement and temperature constraints. A reference input for both the constraints were chosen as a ramp and hold trajectory which reflect the real constraints that exist in an actual surgical procedure. Our simulations showed that the controllers successfully tracked the reference trajectories with minimal deviation and in finite time horizon. The MIMO system with controllers developed in this work can be used to drive a surgical robot autonomously and perform electrosurgical procedures such as coaptic vessel closures.

  16. Evolutionary approaches for scheduling a flexible manufacturing system with automated guided vehicles and robots

    Directory of Open Access Journals (Sweden)

    Ramaraj Natarajan

    2012-08-01

    Full Text Available This paper addresses the scheduling of machines, an Automated Guided Vehicle (AGV and two robots in a Flexible Manufacturing System (FMS formed in three loop layouts, with objectives to minimize the makespan, mean flow time and mean tardiness. The scheduling optimization is carried out using Sheep Flock Heredity Algorithm (SFHA and Artificial Immune System (AIS algorithm. AGV is used for carrying jobs between the Load/Unload station and the machines. The robots are used for loading and unloading the jobs in the machines, and also used for transferring jobs between the machines. The algorithms are applied for test problems taken from the literature and the results obtained using the two algorithms are compared. The results indicate that SFHA performs better than AIS for this problem.

  17. Novel robotic systems and future directions

    Directory of Open Access Journals (Sweden)

    Ki Don Chang

    2018-01-01

    Full Text Available Robot-assistance is increasingly used in surgical practice. We performed a nonsystematic literature review using PubMed/MEDLINE and Google for robotic surgical systems and compiled information on their current status. We also used this information to predict future about the direction of robotic systems based on various robotic systems currently being developed. Currently, various modifications are being made in the consoles, robotic arms, cameras, handles and instruments, and other specific functions (haptic feedback and eye tracking that make up the robotic surgery system. In addition, research for automated surgery is actively being carried out. The development of future robots will be directed to decrease the number of incisions and improve precision. With the advent of artificial intelligence, a more practical form of robotic surgery system can be introduced and will ultimately lead to the development of automated robotic surgery system.

  18. Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 2: Space projects overview

    Science.gov (United States)

    Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

    1982-01-01

    Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and their related ground support functions are studied so that informed decisions can be made on which aspects of ARAMIS to develop. The space project breakdowns, which are used to identify tasks ('functional elements'), are described. The study method concentrates on the production of a matrix relating space project tasks to pieces of ARAMIS.

  19. Intelligent viewing control for robotic and automation systems

    Science.gov (United States)

    Schenker, Paul S.; Peters, Stephen F.; Paljug, Eric D.; Kim, Won S.

    1994-10-01

    We present a new system for supervisory automated control of multiple remote cameras. Our primary purpose in developing this system has been to provide capability for knowledge- based, `hands-off' viewing during execution of teleoperation/telerobotic tasks. The reported technology has broader applicability to remote surveillance, telescience observation, automated manufacturing workcells, etc. We refer to this new capability as `Intelligent Viewing Control (IVC),' distinguishing it from a simple programmed camera motion control. In the IVC system, camera viewing assignment, sequencing, positioning, panning, and parameter adjustment (zoom, focus, aperture, etc.) are invoked and interactively executed by real-time by a knowledge-based controller, drawing on a priori known task models and constraints, including operator preferences. This multi-camera control is integrated with a real-time, high-fidelity 3D graphics simulation, which is correctly calibrated in perspective to the actual cameras and their platform kinematics (translation/pan-tilt). Such merged graphics- with-video design allows the system user to preview and modify the planned (`choreographed') viewing sequences. Further, during actual task execution, the system operator has available both the resulting optimized video sequence, as well as supplementary graphics views from arbitrary perspectives. IVC, including operator-interactive designation of robot task actions, is presented to the user as a well-integrated video-graphic single screen user interface allowing easy access to all relevant telerobot communication/command/control resources. We describe and show pictorial results of a preliminary IVC system implementation for telerobotic servicing of a satellite.

  20. Automated cloning methods.; TOPICAL

    International Nuclear Information System (INIS)

    Collart, F.

    2001-01-01

    Argonne has developed a series of automated protocols to generate bacterial expression clones by using a robotic system designed to be used in procedures associated with molecular biology. The system provides plate storage, temperature control from 4 to 37 C at various locations, and Biomek and Multimek pipetting stations. The automated system consists of a robot that transports sources from the active station on the automation system. Protocols for the automated generation of bacterial expression clones can be grouped into three categories (Figure 1). Fragment generation protocols are initiated on day one of the expression cloning procedure and encompass those protocols involved in generating purified coding region (PCR)

  1. Robotics Programs: Automation Training in Disguise.

    Science.gov (United States)

    Rehg, James A.

    1985-01-01

    Questions and answers from the book "Guidelines for Robotics Program Development" are presented, addressing some of the major issues confronted by the person setting the direction for a robotics training program. (CT)

  2. Server Interface Descriptions for Automated Testing of JavaScript Web Applications

    DEFF Research Database (Denmark)

    Jensen, Casper Svenning; Møller, Anders; Su, Zhendong

    2013-01-01

    Automated testing of JavaScript web applications is complicated by the communication with servers. Specifically, it is difficult to test the JavaScript code in isolation from the server code and database contents. We present a practical solution to this problem. First, we demonstrate that formal...... server interface descriptions are useful in automated testing of JavaScript web applications for separating the concerns of the client and the server. Second, to support the construction of server interface descriptions for existing applications, we introduce an effective inference technique that learns...... communication patterns from sample data. By incorporating interface descriptions into the testing tool Artemis, our experimental results show that we increase the level of automation for high-coverage testing on a collection of JavaScript web applications that exchange JSON data between the clients and servers...

  3. R-Tourism: Introducing the Potential Impact of Robotics and Service Automation in Tourism

    Directory of Open Access Journals (Sweden)

    Papathanassis Alexis

    2017-01-01

    Full Text Available Robotics and artificial intelligence are expected to reach their ‘tipping points’ over the nextdecade. Digitalization and service automation are already visible in the tourism sector, raisingquestions on their wider impact on the industry and the holiday-experience per se. Numerousapplication examples and cases of those technologies across the entire holiday value-chain areoutlined and their diffusion drivers are discussed. Apart from providing a typology for R-tourismapplications, this paper makes a strong case for the incorporation of this interdisciplinary areainto mainstream tourism research.

  4. A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to shipowners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

  5. A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to ship owners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

  6. Generic Automated Multi-function Finger Design

    Science.gov (United States)

    Honarpardaz, M.; Tarkian, M.; Sirkett, D.; Ölvander, J.; Feng, X.; Elf, J.; Sjögren, R.

    2016-11-01

    Multi-function fingers that are able to handle multiple workpieces are crucial in improvement of a robot workcell. Design automation of multi-function fingers is highly demanded by robot industries to overcome the current iterative, time consuming and complex manual design process. However, the existing approaches for the multi-function finger design automation are unable to entirely meet the robot industries’ need. This paper proposes a generic approach for design automation of multi-function fingers. The proposed approach completely automates the design process and requires no expert skill. In addition, this approach executes the design process much faster than the current manual process. To validate the approach, multi-function fingers are successfully designed for two case studies. Further, the results are discussed and benchmarked with existing approaches.

  7. Safety issues in robotic handling of nuclear weapon parts

    International Nuclear Information System (INIS)

    Drotning, W.; Wapman, W.; Fahrenholtz, J.

    1993-01-01

    Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive weapon parts. These systems will reduce the occupational radiation exposure to workers by automating operations that are currently performed manually. The robotic systems at Sandia incorporate several levels of mechanical, electrical, and software safety for handling hazardous materials. For example, tooling used by the robot to handle radioactive parts has been designed with mechanical features that allow the robot to release its payload only at designated locations in the robotic workspace. In addition, software processes check for expected and unexpected situations throughout the operations. Incorporation of features such as these provides multiple levels of safety for handling hazardous or valuable payloads with automated intelligent systems

  8. Validation of a fully automated robotic setup for preparation of whole blood samples for LC-MS toxicology analysis

    DEFF Research Database (Denmark)

    Andersen, David Wederkinck; Rasmussen, Brian; Linnet, Kristian

    2012-01-01

    A fully automated setup was developed for preparing whole blood samples using a Tecan Evo workstation. By integrating several add-ons to the robotic platform, the flexible setup was able to prepare samples from sample tubes to a 96-well sample plate ready for injection on liquid chromatography...

  9. Mobile Robot for Life Science Automation

    Directory of Open Access Journals (Sweden)

    Hui Liu

    2013-07-01

    Full Text Available The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot's routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.

  10. Vision-based obstacle recognition system for automated lawn mower robot development

    Science.gov (United States)

    Mohd Zin, Zalhan; Ibrahim, Ratnawati

    2011-06-01

    Digital image processing techniques (DIP) have been widely used in various types of application recently. Classification and recognition of a specific object using vision system require some challenging tasks in the field of image processing and artificial intelligence. The ability and efficiency of vision system to capture and process the images is very important for any intelligent system such as autonomous robot. This paper gives attention to the development of a vision system that could contribute to the development of an automated vision based lawn mower robot. The works involve on the implementation of DIP techniques to detect and recognize three different types of obstacles that usually exist on a football field. The focus was given on the study on different types and sizes of obstacles, the development of vision based obstacle recognition system and the evaluation of the system's performance. Image processing techniques such as image filtering, segmentation, enhancement and edge detection have been applied in the system. The results have shown that the developed system is able to detect and recognize various types of obstacles on a football field with recognition rate of more 80%.

  11. NASA Goddard Space Flight Center Robotic Processing System Program Automation Systems, volume 2

    Science.gov (United States)

    Dobbs, M. E.

    1991-01-01

    Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form. Some of the areas covered include: (1) mission requirements; (2) automation management system; (3) Space Transportation System (STS) Hitchhicker Payload; (4) Spacecraft Command Language (SCL) scripts; (5) SCL software components; (6) RoMPS EasyLab Command & Variable summary for rack stations and annealer module; (7) support electronics assembly; (8) SCL uplink packet definition; (9) SC-4 EasyLab System Memory Map; (10) Servo Axis Control Logic Suppliers; and (11) annealing oven control subsystem.

  12. Automated gravimetric sample pretreatment using an industrial robot for the high-precision determination of plutonium by isotope dilution mass spectrometry

    International Nuclear Information System (INIS)

    Surugaya, Naoki; Hiyama, Toshiaki; Watahiki, Masaru

    2008-01-01

    A robotized sample-preparation method for the determination of Pu, which is recovered by extraction reprocessing of spent nuclear fuel, by isotope dilution mass spectrometry (IDMS) is described. The automated system uses a six-axis industrial robot, whose motility is very fast, accurate, and flexible, installed in a glove box. The automation of the weighing and dilution steps enables operator-unattended sample pretreatment for the high-precision analysis of Pu in aqueous solutions. Using the developed system, the Pu concentration in a HNO 3 medium was successfully determined using a set of subsequent mass spectrometric measurements. The relative uncertainty in determining the Pu concentration by IDMS using this system was estimated to be less than 0.1% (k=2), which is equal to that expected of a talented analysis. The operation time required was the same as that for a skilled operator. (author)

  13. An examination of automation and robotics in the context of Space Station operations

    Science.gov (United States)

    Criswell, David R.; Lee, Douglas S.; Ragusa, James; Starks, Scott A.; Woodruff, John; Paules, Granville

    1988-01-01

    A NASA-sponsored review of Space Station automation and robotics (A&R) applications from an operations and utilization perspective is presented. The goals of the A&R panel and this report are to identify major suggestions for advanced A&R operations application in Space Station as well as key technologies that have emerged or gained prominence since the completion of previous reports; to review and incorporate the range of possible Space Station A&R applications into a framework for evaluation of A&R opportunities; and to propose incentives for the government, work packages, and subcontractors to more aggressively identify, evaluate, and incorporate advanced A&R in Space Station Operations. The suggestions for A&R focused on narrow objectives using a conservative approach tuned to Space Station at IOC and limiting the Station's growth capabilities. A more aggressive stance is to identify functional needs over the Program's life, exploit and leverage available technology, and develop the key advanced technologies permitting effective use of A&R. The challenge is to systematically identify candidate functions to be automated, provide ways to create solutions resulting in savings or increased capabilities, and offer incentives that will promote the automation.

  14. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  15. Rehearsal for the Robot Revolution

    DEFF Research Database (Denmark)

    Jochum, Elizabeth; Goldberg, Ken

    that are central to social robotics. However automated performances that merely substitute robotic actors for human ones do not always capture our imagination or prove entertaining. While some plays explore ambivalence to robots or “misbehaving machines” thematically (such as R.U.R.), the exigencies of live...

  16. Approaches to automated protein crystal harvesting

    Energy Technology Data Exchange (ETDEWEB)

    Deller, Marc C., E-mail: mdeller@scripps.edu; Rupp, Bernhard, E-mail: mdeller@scripps.edu

    2014-01-28

    Approaches to automated and robot-assisted harvesting of protein crystals are critically reviewed. While no true turn-key solutions for automation of protein crystal harvesting are currently available, systems incorporating advanced robotics and micro-electromechanical systems represent exciting developments with the potential to revolutionize the way in which protein crystals are harvested.

  17. The MyoRobot: A novel automated biomechatronics system to assess voltage/Ca2+ biosensors and active/passive biomechanics in muscle and biomaterials.

    Science.gov (United States)

    Haug, M; Reischl, B; Prölß, G; Pollmann, C; Buckert, T; Keidel, C; Schürmann, S; Hock, M; Rupitsch, S; Heckel, M; Pöschel, T; Scheibel, T; Haynl, C; Kiriaev, L; Head, S I; Friedrich, O

    2018-04-15

    We engineered an automated biomechatronics system, MyoRobot, for robust objective and versatile assessment of muscle or polymer materials (bio-)mechanics. It covers multiple levels of muscle biosensor assessment, e.g. membrane voltage or contractile apparatus Ca 2+ ion responses (force resolution 1µN, 0-10mN for the given sensor; [Ca 2+ ] range ~ 100nM-25µM). It replaces previously tedious manual protocols to obtain exhaustive information on active/passive biomechanical properties across various morphological tissue levels. Deciphering mechanisms of muscle weakness requires sophisticated force protocols, dissecting contributions from altered Ca 2+ homeostasis, electro-chemical, chemico-mechanical biosensors or visco-elastic components. From whole organ to single fibre levels, experimental demands and hardware requirements increase, limiting biomechanics research potential, as reflected by only few commercial biomechatronics systems that can address resolution, experimental versatility and mostly, automation of force recordings. Our MyoRobot combines optical force transducer technology with high precision 3D actuation (e.g. voice coil, 1µm encoder resolution; stepper motors, 4µm feed motion), and customized control software, enabling modular experimentation packages and automated data pre-analysis. In small bundles and single muscle fibres, we demonstrate automated recordings of (i) caffeine-induced-, (ii) electrical field stimulation (EFS)-induced force, (iii) pCa-force, (iv) slack-tests and (v) passive length-tension curves. The system easily reproduces results from manual systems (two times larger stiffness in slow over fast muscle) and provides novel insights into unloaded shortening velocities (declining with increasing slack lengths). The MyoRobot enables automated complex biomechanics assessment in muscle research. Applications also extend to material sciences, exemplarily shown here for spider silk and collagen biopolymers. Copyright © 2017 Elsevier B

  18. Robotic Automation Process - The next major revolution in terms of back office operations improvement

    Directory of Open Access Journals (Sweden)

    Anagnoste Sorin

    2017-07-01

    Full Text Available Forced to provide results consistent results to shareholders the organizations turned to Robotic Process Automation (RPA in order to tackle the following typical challenges they face: (1 Cost reduction, (2 Quality increase and (3 Faster processes. RPA is now considered the next big thing for the Shared Services Centers (SSC and Business Process Outsourced (BPO around the world, and especially in Central and Eastern Europe. In SSCs and BPOs the activities with the highest potential for automation are in finance, supply chain and in human resource departments. This means that the problems these business are facing are mostly related to high data entry volumes, high error rates, significant rework, numerous manual processes, multiple not-integrated legacy systems and high turnover due to repetitive/low value added activities. One advantage of RPA is that it can be trained by the users to undertake structured repeatable, computer based tasks interacting in the same time with multiple systems while performing complex decisions based on algorithms. By doing this, the robot can identify the exceptions for manual processing, remove idle times and keep logs of actions performed. Another advantage is that the automated solutions can work 24/7, it can be implemented fast, work with the existing architecture, cut data entry costs by up to 70% and perform at 30% of the cost of a full time employee, thus providing a quick and tangible return to organizations. For Romania, a key destination for SSCs and BPOs, this technology will make them more competitive, but also will lead to a creation of a series of high-paid jobs while eliminating the low-input jobs. The paper will analyze also the most important vendor providers of RPA solutions on the market and will provide specific case studies from different industries, thus helping future leaders and organizations taking better decisions.

  19. Investigations into regional ozone concentrations in the Bakken-Williston Basin using ARTEMIS, a mobile measurment platform.

    Science.gov (United States)

    Donohoue, D.; Jumes, D.; Jaglowski, J.

    2017-12-01

    During a campaign launched in August 2015, concentrations of ozone, nitrogen oxides, and weather conditions were measured throughout the Bakken-Williston Basin. The data was collected using a new in-situ monitoring system ARTEMIS (Atmospheric Research Trailer for Environmental Monitoring and Interactive Science). ARTEMIS is a self-sustaining trailer equipped with a solar panel and four 80 Ah batteries, which can power an instrumental suite. It provided a temporary sampling station which could be erected in five minutes. During this campaign we collected data for one hour at sites throughout North Dakota and Montana. Preliminary results from this data suggests that near active mining or methane flaring regions ozone concentrations appear to be elevated from the background.

  20. The Automated Assembly Team contributions to the APRIMED Agile Manufacturing Project

    International Nuclear Information System (INIS)

    Jones, R.E.; Ames, A.L.; Calton, T.L.

    1995-06-01

    The Automated Assembly Team of the APRIMED Project (abbreviated as A') consists of two parts: the Archimedes Project, which is an ongoing project developing automated assembly technology, and the A' Robot Team. Archimedes is a second generation assembly planning system that both provides a general high-level assembly sequencing capability and, for a smaller class of products, facilitates automatic programming of a robotic workcell to assemble them. The A' robot team designed, developed, and implemented a flexible robot workcell which served as the automated factory of the A' project. In this document we briefly describe the role of automated assembly planning in agile manufacturing, and specifically describe the contributions of the Archimedes project and the A' robot team to the A' project. We introduce the concepts of the Archimedes automated assembly planning project, and discuss the enhancements to Archimedes which were developed in response to the needs of the A' project. We also present the work of the A' robot team in designing and developing the A' robot workcell, including all tooling and programming to support assembly of the A' discriminator devices. Finally, we discuss the process changes which these technologies have enabled in the A' project

  1. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

    Increased customer needs and intensified global competition require intelligent and flexible automation. The interaction technology mobile robotics addresses this, so it holds great potential within the industry. This paper presents the concepts, ideas and working principles of the mobile robot...... this show promising results regarding industrial integration, exploitation and maturation of mobile robotics....

  2. ASI's space automation and robotics programs: The second step

    Science.gov (United States)

    Dipippo, Simonetta

    1994-01-01

    The strategic decisions taken by ASI in the last few years in building up the overall A&R program, represent the technological drivers for other applications (i.e., internal automation of the Columbus Orbital Facility in the ESA Manned Space program, applications to mobile robots both in space and non-space environments, etc...). In this context, the main area of application now emerging is the scientific missions domain. Due to the broad range of applications of the developed technologies, both in the in-orbit servicing and maintenance of space structures and scientific missions, ASI foresaw the need to have a common technological development path, mainly focusing on: (1) control; (2) manipulation; (3) on-board computing; (4) sensors; and (5) teleoperation. Before entering into new applications in the scientific missions field, a brief overview of the status of the SPIDER related projects is given, underlining also the possible new applications for the LEO/GEO space structures.

  3. Multi-robots to micro-surgery: Selected robotic applications at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center

    1996-11-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories is a multi-program organization, pursuing research, development and applications in a wide range of field. Activities range from large-scale applications such as nuclear facility dismantlement for the US Department of Energy (DOE), to aircraft inspection and refurbishment, to automated script and program generation for robotic manufacturing and assembly, to miniature robotic devices and sensors for remote sensing and micro-surgery. This paper describes six activities in the large and small scale that are underway and either nearing technology transfer stage or seeking industrial partners to continue application development. The topics of the applications include multiple arm coordination for intuitively maneuvering large, ungainly work pieces; simulation, analysis and graphical training capability for CP-5 research reactor dismantlement; miniature robots with volumes of 16 cubic centimeters and less developed for inspection and sensor deployment; and biomedical sensors to enhance automated prosthetic device production and fill laparoscopic surgery information gap.

  4. A generic template for automated bioanalytical ligand-binding assays using modular robotic scripts in support of discovery biotherapeutic programs.

    Science.gov (United States)

    Duo, Jia; Dong, Huijin; DeSilva, Binodh; Zhang, Yan J

    2013-07-01

    Sample dilution and reagent pipetting are time-consuming steps in ligand-binding assays (LBAs). Traditional automation-assisted LBAs use assay-specific scripts that require labor-intensive script writing and user training. Five major script modules were developed on Tecan Freedom EVO liquid handling software to facilitate the automated sample preparation and LBA procedure: sample dilution, sample minimum required dilution, standard/QC minimum required dilution, standard/QC/sample addition, and reagent addition. The modular design of automation scripts allowed the users to assemble an automated assay with minimal script modification. The application of the template was demonstrated in three LBAs to support discovery biotherapeutic programs. The results demonstrated that the modular scripts provided the flexibility in adapting to various LBA formats and the significant time saving in script writing and scientist training. Data generated by the automated process were comparable to those by manual process while the bioanalytical productivity was significantly improved using the modular robotic scripts.

  5. Shielded cells transfer automation

    International Nuclear Information System (INIS)

    Fisher, J.J.

    1984-01-01

    Nuclear waste from shielded cells is removed, packaged, and transferred manually in many nuclear facilities. Radiation exposure is absorbed by operators during these operations and limited only through procedural controls. Technological advances in automation using robotics have allowed a production waste removal operation to be automated to reduce radiation exposure. The robotic system bags waste containers out of glove box and transfers them to a shielded container. Operators control the system outside the system work area via television cameras. 9 figures

  6. An automated miniature robotic vehicle inspection system

    Energy Technology Data Exchange (ETDEWEB)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  7. An automated miniature robotic vehicle inspection system

    International Nuclear Information System (INIS)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-01-01

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software

  8. A versatile and low-cost open source pipetting robot for automation of toxicological and ecotoxicological bioassays.

    Science.gov (United States)

    Steffens, Sebastian; Nüßer, Leonie; Seiler, Thomas-Benjamin; Ruchter, Nadine; Schumann, Mark; Döring, Ricarda; Cofalla, Catrina; Ostfeld, Avi; Salomons, Elad; Schüttrumpf, Holger; Hollert, Henner; Brinkmann, Markus

    2017-01-01

    In the past decades, bioassays and whole-organism bioassay have become important tools not only in compliance testing of industrial chemicals and plant protection products, but also in the monitoring of environmental quality. With few exceptions, such test systems are discontinuous. They require exposure of the biological test material in small units, such as multiwell plates, during prolonged incubation periods, and do not allow online read-outs. It is mostly due to these shortcomings that applications in continuous monitoring of, e.g., drinking or surface water quality are largely missing. We propose the use of pipetting robots that can be used to automatically exchange samples in multiwell plates with fresh samples in a semi-static manner, as a potential solution to overcome these limitations. In this study, we developed a simple and low-cost, versatile pipetting robot constructed partly using open-source hardware that has a small footprint and can be used for online monitoring of water quality by means of an automated whole-organism bioassay. We tested its precision in automated 2-fold dilution series and used it for exposure of zebrafish embryos (Danio rerio)-a common model species in ecotoxicology-to cadmium chloride and permethrin. We found that, compared to conventional static or semi-static exposure scenarios, effects of the two chemicals in zebrafish embryos generally occurred at lower concentrations, and analytically verified that the increased frequency of media exchange resulted in a greater availability of the chemical. In combination with advanced detection systems this custom-made pipetting robot has the potential to become a valuable tool in future monitoring strategies for drinking and surface water.

  9. A versatile and low-cost open source pipetting robot for automation of toxicological and ecotoxicological bioassays.

    Directory of Open Access Journals (Sweden)

    Sebastian Steffens

    Full Text Available In the past decades, bioassays and whole-organism bioassay have become important tools not only in compliance testing of industrial chemicals and plant protection products, but also in the monitoring of environmental quality. With few exceptions, such test systems are discontinuous. They require exposure of the biological test material in small units, such as multiwell plates, during prolonged incubation periods, and do not allow online read-outs. It is mostly due to these shortcomings that applications in continuous monitoring of, e.g., drinking or surface water quality are largely missing. We propose the use of pipetting robots that can be used to automatically exchange samples in multiwell plates with fresh samples in a semi-static manner, as a potential solution to overcome these limitations. In this study, we developed a simple and low-cost, versatile pipetting robot constructed partly using open-source hardware that has a small footprint and can be used for online monitoring of water quality by means of an automated whole-organism bioassay. We tested its precision in automated 2-fold dilution series and used it for exposure of zebrafish embryos (Danio rerio-a common model species in ecotoxicology-to cadmium chloride and permethrin. We found that, compared to conventional static or semi-static exposure scenarios, effects of the two chemicals in zebrafish embryos generally occurred at lower concentrations, and analytically verified that the increased frequency of media exchange resulted in a greater availability of the chemical. In combination with advanced detection systems this custom-made pipetting robot has the potential to become a valuable tool in future monitoring strategies for drinking and surface water.

  10. Intelligent robot trends for 1998

    Science.gov (United States)

    Hall, Ernest L.

    1998-10-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

  11. Automation of column-based radiochemical separations. A comparison of fluidic, robotic, and hybrid architectures

    Energy Technology Data Exchange (ETDEWEB)

    Grate, J.W.; O' Hara, M.J.; Farawila, A.F.; Ozanich, R.M.; Owsley, S.L. [Pacific Northwest National Laboratory, Richland, WA (United States)

    2011-07-01

    Two automated systems have been developed to perform column-based radiochemical separation procedures. These new systems are compared with past fluidic column separation architectures, with emphasis on using disposable components so that no sample contacts any surface that any other sample has contacted, and setting up samples and columns in parallel for subsequent automated processing. In the first new approach, a general purpose liquid handling robot has been modified and programmed to perform anion exchange separations using 2 mL bed columns in 6 mL plastic disposable column bodies. In the second new approach, a fluidic system has been developed to deliver clean reagents through disposable manual valves to six disposable columns, with a mechanized fraction collector that positions one of four rows of six vials below the columns. The samples are delivered to each column via a manual 3-port disposable valve from disposable syringes. This second approach, a hybrid of fluidic and mechanized components, is a simpler more efficient approach for performing anion exchange procedures for the recovery and purification of plutonium from samples. The automation architectures described can also be adapted to column-based extraction chromatography separations. (orig.)

  12. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  13. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

    8 págs, 9 figs. El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año...

  14. Temporal logic motion planning in robotics

    CSIR Research Space (South Africa)

    Seotsanyana, M

    2012-08-01

    Full Text Available ) transport-related applications such as intra-logistics, automated parking garages and autonomous vehicles: (ii) mining-related applications such as automated mine vehicles and mine sensing; (iii) defence force-related applications such as autonomous... vehicles and (iv) hospital-related applications such as surgical procedures. In such applications, any failure of a robotic system may result in more than just a mere inconvenience, such as incorrect information by a robotic receptionist, loss of time...

  15. Robotic system for process sampling

    International Nuclear Information System (INIS)

    Dyches, G.M.

    1985-01-01

    A three-axis cartesian geometry robot for process sampling was developed at the Savannah River Laboratory (SRL) and implemented in one of the site radioisotope separations facilities. Use of the robot reduces personnel radiation exposure and contamination potential by routinely handling sample containers under operator control in a low-level radiation area. This robot represents the initial phase of a longer term development program to use robotics for further sample automation. Preliminary design of a second generation robot with additional capabilities is also described. 8 figs

  16. Robotic requirements for plutonium handling automation

    International Nuclear Information System (INIS)

    Heywood, A.C.; Armantrout, G.A.

    1990-01-01

    While over 200,000 robots are in manufacturing service worldwide, only two are in use for the handling of plutonium in a glovebox. The difficulties of applying robotics to the glovebox environment include limited access for service and maintenance, radiation damage to electronics and insulators, and abrasion damage to bearings and sliding surfaces. The limited volume of the glovebox environment, and the need to handle heavy workloads, and the need to maximize work volume dictates the use of an overhead gantry system. This paper discusses how the application of such a system will require a robot with extensive safety features, a high degree of flexibility to perform a variety of tasks, and high reliability coupled with an easily serviced design. Substantial challenges exist in control system design, sensor and operator integration, and programming to achieve these goals

  17. Robotic fabrication and inspection for power plants

    International Nuclear Information System (INIS)

    Date, Ranjit

    2002-01-01

    The usage of Robotic Automation is now an integral part of the modern manufacturing systems. Applications in nuclear power plants is no exception. As a matter of fact, as a result of the hazards of radiations for the human workers makes automation of the on-site working highly desirable. This presentation will focus on the broad benefits by use of automation in Power plants. Various processes and technologies for robotic applications in fabrication, maintenance and inspection will be highlighted. The specific technology features for use in nuclear environments will be highlighted

  18. Robot modelling; Control and applications with software

    Energy Technology Data Exchange (ETDEWEB)

    Ranky, P G; Ho, C Y

    1985-01-01

    This book provides a ''picture'' of robotics covering both the theoretical aspect of modeling as well as the practical and design aspects of: robot programming; robot tooling and automated hand changing; implementation planning; testing; and software design for robot systems. The authors present an introduction to robotics with a systems approach. They describe not only the tasks relating to a single robot (or arm) but also systems of robots working together on a product or several products.

  19. Task Analysis and Descriptions of Required Job Competencies for Robotics/Automated Systems Technicians. Final Report. Volume 2. Curriculum Planning Guide.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    This volume of the final report for the Robotics/Automated Systems Technician (RAST) curriculum project is a curriculum planning guide intended for school administrators, faculty, and student counselors/advisors. It includes step-by-step procedures to help institutions evaluate their community's needs and their capabilities to meet these needs in…

  20. Corneal ablation depth readout of the MEL 80 excimer laser compared to Artemis three-dimensional very high-frequency digital ultrasound stromal measurements.

    Science.gov (United States)

    Reinstein, Dan Z; Archer, Timothy J; Gobbe, Marine

    2010-12-01

    To evaluate the accuracy of the ablation depth readout for the MEL 80 excimer laser (Carl Zeiss Meditec). Artemis 1 very high-frequency digital ultrasound measurements were obtained before and at least 3 months after LASIK in 121 eyes (65 patients). The Artemis-measured ablation depth was calculated as the maximum difference in stromal thickness before and after treatment. Laser in situ keratomileusis was performed using the MEL 80 excimer laser and the Hansatome microkeratome (Bausch & Lomb). The Aberration Smart Ablation profile was used in 56 eyes and the Tissue Saving Ablation profile was used in 65 eyes. All ablations were centered on the corneal vertex. Comparative statistics and linear regression analysis were performed between the laser readout ablation depth and Artemis-measured ablation depth. The mean maximum myopic meridian was -6.66±2.40 diopters (D) (range: -1.50 to -10.00 D) for Aberration Smart Ablation-treated eyes and -6.50±2.56 D (range: -1.34 to -11.50 D) for Tissue Saving Ablation-treated eyes. The MEL 80 readout was found to overestimate the Artemis-measured ablation depth by 20±12 μm for Aberration Smart Ablation and by 21±12 μm for Tissue Saving Ablation profiles. The accuracy of ablation depth measurement was improved by using the Artemis stromal thickness profile measurements before and after surgery to exclude epithelial changes. The MEL 80 readout was found to overestimate the achieved ablation depth. The linear regression equations could be used by MEL 80 users to adjust the ablation depth for predicted residual stromal thickness calculations without increasing the risk of ectasia due to excessive keratectomy depth as long as a suitable flap thickness bias is included. Copyright 2010, SLACK Incorporated.

  1. Multi-Robot Assembly Strategies and Metrics

    Science.gov (United States)

    MARVEL, JEREMY A.; BOSTELMAN, ROGER; FALCO, JOE

    2018-01-01

    We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies. PMID:29497234

  2. Multi-Robot Assembly Strategies and Metrics.

    Science.gov (United States)

    Marvel, Jeremy A; Bostelman, Roger; Falco, Joe

    2018-02-01

    We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

  3. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    services to maintain the quality of healthcare provided. Logistics is the most resource demanding service in a hospital. The scale of the transportation tasks is huge and the material flow in a hospital is comparable to that of a factory. We believe that these transportation tasks, to a great extent, can...... be and will be automated using mobile robots. This talk consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable, adaptable and scalable. Robots have to be semi-autonomous, and should reliably...... navigate in large and dynamic environments in the hospital. The complexity of the problem has to be manageable, and the solutions have to be flexible, so that the system can be applicable in real world settings. This talk summarizes the efforts to address these issues. Upon the analysis...

  4. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

    In summary, robotics has made a significant contribution to General Surgery in the past 20 years. In its infancy, surgical robotics has seen a shift from early systems that assisted the surgeon to current teleoperator systems that can enhance surgical skills. Telepresence and augmented reality surgery are being realized, while research and development into miniaturization and automation is rapidly moving forward. The future of surgical robotics is bright. Researchers are working to address th...

  5. Robot Teachers

    DEFF Research Database (Denmark)

    Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

    The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

  6. Automation and robotics and related technology issues for Space Station customer servicing

    Science.gov (United States)

    Cline, Helmut P.

    1987-01-01

    Several flight servicing support elements are discussed within the context of the Space Station. Particular attention is given to the servicing facility, the mobile servicing center, and the flight telerobotic servicer (FTS). The role that automation and robotics can play in the design and operation of each of these elements is discussed. It is noted that the FTS, which is currently being developed by NASA, will evolve to increasing levels of autonomy to allow for the virtual elimination of routine EVA. Some of the features of the FTS will probably be: dual manipulator arms having reach and dexterity roughly equivalent to that of an EVA-suited astronaut, force reflection capability allowing efficient teleoperation, and capability of operating from a variety of support systems.

  7. Robotic thin layer chromatography instrument for synthetic chemistry

    International Nuclear Information System (INIS)

    Corkan, L.A.; Haynes, E.; Kline, S.; Lindsey, J.S.

    1991-01-01

    We have constructed a second generation instrument for performing automated thin layer chromatography (TLC), The TLC instrument Consists of four dedicated stations for (1) plate dispensing, (2) sample application, (3) plate development, and (4) densitometry. A robot is used to move TLC plates among stations. The TLC instrument functions either as a stand-alone unit or as one analytical module in a robotic workstation for synthetic chemistry. An integrated hardware and software architecture enables automatic TLC analysis of samples produced concurrently from synthetic reactions in progress on the workstation. The combination of fixed automation and robotics gives a throughput of 12 TLC samples per hour. From these results a blueprint has emerged for an advanced automated TLC instrument with far greater throughput and analytical capabilities

  8. Robots Are Taking Over--Who Does What.

    Science.gov (United States)

    Garrison, H. Don

    Robots are machines designed to replace human labor. A fear of vast unemployment due to robots seems unfounded, however, since industrialization creates many more jobs and automation requires technologists to build, program, maintain, and operate sophisticated equipment. Robots possess an intelligence unit, a manipulator, and an end effector.…

  9. Soft Robotics - The Next Industrial Revolution?

    OpenAIRE

    Rossiter, Jonathan M; Hauser, Helmut

    2016-01-01

    The robot dance has, since its inception in 1967, been a caricature of how robots move. Its imitation of the series of precise, linear motions with abrupt starts and stops is instantly recognizable. Despite a certain wavering in its popularity, it remains part of modern culture. What is so remarkable about the robot dance is that it mimics the movements and constraints of conventional rigid robots, a type of robot that is ubiquitous in automated manufacturing and object handling, and it could...

  10. 10th International Conference on Informatics in Control Automation and Robotics

    CERN Document Server

    Gusikhin, Oleg; Madani, Kurosh; Sasiadek, Jurek

    2015-01-01

    The present book includes a set of selected papers from the tenth “International Conference on Informatics in Control Automation and Robotics” (ICINCO 2013), held in Reykjavík, Iceland, from 29 to 31 July 2013. The conference was organized in four simultaneous tracks: “Intelligent Control Systems and Optimization”, “Robotics and Automation”, “Signal Processing, Sensors, Systems Modeling and Control” and “Industrial Engineering, Production and Management”. The book is based on the same structure. ICINCO 2013 received 255 paper submissions from 50 countries, in all continents. After a double blind paper review performed by the Program Committee only 30% were published and presented orally. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2013.

  11. Odico Formwork Robotics

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn

    2014-01-01

    In the next decade or so, the widespread adoption of robotics is set to transform the construction industry: building techniques will become increasingly automated both on– and off–site, dispensing with manual labour and enabling greater cost and operational efficiencies. What unique opportunities......, however, does robotics afford beyond operational effectiveness explicitly for the practice of architecture? What is the potential for the serial production of non–standard elements as well as for varied construction processes? In order to scale up and advance the application of robotics, for both...

  12. The ARTEMIS European driving cycles for measuring car pollutant emissions

    OpenAIRE

    ANDRE, M

    2004-01-01

    In the past 10 years, various work has been undertaken to collect data on the actual driving of European cars and to derive representative real-world driving cycles. A compilation and synthesis of this work is provided in this paper. In the frame of the European research project: ARTEMIS, this work has been considered to derive a set of reference driving cycles. The main objectives were as follows:- to derive a common set of reference real-world driving cycles to be used in the frame of the A...

  13. Robotic system for the servicing of the orbiter thermal protection system

    Science.gov (United States)

    Graham, Todd; Bennett, Richard; Dowling, Kevin; Manouchehri, Davoud; Cooper, Eric; Cowan, Cregg

    1994-01-01

    This paper describes the design and development of a mobile robotic system to process orbiter thermal protection system (TPS) tiles. This work was justified by a TPS automation study which identified tile rewaterproofing and visual inspection as excellent applications for robotic automation.

  14. Intelligent control and automation technology for nuclear application

    International Nuclear Information System (INIS)

    Kim, Jae Hee; Eom, Heung Sub; Kim, Ko Ryu; Lee, Jae Cheol; Choi, You Rak; Lee, Soo Cheol

    1996-06-01

    Using recent technologies on a mobile robot and computer science, we developed an automatic inspection system for weld lines of the reactor pressure vessel. The ultrasonic inspection of the reactor pressure vessel is currently performed by commercialized robot manipulators. Since, however, the conventional fixed type robot manipulator is very huge, heavy and expensive, it needs long inspection time and is hard to handle and maintain. In order to resolve these problems, we developed a new inspection automation system using a small mobile robot crawling on the vertical wall. According to the conceptual design studied in the first year, we developed the inspection automation system including an underwater inspection robot, a laser position control subsystem and a main control subsystem. And we carried out underwater experiments on the reactor vessel mockup. After finishing this project successfully, we have a plan to commercialize our inspection system. Using this system, we can expect much reduction of the inspection time, performance enhancement, automatic management of inspection history, etc. In the economic point of view, we can also expect import substitution more than 5 million dollars. The established essential technologies for intelligent control and automation are expected to be synthetically applied to the automation of similar systems in nuclear power plants. 4 tabs., 37 figs., 6 refs. (Author)

  15. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

    Full Text Available Resumen: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1 sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2 sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Palabras clave: Robots de servicio, robots autónomos, robots de exteriores, robots de educación y entretenimiento, robots caminantes y escaladores, robots humanoides

  16. Flexible automation and manufacturing technology

    International Nuclear Information System (INIS)

    Ramakumar, M.S.

    1994-01-01

    Sponsored projects on mobile tele robots, machine vision systems, sensors, pick and place robots for micro electronics, prosthetic devices, surgeons aids, robots for welding and other industrial applications etc. are under development in India. The very significant capabilities in these areas available in our R and D agencies have been inducted into development work in robotics and automation. This is bound to provide an environment and thrust that will result in rapid significant progress. (author). 2 figs

  17. Operator-centered control of a semi-autonomous industrial robot

    International Nuclear Information System (INIS)

    Spelt, P.F.; Jones, S.L.

    1994-01-01

    This paper presents work done by Oak Ridge National Laboratory and Remotec, Inc., to develop a new operator-centered control system for Remotec's Andros telerobot. Andros robots are presently used by numerous electric utilities, the armed forces, and numerous law enforcement agencies to perform tasks which are hazardous for human operators. This project has automated task components and enhanced the video graphics display of the robot's position in the environment to significantly reduce operator workload. The procedure of automating a telerobot requires the addition of computer power to the robot, along with a variety of sensors and encoders to provide information about the robots performance in and relationship to its environment The resulting vehicle serves as a platform for research on strategies to integrate automated tasks with those performed by a human operator. The addition of these capabilities will greatly enhance the safety and efficiency of performance in hazardous environments

  18. RIPE [robot independent programming environment]: A robot independent programming environment

    International Nuclear Information System (INIS)

    Miller, D.J.; Lennox, R.C.

    1990-01-01

    Remote manual operations in radiation environments are typically performed very slowly. Sensor-based computer-controlled robots hold great promise for increasing the speed and safety of remote operations; however, the programming of robotic systems has proven to be expensive and difficult. Generalized approaches to robot programming that reuse available software modules and employ programming languages which are independent of the specific robotic and sensory devices being used are needed to speed software development and increase overall system reliability. This paper discusses the robot independent programming environment (RIPE) developed at Sandia National Laboratories (SNL). The RIPE is an object-oriented approach to robot system architectures; it is a software environment that facilitates rapid design and implementation of complex robot systems for diverse applications. An architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models applications using software objects. These objects are designed to support model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, and robust communication

  19. Service Robots for Hospitals

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    services to maintain the quality of healthcare provided. This thesis and the Industrial PhD project aim to address logistics, which is the most resource demanding service in a hospital. The scale of the transportation tasks is huge and the material flow in a hospital is comparable to that of a factory. We......Hospitals are complex and dynamic organisms that are vital to the well-being of societies. Providing good quality healthcare is the ultimate goal of a hospital, and it is what most of us are only concerned with. A hospital, on the other hand, has to orchestrate a great deal of supplementary...... believe that these transportation tasks, to a great extent, can be and will be automated using mobile robots. This thesis consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable...

  20. Elastic Inflatable Actuators for Soft Robotic Applications.

    Science.gov (United States)

    Gorissen, Benjamin; Reynaerts, Dominiek; Konishi, Satoshi; Yoshida, Kazuhiro; Kim, Joon-Wan; De Volder, Michael

    2017-11-01

    The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  1. Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress October 1, 1987

    Science.gov (United States)

    1987-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifth in a series of progress updates and covers the period between 16 May 1987 and 30 September 1987. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the mandate of Congress is that an advanced automation and robotics technology be built to support an evolutionary space station program and serve as a highly visible stimulator affecting the long-term U.S. economy.

  2. More steps towards process automation for optical fabrication

    Science.gov (United States)

    Walker, David; Yu, Guoyu; Beaucamp, Anthony; Bibby, Matt; Li, Hongyu; McCluskey, Lee; Petrovic, Sanja; Reynolds, Christina

    2017-06-01

    In the context of Industrie 4.0, we have previously described the roles of robots in optical processing, and their complementarity with classical CNC machines, providing both processing and automation functions. After having demonstrated robotic moving of parts between a CNC polisher and metrology station, and auto-fringe-acquisition, we have moved on to automate the wash-down operation. This is part of a wider strategy we describe in this paper, leading towards automating the decision-making operations required before and throughout an optical manufacturing cycle.

  3. Robotics for mining control

    Energy Technology Data Exchange (ETDEWEB)

    1986-11-01

    In 1982 surveys of the mining industry revealed no applications of robotics existed and none were planned. This report provides a general overview of automation in the mining industry since this point in time. Roof control electronics, gas monitoring, jumbo drill automation, remote and sensor- controlled continuous miners, automated trolley trucks, roof bolting and screening machines are examples of technology available today. The report concludes with recommendations as to six potential research areas. 25 refs.

  4. A plan for time-phased incorporation of automation and robotics on the US space station

    Science.gov (United States)

    Purves, R. B.; Lin, P. S.; Fisher, E. M., Jr.

    1988-01-01

    A plan for the incorporation of Automation and Robotics technology on the Space Station is presented. The time phased introduction of twenty two selected candidates is set forth in accordance with a technology development forecast. Twenty candidates were chosed primarily for their potential to relieve the crew of mundane or dangerous operations and maintenance burdens, thus freeing crew time for mission duties and enhancing safety. Two candidates were chosen based on a potential for increasing the productivity of laboratory experiments and thus directly enhancing the scientific value of the Space Station. A technology assessment for each candidate investigates present state of the art, development timelines including space qualification considerations, and potential for technology transfer to earth applications. Each candidate is evaluated using a crew workload model driven by crew size, number of pressurized U.S. modules and external payloads, which makes it possible to assess the impact of automation during a growth scenario. Costs for each increment of implementation are estimated and accumulated.

  5. Computational needs survey of NASA automation and robotics missions. Volume 2: Appendixes

    Science.gov (United States)

    Davis, Gloria J.

    1991-01-01

    NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is the fact that mission computing requirements are frequency unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. Here, NASA, industry and academic communities are provided with a preliminary set of advanced mission computational processing requirements of automation and robotics (A and R) systems. The results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implemented capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Here, appendixes are provided.

  6. Robotics development for the enhancement of space endeavors

    Science.gov (United States)

    Mauceri, A. J.; Clarke, Margaret M.

    Telerobotics and robotics development activities to support NASA's goal of increasing opportunities in space commercialization and exploration are described. The Rockwell International activities center is using robotics to improve efficiency and safety in three related areas: remote control of autonomous systems, automated nondestructive evaluation of aspects of vehicle integrity, and the use of robotics in space vehicle ground reprocessing operations. In the first area, autonomous robotic control, Rockwell is using the control architecture, NASREM, as the foundation for the high level command of robotic tasks. In the second area, we have demonstrated the use of nondestructive evaluation (using acoustic excitation and lasers sensors) to evaluate the integrity of space vehicle surface material bonds, using Orbiter 102 as the test case. In the third area, Rockwell is building an automated version of the present manual tool used for Space Shuttle surface tile re-waterproofing. The tool will be integrated into an orbiter processing robot being developed by a KSC-led team.

  7. Frugal Design and Surgical Robotics

    OpenAIRE

    McKinley, Stephen Alan

    2016-01-01

    A new era of robotic surgery is poised to begin when critical patents held by Intuitive Surgical (IS) expire in 2016. IS market dominance for decades has led to an effective monopoly that will be challenged by several commercial enterprises working on next generation general robotic surgery systems. Robotic surgery has the potential to alleviate the skill-gap between experienced and inexperienced surgeons through the automation of sub-tasks within surgicalprocedures.The primary objective of...

  8. A Layered Middleware Architecture for Automated Robot Services

    OpenAIRE

    Choi, Jongsun; Cho, Yongseong; Choi, Jaeyoung; Choi, Jongmyung

    2014-01-01

    These days, using robots has gradually been extending from the limited industrial areas in factories to service areas for the general public in everyday life. It is possible to imagine that end users easily control robots and they define new services by themselves as they wish in the near future. However, there are three issues to resolve to realize the future. Firstly, it is required to abstract robots’ behaviors from primitive robot functions, and secondly, we need context awareness in orde...

  9. Robotic thin layer chromatography instrument for synthetic chemistry

    International Nuclear Information System (INIS)

    Corkan, L.A.; Lindsey, J.S.

    1990-01-01

    One of our long-term goals is to develop robotic workstations for automated synthetic chemistry. Toward that goal we have constructed a 2nd generation instrument for performing TLC analysis. TLC has important advantages (over HPLC and GC) in analysis of crude reaction samples and parallel sample development. The TLC instrument consist of four dedicated stations for (1) plate dispensing, (2) sample application, (3) plate development, and (4) plate densitometry. A robot is used to move plates among stations. The combination of fixed automation and robotics gives high sample throughout (up to 10 samples per hour). A second robot performs reaction chemistry and feeds samples to the TLC instrument, thus enabling TLC analysis at the same time as synthetic reactions proceed on the workstation

  10. BRAIN initiative: transcranial magnetic stimulation automation and calibration.

    Science.gov (United States)

    Todd, Garth D; Abdellatif, Ahmed; Sabouni, Abas

    2014-01-01

    In this paper, we introduced an automated TMS system with robot control and optical sensor combined with neuronavigation software. By using the robot, the TMS coil can be accurately positioned over any preselected brain region. The neuronavigation system provides an accurate positioning of a magnetic coil in order to induce a specific cortical excitation. An infrared optical measurement device is also used in order to detect and compensate for head movements of the patient. This procedure was simulated using a PC based robotic simulation program. The proposed automated robot system is integrated with TMS numerical solver and allows users to actually see the depth, location, and shape of the induced eddy current on the computer monitor.

  11. A system-level approach to automation research

    Science.gov (United States)

    Harrison, F. W.; Orlando, N. E.

    1984-01-01

    Automation is the application of self-regulating mechanical and electronic devices to processes that can be accomplished with the human organs of perception, decision, and actuation. The successful application of automation to a system process should reduce man/system interaction and the perceived complexity of the system, or should increase affordability, productivity, quality control, and safety. The expense, time constraints, and risk factors associated with extravehicular activities have led the Automation Technology Branch (ATB), as part of the NASA Automation Research and Technology Program, to investigate the use of robots and teleoperators as automation aids in the context of space operations. The ATB program addresses three major areas: (1) basic research in autonomous operations, (2) human factors research on man-machine interfaces with remote systems, and (3) the integration and analysis of automated systems. This paper reviews the current ATB research in the area of robotics and teleoperators.

  12. Advanced robotics for decontamination and dismantlement

    International Nuclear Information System (INIS)

    Hamel, W.R.; Haley, D.C.

    1994-01-01

    The decontamination and dismantlement (D ampersand D) robotics technology application area of the US Department of Energy's Robotics Technology Development Program is explained and described. D ampersand D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized. Future research directions for these and emerging activities is given

  13. Perspectives of construction robots

    Science.gov (United States)

    Stepanov, M. A.; Gridchin, A. M.

    2018-03-01

    This article is an overview of construction robots features, based on formulating the list of requirements for different types of construction robots in relation to different types of construction works.. It describes a variety of construction works and ways to construct new or to adapt existing robot designs for a construction process. Also, it shows the prospects of AI-controlled machines, implementation of automated control systems and networks on construction sites. In the end, different ways to develop and improve, including ecological aspect, the construction process through the wide robotization, creating of data communication networks and, in perspective, establishing of fully AI-controlled construction complex are formulated.

  14. An automated robotic platform for rapid profiling oligosaccharide analysis of monoclonal antibodies directly from cell culture.

    Science.gov (United States)

    Doherty, Margaret; Bones, Jonathan; McLoughlin, Niaobh; Telford, Jayne E; Harmon, Bryan; DeFelippis, Michael R; Rudd, Pauline M

    2013-11-01

    Oligosaccharides attached to Asn297 in each of the CH2 domains of monoclonal antibodies play an important role in antibody effector functions by modulating the affinity of interaction with Fc receptors displayed on cells of the innate immune system. Rapid, detailed, and quantitative N-glycan analysis is required at all stages of bioprocess development to ensure the safety and efficacy of the therapeutic. The high sample numbers generated during quality by design (QbD) and process analytical technology (PAT) create a demand for high-performance, high-throughput analytical technologies for comprehensive oligosaccharide analysis. We have developed an automated 96-well plate-based sample preparation platform for high-throughput N-glycan analysis using a liquid handling robotic system. Complete process automation includes monoclonal antibody (mAb) purification directly from bioreactor media, glycan release, fluorescent labeling, purification, and subsequent ultra-performance liquid chromatography (UPLC) analysis. The entire sample preparation and commencement of analysis is achieved within a 5-h timeframe. The automated sample preparation platform can easily be interfaced with other downstream analytical technologies, including mass spectrometry (MS) and capillary electrophoresis (CE), for rapid characterization of oligosaccharides present on therapeutic antibodies. Copyright © 2013 Elsevier Inc. All rights reserved.

  15. A Secure Automated Elevator Management System and Pressure Sensor based Floor Estimation for Indoor Mobile Robot Transportation

    Directory of Open Access Journals (Sweden)

    Ali Abduljalil Abdulla

    2017-08-01

    Full Text Available In this paper, a secure elevator handling system is presented to enable a flexible movement of wheeled mobile robots among laboratories distributed in different floors. The automated handling system consists mainly of an ADAM module which has the ability to call the elevator to the robot’s current floor and to request the destination floor. The LPS25HP pressure sensor attached to an STM32F411 microcontroller is utilized as a height measurement system to estimate the robot’s current floor inside the elevator. The ultrasonic sensor is used to recognize the elevator’s door status. Many challenges have to be solved to realize a stable height measurement system based on pressure sensor readings. The difference of the pressure sensor readings before and after soldering is realized by comparing the reading after soldering with an accurate barometric reading. In addition, the sensor output signal shows oscillation and wide variation of the same floor pressure sensor readings at different times. The oscillation in the output signal has been handled using a first order FIR smoothing filter. The first order filter was selected to balance between the stability and the elapsed time to receive the updated values. An auto-calibration stage is established to maintain the wide variation in the atmospheric pressure readings by calibrating the sensor readings with the robot’s current floor before entering the elevator. An error handling management system is utilized to guarantee a stable automated elevator management system performance. Many experiments to assess and verify the performance of the automated elevator management system and robot’s current floor estimation are reported. The experimental results show that the proposed methods and sub-systems developed for the mobile robot are effective and efficient in providing a transportation service in multiple-floor life sciences laboratories.

  16. Modelling reversible execution of robotic assembly

    DEFF Research Database (Denmark)

    Laursen, Johan Sund; Ellekilde, Lars Peter; Schultz, Ulrik Pagh

    2018-01-01

    Programming robotic assembly for industrial small-batch production is challenging; hence, it is vital to increase robustness and reduce development effort in order to achieve flexible robotic automation. A human who has made an assembly error will often simply undo the process until the error is ...

  17. Multilevel criticality computations in AREVA NP'S core simulation code artemis - 195

    International Nuclear Information System (INIS)

    Van Geemert, R.

    2010-01-01

    This paper discusses the multi-level critical boron iteration approach that is applied per default in AREVA NP's whole-core neutronics and thermal hydraulics core simulation program ARTEMIS. This multi-level approach is characterized by the projection of variational boron concentration adjustments to the coarser mesh levels in a multi-level re-balancing hierarchy that is associated with the nodal flux equations to be solved in steady-state core simulation. At each individual re-balancing mesh level, optimized variational criticality tuning formulas are applied. The latter drive the core model to a numerically highly accurate self-sustaining state (i.e. with the neutronic eigenvalue being 1 up to a very high numerical precision) by continuous adjustment of the boron concentration as a system-wide scalar criticality parameter. Due to the default application of this approach in ARTEMIS reactor cycle simulations, an accuracy of all critical boron concentration estimates better than 0.001 ppm is enabled for all burnup time steps in a computationally efficient way. This high accuracy is relevant for precision optimization in industrial core simulation as well as for enabling accurate reactivity perturbation assessments. The developed approach is presented from a numerical methodology point of view with an emphasis on the multi-grid aspect of the concept. Furthermore, an application-relevant verification is presented in terms of achieved coupled iteration convergence efficiency for an application-representative industrial core cycle computation. (authors)

  18. 1st Iberian Robotics Conference

    CERN Document Server

    Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

    2014-01-01

    This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

  19. Online Gait Learning for Modular Robots with Arbitrary Shapes and Sizes

    NARCIS (Netherlands)

    Weel, Berend; D'Angelo, M.; Haasdijk, Evert; Eiben, A. E.

    2017-01-01

    Evolutionary robotics using real hardware is currently restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. Rapid prototyping (3D printing) and automated assembly are the main enablers of robotic systems where robot offspring can be produced

  20. Initial Results from Lunar Electromagnetic Sounding with ARTEMIS

    Science.gov (United States)

    Fuqua, H.; Fatemi, S.; Poppe, A. R.; Delory, G. T.; Grimm, R. E.; De Pater, I.

    2016-12-01

    Electromagnetic Sounding constrains conducting layers of the lunar interior by observing variations in the Interplanetary Magnetic Field. Here, we focus our analysis on the time domain transfer function method locating transient events observed by two magnetometers near the Moon. We analyze ARTEMIS and Apollo magnetometer data. This analysis assumes the induced field responds undisturbed in a vacuum. In actuality, the dynamic plasma environment interacts with the induced field. Our models indicate distortion but not confinement occurs in the nightside wake cavity. Moreover, within the deep wake, near-vacuum region, distortion of the induced dipole fields due to the interaction with the wake is minimal depending on the magnitude of the induced field, the geometry of the upstream fields, and the upstream plasma parameters such as particle densities, solar wind velocity, and temperatures. Our results indicate the assumption of a vacuum dipolar response is reasonable within this minimally disturbed zone. We then interpret the ATEMIS magnetic field signal through a geophysical forward model capturing the induced response based on prescribed electrical conductivity models. We demonstrate our forward model passes benchmarking analyses and solves the magnetic induction response for any input signal as well as any 2 or 3 dimensional conductivity profile. We locate data windows according to the following criteria: (1) probe locations such that the wake probe is within 500km altitude within the wake cavity and minimally disturbed zone, and the second probe is in the free streaming solar wind; (2) a transient event consisting of an abrupt change in the magnetic field occurs enabling the observation of induction; (3) cross correlation analysis reveals the magnetic field signals are well correlated between the two probes and distances observed. Here we present initial ARTEMIS results providing further insight into the lunar interior structure. This method and modeling results

  1. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    International Nuclear Information System (INIS)

    Geisinger, Joseph W. Ph.D.

    2001-01-01

    ARM Automation, Inc. is developing a FR-amework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator FR-om these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC(trademark)s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost

  2. Who’s Afraid of Robots?

    DEFF Research Database (Denmark)

    Di Nucci, Ezio; Santoni de Sio, Filippo

    2014-01-01

    We argue that lack of direct and conscious control is not, in principle, a reason to be afraid of machines in general and robots in particular: in order to articulate the ethical and political risks of increasing automation one must, therefore, tackle the difficult task of precisely delineating...... the theoretical and practical limits of sustainable delegation to robots....

  3. Exploring the impact of an automated prescription-filling device on community pharmacy technician workflow

    Science.gov (United States)

    Walsh, Kristin E.; Chui, Michelle Anne; Kieser, Mara A.; Williams, Staci M.; Sutter, Susan L.; Sutter, John G.

    2012-01-01

    Objective To explore community pharmacy technician workflow change after implementation of an automated robotic prescription-filling device. Methods At an independent community pharmacy in rural Mayville, WI, pharmacy technicians were observed before and 3 months after installation of an automated robotic prescription-filling device. The main outcome measures were sequences and timing of technician workflow steps, workflow interruptions, automation surprises, and workarounds. Results Of the 77 and 80 observations made before and 3 months after robot installation, respectively, 17 different workflow sequences were observed before installation and 38 after installation. Average prescription filling time was reduced by 40 seconds per prescription with use of the robot. Workflow interruptions per observation increased from 1.49 to 1.79 (P = 0.11), and workarounds increased from 10% to 36% after robot use. Conclusion Although automated prescription-filling devices can increase efficiency, workflow interruptions and workarounds may negate that efficiency. Assessing changes in workflow and sequencing of tasks that may result from the use of automation can help uncover opportunities for workflow policy and procedure redesign. PMID:21896459

  4. On the signatures of magnetic islands and multiple X-lines in the solar wind as observed by ARTEMIS and WIND

    Science.gov (United States)

    Eriksson, S.; Newman, D. L.; Lapenta, G.; Angelopoulos, V.

    2014-06-01

    We report the first observation consistent with a magnetic reconnection generated magnetic island at a solar wind current sheet that was observed on 10 June 2012 by the two ARTEMIS satellites and the upstream WIND satellite. The evidence consists of a core magnetic field within the island which is formed by enhanced Hall magnetic fields across a solar wind reconnection exhaust. The core field at ARTEMIS displays a local dip coincident with a peak plasma density enhancement and a locally slower exhaust speed which differentiates it from a regular solar wind exhaust crossing. Further indirect evidence of magnetic island formation is presented in the form of a tripolar Hall magnetic field, which is supported by an observed electron velocity shear, and plasma density depletion regions which are in general agreement with multiple reconnection X-line signatures at the same current sheet on the basis of predicted signatures of magnetic islands as generated by a kinetic reconnection simulation for solar wind-like conditions. The combined ARTEMIS and WIND observations of tripolar Hall magnetic fields across the same exhaust and Grad-Shrafranov reconstructions of the magnetic field suggest that an elongated magnetic island was encountered which displayed a 4RE normal width and a 43RE extent along the exhaust between two neighboring X-lines.

  5. Restoration of human B-cell differentiation into NOD-SCID mice engrafted with gene-corrected CD34+ cells isolated from Artemis or RAG1-deficient patients.

    Science.gov (United States)

    Lagresle-Peyrou, Chantal; Benjelloun, Fatine; Hue, Christophe; Andre-Schmutz, Isabelle; Bonhomme, Delphine; Forveille, Monique; Beldjord, Kheira; Hacein-Bey-Abina, Salima; De Villartay, Jean-Pierre; Charneau, Pierre; Durandy, Anne; Fischer, Alain; Cavazzana-Calvo, Marina

    2008-02-01

    Severe combined immunodeficiency (SCID) caused by mutation of the recombination-activating gene 1 (RAG1) or Artemis gene lead to the absence of B- and T-cell differentiation. The only curative treatment is allogeneic bone marrow (BM) transplantation, which displays a high survival rate when an HLA compatible donor is available but has a poorer prognosis when the donor is partially compatible. Consequently, gene therapy may be a promising alternative strategy for these diseases. Here, we report that lentiviral gene-corrected BM CD34(+) cells (isolated from Artemis- or RAG1-deficient patients) sustain human B-cell differentiation following injection into non-obese diabetic/SCID (NOD-SCID) mice previously infused with anti-interleukin-2 receptor beta chain monoclonal antibody. In most of the mice BM, engrafted with Artemis-transduced cells, human B-cell differentiation occurred until the mature stage. The B cells were functional as human immunoglobulin M (IgM) was present in the serum. Following injection with RAG1-transduced cells, human engraftment occurred in vivo but B-cell differentiation until the mature stage was less frequent. However, when it occurred, it was always associated with human IgM production. This overall approach represents a useful tool for evaluating gene transfer efficiency in human SCID forms affecting B-cell development (such as Artemis deficiency) and for testing new vectors for improving in vivo RAG1 complementation.

  6. Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

    Science.gov (United States)

    Parker, Lynne E.; Pin, Francois G.

    1988-10-01

    The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

  7. Robotic edge machining using elastic abrasive tool

    Science.gov (United States)

    Sidorova, A. V.; Semyonov, E. N.; Belomestnykh, A. S.

    2018-03-01

    The article describes a robotic center designed for automation of finishing operations, and analyzes technological aspects of an elastic abrasive tool applied for edge machining. Based on the experimental studies, practical recommendations on the application of the robotic center for finishing operations were developed.

  8. Robot Motion and Control 2011

    CERN Document Server

    2012-01-01

    Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: • Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. • New control algorithms for industrial robots, nonholonomic systems and legged robots. • Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. • Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists...

  9. Nuclear power generation and automation technology

    International Nuclear Information System (INIS)

    Korei, Yoshiro

    1985-01-01

    The proportion of nuclear power in the total generated electric power has been increasing year after year, and the ensuring of its stable supply has been demanded. For the further development of nuclear power generation, the heightening of economical efficiency which is the largest merit of nuclear power and the public acceptance as a safe and stable electric power source are the important subjects. In order to solve these subjects, in nuclear power generation, various automation techniques have been applied for the purpose of the heightening of reliability, labor saving and the reduction of radiation exposure. Meeting the high needs of automation, the automation technology aided by computers have been applied to the design, manufacture and construction, operation and maintenance of nuclear power plants. Computer-aided design and the examples of design of a reactor building, pipings and a fuel assembly, an automatic welder for pipings of all position TIG welding type, a new central monitoring and control system, an automatic exchanger of control rod-driving mechanism, an automatic in-service inspection system for nozzles and pipings, and a robot for steam generator maintenance are shown. The trend of technical development and an intelligent moving robot, a system maintenance robot and a four legs walking robot are explained. (Kako, I.)

  10. Distributed mechatronics controller for modular wall climbing robot

    CSIR Research Space (South Africa)

    Tlale, NS

    2006-07-01

    Full Text Available - climbing robot for inspection in nuclear power plants.”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 409-1414. (Chen 2001) Chen, D-. J., 2001, “Architecture for Systematic Development of Mechatronics Software Systems”, Licentiate Thesis... provide a more cost effective solution to the problem (Luk et al 1991). Such robots are termed service robots by the International Service Robot Association (ISRA) (Pransky 1996). They are defined as machines that sense, think, and act to benefit (or...

  11. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  12. A systematic approach to the application of Automation, Robotics, and Machine Intelligence Systems /ARAMIS/ to future space projects

    Science.gov (United States)

    Smith, D. B. S.

    1982-01-01

    The potential applications of Automation, Robotics, and Machine Intelligence Systems (ARAMIS) to space projects are investigated, through a systematic method. In this method selected space projects are broken down into space project tasks, and 69 of these tasks are selected for study. Candidate ARAMIS options are defined for each task. The relative merits of these options are evaluated according to seven indices of performance. Logical sequences of ARAMIS development are also defined. Based on this data, promising applications of ARAMIS are

  13. The Strategic Technologies for Automation and Robotics (STEAR) program: Protection of materials in the space environment subprogram

    Science.gov (United States)

    Schmidt, Lorne R.; Francoeur, J.; Aguero, Alina; Wertheimer, Michael R.; Klemberg-Sapieha, J. E.; Martinu, L.; Blezius, J. W.; Oliver, M.; Singh, A.

    1995-01-01

    Three projects are currently underway for the development of new coatings for the protection of materials in the space environment. These coatings are based on vacuum deposition technologies. The projects will go as far as the proof-of-concept stage when the commercial potential for the technology will be demonstrated on pilot-scale fabrication facilities in 1996. These projects are part of a subprogram to develop supporting technologies for automation and robotics technologies being developed under the Canadian Space Agency's STEAR Program, part of the Canadian Space Station Program.

  14. Real-time Stereoscopic 3D for E-Robotics Learning

    Directory of Open Access Journals (Sweden)

    Richard Y. Chiou

    2011-02-01

    Full Text Available Following the design and testing of a successful 3-Dimensional surveillance system, this 3D scheme has been implemented into online robotics learning at Drexel University. A real-time application, utilizing robot controllers, programmable logic controllers and sensors, has been developed in the “MET 205 Robotics and Mechatronics” class to provide the students with a better robotic education. The integration of the 3D system allows the students to precisely program the robot and execute functions remotely. Upon the students’ recommendation, polarization has been chosen to be the main platform behind the 3D robotic system. Stereoscopic calculations are carried out for calibration purposes to display the images with the highest possible comfort-level and 3D effect. The calculations are further validated by comparing the results with students’ evaluations. Due to the Internet-based feature, multiple clients have the opportunity to perform the online automation development. In the future, students, in different universities, will be able to cross-control robotic components of different types around the world. With the development of this 3D ERobotics interface, automation resources and robotic learning can be shared and enriched regardless of location.

  15. Robotics: a way to link the "islands of automation".

    Science.gov (United States)

    O'Bryan, D

    1994-01-01

    This article looks at what the natural evolution of robots can do for the clinical testing industry, from performing simple functions to becoming the prime labor force of the clinical laboratory. Until now, robots have been applied to instrument processes as somewhat of an upgrade to accomplish a variety of laboratory tasks. Over the next 10 years, however, robotics development will respond to the internal and external influences expected to challenge the industry. A limited supply of human workers and the increased demands of testing volumes and cost-effectiveness will herald a new phase of robotics to link, as well as develop, technological capabilities. Since science fiction was invented, robots have teased the imagination-alternately as mindless automatons or as clones of their inventors endowed with minds of their own. The appeal in the first case was the seemingly infinite capacity for performing menial tasks too boring, complex, or dangerous for mankind. The appeal in the second was the fantasy of artificial intelligence. In both cases, the fictional concept has become reality--and, by the 21st century, should even be commonplace. Financial encouragement of robotics development might even be a mission for laboratories themselves, as they prepare for potential competition from even more complex technology.

  16. Human Factors and Robotics: Current Status and Future Prospects.

    Science.gov (United States)

    Parsons, H. McIlvaine; Kearsley, Greg P.

    The principal human factors engineering issue in robotics is the division of labor between automation (robots) and human beings. This issue reflects a prime human factors engineering consideration in systems design--what equipment should do and what operators and maintainers should do. Understanding of capabilities and limitations of robots and…

  17. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

    ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

  18. A methodology for automation and robotics evaluation applied to the space station telerobotic servicer

    Science.gov (United States)

    Smith, Jeffrey H.; Gyanfi, Max; Volkmer, Kent; Zimmerman, Wayne

    1988-01-01

    The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.

  19. Developing Principles for Effective Human Collaboration with Free-Flying Robots

    Data.gov (United States)

    National Aeronautics and Space Administration — Aerial robots hold great promise in supporting human activities during space missions and terrestrial operations. For example, free-flying robots may automate...

  20. Off the Shelf Cloud Robotics for the Smart Home: Empowering a Wireless Robot through Cloud Computing

    Directory of Open Access Journals (Sweden)

    Javier Ramírez De La Pinta

    2017-03-01

    Full Text Available In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user’s home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered.

  1. Off the Shelf Cloud Robotics for the Smart Home: Empowering a Wireless Robot through Cloud Computing.

    Science.gov (United States)

    Ramírez De La Pinta, Javier; Maestre Torreblanca, José María; Jurado, Isabel; Reyes De Cozar, Sergio

    2017-03-06

    In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user's home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered.

  2. 3D vision system for intelligent milking robot automation

    Science.gov (United States)

    Akhloufi, M. A.

    2013-12-01

    In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

  3. History of Robotic and Remotely Operated Telescopes

    Science.gov (United States)

    Genet, Russell M.

    2011-03-01

    While automated instrument sequencers were employed on solar eclipse expeditions in the late 1800s, it wasn't until the 1960s that Art Code and associates at Wisconsin used a PDP minicomputer to automate an 8-inch photometric telescope. Although this pioneering project experienced frequent equipment failures and was shut down after a couple of years, it paved the way for the first space telescopes. Reliable microcomputers initiated the modern era of robotic telescopes. Louis Boyd and I applied single board microcomputers with 64K of RAM and floppy disk drives to telescope automation at the Fairborn Observatory, achieving reliable, fully robotic operation in 1983 that has continued uninterrupted for 28 years. In 1985 the Smithsonian Institution provided us with a suburb operating location on Mt. Hopkins in southern Arizona, while the National Science Foundation funded additional telescopes. Remote access to our multiple robotic telescopes at the Fairborn Observatory began in the late 1980s. The Fairborn Observatory, with its 14 fully robotic telescopes and staff of two (one full and one part time) illustrates the potential for low operating and maintenance costs. As the information capacity of the Internet has expanded, observational modes beyond simple differential photometry opened up, bringing us to the current era of real-time remote access to remote observatories and global observatory networks. Although initially confined to smaller telescopes, robotic operation and remote access are spreading to larger telescopes as telescopes from afar becomes the normal mode of operation.

  4. ARIES NDA Robot operators' manual

    International Nuclear Information System (INIS)

    Scheer, N.L.; Nelson, D.C.

    1998-05-01

    The ARIES NDA Robot is an automation device for servicing the material movements for a suite of Non-destructive assay (NDA) instruments. This suite of instruments includes a calorimeter, a gamma isotopic system, a segmented gamma scanner (SGS), and a neutron coincidence counter (NCC). Objects moved by the robot include sample cans, standard cans, and instrument plugs. The robot computer has an RS-232 connection with the NDA Host computer, which coordinates robot movements and instrument measurements. The instruments are expected to perform measurements under the direction of the Host without operator intervention. This user's manual describes system startup, using the main menu, manual operation, and error recovery

  5. The Adventures of Artemis and the Llama: A Case for Imaginary Histories in Art Education

    Science.gov (United States)

    Vallance, Elizabeth

    2004-01-01

    Artemis is a late Hellenistic Greek marble sculpture of the huntress, running in a flowing garment, now lacking arms, legs, and head, and about three-quarters life-sized. The llama is a remarkable hollow male figure of smooth thin gold, and about two inches tall, and was made by the Inca before the Spanish conquest in 1532. This narrative is just…

  6. Development of robotic plasma radiochemical assays for positron emission tomography

    International Nuclear Information System (INIS)

    Alexoff, D.L.; Shea, C.; Fowler, J.S.; Gatley, S.J.; Schlyer, D.J.

    1995-01-01

    A commercial laboratory robot system (Zymate PyTechnology II Laboratory Automation System; Zymark Corporation, Hopkinton, MA) was interfaced to standard and custom laboratory equipment and programmed to perform rapid radiochemical analyses for quantitative PET studies. A Zymark XP robot arm was used to carry out the determination of unchanged (parent) radiotracer in plasma using only solid phase extraction methods. Robotic throughput for the assay of parent radiotracer in plasma is 4--6 samples/hour depending on the radiotracer. Robotic assays of parent compound in plasma were validated for the radiotracers [ 11 C]Benztropine, [ 11 C]cocaine, [ 11 C]clorgyline, [ 11 C]deprenyl, [ 11 C]methadone, [ 11 C]methylphenidate, [ 11 C]raclorpride, and [ 11 C]SR46349B. A simple robot-assisted methods development strategy has been implemented to facilitate the automation of plasma assays of new radiotracers

  7. Automated Simultaneous Local Ties with GNSS and Robot Tacheometer

    Science.gov (United States)

    Kallio, Ulla; Lösler, Michael; Bergstrand, Sten; Haas, Rüdiger; Eschelbach, Cornelia

    2016-12-01

    We have used GPS-based local-tie measurements simultaneously with geo-VLBI observations since 2008 during every geodetic VLBI session at Metsähovi. This system uses gimbal-mounted GNSS antennas that are mounted on the reflector of the Metsähovi 14-m radio telescope. A similar system was installed in 2013 at the Onsala 20-m radio telescope and has been used for a large number of VLBI sessions, including, e.g., the 15-day-long CONT14 campaign. In order to verify the results of the two systems, we performed a dedicated measurement campaign in the framework of the SIB60 project, involving both Metsähovi and Onsala. During this campaign the local ties at the two stations were measured simultaneously during two VLBI sessions in August and September 2015 where both stations participated. The robot tacheometer monitoring system HEIMDALL was used for the automated classical monitoring of the telescopes at both stations. Moreover, additional local terrestrial measurements were performed several times to derive the full IVS-IGS local ties at both sites. The kinematic GPS measurements at the two stations were analyzed with two independently developed analysis programs. We present here the preparations of the campaign, the measurement process, and preliminary results.

  8. Toward a framework for levels of robot autonomy in human-robot interaction.

    Science.gov (United States)

    Beer, Jenay M; Fisk, Arthur D; Rogers, Wendy A

    2014-07-01

    A critical construct related to human-robot interaction (HRI) is autonomy, which varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots may interact with one another. Thus, there is a need to understand HRI by identifying variables that influence - and are influenced by - robot autonomy. Our overarching goal is to develop a framework for levels of robot autonomy in HRI. To reach this goal, the framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed and redefined within the context of HRI. Additionally, the framework proposes a process for determining a robot's autonomy level, by categorizing autonomy along a 10-point taxonomy. The framework is intended to be treated as guidelines to determine autonomy, categorize the LORA along a qualitative taxonomy, and consider which HRI variables (e.g., acceptance, situation awareness, reliability) may be influenced by the LORA.

  9. On the signatures of magnetic islands and multiple X-lines in the solar wind as observed by ARTEMIS and WIND

    International Nuclear Information System (INIS)

    Eriksson, S; Newman, D L; Lapenta, G; Angelopoulos, V

    2014-01-01

    We report the first observation consistent with a magnetic reconnection generated magnetic island at a solar wind current sheet that was observed on 10 June 2012 by the two ARTEMIS satellites and the upstream WIND satellite. The evidence consists of a core magnetic field within the island which is formed by enhanced Hall magnetic fields across a solar wind reconnection exhaust. The core field at ARTEMIS displays a local dip coincident with a peak plasma density enhancement and a locally slower exhaust speed which differentiates it from a regular solar wind exhaust crossing. Further indirect evidence of magnetic island formation is presented in the form of a tripolar Hall magnetic field, which is supported by an observed electron velocity shear, and plasma density depletion regions which are in general agreement with multiple reconnection X-line signatures at the same current sheet on the basis of predicted signatures of magnetic islands as generated by a kinetic reconnection simulation for solar wind-like conditions. The combined ARTEMIS and WIND observations of tripolar Hall magnetic fields across the same exhaust and Grad–Shrafranov reconstructions of the magnetic field suggest that an elongated magnetic island was encountered which displayed a 4R E normal width and a 43R E extent along the exhaust between two neighboring X-lines. (paper)

  10. Robot skills for manufacturing

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath; Nalpantidis, Lazaros; Andersen, Rasmus Skovgaard

    2016-01-01

    -asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated...... products are introduced by manufacturers. In order to compete on global markets, the factories of tomorrow need complete production lines, including automation technologies that can effortlessly be reconfigured or repurposed, when the need arises. In this paper we present the concept of general, self...... in running production facilities at an industrial partner. It follows from these experiments that the use of robot skills, and associated task-level programming framework, is a viable solution to introducing robots that can intuitively and on the fly be programmed to perform new tasks by factory workers....

  11. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

    A Robotics Technology Group was organized at the Savannah River Laboratory in August 1982. Many potential applications have been identified that will improve personnel safety, reduce operating costs, and increase productivity using modern robotics and automation. Several active projects are under way to procure robots, to develop unique techniques and systems for the site's processes, and to install the systems in the actual work environments. The projects and development programs are involved in the following general application areas: (1) glove boxes and shielded cell facilities, (2) laboratory chemical processes, (3) fabrication processes for reactor fuel assemblies, (4) sampling processes for separation areas, (5) emergency response in reactor areas, (6) fuel handling in reactor areas, and (7) remote radiation monitoring systems. A Robotics Development Laboratory has been set up for experimental and development work and for demonstration of robotic systems

  12. ARTEMIS: The core simulator of AREVA NP's next generation coupled neutronics/thermal-hydraulics code system ARCADIAR

    International Nuclear Information System (INIS)

    Hobson, Greg; Merk, Stephan; Bolloni, Hans-Wilhelm; Breith, Karl-Albert; Curca-Tivig, Florin; Van Geemert, Rene; Heinecke, Jochen; Hartmann, Bettina; Porsch, Dieter; Tiles, Viatcheslav; Dall'Osso, Aldo; Pothet, Baptiste

    2008-01-01

    AREVA NP has developed a next-generation coupled neutronics/thermal-hydraulics code system, ARCADIA R , to fulfil customer's current demands and even anticipate their future demands in terms of accuracy and performance. The new code system will be implemented world-wide and will replace several code systems currently used in various global regions. An extensive phase of verification and validation of the new code system is currently in progress. One of the principal components of this new system is the core simulator, ARTEMIS. Besides the stand-alone tests on the individual computational modules, integrated tests on the overall code are being performed in order to check for non-regression as well as for verification of the code. Several benchmark problems have been successfully calculated. Full-core depletion cycles of different plant types from AREVA's French, American and German regions (e.g. N4 and KONVOI types) have been performed with ARTEMIS (using APOLLO2-A cross sections) and compared directly with current production codes, e.g. with SCIENCE and CASCADE-3D, and additionally with measurements. (authors)

  13. MotionTherapy@Home - First results of a clinical study with a novel robotic device for automated locomotion therapy at home.

    Science.gov (United States)

    Rupp, Rüdiger; Plewa, Harry; Schuld, Christian; Gerner, Hans Jürgen; Hofer, Eberhard P; Knestel, Markus

    2011-02-01

    In incomplete spinal cord injured subjects, task-oriented training regimes are applied for enhancement of neuroplasticity to improve gait capacity. However, a sufficient training intensity can only be achieved during the inpatient phase, which is getting shorter and shorter due to economic restrictions. In the clinical environment, complex and expensive robotic devices have been introduced to maintain the duration and the intensity of the training, but up to now only a few exist for continuation of automated locomotion training at home. For continuation of the automated locomotion training at home prototypes of the compact, pneumatically driven orthosis MoreGait have been realized, which generate the key afferent stimuli for activation of the spinal gait pattern generator. Artificial pneumatic muscles with excellent weight-to-force ratio and safety characteristics have been integrated as joint actuators. Additionally, a Stimulative Shoe for generation of the appropriate foot loading pattern has been developed without the need for verticalization of the user. The first results of the pilot study in eight chronic incomplete spinal cord injured subjects indicate that the home-based therapy is safe and feasible. The therapy related improvements of the walking capacity are in the range of locomotion robots used in clinical settings.

  14. Automation: is it really different this time?

    Science.gov (United States)

    Wajcman, Judy

    2017-03-01

    This review examines several recent books that deal with the impact of automation and robotics on the future of jobs. Most books in this genre predict that the current phase of digital technology will create massive job loss in an unprecedented way, that is, that this wave of automation is different from previous waves. Uniquely digital technology is said to automate professional occupations for the first time. This review critically examines these claims, puncturing some of the hyperbole about automation, robotics and Artificial Intelligence. The review argues for a more nuanced analysis of the politics of technology and provides some critical distance on Silicon Valley's futurist discourse. Only by insisting that futures are always social can public bodies, rather than autonomous markets and endogenous technologies, become central to disentangling, debating and delivering those futures. © London School of Economics and Political Science 2017.

  15. DCLRE1C (ARTEMIS) mutations causing phenotypes ranging from atypical severe combined immunodeficiency to mere antibody deficiency.

    Science.gov (United States)

    Volk, Timo; Pannicke, Ulrich; Reisli, Ismail; Bulashevska, Alla; Ritter, Julia; Björkman, Andrea; Schäffer, Alejandro A; Fliegauf, Manfred; Sayar, Esra H; Salzer, Ulrich; Fisch, Paul; Pfeifer, Dietmar; Di Virgilio, Michela; Cao, Hongzhi; Yang, Fang; Zimmermann, Karin; Keles, Sevgi; Caliskaner, Zafer; Güner, S Ükrü; Schindler, Detlev; Hammarström, Lennart; Rizzi, Marta; Hummel, Michael; Pan-Hammarström, Qiang; Schwarz, Klaus; Grimbacher, Bodo

    2015-12-20

    Null mutations in genes involved in V(D)J recombination cause a block in B- and T-cell development, clinically presenting as severe combined immunodeficiency (SCID). Hypomorphic mutations in the non-homologous end-joining gene DCLRE1C (encoding ARTEMIS) have been described to cause atypical SCID, Omenn syndrome, Hyper IgM syndrome and inflammatory bowel disease-all with severely impaired T-cell immunity. By whole-exome sequencing, we investigated the molecular defect in a consanguineous family with three children clinically diagnosed with antibody deficiency. We identified perfectly segregating homozygous variants in DCLRE1C in three index patients with recurrent respiratory tract infections, very low B-cell numbers and serum IgA levels. In patients, decreased colony survival after irradiation, impaired proliferative response and reduced counts of naïve T cells were observed in addition to a restricted T-cell receptor repertoire, increased palindromic nucleotides in the complementarity determining regions 3 and long stretches of microhomology at switch junctions. Defective V(D)J recombination was complemented by wild-type ARTEMIS protein in vitro. Subsequently, homozygous or compound heterozygous DCLRE1C mutations were identified in nine patients from the same geographic region. We demonstrate that DCLRE1C mutations can cause a phenotype presenting as only antibody deficiency. This novel association broadens the clinical spectrum associated with ARTEMIS mutations. Clinicians should consider the possibility that an immunodeficiency with a clinically mild initial presentation could be a combined immunodeficiency, so as to provide appropriate care for affected patients. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  16. Automating the radiographic NDT process

    International Nuclear Information System (INIS)

    Aman, J.K.

    1986-01-01

    Automation, the removal of the human element in inspection, has not been generally applied to film radiographic NDT. The justication for automating is not only productivity but also reliability of results. Film remains in the automated system of the future because of its extremely high image content, approximately 8 x 10 9 bits per 14 x 17. The equivalent to 2200 computer floppy discs. Parts handling systems and robotics applied for manufacturing and some NDT modalities, should now be applied to film radiographic NDT systems. Automatic film handling can be achieved with the daylight NDT film handling system. Automatic film processing is becoming the standard in industry and can be coupled to the daylight system. Robots offer the opportunity to automate fully the exposure step. Finally, computer aided interpretation appears on the horizon. A unit which laser scans a 14 x 17 (inch) film in 6 - 8 seconds can digitize film information for further manipulation and possible automatic interrogations (computer aided interpretation). The system called FDRS (for Film Digital Radiography System) is moving toward 50 micron (*approx* 16 lines/mm) resolution. This is believed to meet the need of the majority of image content needs. We expect the automated system to appear first in parts (modules) as certain operations are automated. The future will see it all come together in an automated film radiographic NDT system (author) [pt

  17. Streamlining and automation of radioanalytical methods at a commercial laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Harvey, J.T.; Dillard, J.W. [IT Corp., Knoxville, TN (United States)

    1993-12-31

    Through the careful planning and design of laboratory facilities and incorporation of modern instrumentation and robotics systems, properly trained and competent laboratory associates can efficiently and safely handle radioactive and mixed waste samples. This paper addresses the potential improvements radiochemistry and mixed waste laboratories can achieve utilizing robotics for automated sample analysis. Several examples of automated systems for sample preparation and analysis will be discussed.

  18. Streamlining and automation of radioanalytical methods at a commercial laboratory

    International Nuclear Information System (INIS)

    Harvey, J.T.; Dillard, J.W.

    1993-01-01

    Through the careful planning and design of laboratory facilities and incorporation of modern instrumentation and robotics systems, properly trained and competent laboratory associates can efficiently and safely handle radioactive and mixed waste samples. This paper addresses the potential improvements radiochemistry and mixed waste laboratories can achieve utilizing robotics for automated sample analysis. Several examples of automated systems for sample preparation and analysis will be discussed

  19. The Ku80 carboxy terminus stimulates joining and artemis-mediated processing of DNA ends

    DEFF Research Database (Denmark)

    Weterings, Eric; Verkaik, Nicole S; Keijzers, Guido

    2008-01-01

    Repair of DNA double-strand breaks (DSBs) is predominantly mediated by nonhomologous end joining (NHEJ) in mammalian cells. NHEJ requires binding of the Ku70-Ku80 heterodimer (Ku70/80) to the DNA ends and subsequent recruitment of the DNA-dependent protein kinase catalytic subunit (DNA-PK(CS)) an......Repair of DNA double-strand breaks (DSBs) is predominantly mediated by nonhomologous end joining (NHEJ) in mammalian cells. NHEJ requires binding of the Ku70-Ku80 heterodimer (Ku70/80) to the DNA ends and subsequent recruitment of the DNA-dependent protein kinase catalytic subunit (DNA......-PK(CS)) and the XRCC4/ligase IV complex. Activation of the DNA-PK(CS) serine/threonine kinase requires an interaction with Ku70/80 and is essential for NHEJ-mediated DSB repair. In contrast to previous models, we found that the carboxy terminus of Ku80 is not absolutely required for the recruitment and activation...... was phosphorylated to normal levels. This resulted in severely reduced levels of Artemis nuclease activity in vivo and in vitro. We therefore conclude that the Ku80 carboxy terminus is important to support DNA-PK(CS) autophosphorylation at specific sites, which facilitates DNA end processing by the Artemis...

  20. The Ku80 carboxy terminus stimulates joining and artemis-mediated processing of DNA ends.

    Science.gov (United States)

    Weterings, Eric; Verkaik, Nicole S; Keijzers, Guido; Florea, Bogdan I; Wang, Shih-Ya; Ortega, Laura G; Uematsu, Naoya; Chen, David J; van Gent, Dik C

    2009-03-01

    Repair of DNA double-strand breaks (DSBs) is predominantly mediated by nonhomologous end joining (NHEJ) in mammalian cells. NHEJ requires binding of the Ku70-Ku80 heterodimer (Ku70/80) to the DNA ends and subsequent recruitment of the DNA-dependent protein kinase catalytic subunit (DNA-PK(CS)) and the XRCC4/ligase IV complex. Activation of the DNA-PK(CS) serine/threonine kinase requires an interaction with Ku70/80 and is essential for NHEJ-mediated DSB repair. In contrast to previous models, we found that the carboxy terminus of Ku80 is not absolutely required for the recruitment and activation of DNA-PK(CS) at DSBs, although cells that harbored a carboxy-terminal deletion in the Ku80 gene were sensitive to ionizing radiation and showed reduced end-joining capacity. More detailed analysis of this repair defect showed that DNA-PK(CS) autophosphorylation at Thr2647 was diminished, while Ser2056 was phosphorylated to normal levels. This resulted in severely reduced levels of Artemis nuclease activity in vivo and in vitro. We therefore conclude that the Ku80 carboxy terminus is important to support DNA-PK(CS) autophosphorylation at specific sites, which facilitates DNA end processing by the Artemis endonuclease and the subsequent joining reaction.

  1. The Ku80 Carboxy Terminus Stimulates Joining and Artemis-Mediated Processing of DNA Ends▿

    Science.gov (United States)

    Weterings, Eric; Verkaik, Nicole S.; Keijzers, Guido; Florea, Bogdan I.; Wang, Shih-Ya; Ortega, Laura G.; Uematsu, Naoya; Chen, David J.; van Gent, Dik C.

    2009-01-01

    Repair of DNA double-strand breaks (DSBs) is predominantly mediated by nonhomologous end joining (NHEJ) in mammalian cells. NHEJ requires binding of the Ku70-Ku80 heterodimer (Ku70/80) to the DNA ends and subsequent recruitment of the DNA-dependent protein kinase catalytic subunit (DNA-PKCS) and the XRCC4/ligase IV complex. Activation of the DNA-PKCS serine/threonine kinase requires an interaction with Ku70/80 and is essential for NHEJ-mediated DSB repair. In contrast to previous models, we found that the carboxy terminus of Ku80 is not absolutely required for the recruitment and activation of DNA-PKCS at DSBs, although cells that harbored a carboxy-terminal deletion in the Ku80 gene were sensitive to ionizing radiation and showed reduced end-joining capacity. More detailed analysis of this repair defect showed that DNA-PKCS autophosphorylation at Thr2647 was diminished, while Ser2056 was phosphorylated to normal levels. This resulted in severely reduced levels of Artemis nuclease activity in vivo and in vitro. We therefore conclude that the Ku80 carboxy terminus is important to support DNA-PKCS autophosphorylation at specific sites, which facilitates DNA end processing by the Artemis endonuclease and the subsequent joining reaction. PMID:19103741

  2. Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras

    Science.gov (United States)

    Xu, Yiliang

    2011-01-01

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. …

  3. Evaluation of a completely robotized neurosurgical operating microscope.

    Science.gov (United States)

    Kantelhardt, Sven R; Finke, Markus; Schweikard, Achim; Giese, Alf

    2013-01-01

    Operating microscopes are essential for most neurosurgical procedures. Modern robot-assisted controls offer new possibilities, combining the advantages of conventional and automated systems. We evaluated the prototype of a completely robotized operating microscope with an integrated optical coherence tomography module. A standard operating microscope was fitted with motors and control instruments, with the manual control mode and balance preserved. In the robot mode, the microscope was steered by a remote control that could be fixed to a surgical instrument. External encoders and accelerometers tracked microscope movements. The microscope was additionally fitted with an optical coherence tomography-scanning module. The robotized microscope was tested on model systems. It could be freely positioned, without forcing the surgeon to take the hands from the instruments or avert the eyes from the oculars. Positioning error was about 1 mm, and vibration faded in 1 second. Tracking of microscope movements, combined with an autofocus function, allowed determination of the focus position within the 3-dimensional space. This constituted a second loop of navigation independent from conventional infrared reflector-based techniques. In the robot mode, automated optical coherence tomography scanning of large surface areas was feasible. The prototype of a robotized optical coherence tomography-integrated operating microscope combines the advantages of a conventional manually controlled operating microscope with a remote-controlled positioning aid and a self-navigating microscope system that performs automated positioning tasks such as surface scans. This demonstrates that, in the future, operating microscopes may be used to acquire intraoperative spatial data, volume changes, and structural data of brain or brain tumor tissue.

  4. Robot-assisted automatic ultrasound calibration.

    Science.gov (United States)

    Aalamifar, Fereshteh; Cheng, Alexis; Kim, Younsu; Hu, Xiao; Zhang, Haichong K; Guo, Xiaoyu; Boctor, Emad M

    2016-10-01

    Ultrasound (US) calibration is the process of determining the unknown transformation from a coordinate frame such as the robot's tooltip to the US image frame and is a necessary task for any robotic or tracked US system. US calibration requires submillimeter-range accuracy for most applications, but it is a time-consuming and repetitive task. We provide a new framework for automatic US calibration with robot assistance and without the need for temporal calibration. US calibration based on active echo (AE) phantom was previously proposed, and its superiority over conventional cross-wire phantom-based calibration was shown. In this work, we use AE to guide the robotic arm motion through the process of data collection; we combine the capability of the AE point to localize itself in the frame of the US image with the automatic motion of the robotic arm to provide a framework for calibrating the arm to the US image automatically. We demonstrated the efficacy of the automated method compared to the manual method through experiments. To highlight the necessity of frequent ultrasound calibration, it is demonstrated that the calibration precision changed from 1.67 to 3.20 mm if the data collection is not repeated after a dismounting/mounting of the probe holder. In a large data set experiment, similar reconstruction precision of automatic and manual data collection was observed, while the time was reduced by 58 %. In addition, we compared ten automatic calibrations with ten manual ones, each performed in 15 min, and showed that all the automatic ones could converge in the case of setting the initial matrix as identity, while this was not achieved by manual data sets. Given the same initial matrix, the repeatability of the automatic was [0.46, 0.34, 0.80, 0.47] versus [0.42, 0.51, 0.98, 1.15] mm in the manual case for the US image four corners. The submillimeter accuracy requirement of US calibration makes frequent data collections unavoidable. We proposed an automated

  5. Traction Control Study for a Scaled Automated Robotic Car

    OpenAIRE

    Morton, Mark A.

    2004-01-01

    This thesis presents the use of sliding mode control applied to a 1/10th scale robotic car to operate at a desired slip. Controlling the robot car at any desired slip has a direct relation to the amount of force that is applied to the driving wheels based on road surface conditions. For this model, the desired traction/slip is maintained for a specific surface which happens to be a Lego treadmill platform. How the platform evolved and the robot car was designed are also covered. To parame...

  6. Design to Robotic Production for Informed Materialization Processes

    Directory of Open Access Journals (Sweden)

    Sina Mostafavi

    2017-12-01

    Full Text Available Design to Robotic Production (D2RP establishes links between digital design and production in order to achieve informed materialization at an architectural scale. D2RP research is being discussed under the computation, automation and materialization themes, by reference to customizable digital design means, robotic fabrication setups and informed materialization strategies implemented by the Robotic Building group at Hyperbody, TU Delft.

  7. Contaminant analysis automation, an overview

    International Nuclear Information System (INIS)

    Hollen, R.; Ramos, O. Jr.

    1996-01-01

    To meet the environmental restoration and waste minimization goals of government and industry, several government laboratories, universities, and private companies have formed the Contaminant Analysis Automation (CAA) team. The goal of this consortium is to design and fabricate robotics systems that standardize and automate the hardware and software of the most common environmental chemical methods. In essence, the CAA team takes conventional, regulatory- approved (EPA Methods) chemical analysis processes and automates them. The automation consists of standard laboratory modules (SLMs) that perform the work in a much more efficient, accurate, and cost- effective manner

  8. Systematic approach to the application of automation, robotics, and machine intelligence systems (aramis) to future space projects

    Energy Technology Data Exchange (ETDEWEB)

    Smith, D B.S.

    1983-01-01

    The potential applications of automation, robotics and machine intelligence systems (ARAMIS) to space projects are investigated, through a systematic method. In this method selected space projects are broken down into space project tasks, and 69 of these tasks are selected for study. Candidate ARAMIS options are defined for each task. The relative merits of these options are evaluated according to seven indices of performance. Logical sequences of ARAMIS development are also defined. Based on this data, promising applications of ARAMIS are identified for space project tasks. General conclusions and recommendations for further study are also presented. 6 references.

  9. Probabilistic approaches to robotic perception

    CERN Document Server

    Ferreira, João Filipe

    2014-01-01

    This book tries to address the following questions: How should the uncertainty and incompleteness inherent to sensing the environment be represented and modelled in a way that will increase the autonomy of a robot? How should a robotic system perceive, infer, decide and act efficiently? These are two of the challenging questions robotics community and robotic researchers have been facing. The development of robotic domain by the 1980s spurred the convergence of automation to autonomy, and the field of robotics has consequently converged towards the field of artificial intelligence (AI). Since the end of that decade, the general public’s imagination has been stimulated by high expectations on autonomy, where AI and robotics try to solve difficult cognitive problems through algorithms developed from either philosophical and anthropological conjectures or incomplete notions of cognitive reasoning. Many of these developments do not unveil even a few of the processes through which biological organisms solve thes...

  10. Collaborative Robots and Knowledge Management - A Short Review

    Science.gov (United States)

    Mușat, Flaviu-Constantin; Mihu, Florin-Constantin

    2017-12-01

    Because the requirements of the customers are more and more high related to quality, quantity, delivery times at lowest costs possible, the industry had to come with automated solutions to improve these requirements. Starting from the automated lines developed by Ford and Toyota, we have now developed automated and self-sustained working lines, which is possible nowadays-using collaborative robots. By using the knowledge management system we can improve the development of the future of this kind of area of research. This paper shows the benefits and the smartness use of the robots that are performing the manipulation activities that increases the work place ergonomically and improve the interaction between human - machine in order to assist in parallel tasks and lowering the physically human efforts.

  11. Human-Robot Interaction

    Science.gov (United States)

    Rochlis-Zumbado, Jennifer; Sandor, Aniko; Ezer, Neta

    2012-01-01

    Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

  12. Sistema de navegación para un robot limpiador de piscinas

    Directory of Open Access Journals (Sweden)

    Lorena Cardona Rendón

    2014-01-01

    Full Text Available In this paper presents the development of a navigation system to estimate the position, velocity and orientation of a pool cleaner robot to be automated. We employ the weighted least-square technique for the design of the navigation system, which combines the noisy measurements of a tri-axial accelerometer and a gyroscope with the solution to the differential equations that describe the robot's movement. The navigation system was tested using a (Simulink-based model of the robot obtained from a tri-dimensional representation (built with CAD software - Autodesk Inventor. The final part of the paper presents the results and draws some conclusions about the feasibility of implementing the navigation system in the automation of a swimming-pool cleaner robot.

  13. Online simulation as a collision prevention layer in automated shoe sole adhesive spraying

    OpenAIRE

    Román Ibáñez, Vicente; Jimeno-Morenilla, Antonio; Pujol, Francisco A.; Salas Pérez, Faustino

    2018-01-01

    Robotisation in the footwear sector is a major challenge for the industry with difficulties present due to the inherent adaptive needs of some of the automated tasks performed by robotic arms. One of those of particular concern is collision prevention: working with those robots in automated online environments, considering they have limited awareness of the environment, may lead to dangerous situations with the movement of the robot along the calculated paths. To overcome this problem, a coll...

  14. Computational needs survey of NASA automation and robotics missions. Volume 1: Survey and results

    Science.gov (United States)

    Davis, Gloria J.

    1991-01-01

    NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is that mission computing requirements are frequently unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. A preliminary set of advanced mission computational processing requirements of automation and robotics (A&R) systems are provided for use by NASA, industry, and academic communities. These results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implementation capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Volume one includes the survey and results. Volume two contains the appendixes.

  15. Automation of Electrical Cable Harnesses Testing

    Directory of Open Access Journals (Sweden)

    Zhuming Bi

    2017-12-01

    Full Text Available Traditional automated systems, such as industrial robots, are applied in well-structured environments, and many automated systems have a limited adaptability to deal with complexity and uncertainty; therefore, the applications of industrial robots in small- and medium-sized enterprises (SMEs are very limited. The majority of manual operations in SMEs are too complicated for automation. The rapidly developed information technologies (IT has brought new opportunities for the automation of manufacturing and assembly processes in the ill-structured environments. Note that an automation solution should be designed to meet the given requirements of the specified application, and it differs from one application to another. In this paper, we look into the feasibility of automated testing for electric cable harnesses, and our focus is on some of the generic strategies for the improvement of the adaptability of automation solutions. Especially, the concept of modularization is adopted in developing hardware and software to maximize system adaptability in testing a wide scope of products. A proposed system has been implemented, and the system performances have been evaluated by executing tests on actual products. The testing experiments have shown that the automated system outperformed manual operations greatly in terms of cost-saving, productivity and reliability. Due to the potential of increasing system adaptability and cost reduction, the presented work has its theoretical and practical significance for an extension for other automation solutions in SMEs.

  16. Service Robots for Hospitals: A Case Study of Transportation Tasks in a Hospital

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Fan, Zhun; Dawids, Steen

    2009-01-01

    In this paper, the need for automated transportation systems for hospitals is investigated. Among other alternatives, mobile robots stand out as the most prominent means of automation of transportation tasks in hospitals. Existing transportation routines of a hospital are analyzed in order...... to verify the need for automation and identify possible areas of improvement. The analysis shows that most of the existing transportation is carried out manually, and hospitals can greatly benefit from automated transportation. Based on the results of the analysis, three alternatives are derived...... for implementing mobile service robots for transportation tasks in hospitals....

  17. Supervisory control for a complex robotic system

    International Nuclear Information System (INIS)

    Miller, D.J.

    1988-01-01

    The Robotic Radiation Survey and Analysis System investigates the use of advanced robotic technology for performing remote radiation surveys on nuclear waste shipping casks. Robotic systems have the potential for reducing personnel exposure to radiation and providing fast reliable throughput at future repository sites. A primary technology issue is the integrated control of distributed specialized hardware through a modular supervisory software system. Automated programming of robot trajectories based upon mathematical models of the cask and robot coupled with sensory feedback enables flexible operation of a commercial gantry robot with the reliability needed to perform autonomous operations in a hazardous environment. Complexity is managed using structured software engineering techniques resulting in the generation of reusable command primitives which contribute to a software parts catalog for a generalized robot programming language

  18. Autodesk Robot Structural Analysis Professional 2016 essentials

    CERN Document Server

    Marsh, Ken

    2016-01-01

    Autodesk Robot Structural Analysis Professional 2016 - Essentials is an excellent introduction to the essential features, functions, and workflows of Autodesk Robot Structural Analysis Professional. Master the tools you will need to make Robot work for you: Go from zero to proficiency with this thorough and detailed introduction to the essential concepts and workflows of Robot Structural Analysis Professional 2016. - Demystify the interface - Manipulate and manage Robot tables like a pro - Learn how to use Robot's modeling tools - Master loading techniques - Harness Robot automated load combinations - Decipher simplified seismic loading - Discover workflows for steel and concrete design - Gain insights to help troubleshoot issues Guided exercises are provided to help cement fundamental concepts in Robot Structural Analysis and drive home key functions. Get up to speed quickly with this essential text and add Robot Structural Analysis Professional 2016 to your analysis and design toolbox. New in 2016: AWC-NDS ...

  19. Simplified Human-Robot Interaction: Modeling and Evaluation

    Directory of Open Access Journals (Sweden)

    Balazs Daniel

    2013-10-01

    Full Text Available In this paper a novel concept of human-robot interaction (HRI modeling is proposed. Including factors like trust in automation, situational awareness, expertise and expectations a new user experience framework is formed for industrial robots. Service Oriented Robot Operation, proposed in a previous paper, creates an abstract level in HRI and it is also included in the framework. This concept is evaluated with exhaustive tests. Results prove that significant improvement in task execution may be achieved and the new system is more usable for operators with less experience with robotics; personnel specific for small and medium enterprises (SMEs.

  20. A Structured Light Scanner for Hyper Flexible Industrial Automation

    DEFF Research Database (Denmark)

    Hansen, Kent; Pedersen, Jeppe; Sølund, Thomas

    2014-01-01

    A current trend in industrial automation implies a need for doing automatic scene understanding, from optical 3D sensors, which in turn imposes a need for a lightweight and reliable 3D optical sensor to be mounted on a collaborative robot e.g., Universal Robot UR5 or Kuka LWR. Here, we empirically...... contribute to the robustness of the system. Hereby, we demonstrate that structured light scanning is a technology well suited for hyper flexible industrial automation, by proposing an appropriate system....

  1. Conference on Space and Military Applications of Automation and Robotics

    Science.gov (United States)

    1988-01-01

    Topics addressed include: robotics; deployment strategies; artificial intelligence; expert systems; sensors and image processing; robotic systems; guidance, navigation, and control; aerospace and missile system manufacturing; and telerobotics.

  2. Mission simulation as an approach to develop requirements for automation in Advanced Life Support Systems

    Science.gov (United States)

    Erickson, J. D.; Eckelkamp, R. E.; Barta, D. J.; Dragg, J.; Henninger, D. L. (Principal Investigator)

    1996-01-01

    This paper examines mission simulation as an approach to develop requirements for automation and robotics for Advanced Life Support Systems (ALSS). The focus is on requirements and applications for command and control, control and monitoring, situation assessment and response, diagnosis and recovery, adaptive planning and scheduling, and other automation applications in addition to mechanized equipment and robotics applications to reduce the excessive human labor requirements to operate and maintain an ALSS. Based on principles of systems engineering, an approach is proposed to assess requirements for automation and robotics using mission simulation tools. First, the story of a simulated mission is defined in terms of processes with attendant types of resources needed, including options for use of automation and robotic systems. Next, systems dynamics models are used in simulation to reveal the implications for selected resource allocation schemes in terms of resources required to complete operational tasks. The simulations not only help establish ALSS design criteria, but also may offer guidance to ALSS research efforts by identifying gaps in knowledge about procedures and/or biophysical processes. Simulations of a planned one-year mission with 4 crewmembers in a Human Rated Test Facility are presented as an approach to evaluation of mission feasibility and definition of automation and robotics requirements.

  3. Methodological Aspects of Modelling and Simulation of Robotized Workstations

    Directory of Open Access Journals (Sweden)

    Naqib Daneshjo

    2018-05-01

    Full Text Available From the point of view of development of application and program products, key directions that need to be respected in computer support for project activities are quite clearly specified. User interfaces with a high degree of graphical interactive convenience, two-dimensional and three-dimensional computer graphics contribute greatly to streamlining project methodologies and procedures in particular. This is mainly due to the fact that a high number of solved tasks is clearly graphic in the modern design of robotic systems. Automation of graphical character tasks is therefore a significant development direction for the subject area. The authors present results of their research in the area of automation and computer-aided design of robotized systems. A new methodical approach to modelling robotic workstations, consisting of ten steps incorporated into the four phases of the logistics process of creating and implementing a robotic workplace, is presented. The emphasis is placed on the modelling and simulation phase with verification of elaborated methodologies on specific projects or elements of the robotized welding plant in automotive production.

  4. An Autonomous Robotic System for Mapping Weeds in Fields

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Garcia Ruiz, Francisco Jose; Kazmi, Wajahat

    2013-01-01

    The ASETA project develops theory and methods for robotic agricultural systems. In ASETA, unmanned aircraft and unmanned ground vehicles are used to automate the task of identifying and removing weeds in sugar beet fields. The framework for a working automatic robotic weeding system is presented...

  5. ERP processes automation in corporate environments

    OpenAIRE

    Antonoaie Victor; Irimeş Adrian; Chicoş Lucia-Antoneta

    2017-01-01

    The automation processes are used in organizations to speed up analyses processes and reduce manual labour. Robotic Automation of IT processes implemented in a modern corporate workspace provides an excellent tool for assisting professionals in making decisions, saving resources and serving as a know-how repository. This study presents the newest trends in process automation, its benefits such as security, ease of use, reduction of overall process duration, and provide examples of SAPERP proj...

  6. Automation Revolutionize the Business Service Industry

    OpenAIRE

    Marciniak, Róbert

    2017-01-01

    In the last decades significant disruptive changes began with the extended use of automation. Many jobs are changed or disappeared and others were born totally with the automation. Together with the progress of technology, the automation was primarily spread in the industrial sector, mostly in the production and assembly lines. The growth maycontinue in the future further, researchers expect more than 35 million industrial robots globally by 2018.But it shades the situati...

  7. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    None

    2001-07-01

    .'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment.

  8. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    International Nuclear Information System (INIS)

    None

    2001-01-01

    .'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment

  9. Application of a Dual-Arm Robot in Complex Sample Preparation and Measurement Processes.

    Science.gov (United States)

    Fleischer, Heidi; Drews, Robert Ralf; Janson, Jessica; Chinna Patlolla, Bharath Reddy; Chu, Xianghua; Klos, Michael; Thurow, Kerstin

    2016-10-01

    Automation systems with applied robotics have already been established in industrial applications for many years. In the field of life sciences, a comparable high level of automation can be found in the areas of bioscreening and high-throughput screening. Strong deficits still exist in the development of flexible and universal fully automated systems in the field of analytical measurement. Reasons are the heterogeneous processes with complex structures, which include sample preparation and transport, analytical measurements using complex sensor systems, and suitable data analysis and evaluation. Furthermore, the use of nonstandard sample vessels with various shapes and volumes results in an increased complexity. The direct use of existing automation solutions from bioscreening applications is not possible. A flexible automation system for sample preparation, analysis, and data evaluation is presented in this article. It is applied for the determination of cholesterol in biliary endoprosthesis using gas chromatography-mass spectrometry (GC-MS). A dual-arm robot performs both transport and active manipulation tasks to ensure human-like operation. This general robotic concept also enables the use of manual laboratory devices and equipment and is thus suitable in areas with a high standardization grade. © 2016 Society for Laboratory Automation and Screening.

  10. Using microwave Doppler radar in automated manufacturing applications

    Science.gov (United States)

    Smith, Gregory C.

    Since the beginning of the Industrial Revolution, manufacturers worldwide have used automation to improve productivity, gain market share, and meet growing or changing consumer demand for manufactured products. To stimulate further industrial productivity, manufacturers need more advanced automation technologies: "smart" part handling systems, automated assembly machines, CNC machine tools, and industrial robots that use new sensor technologies, advanced control systems, and intelligent decision-making algorithms to "see," "hear," "feel," and "think" at the levels needed to handle complex manufacturing tasks without human intervention. The investigator's dissertation offers three methods that could help make "smart" CNC machine tools and industrial robots possible: (1) A method for detecting acoustic emission using a microwave Doppler radar detector, (2) A method for detecting tool wear on a CNC lathe using a Doppler radar detector, and (3) An online non-contact method for detecting industrial robot position errors using a microwave Doppler radar motion detector. The dissertation studies indicate that microwave Doppler radar could be quite useful in automated manufacturing applications. In particular, the methods developed may help solve two difficult problems that hinder further progress in automating manufacturing processes: (1) Automating metal-cutting operations on CNC machine tools by providing a reliable non-contact method for detecting tool wear, and (2) Fully automating robotic manufacturing tasks by providing a reliable low-cost non-contact method for detecting on-line position errors. In addition, the studies offer a general non-contact method for detecting acoustic emission that may be useful in many other manufacturing and non-manufacturing areas, as well (e.g., monitoring and nondestructively testing structures, materials, manufacturing processes, and devices). By advancing the state of the art in manufacturing automation, the studies may help

  11. Evaluating space station applications of automation and robotics technologies from a human productivity point of view

    Science.gov (United States)

    Bard, J. F.

    1986-01-01

    The role that automation, robotics, and artificial intelligence will play in Space Station operations is now beginning to take shape. Although there is only limited data on the precise nature of the payoffs that these technologies are likely to afford there is a general consensus that, at a minimum, the following benefits will be realized: increased responsiveness to innovation, lower operating costs, and reduction of exposure to hazards. Nevertheless, the question arises as to how much automation can be justified with the technical and economic constraints of the program? The purpose of this paper is to present a methodology which can be used to evaluate and rank different approaches to automating the functions and tasks planned for the Space Station. Special attention is given to the impact of advanced automation on human productivity. The methodology employed is based on the Analytic Hierarchy Process. This permits the introduction of individual judgements to resolve the confict that normally arises when incomparable criteria underly the selection process. Because of the large number of factors involved in the model, the overall problem is decomposed into four subproblems individually focusing on human productivity, economics, design, and operations, respectively. The results from each are then combined to yield the final rankings. To demonstrate the methodology, an example is developed based on the selection of an on-orbit assembly system. Five alternatives for performing this task are identified, ranging from an astronaut working in space, to a dexterous manipulator with sensory feedback. Computational results are presented along with their implications. A final parametric analysis shows that the outcome is locally insensitive to all but complete reversals in preference.

  12. Application of robotics in remote fuel fabrication operations

    International Nuclear Information System (INIS)

    Nyman, D.H.; Nagamoto, T.T.

    1984-01-01

    The Secure Automated Fabrication (SAF) line, an automated and remotely controlled manufacturing process, is scheduled for startup in 1987 and will produce mixed uranium/plutonium oxide fuel pins for the Fast Flux Test Facility (FFTF). The application of robotics in the fuel fabrication and supporting operations is described

  13. A literature review on new robotics : automation from love to war

    NARCIS (Netherlands)

    Royakkers, L.M.M.; Est, van Q.C.

    2015-01-01

    This article investigates the social significance of robotics for the years to come in Europe and the US by studying robotics developments in five different areas: the home, health care, traffic, the police force, and the army. Our society accepts the use of robots to perform dull, dangerous, and

  14. Robotics research in Chile

    Directory of Open Access Journals (Sweden)

    Javier Ruiz-del-Solar

    2016-12-01

    Full Text Available The development of research in robotics in a developing country is a challenging task. Factors such as low research funds, low trust from local companies and the government, and a small number of qualified researchers hinder the development of strong, local research groups. In this article, and as a case of study, we present our research group in robotics at the Advanced Mining Technology Center of the Universidad de Chile, and the way in which we have addressed these challenges. In 2008, we decided to focus our research efforts in mining, which is the main industry in Chile. We observed that this industry has needs in terms of safety, productivity, operational continuity, and environmental care. All these needs could be addressed with robotics and automation technology. In a first stage, we concentrate ourselves in building capabilities in field robotics, starting with the automation of a commercial vehicle. An important outcome of this project was the earn of the local mining industry confidence. Then, in a second stage started in 2012, we began working with the local mining industry in technological projects. In this article, we describe three of the technological projects that we have developed with industry support: (i an autonomous vehicle for mining environments without global positioning system coverage; (ii the inspection of the irrigation flow in heap leach piles using unmanned aerial vehicles and thermal cameras; and (iii an enhanced vision system for vehicle teleoperation in adverse climatic conditions.

  15. Innovation in Robotic Surgery: The Indian Scenario

    Directory of Open Access Journals (Sweden)

    Suresh V Deshpande

    2015-01-01

    Full Text Available Robotics is the science. In scientific words a "Robot" is an electromechanical arm device with a computer interface, a combination of electrical, mechanical, and computer engineering. It is a mechanical arm that performs tasks in Industries, space exploration, and science. One such idea was to make an automated arm - A robot - In laparoscopy to control the telescope-camera unit electromechanically and then with a computer interface using voice control. It took us 5 long years from 2004 to bring it to the level of obtaining a patent. That was the birth of the Swarup Robotic Arm (SWARM which is the first and the only Indian contribution in the field of robotics in laparoscopy as a total voice controlled camera holding robotic arm developed without any support by industry or research institutes.

  16. Innovation in robotic surgery: the Indian scenario.

    Science.gov (United States)

    Deshpande, Suresh V

    2015-01-01

    Robotics is the science. In scientific words a "Robot" is an electromechanical arm device with a computer interface, a combination of electrical, mechanical, and computer engineering. It is a mechanical arm that performs tasks in Industries, space exploration, and science. One such idea was to make an automated arm - A robot - In laparoscopy to control the telescope-camera unit electromechanically and then with a computer interface using voice control. It took us 5 long years from 2004 to bring it to the level of obtaining a patent. That was the birth of the Swarup Robotic Arm (SWARM) which is the first and the only Indian contribution in the field of robotics in laparoscopy as a total voice controlled camera holding robotic arm developed without any support by industry or research institutes.

  17. Development and verification of a high performance multi-group SP3 transport capability in the ARTEMIS core simulator

    International Nuclear Information System (INIS)

    Van Geemert, Rene

    2008-01-01

    For satisfaction of future global customer needs, dedicated efforts are being coordinated internationally and pursued continuously at AREVA NP. The currently ongoing CONVERGENCE project is committed to the development of the ARCADIA R next generation core simulation software package. ARCADIA R will be put to global use by all AREVA NP business regions, for the entire spectrum of core design processes, licensing computations and safety studies. As part of the currently ongoing trend towards more sophisticated neutronics methodologies, an SP 3 nodal transport concept has been developed for ARTEMIS which is the steady-state and transient core simulation part of ARCADIA R . For enabling a high computational performance, the SP N calculations are accelerated by applying multi-level coarse mesh re-balancing. In the current implementation, SP 3 is about 1.4 times as expensive computationally as SP 1 (diffusion). The developed SP 3 solution concept is foreseen as the future computational workhorse for many-group 3D pin-by-pin full core computations by ARCADIA R . With the entire numerical workload being highly parallelizable through domain decomposition techniques, associated CPU-time requirements that adhere to the efficiency needs in the nuclear industry can be expected to become feasible in the near future. The accuracy enhancement obtainable by using SP 3 instead of SP 1 has been verified by a detailed comparison of ARTEMIS 16-group pin-by-pin SP N results with KAERI's DeCart reference results for the 2D pin-by-pin Purdue UO 2 /MOX benchmark. This article presents the accuracy enhancement verification and quantifies the achieved ARTEMIS-SP 3 computational performance for a number of 2D and 3D multi-group and multi-box (up to pin-by-pin) core computations. (authors)

  18. Robotic Planetary Drill Tests

    Science.gov (United States)

    Glass, Brian J.; Thompson, S.; Paulsen, G.

    2010-01-01

    Several proposed or planned planetary science missions to Mars and other Solar System bodies over the next decade require subsurface access by drilling. This paper discusses the problems of remote robotic drilling, an automation and control architecture based loosely on observed human behaviors in drilling on Earth, and an overview of robotic drilling field test results using this architecture since 2005. Both rotary-drag and rotary-percussive drills are targeted. A hybrid diagnostic approach incorporates heuristics, model-based reasoning and vibration monitoring with neural nets. Ongoing work leads to flight-ready drilling software.

  19. The role of automation and artificial intelligence

    Science.gov (United States)

    Schappell, R. T.

    1983-07-01

    Consideration is given to emerging technologies that are not currently in common use, yet will be mature enough for implementation in a space station. Artificial intelligence (AI) will permit more autonomous operation and improve the man-machine interfaces. Technology goals include the development of expert systems, a natural language query system, automated planning systems, and AI image understanding systems. Intelligent robots and teleoperators will be needed, together with improved sensory systems for the robotics, housekeeping, vehicle control, and spacecraft housekeeping systems. Finally, NASA is developing the ROBSIM computer program to evaluate level of automation, perform parametric studies and error analyses, optimize trajectories and control systems, and assess AI technology.

  20. Modular robotic applications in nuclear power plant maintenance

    International Nuclear Information System (INIS)

    Glass, S.W.; Ranson, C.C.; Reinholtz, C.F.; Calkins, J.M.

    1996-01-01

    General-purpose factory automation robots have experienced limited use in nuclear maintenance and hazardous-environment work spaces due to demanding requirements on size, weight, mobility and adaptability. Robotic systems in nuclear power plants are frequently custom designed to meet specific space and performance requirements. Examples of these custom configurations include Framatome Technologies COBRA trademark Steam Generator Manipulator and URSULA trademark Reactor Vessel Inspection Manipulator. The use of custom robots in nuclear plants has been limited because of the lead time and expense associated with custom design. Developments in modular robotics and advanced robot control software coupled with more powerful low-cost computers, however, are helping to reduce the cost and schedule for deploying custom robots. A modular robotic system allows custom robot configurations to be implemented using standard (modular) joints and adaptable controllers. This paper discusses Framatome Technologies (FTI) current and planned developments in the area of modular robot system design

  1. Generative Representations for the Automated Design of Modular Physical Robots

    Science.gov (United States)

    Hornby, Gregory S.; Lipson, Hod; Pollack, Jordan B.

    2003-01-01

    We will begin with a brief background of evolutionary robotics and related work, and demonstrate the scaling problem with our own prior results. Next we propose the use of an evolved generative representation as opposed to a non-generative representation. We describe this representation in detail as well as the evolutionary process that uses it. We then compare progress of evolved robots with and without the use of the grammar, and quantify the obtained advantage. Working two- dimensional and three-dimensional physical robots produced by the system are shown.

  2. PR-PR: cross-platform laboratory automation system.

    Science.gov (United States)

    Linshiz, Gregory; Stawski, Nina; Goyal, Garima; Bi, Changhao; Poust, Sean; Sharma, Monica; Mutalik, Vivek; Keasling, Jay D; Hillson, Nathan J

    2014-08-15

    To enable protocol standardization, sharing, and efficient implementation across laboratory automation platforms, we have further developed the PR-PR open-source high-level biology-friendly robot programming language as a cross-platform laboratory automation system. Beyond liquid-handling robotics, PR-PR now supports microfluidic and microscopy platforms, as well as protocol translation into human languages, such as English. While the same set of basic PR-PR commands and features are available for each supported platform, the underlying optimization and translation modules vary from platform to platform. Here, we describe these further developments to PR-PR, and demonstrate the experimental implementation and validation of PR-PR protocols for combinatorial modified Golden Gate DNA assembly across liquid-handling robotic, microfluidic, and manual platforms. To further test PR-PR cross-platform performance, we then implement and assess PR-PR protocols for Kunkel DNA mutagenesis and hierarchical Gibson DNA assembly for microfluidic and manual platforms.

  3. LANL Robotic Vessel Scanning

    Energy Technology Data Exchange (ETDEWEB)

    Webber, Nels W. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2015-11-25

    Los Alamos National Laboratory in J-1 DARHT Operations Group uses 6ft spherical vessels to contain hazardous materials produced in a hydrodynamic experiment. These contaminated vessels must be analyzed by means of a worker entering the vessel to locate, measure, and document every penetration mark on the vessel. If the worker can be replaced by a highly automated robotic system with a high precision scanner, it will eliminate the risks to the worker and provide management with an accurate 3D model of the vessel presenting the existing damage with the flexibility to manipulate the model for better and more in-depth assessment.The project was successful in meeting the primary goal of installing an automated system which scanned a 6ft vessel with an elapsed time of 45 minutes. This robotic system reduces the total time for the original scope of work by 75 minutes and results in excellent data accumulation and transmission to the 3D model imaging program.

  4. The RABiT: a rapid automated biodosimetry tool for radiological triage. II. Technological developments.

    Science.gov (United States)

    Garty, Guy; Chen, Youhua; Turner, Helen C; Zhang, Jian; Lyulko, Oleksandra V; Bertucci, Antonella; Xu, Yanping; Wang, Hongliang; Simaan, Nabil; Randers-Pehrson, Gerhard; Lawrence Yao, Y; Brenner, David J

    2011-08-01

    Over the past five years the Center for Minimally Invasive Radiation Biodosimetry at Columbia University has developed the Rapid Automated Biodosimetry Tool (RABiT), a completely automated, ultra-high throughput biodosimetry workstation. This paper describes recent upgrades and reliability testing of the RABiT. The RABiT analyses fingerstick-derived blood samples to estimate past radiation exposure or to identify individuals exposed above or below a cut-off dose. Through automated robotics, lymphocytes are extracted from fingerstick blood samples into filter-bottomed multi-well plates. Depending on the time since exposure, the RABiT scores either micronuclei or phosphorylation of the histone H2AX, in an automated robotic system, using filter-bottomed multi-well plates. Following lymphocyte culturing, fixation and staining, the filter bottoms are removed from the multi-well plates and sealed prior to automated high-speed imaging. Image analysis is performed online using dedicated image processing hardware. Both the sealed filters and the images are archived. We have developed a new robotic system for lymphocyte processing, making use of an upgraded laser power and parallel processing of four capillaries at once. This system has allowed acceleration of lymphocyte isolation, the main bottleneck of the RABiT operation, from 12 to 2 sec/sample. Reliability tests have been performed on all robotic subsystems. Parallel handling of multiple samples through the use of dedicated, purpose-built, robotics and high speed imaging allows analysis of up to 30,000 samples per day.

  5. Kinematic synthesis of adjustable robotic mechanisms

    Science.gov (United States)

    Chuenchom, Thatchai

    1993-01-01

    Conventional hard automation, such as a linkage-based or a cam-driven system, provides high speed capability and repeatability but not the flexibility required in many industrial applications. The conventional mechanisms, that are typically single-degree-of-freedom systems, are being increasingly replaced by multi-degree-of-freedom multi-actuators driven by logic controllers. Although this new trend in sophistication provides greatly enhanced flexibility, there are many instances where the flexibility needs are exaggerated and the associated complexity is unnecessary. Traditional mechanism-based hard automation, on the other hand, neither can fulfill multi-task requirements nor are cost-effective mainly due to lack of methods and tools to design-in flexibility. This dissertation attempts to bridge this technological gap by developing Adjustable Robotic Mechanisms (ARM's) or 'programmable mechanisms' as a middle ground between high speed hard automation and expensive serial jointed-arm robots. This research introduces the concept of adjustable robotic mechanisms towards cost-effective manufacturing automation. A generalized analytical synthesis technique has been developed to support the computational design of ARM's that lays the theoretical foundation for synthesis of adjustable mechanisms. The synthesis method developed in this dissertation, called generalized adjustable dyad and triad synthesis, advances the well-known Burmester theory in kinematics to a new level. While this method provides planar solutions, a novel patented scheme is utilized for converting prescribed three-dimensional motion specifications into sets of planar projections. This provides an analytical and a computational tool for designing adjustable mechanisms that satisfy multiple sets of three-dimensional motion specifications. Several design issues were addressed, including adjustable parameter identification, branching defect, and mechanical errors. An efficient mathematical scheme for

  6. A user-friendly robotic sample preparation program for fully automated biological sample pipetting and dilution to benefit the regulated bioanalysis.

    Science.gov (United States)

    Jiang, Hao; Ouyang, Zheng; Zeng, Jianing; Yuan, Long; Zheng, Naiyu; Jemal, Mohammed; Arnold, Mark E

    2012-06-01

    Biological sample dilution is a rate-limiting step in bioanalytical sample preparation when the concentrations of samples are beyond standard curve ranges, especially when multiple dilution factors are needed in an analytical run. We have developed and validated a Microsoft Excel-based robotic sample preparation program (RSPP) that automatically transforms Watson worklist sample information (identification, sequence and dilution factor) to comma-separated value (CSV) files. The Freedom EVO liquid handler software imports and transforms the CSV files to executable worklists (.gwl files), allowing the robot to perform sample dilutions at variable dilution factors. The dynamic dilution range is 1- to 1000-fold and divided into three dilution steps: 1- to 10-, 11- to 100-, and 101- to 1000-fold. The whole process, including pipetting samples, diluting samples, and adding internal standard(s), is accomplished within 1 h for two racks of samples (96 samples/rack). This platform also supports online sample extraction (liquid-liquid extraction, solid-phase extraction, protein precipitation, etc.) using 96 multichannel arms. This fully automated and validated sample dilution and preparation process has been applied to several drug development programs. The results demonstrate that application of the RSPP for fully automated sample processing is efficient and rugged. The RSPP not only saved more than 50% of the time in sample pipetting and dilution but also reduced human errors. The generated bioanalytical data are accurate and precise; therefore, this application can be used in regulated bioanalysis.

  7. Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

    Science.gov (United States)

    Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

    2017-08-01

    One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

  8. Design and real-time control of a robotic system for fracture manipulation.

    Science.gov (United States)

    Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

    2015-08-01

    This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

  9. Automating the radiographic NDT process

    International Nuclear Information System (INIS)

    Aman, J.K.

    1988-01-01

    Automation, the removal of the human element in inspection has not been generally applied to film radiographic NDT. The justification for automation is not only productivity but also reliability of results. Film remains in the automated system of the future because of its extremely high image content, approximately 3x10 (to the power of nine) bits per 14x17. This is equivalent to 2200 computer floppy disks parts handling systems and robotics applied for manufacturing and some NDT modalities, should now be applied to film radiographic NDT systems. Automatic film handling can be achieved with the daylight NDT film handling system. Automatic film processing is becoming the standard in industry and can be coupled to the daylight system. Robots offer the opportunity to automate fully the exposure step. Finally, a computer aided interpretation appears on the horizon. A unit which laser scans a 14x27 (inch) film in 6-8 seconds can digitize film in information for further manipulation and possible automatic interrogations (computer aided interpretation). The system called FDRS (for film digital radiography system) is moving toward 50 micron (16 lines/mm) resolution. This is believed to meet the need of the majority of image content needs. (Author). 4 refs.; 21 figs

  10. Robotics at Savannah River site: activity report

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1984-09-01

    The objectives of the Robotics Technology Group at the Savannah River Laboratory are to employ modern industrial robots and to develop unique automation and robotic systems to enhance process operations at the Savannah River site (SRP and SRL). The incentives are to improve safety, reduce personnel radiation exposure, improve product quality and productivity, and to reduce operating costs. During the past year robotic systems have been installed to fill chemical dilution vials in a SRP laboratory at 772-F and remove radioactive waste materials in the SRL Californium Production Facility at 773-A. A robotic system to lubricate an extrusion press has been developed and demonstrated in the SRL robotics laboratory and is scheduled for installation at the 321-M fuel fabrication area. A mobile robot was employed by SRP for a radiation monitoring task at a waste tank top in H-Area. Several other robots are installed in the SRL robotics laboratories and application development programs are underway. The status of these applications is presented in this report

  11. Embedded mobile farm robot for identification of diseased plants

    Science.gov (United States)

    Sadistap, S. S.; Botre, B. A.; Pandit, Harshavardhan; Chandrasekhar; Rao, Adesh

    2013-07-01

    This paper presents the development of a mobile robot used in farms for identification of diseased plants. It puts forth two of the major aspects of robotics namely automated navigation and image processing. The robot navigates on the basis of the GPS (Global Positioning System) location and data obtained from IR (Infrared) sensors to avoid any obstacles in its path. It uses an image processing algorithm to differentiate between diseased and non-diseased plants. A robotic platform consisting of an ARM9 processor, motor drivers, robot mechanical assembly, camera and infrared sensors has been used. Mini2440 microcontroller has been used wherein Embedded linux OS (Operating System) is implemented.

  12. ERP processes automation in corporate environments

    Directory of Open Access Journals (Sweden)

    Antonoaie Victor

    2017-01-01

    Full Text Available The automation processes are used in organizations to speed up analyses processes and reduce manual labour. Robotic Automation of IT processes implemented in a modern corporate workspace provides an excellent tool for assisting professionals in making decisions, saving resources and serving as a know-how repository. This study presents the newest trends in process automation, its benefits such as security, ease of use, reduction of overall process duration, and provide examples of SAPERP projects where this technology was implemented and meaningful impact was obtained.

  13. An automated coil winding machine for the SSC dipole magnets

    International Nuclear Information System (INIS)

    Kamiya, S.; Iwase, T.; Inoue, I.; Fukui, I.; Ishida, K.; Kashiwagi, S.; Sato, Y.; Yoshihara, T.; Yamamoto, S.; Johnson, E.; Gibson, C.

    1990-01-01

    The authors have finished the preliminary design of a fully automated coil winding machine that can be used to manufacture the large number of SSC dipole magnets. The machine aims to perform all coil winding operations including coil parts inserting without human operators at a high productive rate. The machine is composed of five industrial robots. In order to verify the design, they built a small winding machine using an industrial robot and successfully wound a 1 meter long coil using SSC dipole magnet wire. The basic design for the full length coil and the robot winding technique are described in this paper. A fully automated coil winding machine using standard industrial components would be very useful if duplicate production lines are used. 5 figs., 1 tab

  14. Automated Guided Vehicle For Phsically Handicapped People - A Cost Effective Approach

    Science.gov (United States)

    Kumar, G. Arun, Dr.; Sivasubramaniam, Mr. A.

    2017-12-01

    Automated Guided vehicle (AGV) is like a robot that can deliver the materials from the supply area to the technician automatically. This is faster and more efficient. The robot can be accessed wirelessly. A technician can directly control the robot to deliver the components rather than control it via a human operator (over phone, computer etc. who has to program the robot or ask a delivery person to make the delivery). The vehicle is automatically guided through its ways. To avoid collisions a proximity sensor is attached to the system. The sensor senses the signals of the obstacles and can stop the vehicle in the presence of obstacles. Thus vehicle can avoid accidents that can be very useful to the present industrial trend and material handling and equipment handling will be automated and easy time saving methodology.

  15. Small cities face greater impact from automation

    OpenAIRE

    Frank, Morgan R.; Sun, Lijun; Cebrian, Manuel; Youn, Hyejin; Rahwan, Iyad

    2017-01-01

    The city has proven to be the most successful form of human agglomeration and provides wide employment opportunities for its dwellers. As advances in robotics and artificial intelligence revive concerns about the impact of automation on jobs, a question looms: How will automation affect employment in cities? Here, we provide a comparative picture of the impact of automation across U.S. urban areas. Small cities will undertake greater adjustments, such as worker displacement and job content su...

  16. Future Computer, Communication, Control and Automation

    CERN Document Server

    2011 International Conference on Computer, Communication, Control and Automation

    2012-01-01

    The volume includes a set of selected papers extended and revised from the 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011). 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011) has been held in Zhuhai, China, November 19-20, 2011. This volume topics covered include wireless communications, advances in wireless video, wireless sensors networking, security in wireless networks, network measurement and management, hybrid and discrete-event systems, internet analytics and automation, robotic system and applications, reconfigurable automation systems, machine vision in automation. We hope that researchers, graduate students and other interested readers benefit scientifically from the proceedings and also find it stimulating in the process.

  17. "First generation" automated DNA sequencing technology.

    Science.gov (United States)

    Slatko, Barton E; Kieleczawa, Jan; Ju, Jingyue; Gardner, Andrew F; Hendrickson, Cynthia L; Ausubel, Frederick M

    2011-10-01

    Beginning in the 1980s, automation of DNA sequencing has greatly increased throughput, reduced costs, and enabled large projects to be completed more easily. The development of automation technology paralleled the development of other aspects of DNA sequencing: better enzymes and chemistry, separation and imaging technology, sequencing protocols, robotics, and computational advancements (including base-calling algorithms with quality scores, database developments, and sequence analysis programs). Despite the emergence of high-throughput sequencing platforms, automated Sanger sequencing technology remains useful for many applications. This unit provides background and a description of the "First-Generation" automated DNA sequencing technology. It also includes protocols for using the current Applied Biosystems (ABI) automated DNA sequencing machines. © 2011 by John Wiley & Sons, Inc.

  18. Conceptual design of D-3He FRC reactor 'ARTEMIS'

    International Nuclear Information System (INIS)

    Momota, H.; Ishida, A.; Kohzaki, Y.

    1991-07-01

    A comprehensive design study of the D- 3 He fueled field-reversed configuration (FRC) reactor 'ARTEMIS' is carried out for the purpose of proving its attractive characteristics and clarifying the critical issues for a commercial fusion reactor. The FRC burning plasma is stabilized and sustained in a steady equilibrium by means of a preferential trapping of D- 3 He fusion-produced energetic protons. A novel direct energy converter for 15MeV protons is also presented. On the bases of a consistent scenario of the fusion plasma production and simple engineering, a compact and simple reactor concept is presented. The design of the D- 3 He FRC power plant definitely offers the most attractive prospect for energy development. It is environmentally acceptable in view of radio-activity and fuel resources; and the estimated cost of electricity is low compared to a light water reactor. Critical issues concerning physics or engineering for the development of the D- 3 He FRC reactor are clarified. (author)

  19. An assigned responsibility system for robotic teleoperation control.

    Science.gov (United States)

    Small, Nicolas; Lee, Kevin; Mann, Graham

    2018-01-01

    This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

  20. Preparing and measuring ultra-small radiocarbon samples with the ARTEMIS AMS facility in Saclay, France

    Energy Technology Data Exchange (ETDEWEB)

    Delque-Kolic, E., E-mail: emmanuelle.delque-kolic@cea.fr [LMC14, CEA Saclay, Batiment 450 Porte 4E, 91191 Gif sur Yvette (France); Comby-Zerbino, C.; Ferkane, S.; Moreau, C.; Dumoulin, J.P.; Caffy, I.; Souprayen, C.; Quiles, A.; Bavay, D.; Hain, S.; Setti, V. [LMC14, CEA Saclay, Batiment 450 Porte 4E, 91191 Gif sur Yvette (France)

    2013-01-15

    The ARTEMIS facility in Saclay France measures, on average, 4500 samples a year for French organizations working in an array of fields, including environmental sciences, archeology and hydrology. In response to an increasing demand for the isolation of specific soil compounds and organic water fractions, we were motivated to evaluate our ability to reduce microgram samples using our standard graphitization lines and to measure the graphite thus obtained with our 3MV NEC Pelletron AMS. Our reduction facility consists of two fully automated graphitization lines. Each line has 12 reduction reactors with a reduction volume of 18 ml for the first line and 12 ml for the second. Under routine conditions, we determined that we could reduce the samples down to 10 {mu}g of carbon, even if the graphitization yield is consequently affected by the lower sample mass. Our results when testing different Fe/C ratios suggest that an amount of 1.5 mg of Fe powder was ideal (instead of lower amounts of catalyst) to prevent the sample from deteriorating too quickly under the Cs+ beam, and to facilitate pressing procedures. Several sets of microsamples produced from HOxI standard, international references and backgrounds were measured. When measuring {sup 14}C-free wood charcoal and HOxI samples we determined that our modern and dead blanks, due to the various preparation steps, were of 1.1 {+-} 0.8 and 0.2 {+-} 0.1 {mu}g, respectively. The results presented here were obtained for IAEA-C1, {sup 14}C-free wood, IAEA-C6, IAEA-C2 and FIRI C.

  1. Preparing and measuring ultra-small radiocarbon samples with the ARTEMIS AMS facility in Saclay, France

    International Nuclear Information System (INIS)

    Delqué-Količ, E.; Comby-Zerbino, C.; Ferkane, S.; Moreau, C.; Dumoulin, J.P.; Caffy, I.; Souprayen, C.; Quilès, A.; Bavay, D.; Hain, S.; Setti, V.

    2013-01-01

    The ARTEMIS facility in Saclay France measures, on average, 4500 samples a year for French organizations working in an array of fields, including environmental sciences, archeology and hydrology. In response to an increasing demand for the isolation of specific soil compounds and organic water fractions, we were motivated to evaluate our ability to reduce microgram samples using our standard graphitization lines and to measure the graphite thus obtained with our 3MV NEC Pelletron AMS. Our reduction facility consists of two fully automated graphitization lines. Each line has 12 reduction reactors with a reduction volume of 18 ml for the first line and 12 ml for the second. Under routine conditions, we determined that we could reduce the samples down to 10 μg of carbon, even if the graphitization yield is consequently affected by the lower sample mass. Our results when testing different Fe/C ratios suggest that an amount of 1.5 mg of Fe powder was ideal (instead of lower amounts of catalyst) to prevent the sample from deteriorating too quickly under the Cs+ beam, and to facilitate pressing procedures. Several sets of microsamples produced from HOxI standard, international references and backgrounds were measured. When measuring 14 C-free wood charcoal and HOxI samples we determined that our modern and dead blanks, due to the various preparation steps, were of 1.1 ± 0.8 and 0.2 ± 0.1 μg, respectively. The results presented here were obtained for IAEA-C1, 14 C-free wood, IAEA-C6, IAEA-C2 and FIRI C.

  2. Robotics in agriculture and forestry

    NARCIS (Netherlands)

    Bergerman, M.; Billingsley, J.; Reid, J.; Henten, van E.J.

    2016-01-01

    Robotics for agriculture and forestry (A&F) represents the ultimate application of one of our society’s latest and most advanced innovations to its most ancient and important industries. Over the course of history, mechanization and automation increased crop output several orders of magnitude,

  3. Applying commercial robotic technology to radioactive material processing

    International Nuclear Information System (INIS)

    Grasz, E.L.; Sievers, R.H. Jr.

    1990-11-01

    The development of robotic systems for glove box process automation is motivated by the need to reduce operator radiation dosage, minimize the generation of process waste, and to improve the security of nuclear materials. Commercial robotic systems are available with the required capabilities but are not compatible with a glove box environment. Alpha radiation, concentrated dust, a dry atmosphere and restricted work space result in the need for unique adaptations to commercial robotics. Implementation of these adaptations to commercial robotics require performance trade-offs. A design and development effort has been initiated to evaluate the feasibility of using a commercial overhead gantry robot for glove box processing. This paper will present the initial results and observations for this development effort. 1 ref

  4. Design Automation Algorithm for Soft Robots

    Data.gov (United States)

    National Aeronautics and Space Administration — The majority of design to manufacturing today is still an ad hoc and empirical process. There is a direct need for a single, automated design and fabrication...

  5. Disassembly automation automated systems with cognitive abilities

    CERN Document Server

    Vongbunyong, Supachai

    2015-01-01

    This book presents a number of aspects to be considered in the development of disassembly automation, including the mechanical system, vision system and intelligent planner. The implementation of cognitive robotics increases the flexibility and degree of autonomy of the disassembly system. Disassembly, as a step in the treatment of end-of-life products, can allow the recovery of embodied value left within disposed products, as well as the appropriate separation of potentially-hazardous components. In the end-of-life treatment industry, disassembly has largely been limited to manual labor, which is expensive in developed countries. Automation is one possible solution for economic feasibility. The target audience primarily comprises researchers and experts in the field, but the book may also be beneficial for graduate students.

  6. Automation in Warehouse Development

    CERN Document Server

    Verriet, Jacques

    2012-01-01

    The warehouses of the future will come in a variety of forms, but with a few common ingredients. Firstly, human operational handling of items in warehouses is increasingly being replaced by automated item handling. Extended warehouse automation counteracts the scarcity of human operators and supports the quality of picking processes. Secondly, the development of models to simulate and analyse warehouse designs and their components facilitates the challenging task of developing warehouses that take into account each customer’s individual requirements and logistic processes. Automation in Warehouse Development addresses both types of automation from the innovative perspective of applied science. In particular, it describes the outcomes of the Falcon project, a joint endeavour by a consortium of industrial and academic partners. The results include a model-based approach to automate warehouse control design, analysis models for warehouse design, concepts for robotic item handling and computer vision, and auton...

  7. Forced versus free traffic in an automated milking system

    DEFF Research Database (Denmark)

    Munksgaard, Lene; Rushen, J.; de Passillé, A.M.

    2011-01-01

    Cows in automated milking systems with free access to feeders sometimes show a reduced use of the robotic milkers, while forced traffic where cows have to pass through the robot to reach the feeders may reduce feeding time and frequency. We examined two groups of 35 lactating cows. For 21 d, one...

  8. Welding process automation in power machine building

    International Nuclear Information System (INIS)

    Mel'bard, S.N.; Shakhnov, A.F.; Shergov, I.V.

    1977-01-01

    The level of welding automation operations in power engineering and ways of its enhancement are highlighted. Used as the examples of comlex automation are an apparatus for the horizontal welding of turbine rotors, remotely controlled automatic machine for welding ring joint of large-sized vessels, equipment for the electron-beam welding of steam turbine assemblies of alloyed steels. The prospects of industrial robots are noted. The importance of the complex automation of technological process, including stocking, assemblying, transportation and auxiliary operations, is emphasized

  9. Force control of a robot for surface contamination detection

    International Nuclear Information System (INIS)

    Petterson, B.J.; Jones, J.F.

    1987-01-01

    A system is under development at Sandia National Laboratories for use in understanding the issues relating to automated robotic handling of spent nuclear fuel shipping casks. The goal of robotic handling is reduction of personnel radiation exposure at the proposed geologic repositories. One of the major technology development areas has been the integration of sensors into the control of the robot system to allow operation in semi-structured environments. In particular, a multiaxis force sensor is used to make robot trajectory corrections based on the contact force between the robot and workpiece. This force feedback system allows contact swipes (smears) to be made on the cask surface in a repeatable manner. 8 refs., 3 figs

  10. System design for safe robotic handling of nuclear materials

    International Nuclear Information System (INIS)

    Drotning, W.; Wapman, W.; Fahrenholtz, J.; Kimberly, H.; Kuhlmann, J.

    1996-01-01

    Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive nuclear materials. These systems will reduce the occupational radiation exposure to workers by automating operations which are currently performed manually. Because the robotic systems will handle material that is both hazardous and valuable, the safety of the operations is of utmost importance; assurance must be given that personnel will not be harmed and that the materials and environment will be protected. These safety requirements are met by designing safety features into the system using a layered approach. Several levels of mechanical, electrical and software safety prevent unsafe conditions from generating a hazard, and bring the system to a safe state should an unexpected situation arise. The system safety features include the use of industrial robot standards, commercial robot systems, commercial and custom tooling, mechanical safety interlocks, advanced sensor systems, control and configuration checks, and redundant control schemes. The effectiveness of the safety features in satisfying the safety requirements is verified using a Failure Modes and Effects Analysis. This technique can point out areas of weakness in the safety design as well as areas where unnecessary redundancy may reduce the system reliability

  11. Intelligent robot trends and predictions for the first year of the new millennium

    Science.gov (United States)

    Hall, Ernest L.

    2000-10-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

  12. Exploring the role of robots

    DEFF Research Database (Denmark)

    Kilbourn, Kyle; Bay, Marie Brøndum

    2011-01-01

    a welfare technology project and our early attempts at performing relations in the context of robotics and automation, assumed to be an integral part of sterilization work for medical instruments. We focus on several aspects of the project: relations between work within and outside of the project...

  13. Plasma input function determination for PET using a commercial laboratory robot

    International Nuclear Information System (INIS)

    Alexoff, David L.; Shea, Colleen; Fowler, Joanna S.; King, Payton; Gatley, S. John; Schlyer, David J.; Wolf, Alfred P.

    1995-01-01

    A commercial laboratory robot system (Zymate PyTechnology II Laboratory Automation System) was interfaced to standard and custom laboratory equipment and programmed to perform rapid radiochemical assays necessary for plasma input function determination in quantitative PET studies in humans and baboons. A Zymark XP robot arm was used to carry out two assays: (1) the determination of total plasma radioactivity concentrations in a series of small-volume whole blood samples and (2) the determination of unchanged (parent) radiotracer in plasma using only solid phase extraction methods. Steady state robotic throughput for determination of total plasma radioactivity in whole blood samples (0.350 mL) is 14.3 samples/h, which includes automated centrifugation, pipetting, weighing and radioactivity counting. Robotic throughput for the assay of parent radiotracer in plasma is 4-6 samples/h depending on the radiotracer. Percents of total radioactivities present as parent radiotracers at 60 min. postinjection of 25 ± 5.0 (N 25), 26 ± 6.8 (N = 68), 13 ± 4.4 (N = 30), 32 ± 7.2 (N = 18), 16 ± 4.9 (N = 20), were obtained for carbon-11 labeled benztropine, raclopride, methylphenidate, SR 46349B (trans, 4-[(3Z)3-(2-dimethylamino-ethyl) oxyimino-3 (2-fluorophenyl)propen-1-yl]phenol), and cocaine respectively in baboon plasma and 84 ± 6.4 (N = 9), 18 ± 11 (N = 10), 74 ± 5.7 (N = 118) and 16 ± 3.7 (N = 18) for carbon-11 labeled benztropine, deprenyl, raclopride, and methylphenidate respectively in human plasma. The automated system has been used for more than 4 years for all plasma analyses for 7 different C-11 labeled compounds used routinely in our laboratory. The robotic radiotracer assay runs unattended and includes automated cleanup procedures that eliminates all human contact with plasma-contaminated containers

  14. Human-Robot Teaming: Communication, Coordination, and Collaboration

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    In this talk, I will describe how NASA Ames has been studying how human-robot teams can increase the performance, reduce the cost, and increase the success of a variety of endeavors. The central premise of our work is that humans and robots should support one another in order to compensate for limitations of automation and manual control. This principle has broad applicability to a wide range of domains, environments, and situations. At the same time, however, effective human-robot teaming requires communication, coordination, and collaboration -- all of which present significant research challenges. I will discuss some of the ways that NASA Ames is addressing these challenges and present examples of our work involving planetary rovers, free-flying robots, and self-driving cars.

  15. Silhouette-based approach of 3D image reconstruction for automated image acquisition using robotic arm

    Science.gov (United States)

    Azhar, N.; Saad, W. H. M.; Manap, N. A.; Saad, N. M.; Syafeeza, A. R.

    2017-06-01

    This study presents the approach of 3D image reconstruction using an autonomous robotic arm for the image acquisition process. A low cost of the automated imaging platform is created using a pair of G15 servo motor connected in series to an Arduino UNO as a main microcontroller. Two sets of sequential images were obtained using different projection angle of the camera. The silhouette-based approach is used in this study for 3D reconstruction from the sequential images captured from several different angles of the object. Other than that, an analysis based on the effect of different number of sequential images on the accuracy of 3D model reconstruction was also carried out with a fixed projection angle of the camera. The effecting elements in the 3D reconstruction are discussed and the overall result of the analysis is concluded according to the prototype of imaging platform.

  16. Future of robots in nuclear plants and processes

    International Nuclear Information System (INIS)

    Fisher, J.J.; Byrd, J.S.

    1985-01-01

    The role of robotics at the Savannah River Plant and Laboratory is reviewed. The site's remote process areas are described briefly, and existing remote handling equipment and robots are discussed. Three technology areas under development and relating to process automation are reviewed. These are: inspection systems to detect and evaluate process problems or to determine equipment integrity, process monitoring systems to analyze plant operations and to supply information in the event of an unusual occurrence, and remote manipulator systems and controls to handle instruments and tools. A technique is presented for employing future intelligent robots through process networks. These networks will represent the integration of robotic technology with dedicated process knowledge bases

  17. Optimization in the design and control of robotic manipulators: A survey

    International Nuclear Information System (INIS)

    Rao, S.S.; Bhatti, P.K.

    1989-01-01

    Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics

  18. Space station automation study: Automation requriements derived from space manufacturing concepts,volume 2

    Science.gov (United States)

    1984-01-01

    Automation reuirements were developed for two manufacturing concepts: (1) Gallium Arsenide Electroepitaxial Crystal Production and Wafer Manufacturing Facility, and (2) Gallium Arsenide VLSI Microelectronics Chip Processing Facility. A functional overview of the ultimate design concept incoporating the two manufacturing facilities on the space station are provided. The concepts were selected to facilitate an in-depth analysis of manufacturing automation requirements in the form of process mechanization, teleoperation and robotics, sensors, and artificial intelligence. While the cost-effectiveness of these facilities was not analyzed, both appear entirely feasible for the year 2000 timeframe.

  19. Potential applications of robotics in advanced liquid-metal reactors

    International Nuclear Information System (INIS)

    Carroll, D.G.; Thompson, M.L.

    1990-01-01

    The advanced liquid-metal reactor (ALMR) design includes a range of robots and automation devices. They extend from stationary robots that are a part of the current design to more exotic concepts with mobile, autonomous units, which may become part of the design. Development of robotic application requirements is enhanced by using computer models of work spaces in three dimensions. The primary goals of the more autonomous machines are to: (1) extent and/or enhance one's capabilities in a hazardous environment; some tasks could encounter high temperatures (up to 800 degree F), high radiation (fields up to several hundred thousand roentgens per hour), rooms filled with inert gas and/or sodium aerosol, or combinations of these; (2) reduce operating and maintenance cost through inservice inspection (ISI) of various parts of the reactor, through consideration of as-low-as-reasonably achievable radiation levels, and through automation of some maintenance/processing operations. This paper discusses some applications in the fuel cycle, in refueling operations, and in inspection

  20. Design And Implementation Of Integrated Vision-Based Robotic Workcells

    Science.gov (United States)

    Chen, Michael J.

    1985-01-01

    Reports have been sparse on large-scale, intelligent integration of complete robotic systems for automating the microelectronics industry. This paper describes the application of state-of-the-art computer-vision technology for manufacturing of miniaturized electronic components. The concepts of FMS - Flexible Manufacturing Systems, work cells, and work stations and their control hierarchy are illustrated in this paper. Several computer-controlled work cells used in the production of thin-film magnetic heads are described. These cells use vision for in-process control of head-fixture alignment and real-time inspection of production parameters. The vision sensor and other optoelectronic sensors, coupled with transport mechanisms such as steppers, x-y-z tables, and robots, have created complete sensorimotor systems. These systems greatly increase the manufacturing throughput as well as the quality of the final product. This paper uses these automated work cells as examples to exemplify the underlying design philosophy and principles in the fabrication of vision-based robotic systems.

  1. Ground Robotic Hand Applications for the Space Program study (GRASP)

    Science.gov (United States)

    Grissom, William A.; Rafla, Nader I. (Editor)

    1992-01-01

    This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

  2. Plutonium production in a remote automated cell

    International Nuclear Information System (INIS)

    Maddux, E.P.; Purcell, J.A.

    1987-01-01

    Production of 239 Pu metal has traditionally been carried out in glove box enclosures to protect operating personnel and the outside environment from the hazards of radiation. With the advent of more stringent federal regulations for protecting personnel, the environment, and security of special nuclear materials, it is proposed that plutonium be processed in a totally remote environment using automated work stations and robotic materials transfer and equipment maintenance. Investigators envision a facility where operations are carried out in two remotely operated cells. One cell will contain aqueous processing operations while the second will contain powder operations. Various processing steps will be carried out on modular frames of a standard configuration. The processing equipment on each frame will be completely automated and operated via computer. Nonaqueous materials will be transferred between frames by robots using closed-circuit television and computer control. Robots will be able to perform limited in-place maintenance of equipment on each frame for high-maintenance replaceable components. When major repair is required, the processing frame will be decoupled by the robot and moved to a decontamination and maintenance area by a conventional overhead bridge crane. The new design concept will provide for long-term goals, which include exposure reduction, near-real time accountability, safeguards, and waste reduction

  3. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  4. A trend of robotics in nuclear facilities

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi

    1993-01-01

    In order to operate stably nuclear power stations, the periodic inspection determined by the law has been carried out once every year in Japan. For reducing the radiation exposure of workers and improving work efficiency and work quality, the automation and the use of robots have been promoted. Also in fuel reprocessing plants and the facilities for storing radioactive wastes, the remotely operated devices for handling uranium and plutonium are indispensable. The course of the development of the robots for nuclear power plants classified by ages is shown. The research and development have been advanced from special automatic machines of first generation since 1965, through versatile robots of second generation since 1980 to intellectual robots of third generation since 1985. Automatic fuel exchanger, control rod moving mechanism and the ultrasonic flaw detector for pipings are those of first generation. As those of second generation, various movable inspection robots and the manipulators for them were developed. The ultimate working robot completed in 1990 is that of third generation. As the trend of the practical use, monorail type inspection robots and underwater inspection robots and various manipulators are reported. (K.I.)

  5. The Role of Industrial Robots in the Development of Automotive Industry in China

    OpenAIRE

    Karabegović , Isak

    2016-01-01

    International audience; The world’s largest user of industrial robots in production processes is automotive industry, because global competition in the market requires continuous automation and modernization of production processes in the automotive industry. The use of robots in the world is continuously increasing year by year, so it is expected that about 414.000 robot units will be used in 2019. China is the first country in the world in the application of industrial robots, and is increa...

  6. A robotic system to conduct radiation and contamination surveys on nuclear waste transport casks

    International Nuclear Information System (INIS)

    Harrigan, R.W.; Sanders, T.L.

    1990-06-01

    The feasibility of performing, numerous spent fuel cask operations using fully integrated robotic systems is under evaluation. Using existing technology, operational and descriptive software and hardware in the form of robotic end effectors are being designed in conjunction with interfacing cask components. A robotic radiation and contamination survey system has been developed and used on mock-up cask hardware to evaluate the impact of such fully automated operations on cask design features and productivity. Based on experience gained from the survey system, numerous health physics operations can be reliably performed with little human intervention using a fully automated system. Such operations can also significantly reduce time requirements for cask-receiving operations. 7 refs., 51 figs., 6 tabs

  7. Parameterizations for reducing camera reprojection error for robot-world hand-eye calibration

    Science.gov (United States)

    Accurate robot-world, hand-eye calibration is crucial to automation tasks. In this paper, we discuss the robot-world, hand-eye calibration problem which has been modeled as the linear relationship AX equals ZB, where X and Z are the unknown calibration matrices composed of rotation and translation ...

  8. Robotics and automation in Mars exploration

    Science.gov (United States)

    Bourke, Roger D.; Sturms, Francis M., Jr.; Golombek, Matthew P.; Gamber, R. T.

    1992-01-01

    A new approach to the exploration of Mars is examined which relies on the use of smaller and simpler vehicles. The new strategy involves the following principles: limiting science objectives to retrieval of rock samples from several different but geologically homogeneous areas; making use of emerging microspacecraft technologies to significantly reduce the mass of hardware elements; simplifying missions to the absolutely essential elements; and managing risk through the employment of many identical independent pieces some of which may fail. The emerging technologies and their applications to robotic Mars missions are discussed.

  9. A fuzzy logic based navigation for mobile robot

    International Nuclear Information System (INIS)

    Adel Ali S Al-Jumaily; Shamsudin M Amin; Mohamed Khalil

    1998-01-01

    The main issue of intelligent robot is how to reach its goal safely in real time when it moves in unknown environment. The navigational planning is becoming the central issue in development of real-time autonomous mobile robots. Behaviour based robots have been successful in reacting with dynamic environment but still there are some complexity and challenging problems. Fuzzy based behaviours present as powerful method to solve the real time reactive navigation problems in unknown environment. We shall classify the navigation generation methods, five some characteristics of these methods, explain why fuzzy logic is suitable for the navigation of mobile robot and automated guided vehicle, and describe a reactive navigation that is flexible to react through their behaviours to the change of the environment. Some simulation results will be presented to show the navigation of the robot. (Author)

  10. A robotics platform for automated batch fabrication of high density, microfluidics-based DNA microarrays, with applications to single cell, multiplex assays of secreted proteins

    Science.gov (United States)

    Ahmad, Habib; Sutherland, Alex; Shin, Young Shik; Hwang, Kiwook; Qin, Lidong; Krom, Russell-John; Heath, James R.

    2011-09-01

    Microfluidics flow-patterning has been utilized for the construction of chip-scale miniaturized DNA and protein barcode arrays. Such arrays have been used for specific clinical and fundamental investigations in which many proteins are assayed from single cells or other small sample sizes. However, flow-patterned arrays are hand-prepared, and so are impractical for broad applications. We describe an integrated robotics/microfluidics platform for the automated preparation of such arrays, and we apply it to the batch fabrication of up to eighteen chips of flow-patterned DNA barcodes. The resulting substrates are comparable in quality with hand-made arrays and exhibit excellent substrate-to-substrate consistency. We demonstrate the utility and reproducibility of robotics-patterned barcodes by utilizing two flow-patterned chips for highly parallel assays of a panel of secreted proteins from single macrophage cells.

  11. A robotics platform for automated batch fabrication of high density, microfluidics-based DNA microarrays, with applications to single cell, multiplex assays of secreted proteins.

    Science.gov (United States)

    Ahmad, Habib; Sutherland, Alex; Shin, Young Shik; Hwang, Kiwook; Qin, Lidong; Krom, Russell-John; Heath, James R

    2011-09-01

    Microfluidics flow-patterning has been utilized for the construction of chip-scale miniaturized DNA and protein barcode arrays. Such arrays have been used for specific clinical and fundamental investigations in which many proteins are assayed from single cells or other small sample sizes. However, flow-patterned arrays are hand-prepared, and so are impractical for broad applications. We describe an integrated robotics/microfluidics platform for the automated preparation of such arrays, and we apply it to the batch fabrication of up to eighteen chips of flow-patterned DNA barcodes. The resulting substrates are comparable in quality with hand-made arrays and exhibit excellent substrate-to-substrate consistency. We demonstrate the utility and reproducibility of robotics-patterned barcodes by utilizing two flow-patterned chips for highly parallel assays of a panel of secreted proteins from single macrophage cells. © 2011 American Institute of Physics

  12. Applying commercial robotic technology to radioactive material processing

    International Nuclear Information System (INIS)

    Grasz, E.L.; Sievers, R.H. Jr.

    1991-01-01

    The development of robotic systems to automate nuclear material processing in glove boxes is motivated by the need to reduce operator radiation exposure, minimize the generation of process waste, and to improve security of nuclear materials. Commercial robotic systems can furnish the needed manipulation capabilities by are not readily compatible with the glove box environment and physical restrictions. Alpha radiation, concentrated dust, a dry atmosphere and restricted work space require unique adaptations of commercial robotics. Tradeoffs between meeting desired functional capabilities and extensive customization are necessary. The reported design and development efforts include evaluating the feasibility of using a commercial gantry robot for glove box pyrochemical and smelting operations. This paper presents the initial results and observations for this development effort

  13. Development of an automated remote inspection system for the interior of the primary containment vessel of a nuclear power plant

    International Nuclear Information System (INIS)

    Senoo, Makoto; Yoshida, Tomiharu; Omote, Tatsuyuki; Tanaka, Keiji; Koga, Kazunori

    1996-01-01

    An automated remote inspection system has been developed for the interior of the primary containment vessel of a nuclear power plant. This system consists of an inspection robot and an operator's console. The inspection robot travels along a monorail provided in the interior of the primary containment vessel. The operator's console is located in the central control room of the power plant. We have made efforts to downsize the robot and automate the inspection and monitoring machinery. As for downsizing the robot, a 152 mm wide, 290 mm high cross-sectional area and 15 kg weight can be realized using commercially available small sensors and rearranging the parts in those sensors. As for automating the inspection and monitoring, several monitoring functions are developed using image processing, frequency analysis and other techniques applied to signals from sensors such as an ITV camera, an infrared camera and a microphone, which are mounted on the robot. Endurance tests show resistance of the robot to radiational and thermal conditions is adequate for actual use in actual power plants. (author)

  14. Automation and robotization of the set-up and treatment for patients treated for a brain and base of the skull tumor

    International Nuclear Information System (INIS)

    Noel, G.; Ferrand, R.; Feuvret, L.; Meyroneinc, S.; Mazeron, J.J.; Boisserie, G.; Mazeron, J.J.

    2003-01-01

    Progresses of the three-dimensional imageries and of the software of planning systems makes that the radiotherapy of the tumours of brain and the base of skull is increasingly precise. The set-up of the patients and the positioning of the beams are key acts whose realization can become extremely tiresome if the requirement of precision increases. This precision very often rests still on the visual comparison of digital images. In the near future, the development of the automated systems controlled by robots should allow a noticeable improvement of the precision, safety and speed of the patient set-up. (author)

  15. Calibration of robotic drilling systems with a moving rail

    Directory of Open Access Journals (Sweden)

    Tian Wei

    2014-12-01

    Full Text Available Industrial robots are widely used in aircraft assembly systems such as robotic drilling systems. It is necessary to expand a robot’s working range with a moving rail. A method for improving the position accuracy of an automated assembly system with an industrial robot mounted on a moving rail is proposed. A multi-station method is used to control the robot in this study. The robot only works at stations which are certain positions defined on the moving rail. The calibration of the robot system is composed by the calibration of the robot and the calibration of the stations. The calibration of the robot is based on error similarity and inverse distance weighted interpolation. The calibration of the stations is based on a magnetic strip and a magnetic sensor. Validation tests were performed in this study, which showed that the accuracy of the robot system gained significant improvement using the proposed method. The absolute position errors were reduced by about 85% to less than 0.3 mm compared with the maximum nearly 2 mm before calibration.

  16. Integration of disabled people in an automated work process

    Science.gov (United States)

    Jalba, C. K.; Muminovic, A.; Epple, S.; Barz, C.; Nasui, V.

    2017-05-01

    Automation processes enter more and more into all areas of life and production. Especially people with disabilities can hardly keep step with this change. In sheltered workshops in Germany people with physical and mental disabilities get help with much dedication, to be integrated into the work processes. This work shows that cooperation between disabled people and industrial robots by means of industrial image processing can successfully result in the production of highly complex products. Here is described how high-pressure hydraulic pumps are assembled by people with disabilities in cooperation with industrial robots in a sheltered workshop. After the assembly process, the pumps are checked for leaks at very high pressures in a completely automated process.

  17. Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations

    Science.gov (United States)

    Dong, Shuonan; Conrad, Patrick R.; Shah, Julie A.; Williams, Brian C.; Mittman, David S.; Ingham, Michel D.; Verma, Vandana

    2011-01-01

    We introduce a novel task execution capability that enhances the ability of in-situ crew members to function independently from Earth by enabling safe and efficient interaction with automated systems. This task execution capability provides the ability to (1) map goal-directed commands from humans into safe, compliant, automated actions, (2) quickly and safely respond to human commands and actions during task execution, and (3) specify complex motions through teaching by demonstration. Our results are applicable to future surface robotic systems, and we have demonstrated these capabilities on JPL's All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot.

  18. Calibration technology in application of robot-laser scanning system

    Science.gov (United States)

    Ren, YongJie; Yin, ShiBin; Zhu, JiGui

    2012-11-01

    A system composed of laser sensor and 6-DOF industrial robot is proposed to obtain complete three-dimensional (3-D) information of the object surface. Suitable for the different combining ways of laser sensor and robot, a new method to calibrate the position and pose between sensor and robot is presented. By using a standard sphere with known radius as a reference tool, the rotation and translation matrices between the laser sensor and robot are computed, respectively in two steps, so that many unstable factors introduced in conventional optimization methods can be avoided. The experimental results show that the accuracy of the proposed calibration method can be achieved up to 0.062 mm. The calibration method is also implemented into the automated robot scanning system to reconstruct a car door panel.

  19. ROBOCAL: An automated NDA [nondestructive analysis] calorimetry and gamma isotopic system

    International Nuclear Information System (INIS)

    Hurd, J.R.; Powell, W.D.; Ostenak, C.A.

    1989-01-01

    ROBOCAL, which is presently being developed and tested at Los Alamos National Laboratory, is a full-scale, prototype robotic system for remote calorimetric and gamma-ray analysis of special nuclear materials. It integrates a fully automated, multidrawer, vertical stacker-retriever system for staging unmeasured nuclear materials, and a fully automated gantry robot for computer-based selection and transfer of nuclear materials to calorimetric and gamma-ray measurement stations. Since ROBOCAL is designed for minimal operator intervention, a completely programmed user interface is provided to interact with the automated mechanical and assay systems. The assay system is designed to completely integrate calorimetric and gamma-ray data acquisition and to perform state-of-the-art analyses on both homogeneous and heterogeneous distributions of nuclear materials in a wide variety of matrices

  20. The use of transducers for automated radiopharmaceutical synthesis procedures

    International Nuclear Information System (INIS)

    Ruth, T.J.; Adam, M.J.; Morris, D.; Jivan, S.; Tyldesley, S.

    1991-01-01

    There are essentially two reasons why a synthetic procedure for producing a radiopharmaceutical is automated. The First is to reduce radiation exposure and the second is to increase reliability. Reducing radiation exposure can be accomplished in a number of ways. The most common approaches include the use of: hotcells with manipulators, remotely controlled solenoid valves behind shielding, either a PC or a PLC to control the solenoid valves, or robotics. The question of reliability impacts on each of these methods differently. The use of a hotcell with manipulators requires a highly skilled operator and in general is not suitable for microchemistry and very short half-lives. The remotely controlled system is prone to operator error, for example activating the wrong valving sequence. The computer controlled system is dependent on a feedback system if it is to operate open-quotes intelligentlyclose quotes; and finally the robotic system is dependent on feedbacks, as well as, careful, set-up within the robotic coordinate system. The remainder of this paper will discuss the feedback loops, required for the automated/robotic chemistry associated with the synthesis of positron emitting radiopharmaceuticals

  1. The standard laboratory module approach to automation of the chemical laboratory

    International Nuclear Information System (INIS)

    Hollen, R.M.; Erkkila, T.H.

    1993-01-01

    Automation of the technology and practice of environmental laboratory automation has not been as rapid or complete as one might expect. Confined to autosamplers and limited robotic systems, our ability to apply production concepts to environmental analytical analysis is not great. With the impending remediation of our hazardous waste sites in the US, only the application of production chemistry techniques will even begin to provide those responsible with the necessary knowledge to accomplish the cleanup expeditiously and safely. Tightening regulatory requirements have already mandated staggering increases in sampling and characterization needs with the future only guaranteeing greater demands. The Contaminant Analysis Automation Program has been initiated by our government to address these current and future characterization by application of a new robotic paradigm for analytical chemistry. By using standardized modular instruments, named Standard Laboratory Modules, flexible automation systems can rapidly be configured to apply production techniques to our nations environmental problems at-site

  2. Soft robot design methodology for `push-button' manufacturing

    Science.gov (United States)

    Paik, Jamie

    2018-06-01

    `Push-button' or fully automated manufacturing would enable the production of robots with zero intervention from human hands. Realizing this utopia requires a fundamental shift from a sequential (design-materials-manufacturing) to a concurrent design methodology.

  3. Robots in outdoor operation. A Baden-Wuerttemberg manufacturer opts for automatic assembly of solar farms; Roboter im Ausseneinsatz. Ein schwaebisches Unternehmen will die Montage von Solarparks automatisieren

    Energy Technology Data Exchange (ETDEWEB)

    Siemer, Jochen

    2011-04-15

    Solar farms are still constructed manually. However, this involves identical steps that may be repeated several hundreds of thousands of times. This induced manufacturers to look for automation options. Outdoor use of robots is faced with difficulties, but a Baden-Wuerttemberg manufacturer recently presented a new concept, i.e. the mobile assembly robot 'Momo'.

  4. A robot-automated work site for repair of the Chinon A3 reactor

    International Nuclear Information System (INIS)

    Raynal, A.

    1987-01-01

    In 1982, following degradation due to corrosion of low-carbon steel by carbon dioxide gas, the utility undertook to repair some of the support structures at Chinon A3. This involved consolidation and reinforcing thermocouples and gas monitor pipeworks supports. A welding process was selected and the use of robots became indispensable because of the large number of components to be replaced (200 per outage). Two robots, supplied with tool heads and replacement components from outside the reactor were used. The robots and their servers were coordinated by a central computer and monitored by a closed circuit television system. Each repair operation was performed after ''training'' on a full-scale mockup of the top of the reactor reconstructed from telemetry of the real reactor dimensions. Since becoming operational in June 1986, the robots have accumulated over 20 000 hours of operation and seventy parts have been welded to the reactor. A 3D CAD system has been adapted to simulate the robots and analyse long trajectories in order to reduce robot learning time [fr

  5. DIDACTIC AUTOMATED STATION OF COMPLEX KINEMATICS

    Directory of Open Access Journals (Sweden)

    Mariusz Sosnowski

    2014-03-01

    Full Text Available The paper presents the design, control system and software that controls the automated station of complex kinematics. Control interface and software has been developed and manufactured in the West Pomeranian University of Technology in Szczecin in the Department of Automated Manufacturing Systems Engineering and Quality. Conducting classes designed to teach programming and design of structures and systems for monitoring the robot kinematic components with non-standard structures was the reason for installation of the control system and software.

  6. Human-Agent Teaming for Multi-Robot Control: A Literature Review

    Science.gov (United States)

    2013-02-01

    advent of the Goggle driverless car , autonomous farm equipment, and unmanned commercial aircraft (Mosher, 2012). The inexorable trend towards...because a robot cannot be automated to navigate in difficult terrain. However, this high ratio will not be sustainable if large numbers of autonomous ...Parasuraman et al., 2007). 3.5 RoboLeader Past research indicates that autonomous cooperation between robots can improve the performance of the human

  7. How to assess sustainability in automated manufacturing

    DEFF Research Database (Denmark)

    Dijkman, Teunis Johannes; Rödger, Jan-Markus; Bey, Niki

    2015-01-01

    The aim of this paper is to describe how sustainability in automation can be assessed. The assessment method is illustrated using a case study of a robot. Three aspects of sustainability assessment in automation are identified. Firstly, we consider automation as part of a larger system...... that fulfills the market demand for a given functionality. Secondly, three aspects of sustainability have to be assessed: environment, economy, and society. Thirdly, automation is part of a system with many levels, with different actors on each level, resulting in meeting the market demand. In this system......, (sustainability) specifications move top-down, which helps avoiding sub-optimization and problem shifting. From these three aspects, sustainable automation is defined as automation that contributes to products that fulfill a market demand in a more sustainable way. The case study presents the carbon footprints...

  8. Automation of coal mining equipment

    Energy Technology Data Exchange (ETDEWEB)

    Yamada, Ryuji

    1986-12-25

    Major machines used in the working face include the shearer and the self-advancing frame. The shearer has been changed from the radio-controlled model to the microcomputer operated machine, while automating various functions. In addition, a system for comprehensively examining operating conditions and natural conditions in the working face for further automation. The selfadvancing frame has been modified from the sequence controlled model to the microcomputer aided electrohydraulic control system. In order to proceed further with automation and introduce robotics, detectors, control units and valves must be made smaller in higher reliability. The system will be controlled above the ground in the future, provided that the machines in the working face are remote controlled at the gate while transmitting relevant data above the ground from this system. Thus, automated working face will be realized. (2 figs, 1 photo)

  9. ROBOSIM, a simulator for robotic systems

    Science.gov (United States)

    Hinman, Elaine M.; Fernandez, Ken; Cook, George E.

    1991-01-01

    ROBOSIM, a simulator for robotic systems, was developed by NASA to aid in the rapid prototyping of automation. ROBOSIM has allowed the development of improved robotic systems concepts for both earth-based and proposed on-orbit applications while significantly reducing development costs. In a cooperative effort with an area university, ROBOSIM was further developed for use in the classroom as a safe and cost-effective way of allowing students to study robotic systems. Students have used ROBOSIM to study existing robotic systems and systems which they have designed in the classroom. Since an advanced simulator/trainer of this type is beneficial not only to NASA projects and programs but industry and academia as well, NASA is in the process of developing this technology for wider public use. An update on the simulators's new application areas, the improvements made to the simulator's design, and current efforts to ensure the timely transfer of this technology are presented.

  10. Robotized Surface Mounting of Permanent Magnets

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2014-10-01

    Full Text Available Using permanent magnets on a rotor can both simplify the design and increase the efficiency of electric machines compared to using electromagnets. A drawback, however, is the lack of existing automated assembly methods for large machines. This paper presents and motivates a method for robotized surface mounting of permanent magnets on electric machine rotors. The translator of the Uppsala University Wave Energy Converter generator is used as an example of a rotor. The robot cell layout, equipment design and assembly process are presented and validated through computer simulations and experiments with prototype equipment. A comparison with manual assembly indicates substantial cost savings and an improved work environment. By using the flexibility of industrial robots and a scalable equipment design, it is possible for this assembly method to be adjusted for other rotor geometries and sizes. Finally, there is a discussion on the work that remains to be done on improving and integrating the robot cell into a production line.

  11. Robotics Technology Development Program

    International Nuclear Information System (INIS)

    1994-02-01

    The Robotics Technology Development Program (RTDP) is a ''needs-driven'' effort. A lengthy series of presentations and discussions at DOE sites considered critical to DOE's Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination ampersand Dismantlement (D ampersand D). The RTDP Group realized that much of the technology development was common (Cross Cutting-CC) to each of these robotics application areas, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT ampersand E) process urged an additional organizational break-out between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). The RDTP is thus organized around these application areas -- TWR, CAA, MWO, D ampersand D and CC ampersand AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas

  12. Image-guided robotic surgery.

    Science.gov (United States)

    Marescaux, Jacques; Solerc, Luc

    2004-06-01

    Medical image processing leads to an improvement in patient care by guiding the surgical gesture. Three-dimensional models of patients that are generated from computed tomographic scans or magnetic resonance imaging allow improved surgical planning and surgical simulation that offers the opportunity for a surgeon to train the surgical gesture before performing it for real. These two preoperative steps can be used intra-operatively because of the development of augmented reality, which consists of superimposing the preoperative three-dimensional model of the patient onto the real intraoperative view. Augmented reality provides the surgeon with a view of the patient in transparency and can also guide the surgeon, thanks to the real-time tracking of surgical tools during the procedure. When adapted to robotic surgery, this tool tracking enables visual serving with the ability to automatically position and control surgical robotic arms in three dimensions. It is also now possible to filter physiologic movements such as breathing or the heart beat. In the future, by combining augmented reality and robotics, these image-guided robotic systems will enable automation of the surgical procedure, which will be the next revolution in surgery.

  13. Muecas: A Multi-Sensor Robotic Head for Affective Human Robot Interaction and Imitation

    Directory of Open Access Journals (Sweden)

    Felipe Cid

    2014-04-01

    Full Text Available This paper presents a multi-sensor humanoid robotic head for human robot interaction. The design of the robotic head, Muecas, is based on ongoing research on the mechanisms of perception and imitation of human expressions and emotions. These mechanisms allow direct interaction between the robot and its human companion through the different natural language modalities: speech, body language and facial expressions. The robotic head has 12 degrees of freedom, in a human-like configuration, including eyes, eyebrows, mouth and neck, and has been designed and built entirely by IADeX (Engineering, Automation and Design of Extremadura and RoboLab. A detailed description of its kinematics is provided along with the design of the most complex controllers. Muecas can be directly controlled by FACS (Facial Action Coding System, the de facto standard for facial expression recognition and synthesis. This feature facilitates its use by third party platforms and encourages the development of imitation and of goal-based systems. Imitation systems learn from the user, while goal-based ones use planning techniques to drive the user towards a final desired state. To show the flexibility and reliability of the robotic head, the paper presents a software architecture that is able to detect, recognize, classify and generate facial expressions in real time using FACS. This system has been implemented using the robotics framework, RoboComp, which provides hardware-independent access to the sensors in the head. Finally, the paper presents experimental results showing the real-time functioning of the whole system, including recognition and imitation of human facial expressions.

  14. The digitalization of the working environment: the advent of Robotics, Automation and Artificial Intelligence (RAAI) from the employees perspective – a scoping review

    OpenAIRE

    Terminio, Rosanna; Gilabert, Eva

    2017-01-01

    Robotics, automation and artificial intelligence (RAAI) are changing how work gets done, to the point of putting 47% of existing jobs in the USA at risk of becoming redundant in 5 to 15 years. RAAI and their cognitive abilities have a potential impact on employees’ sense of self-worth and career satisfaction and, in turn, on organizations and the society as a whole. In spite of the significant debate on whether there is a real risk of job losses or simply a need of re-skilling, the impa...

  15. Simulation and visualization tool design for robot software

    NARCIS (Netherlands)

    Lu, Zhou; Ran, Tjalling; Broenink, Johannes F.; Chalmers, K.; Pedersen, J.B.

    2016-01-01

    Modern embedded systems are designed for multiple and increasingly demanding tasks. Complex concurrent software is required by multi-task automated service robotics for implementing their challenging (control) algorithms. TERRA is a communicating Sequential Processes (CSP) algebra-based Eclipse

  16. Pyrochemical processing automation at Lawrence Livermore National Laboratory

    International Nuclear Information System (INIS)

    Dennison, D.K.; Domning, E.E.; Seivers, R.

    1991-01-01

    Lawrence Livermore National Laboratory (LLNL) is developing a fully automated system for pyrochemical processing of special nuclear materials (SNM). The system utilizes a glove box, an automated tilt-pour furnace (TPF), an IBM developed gantry robot, and specialized automation tooling. All material handling within the glove box (i.e., furnace loading, furnace unloading, product and slag separation, and product packaging) is performed automatically. The objectives of the effort are to increase process productivity, decrease operator radiation, reduce process wastes, and demonstrate system reliability and availability. This paper provides an overview of the automated system hardware, outlines the overall operations sequence, and discusses the current status

  17. End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

    Directory of Open Access Journals (Sweden)

    Jolly Atit Shah

    2013-03-01

    Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.

  18. Robotic implementation of assays: tissue-nonspecific alkaline phosphatase (TNAP) case study.

    Science.gov (United States)

    Chung, Thomas D Y

    2013-01-01

    Laboratory automation and robotics have "industrialized" the execution and completion of large-scale, enabling high-capacity and high-throughput (100 K-1 MM/day) screening (HTS) campaigns of large "libraries" of compounds (>200 K-2 MM) to complete in a few days or weeks. Critical to the success these HTS campaigns is the ability of a competent assay development team to convert a validated research-grade laboratory "benchtop" assay suitable for manual or semi-automated operations on a few hundreds of compounds into a robust miniaturized (384- or 1,536-well format), well-engineered, scalable, industrialized assay that can be seamlessly implemented on a fully automated, fully integrated robotic screening platform for cost-effective screening of hundreds of thousands of compounds. Here, we provide a review of the theoretical guiding principles and practical considerations necessary to reduce often complex research biology into a "lean manufacturing" engineering endeavor comprising adaption, automation, and implementation of HTS. Furthermore we provide a detailed example specifically for a cell-free in vitro biochemical, enzymatic phosphatase assay for tissue-nonspecific alkaline phosphatase that illustrates these principles and considerations.

  19. Natural Language Direction Following for Robots in Unstructured Unknown Environments

    Science.gov (United States)

    2015-01-15

    Seth Teller . Fol- lowing and interpreting narrated guided tours. International Conference on Robotics and Automation , 2011. 7 [56] Sachithra Hemachandra...text transcription, personal digital assistants (e.g., Siri and Google Now), automated phone dialogue, and many others, the majority of applications to...MDP) with formal action specifications [89, 90]. This approach uses statistical machine translation and Expectation Maximization and the authors have

  20. Robotizing workforce in future built environments

    NARCIS (Netherlands)

    Maas, G.J.; Gassel, van F.J.M.; Lee, Junbok; Han, Chang-Soo

    2011-01-01

    The aim of this paper is to define challenges for Automation and Robotics in construction (A+R) to enhance client and social value. Construction contributes to a positive living environment for society and is the largest sector of Europe’s economy with a size of around 2,500 billion Euros. Ten

  1. Siroco, a configurable robot control system

    International Nuclear Information System (INIS)

    Tejedor, B.G.; Maraggi, G.J.B.

    1988-01-01

    The SIROCO (Configurable Robot Control System) is an electronic system designed to work in applications where mechanized remote control equipment and robots are necessary especially in Nuclear Power Plants. The structure of the system (hardware and software) determines the following user characteristics: a) Reduction in the time spent in NDT and in radiation doses absorbed, due to remote control operation; b) possibility for full automation in NDT, c) the system can simultaneously control up to six axes and can generate movements in remote areas; and d) possibility for equipment unification, due to SIROCO being a configurable system. (author)

  2. Advanced programming languages for industrial robots

    International Nuclear Information System (INIS)

    Wolter, H.

    1983-02-01

    With this report, the sponsor of the project on automation in manufacture introduces to the public several new programming procedures for industrial robots which are still under construction. In addition to the programming systems SRL - which, as already previously reported, represent an further development of the AL and ROBEX systems - two additional programming procedures are being described. These are adjusted to perform interactive work at the production site. As introduction to this report, a survey is offered on the status and development of robot programming in the Federal Republic of Germany and in other countries. (orig.) [de

  3. Účast České republiky ve společných technologických iniciativách ARTEMIS, ENIAC a ECSEL

    Czech Academy of Sciences Publication Activity Database

    Coufalová, V.; Zsapková Haringová, D.; Kadlec, Jiří

    2016-01-01

    Roč. 2016, 3-4 (2016), s. 12-14 ISSN 1214-7982 R&D Projects: GA MŠk(CZ) LE13020 Institutional support: RVO:67985556 Keywords : joint technology initiative * ARTEMIS * ENIAC * ECSEL Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering http://library.utia.cas.cz/separaty/2016/ZS/kadlec-0465048.pdf

  4. Nuclear analysis via internet based on robocom, a robotic computing environment

    International Nuclear Information System (INIS)

    Kim, J.H.; Liu, J.; Foung, R.

    1997-01-01

    Nuclear engineers can resume the pioneering role the authors once played in network computing. The authors can transform Internet World Wide Web from offering information to offering analysis capabilities in the form of software robots that are capable of processing information of their own. Pooling such transmittable robots by the nuclear analysis community would represent a collaborative effort to automate nuclear engineering analysis. Samples of HTML files for a web site, a robot and its corresponding schematics are included to demonstrate the ease of implementation

  5. Intelligent robot trends and predictions for the new millennium

    Science.gov (United States)

    Hall, Ernest L.; Mundhenk, Terrell N.

    1999-08-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor but little funding. In factory automation such robotics machines can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. In honor of the new millennium, this paper will present a discussion of futuristic trends and predictions. However, in keeping with technical tradition, a new technique for 'Follow the Leader' will also be presented in the hope of it becoming a new, useful and non-obvious technique.

  6. Automated manufacturing of breeder reactor fuels

    International Nuclear Information System (INIS)

    Nyman, D.H.; Benson, E.M.; Bennett, D.W.

    1983-09-01

    The Secure Automated Fabrication (SAF) line is an automated, remotely controlled breeder fuel pin fabrication process which is to be installed in the Fuels and Materials Examination Facility (FMEF). The FMEF is presently under construction at Hanford and is scheduled for completion in 1984. The SAF line is scheduled for startup in 1987 and will produce mixed uranium-plutonium oxide fuel pins for the Fast Flux Test Facility (FFTF). Radiological protection requirements, computer control equipment, use of robotics, and the fabrication process is described

  7. An Automated Sensing System for Steel Bridge Inspection Using GMR Sensor Array and Magnetic Wheels of Climbing Robot

    Directory of Open Access Journals (Sweden)

    Rui Wang

    2016-01-01

    Full Text Available Corrosion is one of the main causes of deterioration of steel bridges. It may cause metal loss and fatigue cracks in the steel components, which would lead to the collapse of steel bridges. This paper presents an automated sensing system to detect corrosion, crack, and other kinds of defects using a GMR (Giant Magnetoresistance sensor array. Defects will change the relative permeability and electrical conductivity of the material. As a result, magnetic field density generated by ferromagnetic material and the magnetic wheels will be changed. The defects are able to be detected by using GMR sensor array to measure the changes of magnetic flux density. In this study, magnetic wheels are used not only as the adhesion device of the robot, but also as an excitation source to provide the exciting magnetic field for the sensing system. Furthermore, compared to the eddy current method and the MFL (magnetic flux leakage method, this sensing system suppresses the noise from lift-off value fluctuation by measuring the vertical component of induced magnetic field that is perpendicular to the surface of the specimen in the corrosion inspection. Simulations and experimental results validated the feasibility of the system for the automated defect inspection.

  8. Automated baseline change detection phase I. Final report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-01

    The Automated Baseline Change Detection (ABCD) project is supported by the DOE Morgantown Energy Technology Center (METC) as part of its ER&WM cross-cutting technology program in robotics. Phase 1 of the Automated Baseline Change Detection project is summarized in this topical report. The primary objective of this project is to apply robotic and optical sensor technology to the operational inspection of mixed toxic and radioactive waste stored in barrels, using Automated Baseline Change Detection (ABCD), based on image subtraction. Absolute change detection is based on detecting any visible physical changes, regardless of cause, between a current inspection image of a barrel and an archived baseline image of the same barrel. Thus, in addition to rust, the ABCD system can also detect corrosion, leaks, dents, and bulges. The ABCD approach and method rely on precise camera positioning and repositioning relative to the barrel and on feature recognition in images. In support of this primary objective, there are secondary objectives to determine DOE operational inspection requirements and DOE system fielding requirements.

  9. Automated baseline change detection phase I. Final report

    International Nuclear Information System (INIS)

    1995-12-01

    The Automated Baseline Change Detection (ABCD) project is supported by the DOE Morgantown Energy Technology Center (METC) as part of its ER ampersand WM cross-cutting technology program in robotics. Phase 1 of the Automated Baseline Change Detection project is summarized in this topical report. The primary objective of this project is to apply robotic and optical sensor technology to the operational inspection of mixed toxic and radioactive waste stored in barrels, using Automated Baseline Change Detection (ABCD), based on image subtraction. Absolute change detection is based on detecting any visible physical changes, regardless of cause, between a current inspection image of a barrel and an archived baseline image of the same barrel. Thus, in addition to rust, the ABCD system can also detect corrosion, leaks, dents, and bulges. The ABCD approach and method rely on precise camera positioning and repositioning relative to the barrel and on feature recognition in images. In support of this primary objective, there are secondary objectives to determine DOE operational inspection requirements and DOE system fielding requirements

  10. BellBot - A Hotel Assistant System Using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Joaquín López

    2013-01-01

    Full Text Available There is a growing interest in applying intelligent technologies to assistant robots. These robots should have a number of characteristics such as autonomy, easy reconfiguration, robust perception systems and they should be oriented towards close interaction with humans. In this paper we present an automatic hotel assistant system based on a series of mobile platforms that interact with guests and service personnel to help them in different tasks. These tasks include bringing small items to customers, showing them different points of interest in the hotel, accompanying the guests to their rooms and providing them with general information. Each robot can also autonomously handle some daily scheduled tasks. Apart from user-initiated and scheduled tasks, the robots can also perform tasks based on events triggered by the building's automation system (BAS. The robots and the BAS are connected to a central server via a local area network. The system was developed with the Robotics Integrated Development Environment (RIDE and was tested intensively in different environments.

  11. Evolution of Robot-assisted ultrasound-guided breast biopsy systems

    Directory of Open Access Journals (Sweden)

    Mustafa Z. Mahmoud

    2018-01-01

    Full Text Available Robot-assisted ultrasound-guided breast biopsy combines ultrasound (US imaging with a robotic system for medical interventions. This study was designed to provide a literature review of a robotic US-guided breast biopsy system to delineate its efficacious impact on current medical practice. In addition, the strengths and limitations of this approach were also addressed. Articles published in the English language between 2000 and 2016 were appraised in this review. A wide range of systems that bind robotics with US imaging and guided breast biopsy were examined in this article. The fundamental safety and real-time imaging capabilities of US, together with the accuracy and maneuverability of robotic devices, is clearly an effective association with unmatched capabilities. Numerous experimental systems have obvious benefits over old-fashioned techniques, and the future of robot-assisted US-guided breast biopsy will be characterized by increasing levels of automation, and they hold tremendous possibility to impact doctor achievement, patient recovery, and clinical management.

  12. Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Application of ARAMIS capabilities to space project functional elements

    Science.gov (United States)

    Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

    1982-01-01

    Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities and their related ground support functions are studied, so that informed decisions can be made on which aspects of ARAMIS to develop. The specific tasks which will be required by future space project tasks are identified and the relative merits of these options are evaluated. The ARAMIS options defined and researched span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

  13. Automation and remote handling activities in BARC: an overview

    International Nuclear Information System (INIS)

    Badodkar, D.N.

    2016-01-01

    Division of Remote Handling and Robotics, BARC has been working on design and development of various application specific remote handling and automation systems for nuclear front-end and back-end fuel cycle technologies. Division is also engaged in preservice and in-service inspection of coolant channels for Pressurized Heavy Water Reactors in India. Design and development of Reactor Control Mechanisms for Nuclear Research and Power Reactors (PHWRs and Compact LWRs) is another important activity carried out in this division. Robotic systems for Indoor and Outdoor surveillance in and around nuclear installations have also been developed. A line scan camera based system has been developed for measuring individual PHWR fuel pellet lengths as well as stack length. An industrial robot is used for autonomous exchange of pellets to achieve desired stack length. The system can be extended for active fuel pellets also. An automation system has been conceptualized for remote handling and transfer of spent fuel bundles from storage pool directly to the chopper unit of reprocessing plant. In case of Advanced Heavy Water Reactor which uses mixed oxides of (Th-Pu) and (Th-"2"3"3U ) as fuel, automation system for front-end fuel cycle has been designed, which includes Powder processing and pressing; Pellet handling and inspection; Pin handling and inspection; and Cluster assembly and dis-assembly in shielded facilities. System demonstration through fullscale mock-up facility is nearing completion. Above talk is presented on behalf of all the officers and staff of DRHR. The talk is mainly focused on development of an automated fuel fabrication facility for mixed oxides of (Th- Pu)/(Th-"2"3"3U ) fuel pins. An overview of divisional ongoing activities in the field of remote handling and automation are also covered. (author)

  14. The methods and algorithms for designing complex three-dimensional robots

    International Nuclear Information System (INIS)

    Solovjev, A.E.; Naumov, V.B.

    1996-01-01

    For automation designing by the Robotics laboratory were executed some fundamental and applied researches. This researching allowed to create rational mathematical model for numeric modeling with real-time simulation. In the mathematical model used set of equations of rigid body's motion in Lagrange's form and set of Appel's equations taking into consideration holonomic and non-holonomic connections. In present article are considered methods and algorithms of dynamic modeling of a system of rigid bodies for robotics task and brief description of the package Computer Aided Engineering for Industrial Robots, based on considered algorithms. So far as, in researching of robots the dynamic tasks (direct and inverse) are more interesting than another tasks, authors pay attention just on these problems

  15. Development of sensor augmented robotic weld systems for aerospace propulsion system fabrication

    Science.gov (United States)

    Jones, C. S.; Gangl, K. J.

    1986-01-01

    In order to meet stringent performance goals for power and reuseability, the Space Shuttle Main Engine was designed with many complex, difficult welded joints that provide maximum strength and minimum weight. To this end, the SSME requires 370 meters of welded joints. Automation of some welds has improved welding productivity significantly over manual welding. Application has previously been limited by accessibility constraints, requirements for complex process control, low production volumes, high part variability, and stringent quality requirements. Development of robots for welding in this application requires that a unique set of constraints be addressed. This paper shows how robotic welding can enhance production of aerospace components by addressing their specific requirements. A development program at the Marshall Space Flight Center combining industrial robots with state-of-the-art sensor systems and computer simulation is providing technology for the automation of welds in Space Shuttle Main Engine production.

  16. Advanced robotic technologies for transfer at Sandia National Laboratories

    International Nuclear Information System (INIS)

    Bennett, P.C.

    1994-01-01

    Hazardous operations which have in the past been completed by technicians are under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. As a result, remote systems are needed to accomplish many hazardous materials handling tasks such as the clean-up of waste sites in which the exposure of personnel to radiation, chemical, explosive and other hazardous constituents is unacceptable. Computer models augmented by sensing, and structured, modular computing environments are proving effective in automating many unstructured hazardous tasks. Work at Sandia National Laboratories (SNL) has focused on applying flexible automation (robotics) to meet the needs of the U.S. Department of Energy (USDOE). Dismantling facilities, environmental remediation, and materials handling in changing, hazardous environments lead to many technical challenges. Computer planning, monitoring and operator assistance shorten training cycles, reduce errors, and speed execution of operations. Robotic systems that re-use well-understood generic technologies can be much better characterized than robotic systems developed for a particular application, leading to a more reliable and safer systems. Further safety in robotic operations results from use of environmental sensors and knowledge of the task and environment. Collision detection and avoidance is achieved from such sensor integration and model-based control. This paper discusses selected technologies developed at SNL for use within the USDOE complex that have been or are ready for transfer to government and industrial suppliers. These technologies include sensors, sub-systems, and the design philosophy applied to quickly integrate them into a working robotic system. This paper represents the work of many people at the Intelligent Systems and Robotics Center at SNL, to whom the credit belongs

  17. Sensor-guided parking system for a carlike robot

    Science.gov (United States)

    Jiang, Kaichum; Seneviratne, L. D.

    1998-07-01

    This paper presents an automated parking strategy for a car- like mobile robot. The study considers general parking manoeuvre cases for a rectangular robot, including parallel parking. The robot is constructed simulating a conventional car, which is subject to non-holonomic constraints and thus only has two degrees of freedom. The parking space is considered as rectangular, and detected by ultrasonic sensors mounted on the robot. A motion planning algorithm develops a collision-free path for parking, taking into account the non- holonomic constraints acting on the car-like robot. A research into general car maneuvers has been conducted and useful results have been achieved. The motion planning algorithm uses these results, combined with configuration space method, to produce a collision-free path for parallel parking, depending on the parking space detected. A control program in the form of a graphical user interface has been developed for users to operate the system with ease. The strategy is implemented on a modified B12 mobile robot. The strategy presented has the potential for application in automobiles.

  18. Robotic Platform for Automated Search and Rescue Missions of Humans

    Directory of Open Access Journals (Sweden)

    Eli Kolberg

    2013-02-01

    Full Text Available We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously. The task is to use the developed robotic system for search and rescue mission such as saving survivals from a fire.

  19. Art museum-based intervention to promote emotional well-being and improve quality of life in people with dementia: The ARTEMIS project.

    Science.gov (United States)

    Schall, Arthur; Tesky, Valentina A; Adams, Ann-Katrin; Pantel, Johannes

    2017-01-01

    ARTEMIS (ART Encounters: Museum Intervention Study) is an art-based intervention designed especially for people with dementia and their care partners that involves a combination of museum visits and artistic activity. This paper reports the results of a randomized wait-list controlled study on the influence of the ARTEMIS intervention on the emotional state, well-being, and quality of life of dementia patients. People with mild-to-moderate dementia (n = 44) and their care partners (n = 44) visited the Frankfurt Städel Museum once a week on six pre-arranged occasions. The intervention consisted of six different guided art tours (60 minutes), followed by art-making in the studio (60 minutes). Independent museum visits served as a control condition. A mixed-methods design was used to assess several outcomes including cognitive status, emotional well-being, self-rated aspects of quality of life, and subjective evaluations by informal caregivers. In a pre-post-assessment, we found significant improvements in participants' self-rated quality of life (t = -3.15, p life in people with dementia. This promising psychosocial approach deserves further attention in future studies and consideration in community-based dementia care programs.

  20. Laser assisted robotic surgery in cornea transplantation

    Science.gov (United States)

    Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

    2017-03-01

    Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

  1. Improving mobile robot localization: grid-based approach

    Science.gov (United States)

    Yan, Junchi

    2012-02-01

    Autonomous mobile robots have been widely studied not only as advanced facilities for industrial and daily life automation, but also as a testbed in robotics competitions for extending the frontier of current artificial intelligence. In many of such contests, the robot is supposed to navigate on the ground with a grid layout. Based on this observation, we present a localization error correction method by exploring the geometric feature of the tile patterns. On top of the classical inertia-based positioning, our approach employs three fiber-optic sensors that are assembled under the bottom of the robot, presenting an equilateral triangle layout. The sensor apparatus, together with the proposed supporting algorithm, are designed to detect a line's direction (vertical or horizontal) by monitoring the grid crossing events. As a result, the line coordinate information can be fused to rectify the cumulative localization deviation from inertia positioning. The proposed method is analyzed theoretically in terms of its error bound and also has been implemented and tested on a customary developed two-wheel autonomous mobile robot.

  2. The use of soft robotics in cardiovascular therapy.

    Science.gov (United States)

    Wamala, Isaac; Roche, Ellen T; Pigula, Frank A

    2017-10-01

    Robots have been employed in cardiovascular therapy as surgical tools and for automation of hospital systems. Soft robots are a new kind of robot made of soft deformable materials, that are uniquely suited for biomedical applications because they are inherently less likely to injure body tissues and more likely to adapt to biological environments. Awareness of the soft robotic systems under development will help promote clinician involvement in their successful clinical translation. Areas covered: The most advanced soft robotic systems, across the size scale from nano to macro, that have shown the most promise for clinical application in cardiovascular therapy because they offer solutions where a clear therapeutic need still exists. We discuss nano and micro scale technology that could help improve targeted therapy for cardiac regeneration in ischemic heart disease, and soft robots for mechanical circulatory support. Additionally, we suggest where the gaps in the technology currently lie. Expert commentary: Soft robotic technology has now matured from the proof-of-concept phase to successful animal testing. With further refinement in materials and clinician guided application, they will be a useful complement for cardiovascular therapy.

  3. Welding robot package; Arc yosetsu robot package

    Energy Technology Data Exchange (ETDEWEB)

    Nishikawa, S. [Yaskawa Electric Corp., Kitakyushu (Japan)

    1998-09-01

    For the conventional high-speed welding robot, the welding current was controlled mainly for reducing the spatters during short circuits and for stabilizing the beads by the periodic short circuits. However, an increase of deposition amount in response to the speed is required for the high-speed welding. Large-current low-spatter welding current region control was added. Units were integrated into a package by which the arc length is kept in short without dispersion of arc length for welding without defects such as undercut and unequal beads. In automobile industry, use of aluminum parts is extended for the light weight. The welding is very difficult, and automation is not so progressing in spite of the poor environment. Buckling of welding wire is easy to occur, and supply of wire is obstructed by the deposition of chipped powders on the torch cable, which stay within the contact chip resulting in the deposition. Dislocation of locus is easy to occur at the corner of rectangular pipe during the welding. By improving these troubles, an aluminum MIG welding robot package has been developed. 13 figs.

  4. A survey on dielectric elastomer actuators for soft robots.

    Science.gov (United States)

    Gu, Guo-Ying; Zhu, Jian; Zhu, Li-Min; Zhu, Xiangyang

    2017-01-23

    Conventional industrial robots with the rigid actuation technology have made great progress for humans in the fields of automation assembly and manufacturing. With an increasing number of robots needing to interact with humans and unstructured environments, there is a need for soft robots capable of sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence of soft robotics offers the prospect of applying soft actuators as artificial muscles in robots, replacing traditional rigid actuators. Dielectric elastomer actuators (DEAs) are recognized as one of the most promising soft actuation technologies due to the facts that: i) dielectric elastomers are kind of soft, motion-generating materials that resemble natural muscle of humans in terms of force, strain (displacement per unit length or area) and actuation pressure/density; ii) dielectric elastomers can produce large voltage-induced deformation. In this survey, we first introduce the so-called DEAs emphasizing the key points of working principle, key components and electromechanical modeling approaches. Then, different DEA-driven soft robots, including wearable/humanoid robots, walking/serpentine robots, flying robots and swimming robots, are reviewed. Lastly, we summarize the challenges and opportunities for the further studies in terms of mechanism design, dynamics modeling and autonomous control.

  5. Thermal battery automated assembly station conceptual design

    Energy Technology Data Exchange (ETDEWEB)

    Jacobs, D

    1988-08-01

    Thermal battery assembly involves many operations which are labor- intense. In August 1986, a project team was formed at GE Neutron Devices to investigate and evaluate more efficient and productive battery assembly techniques through the use of automation. The result of this study was the acceptance of a plan to automate the piece part pellet fabrication and battery stacking operations by using computerized pellet presses and robots which would be integrated by a main computer. This report details the conceptual design and development plan to be followed in the fabrication, development, and implementation of a thermal battery automated assembly station. 4 figs., 8 tabs.

  6. Monitored Retrievable Storage/Multi-Purpose Canister analysis: Simulation and economics of automation

    International Nuclear Information System (INIS)

    Bennett, P.C.; Stringer, J.B.

    1994-01-01

    Robotic automation is examined as a possible alternative to manual spent nuclear fuel, transport cask and Multi-Purpose canister (MPC) handling at a Monitored Retrievable Storage (MRS) facility. Automation of key operational aspects for the MRS/MPC system are analyzed to determine equipment requirements, through-put times and equipment costs is described. The economic and radiation dose impacts resulting from this automation are compared to manual handling methods

  7. A Review of Robotics in Neurorehabilitation: Towards an Automated Process for Upper Limb

    Directory of Open Access Journals (Sweden)

    E. D. Oña

    2018-01-01

    Full Text Available Robot-mediated neurorehabilitation is a growing field that seeks to incorporate advances in robotics combined with neuroscience and rehabilitation to define new methods for treating problems related with neurological diseases. In this paper, a systematic literature review is conducted to identify the contribution of robotics for upper limb neurorehabilitation, highlighting its relation with the rehabilitation cycle, and to clarify the prospective research directions in the development of more autonomous rehabilitation processes. With this aim, first, a study and definition of a general rehabilitation process are made, and then, it is particularized for the case of neurorehabilitation, identifying the components involved in the cycle and their degree of interaction between them. Next, this generic process is compared with the current literature in robotics focused on upper limb treatment, analyzing which components of this rehabilitation cycle are being investigated. Finally, the challenges and opportunities to obtain more autonomous rehabilitation processes are discussed. In addition, based on this study, a series of technical requirements that should be taken into account when designing and implementing autonomous robotic systems for rehabilitation is presented and discussed.

  8. A Review of Robotics in Neurorehabilitation: Towards an Automated Process for Upper Limb

    Science.gov (United States)

    Sánchez-Herrera, P.; Balaguer, C.; Jardón, A.

    2018-01-01

    Robot-mediated neurorehabilitation is a growing field that seeks to incorporate advances in robotics combined with neuroscience and rehabilitation to define new methods for treating problems related with neurological diseases. In this paper, a systematic literature review is conducted to identify the contribution of robotics for upper limb neurorehabilitation, highlighting its relation with the rehabilitation cycle, and to clarify the prospective research directions in the development of more autonomous rehabilitation processes. With this aim, first, a study and definition of a general rehabilitation process are made, and then, it is particularized for the case of neurorehabilitation, identifying the components involved in the cycle and their degree of interaction between them. Next, this generic process is compared with the current literature in robotics focused on upper limb treatment, analyzing which components of this rehabilitation cycle are being investigated. Finally, the challenges and opportunities to obtain more autonomous rehabilitation processes are discussed. In addition, based on this study, a series of technical requirements that should be taken into account when designing and implementing autonomous robotic systems for rehabilitation is presented and discussed. PMID:29707189

  9. A Review of Robotics in Neurorehabilitation: Towards an Automated Process for Upper Limb.

    Science.gov (United States)

    Oña, E D; Cano-de la Cuerda, R; Sánchez-Herrera, P; Balaguer, C; Jardón, A

    2018-01-01

    Robot-mediated neurorehabilitation is a growing field that seeks to incorporate advances in robotics combined with neuroscience and rehabilitation to define new methods for treating problems related with neurological diseases. In this paper, a systematic literature review is conducted to identify the contribution of robotics for upper limb neurorehabilitation, highlighting its relation with the rehabilitation cycle, and to clarify the prospective research directions in the development of more autonomous rehabilitation processes. With this aim, first, a study and definition of a general rehabilitation process are made, and then, it is particularized for the case of neurorehabilitation, identifying the components involved in the cycle and their degree of interaction between them. Next, this generic process is compared with the current literature in robotics focused on upper limb treatment, analyzing which components of this rehabilitation cycle are being investigated. Finally, the challenges and opportunities to obtain more autonomous rehabilitation processes are discussed. In addition, based on this study, a series of technical requirements that should be taken into account when designing and implementing autonomous robotic systems for rehabilitation is presented and discussed.

  10. Future of robots

    International Nuclear Information System (INIS)

    Stauffer, R.

    1984-01-01

    A decade ago, the United States was creating about 75% of the world's technology. Today, it is something like 50%. A decade from now, the figure could be down to 30%. The deteriorating condition of the U.S. competitive position in the world marketplace has become painfully evident to our government, the business community, and to labor. As with the energy crisis of several years ago, there has been a rude awakening to the critical need for a turnaround in our efforts to improve both productivity and quality. Industrial robots represent one of the most promising approaches to achieving both objectives. Today's top buzzword is, indeed, ''robot.'' The attention is well deserved. These versatile forms of flexible automation can improve productivity and quality through their consistent performance under the most difficult of working conditions. They are building an excellent track record in terms of dependability and uptime. The robot population in the U.S. now stands at around 7000, with sales growing at an annual rate of about 30%. By 1990, the total number of these machines on the plant floor could reach 100,000

  11. Robotic synthesis of [carbon-11]methionine

    International Nuclear Information System (INIS)

    Korsakov, M.V.; Kisselev, M.Y.; Solovyov, D.; Horti, A.G.; Vasilev, A.; Nilsson, L.E.; Ulin, J.

    1992-01-01

    [ 11 C]Methionine was prepared in a fully automated robotic synthesis, using the SCANDITRONIX robotic system starting from [ 11 C]I and homocysteine thiolactone. The product was purified using solid phase extraction on anionic exchange cartridges. The decay corrected yield was 60% based on CH 3 I and 16 min synthesis time. The radiochemical purity was 98-99% and the chemical impurities were: homocysteine 0.05-0.07 mg/ml, homocystine 0.005 mg/ml, 'cold' methionine 0.03-0.05 mg/ml, and homocysteine thiolactone 0.0008-0.002 mg/ml. The total procedure takes 30 min from EOB. (author) 6 figs., 3 tabs

  12. Mobile robots and remote systems in nuclear applications; Robots moviles y sistemas remotos en aplicaciones nucleares

    Energy Technology Data Exchange (ETDEWEB)

    Segovia de los Rios, J. A.; Benitez R, J. S., E-mail: armando.segovia@inin.gob.m [ININ, Departamento de Automatizacion e Instrumentacion, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico)

    2010-07-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  13. Automation of (64)Cu production at Turku PET Centre.

    Science.gov (United States)

    Elomaa, Viki-Veikko; Jurttila, Jori; Rajander, Johan; Solin, Olof

    2014-07-01

    At Turku PET Centre automation for handling solid targets for the production of (64)Cu has been built. The system consists of a module for moving the target from the irradiation position into a lead transport shield and a robotic-arm assisted setup for moving the target within radiochemistry laboratory. The main motivation for designing automation arises from radiation hygiene. Copyright © 2014 Elsevier Ltd. All rights reserved.

  14. Revolve: A Versatile Simulator for Online Robot Evolution

    NARCIS (Netherlands)

    Hupkes, Elte; Jelisavcic, M.J.; Eiben, A.E.; Sim, Kevin; Kaufmann, Paul

    2018-01-01

    Developing robotic systems that can evolve in real-time and real-space is a long term objective with technological as well as algorithmic milestones on the road. Technological prerequisites include advanced 3D-printing, automated assembly, and robust sensors and actuators. The necessary evolutionary

  15. Robots in the radiopharmaceutical laboratory...will they replace the chemist?

    International Nuclear Information System (INIS)

    Brodack, J.W.

    1990-01-01

    Under the premise that Positron Emission Tomography (PET) will become a routine imaging modality in the near future, the synthesis of the required short-lived tracers will need to be performed by some type of automated device in order to reduce radiation dose to personal. Among these devices, the use of laboratory robotics offers a flexibility and versatility unmatched by other methods: changes in a specific radiochemical synthesis or the incorporation of new ones are readily accomplished with software manipulation without modifications to the apparatus. While the effectiveness of such a device could render the chemist obsolete in the production of compounds for PET at some facilities, a trained chemist possesses the intuition necessary to program the robot efficiently and to correct any problems with the automated synthesis that software alone couldn't solve

  16. Small cities face greater impact from automation

    Science.gov (United States)

    Sun, Lijun; Cebrian, Manuel; Rahwan, Iyad

    2018-01-01

    The city has proved to be the most successful form of human agglomeration and provides wide employment opportunities for its dwellers. As advances in robotics and artificial intelligence revive concerns about the impact of automation on jobs, a question looms: how will automation affect employment in cities? Here, we provide a comparative picture of the impact of automation across US urban areas. Small cities will undertake greater adjustments, such as worker displacement and job content substitutions. We demonstrate that large cities exhibit increased occupational and skill specialization due to increased abundance of managerial and technical professions. These occupations are not easily automatable, and, thus, reduce the potential impact of automation in large cities. Our results pass several robustness checks including potential errors in the estimation of occupational automation and subsampling of occupations. Our study provides the first empirical law connecting two societal forces: urban agglomeration and automation's impact on employment. PMID:29436514

  17. Small cities face greater impact from automation.

    Science.gov (United States)

    Frank, Morgan R; Sun, Lijun; Cebrian, Manuel; Youn, Hyejin; Rahwan, Iyad

    2018-02-01

    The city has proved to be the most successful form of human agglomeration and provides wide employment opportunities for its dwellers. As advances in robotics and artificial intelligence revive concerns about the impact of automation on jobs, a question looms: how will automation affect employment in cities? Here, we provide a comparative picture of the impact of automation across US urban areas. Small cities will undertake greater adjustments, such as worker displacement and job content substitutions. We demonstrate that large cities exhibit increased occupational and skill specialization due to increased abundance of managerial and technical professions. These occupations are not easily automatable, and, thus, reduce the potential impact of automation in large cities. Our results pass several robustness checks including potential errors in the estimation of occupational automation and subsampling of occupations. Our study provides the first empirical law connecting two societal forces: urban agglomeration and automation's impact on employment. © 2018 The Authors.

  18. Advanced robotics R+D at KfK

    International Nuclear Information System (INIS)

    Rininsland, H.; Smidt, D.; Trauboth, H.; Kernforschungszentrum Karlsruhe G.m.b.H.; Kernforschungszentrum Karlsruhe G.m.b.H.

    1987-01-01

    Particular considerations for teleoperated and very long reach robotic systems are given. Robotic systems involving long reach referred to, include the TFTR maintenance boom developed for the Princeton fusion reactor and future automated cranes and bridge inspection equipment. A project to develop such long reach booms currently involves Putzmeister and the NRC, who will be responsible for developing the collision avoidance algorithms as part of a 'computer aided telemanipulation' approach. Problems encountered with operating equipment of this kind remotely were addressed during the recent Chernobyl disaster at which a range of equipment developed by Putzmeister was applied to combat the disaster. (orig./HP)

  19. Development of constrained motion control for robot handling of hazardous waste

    International Nuclear Information System (INIS)

    Starr, G.P.

    1993-01-01

    Handling and archiving of hazardous waste is an area where automation and robotics can be of significant benefit, by removing the human operator from the workplace and its associated hazards. For reasons of safety, throughput, and reduced setup time, force-controlled robots are well-suited for hazardous materials handling. The focus of this investigation is the development of advanced force control techniques for commercial industrial robots in the surface sampling of hazardous waste containers. Two particular control strategies are considered, (1) preview control, and (2) adaptive control. Preview control uses a sensor which can ''look ahead'' and thereby reduce the effect of surface irregularity on contact force control. Adaptive control allows the robot controller to compensate for changes in the robot characteristics as it changes position, and likewise improves performance. The resulting control algorithms will be applied to a two-dimensional contour-following task using a PUMA robot at the Robotics Research Laboratory at The University of New Mexico. (author) 9 figs., 13 refs

  20. Robotic Fabrication in Architecture, Art and Design 2016

    CERN Document Server

    Saunders, Rob; Burry, Jane

    2016-01-01

    The book presents the proceedings of Rob/Arch 2016, the third international conference on robotic fabrication in architecture, art, and design. The work contains a wide range of contemporary topics, from methodologies for incorporating dynamic material feedback into existing fabrication processes, to novel interfaces for robotic programming, to new processes for large-scale automated construction. The latent argument behind this research is that the term ‘file-to-factory’ must not be a reductive celebration of expediency but instead a perpetual challenge to increase the quality of feedback between design, matter, and making.

  1. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  2. Space station automation study: Automation requirements derived from space manufacturing concepts. Volume 1: Executive summary

    Science.gov (United States)

    1984-01-01

    The electroepitaxial process and the Very Large Scale Integration (VLSI) circuits (chips) facilities were chosen because each requires a very high degree of automation, and therefore involved extensive use of teleoperators, robotics, process mechanization, and artificial intelligence. Both cover a raw materials process and a sophisticated multi-step process and are therfore highly representative of the kinds of difficult operation, maintenance, and repair challenges which can be expected for any type of space manufacturing facility. Generic areas were identified which will require significant further study. The initial design will be based on terrestrial state-of-the-art hard automation. One hundred candidate missions were evaluated on the basis of automation portential and availability of meaning ful knowldege. The design requirements and unconstrained design concepts developed for the two missions are presented.

  3. iPathology: Robotic Applications and Management of Plants and Plant Diseases

    OpenAIRE

    Yiannis Ampatzidis; Luigi De Bellis; Andrea Luvisi

    2017-01-01

    The rapid development of new technologies and the changing landscape of the online world (e.g., Internet of Things (IoT), Internet of All, cloud-based solutions) provide a unique opportunity for developing automated and robotic systems for urban farming, agriculture, and forestry. Technological advances in machine vision, global positioning systems, laser technologies, actuators, and mechatronics have enabled the development and implementation of robotic systems and intelligent technologies f...

  4. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    OpenAIRE

    Kia, Chua; Arshad, Mohd Rizal

    2006-01-01

    This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

  5. UNIVERSITY RESEARCH PROGRAM IN ROBOTICS, Final Technical Annual Report, Project Period: 9/1/04 - 8/31/05

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane III

    2006-02-15

    The University Research Program in Robotics (URPR) Implementation Plan is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities of robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  6. Incorporation of safety interlocks in commercial robotics for handling of nuclear materials

    International Nuclear Information System (INIS)

    Moore, F.W.

    1986-01-01

    Current robotic systems have been developed primarily for the automotive and electronic industry. The adaptation of these commercial robotic systems to applications in the manufacturing of nuclear fuel requires the addition of safety interlocks as to the handling and accountability of nuclear materials. Also, additional safety interlocks are required when the robots are operated in containment enclosures that are environmentally sealed. Interlocks have been incorporated into a commercial robot. The robotic system has been installed in the containment enclosure as part of the pellet storage subsystem into the Secure Automated Fabrication (SAF) facility currently being built by Westinghouse Hanford Company (WHC) for the US Department of Energy (DOE). The system has been installed in the Fuel Cycle Plant and is scheduled for initial operational testing in 1986

  7. Incorporation of safety interlocks in commercial robotics for handling of nuclear materials

    International Nuclear Information System (INIS)

    Moore, F.W.

    1986-01-01

    The adaptation of commercial robotic systems to applications in the manufacturing of nuclear fuel has required the addition of safety interlocks as to the handling and accountability of nuclear materials. Also, additional safety interlocks are required when the robots are operated in containment enclosures that are environmentally sealed. Interlocks have been incorporated in a commercial robot which was modified and with additional interlocks into the existing robotic control system. The robotic system has been installed in the containment enclosure as part of the pellet storage subsystem in the Secure Automated Fabrication facility currently being built by Westinghouse Hanford Company for the US Department of Energy. The system has been installed in the Fuel Cycle Plant and is scheduled for initial operational testing in 1986

  8. Current Capabilities and Development Potential in Surgical Robotics

    Directory of Open Access Journals (Sweden)

    Mathias Hoeckelmann

    2015-05-01

    Full Text Available Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperated manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

  9. Trends in control and decision-making for human-robot collaboration systems

    CERN Document Server

    Zhang, Fumin

    2017-01-01

    This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment. The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering: one-human–one-robot collaboration; one-human–multiple-robot collaboration; and human–swarm collaboration. Individual topic ar...

  10. Marinization concept for the TRICEPT TR600 robot

    Energy Technology Data Exchange (ETDEWEB)

    Meyer, A.; Aust, E.; Niemann, H.R.; Santos, J.F. dos [GKSS-Forschungszentrum Geesthacht GmbH (Germany). Inst. fuer Materialforschung; Hammerin, R.; Neumann, K.E. [Neos Robotics AB, Taeby (Sweden); Gibson, D. [National Hyperbaric Centre, Aberdeen (United Kingdom)

    1998-11-01

    The need for automated welding repair systems of marine structures, ship hulls and nuclear installations had lead to an increasing demand for subsea robots. Considering the application of friction welding to perform underwater repairs, a TRICEPT TR600 robot has been identified as the most suitable system to withstand the high reaction forces characteristic of this process. This study reviews initially the research and development work carried out at GKSS to modify and test a Siemens-MANUTEC robot. After a description of the TRICEPT TR600 robot a marinization concept is presented and discussed in detail. Problems of galvanic corrosion in seawater are addressed in a separate chapter. The deflection of the robot in subsea water currents is estimated with a worst-case calculation. (orig.) [Deutsch] Der Wunsch, Roboter auch unter Wasser einsetzen zu koennen, waechst mit steigendem Interesse nach automatisierten Schweissverfahren fuer Reparaturen an marinen Bauwerken, Schiffsruempfen und in Kernenergieanlagen. Fuer den Einsatz von Reibschweissverfahren fuer diese Reparaturen wurde der TRICEPT TR600-Roboter ausgewaehlt, da dieser auch den charakteristisch hohen Prozesskraeften widerstehen kann. Die notwendigen Modifikationen und Pruefungen werden beispielhaft anhand des bei der GKSS modifizierten Siemens-MANUTEC-Roboters vorgestellt. Nach einer Beschreibung des TRICEPT-Roboters werden die notwendigen Umbaumassnahmen detailliert dargestellt und diskutiert. Auf die Problematik der galvanischen Korrosion in Seewasser wird in einem gesonderten Kapitel naeher eingegangen. Zusaetzlich wird eine moegliche Ablenkung des Roboters durch Wasserstroemung ueberschlaegig berechnet. (orig.)

  11. [Robotic assistance in gynaecological surgery: State-of-the-art].

    Science.gov (United States)

    Monsarrat, N; Collinet, P; Narducci, F; Leblanc, E; Vinatier, D

    2009-05-01

    From the Automated Endoscopic System for Optimal Positioning (AESOP), a robotic arm which operates the laparoscope, to the robots Zeus and da Vinci, robotic assistance in gynaecological endoscopic surgery has continuously evolved for the last fifteen years or so. It has brought about new technical advancements: the last generation robots offer a steady three-dimensional image, improved instrument dexterity and precision, higher ergonomics and comfort for the surgeon. The da Vinci robotic system has been used without evincing any specific morbidity in various cases, notably for tubal reanastomosis, myomectomy, hysterectomy, pelvic and para-aortic lymphadenectomy or sacrocolpopexy amongst others. Robotic assistance in gynaecology is thus feasible. Like conventional laparoscopic surgery, it allows decreased blood loss and morbidity as well as shorter hospital stay, as compared to laparotomy. It might indeed allow many surgical teams to perform minimally invasive surgical procedures which they were not used to performing by laparoscopy. Randomized prospective studies are needed to define its indications more precisely. Besides, its medico-financial impact should be evaluated too.

  12. Research and development of advanced robots for nuclear power plants

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Hirukawa, Hirohisa; Kitagaki, Kosei; Liu, Yunhui; Onda, Hiromu; Nakamura, Akira

    1994-01-01

    Social and economic demands have been pressing for automation of inspection tasks, maintenance and repair jobs of nuclear power plants, which are carried out by human workers under circumstances with high radiation level. Since the plants are not always designed for introduction of automatic machinery, sophisticated robots shall play a crucial role to free workers from hostile environments. We have been studying intelligent robot systems and regarded nuclear industries as one of the important application fields where we can validate the feasibility of the methods and systems we have developed. In this paper we firstly discuss on the tasks required in nuclear power plants. Secondly we introduce current status of R and D on special purpose robots, versatile robots and intelligent robots for automatizing the tasks. Then we focus our discussions on three major functions in realizing robotized assembly tasks under such unstructured environments as in nuclear power plants; planning, vision and manipulation. Finally we depict an image of a prototype robot system for nuclear power plants based on the advanced functions. (author) 64 refs

  13. Exploiting Dynamics in robotic arms with repetitive tasks

    NARCIS (Netherlands)

    Plooij, M.C.

    2015-01-01

    Since the industrial revolution, machines have taken over many tasks from humans, increasing labor productivity and prosperity. In the 20th century, the introduction of robots created a second wave of automation, increasing the labor productivity even further. In order to create a third wave of

  14. Some aspects of automation in nuclear industry

    International Nuclear Information System (INIS)

    Padegaonkar, Varsha; Modi, R.K.; Venkatesh, D.; Ramkumar, M.S.; Ramanujam, A.; Dhumwad, R.K.

    1990-01-01

    Operations with radioactive materials (radioactive solutions, irradiated nuclear fuels, waste, etc.) need very specialised remote handling equipment. There is an increasing tendency to automate jobs that can clearly be planned. These include a surprisingly large number of tasks - especially if one considers using flexible robotic systems that can be performed automatically, remotely safely. One such system, namely, a computer controlled robotic radioactive sample solution handling system is described. It basically consists of a cylindrical co-ordinate type robot (LABOT), a computer controlled storage vault of chemical samples, decapping-capping device for bottles and software. An attempt is being made to give the technician a menu of possible operations and help him for coherent chain of operations. The computer, in addition to operating the robot, the storage vault and other accessories, will also log the operations performed and maintain records. The operations carried out by the robot are that of a chemical laboratory technician like sampling, aliquoting, weighing, storage and recovery of samples, maintenance of records, etc.. The electronic control system and system software are described. (author)

  15. Recent progress in the field of automated welding applied to maintenance activities

    International Nuclear Information System (INIS)

    Cullafroz, M.

    2004-01-01

    Automated and robot welding has 5 advantages compared to manual welding: -) under some conditions the automated circular welding does not require requalification testing as manual welding does, -) welding heads in robots have a reduced size compared to manual gears so they can enter and treat complex piping, -) by using an adequate viewing system the operator can be more than 10 meters away from the welding site which means that the radiation doses he receives is cut by a factor 1.5 to 2, -) whatever the configuration is, the deposition rate in automated welding stays high, the quality standard is steady and the risk of repairing is low, -) a gain in productivity if adequate equipment is used. In general, automated welding requires a TIG welding process and is applied in maintenance activities to: -) the main primary system and other circuits in stainless austenitic steels, -) the main secondary system and other circuits in low-percentage carbon steels, and -) the closure of spent fuel canisters. An application to the repairing of BWR's pipes is shown. (A.C.)

  16. Robots in pipe and vessel inspection: past, present, and future

    International Nuclear Information System (INIS)

    Mueller, T.A.; Tyndall, J.F.

    1984-01-01

    Over the past several decades, remotely operated scanners have been employed to inspect piping and pressure vessels. These devices in their early forms were manually controlled manipulators functioning as mere extensions of the operator. With the addition of limit sensing, speed control, and positional feedback and display, the early manipulators became primitive robots. By adding computer controls with their degree of intelligence to the devices, they achieved the status of robots. Future applications of vision, adaptive control, proximity sensing, and pattern recognition will bring these devices to a level of intelligence that will make automated robotic inspection of pipes and pressure vessels a true reality

  17. Some perspectives in nuclear robotics

    International Nuclear Information System (INIS)

    Ollier, J.L.; Mercier, O.

    1992-01-01

    Radiation exposure imposes close limits upon human activities in maintenance work in nuclear reactors. Manual or automated tool systems thus are becoming more and more important, especially for work on reactor cooling systems, in pressurizers, or in reactor vessels. Robot systems can be used the more universally, the easier it is to program them. Yet, special applications will require tailor-made solutions, up to and including self-controlling computer systems. Because of the great expense involved in developing them, the robot systems now available for use in nuclear power plants are the results of joint research by various European manufacturers and operators, sometimes with the support of the European Communities. Aramis is used, e.g., for manipulators, Frastar for mobile applications. (orig.) [de

  18. Development of a remote tank inspection robotic system

    International Nuclear Information System (INIS)

    Knape, B.P.; Bares, L.C.

    1990-01-01

    RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation

  19. High-throughput screening of cellulase F mutants from multiplexed plasmid sets using an automated plate assay on a functional proteomic robotic workcell

    Directory of Open Access Journals (Sweden)

    Qureshi Nasib

    2006-05-01

    Full Text Available Abstract Background The field of plasmid-based functional proteomics requires the rapid assay of proteins expressed from plasmid libraries. Automation is essential since large sets of mutant open reading frames are being cloned for evaluation. To date no integrated automated platform is available to carry out the entire process including production of plasmid libraries, expression of cloned genes, and functional testing of expressed proteins. Results We used a functional proteomic assay in a multiplexed setting on an integrated plasmid-based robotic workcell for high-throughput screening of mutants of cellulase F, an endoglucanase from the anaerobic fungus Orpinomyces PC-2. This allowed us to identify plasmids containing optimized clones expressing mutants with improved activity at lower pH. A plasmid library of mutagenized clones of the celF gene with targeted variations in the last four codons was constructed by site-directed PCR mutagenesis and transformed into Escherichia coli. A robotic picker integrated into the workcell was used to inoculate medium in a 96-well deep well plate, combining the transformants into a multiplexed set in each well, and the plate was incubated on the workcell. Plasmids were prepared from the multiplexed culture on the liquid handler component of the workcell and used for in vitro transcription/translation. The multiplexed expressed recombinant proteins were screened for improved activity and stability in an azo-carboxymethylcellulose plate assay. The multiplexed wells containing mutants with improved activity were identified and linked back to the corresponding multiplexed cultures stored in glycerol. Spread plates were prepared from the glycerol stocks and the workcell was used to pick single colonies from the spread plates, prepare plasmid, produce recombinant protein, and assay for activity. The screening assay and subsequent deconvolution of the multiplexed wells resulted in identification of improved Cel

  20. Automated robot-assisted surgical skill evaluation: Predictive analytics approach.

    Science.gov (United States)

    Fard, Mahtab J; Ameri, Sattar; Darin Ellis, R; Chinnam, Ratna B; Pandya, Abhilash K; Klein, Michael D

    2018-02-01

    Surgical skill assessment has predominantly been a subjective task. Recently, technological advances such as robot-assisted surgery have created great opportunities for objective surgical evaluation. In this paper, we introduce a predictive framework for objective skill assessment based on movement trajectory data. Our aim is to build a classification framework to automatically evaluate the performance of surgeons with different levels of expertise. Eight global movement features are extracted from movement trajectory data captured by a da Vinci robot for surgeons with two levels of expertise - novice and expert. Three classification methods - k-nearest neighbours, logistic regression and support vector machines - are applied. The result shows that the proposed framework can classify surgeons' expertise as novice or expert with an accuracy of 82.3% for knot tying and 89.9% for a suturing task. This study demonstrates and evaluates the ability of machine learning methods to automatically classify expert and novice surgeons using global movement features. Copyright © 2017 John Wiley & Sons, Ltd.