WorldWideScience

Sample records for artemis automated robotic

  1. ARTEMiS (Automated Robotic Terrestrial Exoplanet Microlensing Search) - A possible expert-system based cooperative effort to hunt for planets of Earth mass and below

    CERN Document Server

    Dominik, M; Allan, A; Rattenbury, N J; Tsapras, Y; Snodgrass, C; Bode, M F; Burgdorf, M J; Fraser, S N; Kerins, E; Mottram, C J; Steele, I A; Street, R A; Wheatley, P J; Wyrzykowski, L

    2008-01-01

    (abridged) The technique of gravitational microlensing is currently unique in its ability to provide a sample of terrestrial exoplanets around both Galactic disk and bulge stars, allowing to measure their abundance and determine their distribution with respect to mass and orbital separation. In order to achieve these goals in reasonable time, a well-coordinated effort involving a network of either 2m or 4 x 1m telescopes at each site is required. It could lead to the first detection of an Earth-mass planet outside the Solar system, and even planets less massive than Earth could be discovered. From April 2008, ARTEMiS (Automated Robotic Terrestrial Exoplanet Microlensing Search) is planned to provide a platform for a three-step strategy of survey, follow-up, and anomaly monitoring. As an expert system embedded in eSTAR (e-Science Telescopes for Astronomical Research), ARTEMiS will give advice on the optimal targets to be observed at any given time, and will also alert on deviations from ordinary microlensing l...

  2. Robotics and telemanipulation technologies for endoscopic surgery. A review of the ARTEMIS project. Advanced Robotic Telemanipulator for Minimally Invasive Surgery.

    Science.gov (United States)

    Schurr, M O; Buess, G; Neisius, B; Voges, U

    2000-04-01

    In endoscopic surgery, the ability to guide the instrument is significantly decreased compared with open surgery. Rigid laparoscopic instruments offer only four of the six degrees of freedom required for the free handling of objects in space. Robotics technology can be used to restore full mobility of the endoscopic instrument. Therefore, we designed a master-slave manipulator system (ARTEMIS) for laparoscopic surgery as a prototype. The system consists of two robotic arms holding two steerable laparoscopic instruments. These two work units are controlled from a console equipped with two master arms operated by the surgeon. The systems and its components were evaluated experimentally. Laparoscopic manipulations were feasible with the ARTEMIS system. The placement of ligatures and sutures and the handling of catheters were possible in phantom models. The surgical practicability of the system was demonstrated in animal experiments. We conclude that robotic manipulators are feasible for experimental endoscopic surgery. Their clinical application requires further technical development.

  3. [From automation to robotics].

    Science.gov (United States)

    1985-01-01

    The introduction of automation into the laboratory of biology seems to be unavoidable. But at which cost, if it is necessary to purchase a new machine for every new application? Fortunately the same image processing techniques, belonging to a theoretic framework called Mathematical Morphology, may be used in visual inspection tasks, both in car industry and in the biology lab. Since the market for industrial robotics applications is much higher than the market of biomedical applications, the price of image processing devices drops, and becomes sometimes less than the price of a complete microscope equipment. The power of the image processing methods of Mathematical Morphology will be illustrated by various examples, as automatic silver grain counting in autoradiography, determination of HLA genotype, electrophoretic gels analysis, automatic screening of cervical smears... Thus several heterogeneous applications may share the same image processing device, provided there is a separate and devoted work station for each of them.

  4. 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)

  5. 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...

  6. Expert Robots For Automated Packaging And Processing

    Science.gov (United States)

    Slutzky, G. D.; Hall, E. L.; Shell, R. L.

    1989-02-01

    A variety of problems in automated packaging and processing seem ready for expert robotic solutions. Such problems as automated palletizing, bin-picking, automated stoilw and retrieval, automated kitting of parts for assembly, and automated warehousing are currently being considered. The use of expert robots which consist of specialized computer programs, manipulators and integrated sensors has been demonstrated with robot Chedkers, peg games, etc. Actual solutions for automated palletizing, pit-carb basket loading, etc. have also been developed for industrial applications at our Center. The generic concepts arising from this research will be described, unsolved problems discussed, and some important tools demonstrated. The significance of this work lies in its broad application to a host of generic industrial problems which can improve quality, reduce waste, are eliminate human injuries.

  7. Automation and robotics for genetic analysis.

    Science.gov (United States)

    Smith, J H; Madan, D; Salhaney, J; Engelstein, M

    2001-05-01

    This guide to laboratory robotics covers a wide variety of methods amenable to automation including mapping, genotyping, barcoding and data handling, template preparation, reaction setup, colony and plaque picking, and more.

  8. 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)

  9. Generative Representations for Automated Design of Robots

    Science.gov (United States)

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

    2007-01-01

    A method of automated design of complex, modular robots involves an evolutionary process in which generative representations of designs are used. The term generative representations as used here signifies, loosely, representations that consist of or include algorithms, computer programs, and the like, wherein encoded designs can reuse elements of their encoding and thereby evolve toward greater complexity. Automated design of robots through synthetic evolutionary processes has already been demonstrated, but it is not clear whether genetically inspired search algorithms can yield designs that are sufficiently complex for practical engineering. The ultimate success of such algorithms as tools for automation of design depends on the scaling properties of representations of designs. A nongenerative representation (one in which each element of the encoded design is used at most once in translating to the design) scales linearly with the number of elements. Search algorithms that use nongenerative representations quickly become intractable (search times vary approximately exponentially with numbers of design elements), and thus are not amenable to scaling to complex designs. Generative representations are compact representations and were devised as means to circumvent the above-mentioned fundamental restriction on scalability. In the present method, a robot is defined by a compact programmatic form (its generative representation) and the evolutionary variation takes place on this form. The evolutionary process is an iterative one, wherein each cycle consists of the following steps: 1. Generative representations are generated in an evolutionary subprocess. 2. Each generative representation is a program that, when compiled, produces an assembly procedure. 3. In a computational simulation, a constructor executes an assembly procedure to generate a robot. 4. A physical-simulation program tests the performance of a simulated constructed robot, evaluating the performance

  10. Automated kinematic generator for surgical robotic systems.

    Science.gov (United States)

    Jung, David L; Dixon, Warren E; Pin, François G

    2004-01-01

    Unlike traditional assembly line robotic systems that have a fixed kinematic structure associated with a single tool for a structured task, next-generation robotic surgical assist systems will be required to use an array of end-effector tools. Once a robot is connected with a tool, the kinematic equations of motion are altered. Given the need to accommodate evolving surgical challenges and to alleviate the restrictions imposed by the confined minimally invasive environment, new surgical tools may resemble small flexible snakes rather than rigid, cable driven instruments. Connecting to these developing articulated tools will significantly alter the overall kinematic structure of a robotic system. In this paper we present a technique for real-time automated generation and evaluation of manipulator kinematic equations that exhibits the combined advantages of existing methods-speed and flexibility to kinematic change--without their disadvantages.

  11. 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. .

  12. 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)

  13. Advances in Automation and Robotics, Vol 2

    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 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 82 papers contributed by many researchers in relevant topic areas covered at ICAR2011 from various countries such as France, Japan, USA, Korea and China etc.  The session topics of this proceedings are signal processing and industrial engineering, production and management, which includes papers about signal reconstruction, mechanical sensors, real-time systems control system identification, change detection problems, business process modeling, production planning, scheduling and control, computer-based manufacturing technologies, systems modeling and simulation, fa...

  14. 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...

  15. 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.

  16. 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....... The strategy may be changed in the coming years because experiments in Germany, USA, Australia, and Denmark have shown that site-specific weed management can reduce herbicide usage significantly. One of the promising technologies for site specific weed management is robotic weeding. This paper reviews...... 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....

  17. 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.    .

  18. 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).

  19. Toward the Automated Synthesis of Cooperative Mobile Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    A current limitation in the real-world use of cooperating mobiIe robots is the difficulty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-specific basis. The objective of our research is to reduce the complexity of cooperative robotic systems through the development of a methodology that enables the automated synthesis of cooperative robot teams. We propose an approach to this problem that uses a combination of the theories of sensori-computational systems and information invariants, building on the earlier work of Donald, Rus, et al. We describe the notion of defining equivalence classes that serve as fundamental building blocks of more complex cooperative mobile robot behaviors. We postulate a methodology for framing mission requirements in terms of the goals and constraints of the problem, incorporating issues such as multi-robot interference, communication, control strategy, robot complexity, and so forth, into the mechanism. Our initial work restricts the robot application and design space to three multi-robot application domains we have previously studied and implemented: keeping formation, "mock" hazardous waste cleanup, and cooperative observation. This paper presents the foundational ideas upon which our approach to cooperative team design is based. Keywords: Cooperative behaviors, behavior synthesis, multi-robot learning

  20. Automated Robot with Object Recognition and Handling Features

    Directory of Open Access Journals (Sweden)

    Amiraj Dhawan

    2013-06-01

    Full Text Available With the advent of new technologies, every industry is moving towards automation. A large number of jobs in industries, such as Manufacturing, are performed repeatedly. These jobs require a lot of human effort. In such cases, there is a need of an automated robot which can perform the repetitive task more efficiently. This paper is about a robot which has object recognition and handling features. The robot will optically recognize the objects and pick and place them as per the hand gestures given by the user. It will have a camera to capture image of the objects and one arm to perform the pick and place function.

  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. Robotics, automation, and the new role of process control.

    Science.gov (United States)

    McPherson, R A

    1998-01-01

    The natural progression of automation in the clinical laboratory next will lead to robotic devices to perform many of the manual tasks still remaining. To date, most efforts of laboratory automation have been directed at the analytic phase. New targets for automation will be at the preanalytic and postanalytic phases where many of the bottlenecks in specimen flow now occur in highly repetitive manual tasks. Laboratory professionals will have a unique opportunity to incorporate new concepts of robotics in their facilities to improve error rates and to use massive laboratory databases to improve medical and public health services.

  3. 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.

  4. An automated miniature robotic vehicle inspection system

    Science.gov (United States)

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

    2014-02-01

    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.

  5. 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.

  6. Automating construction through the use of robotics and Graphical Programming

    Energy Technology Data Exchange (ETDEWEB)

    McDonald, M.J.; Palmquist, R.D.

    1993-08-01

    Sandia has developed an advanced operational control system approach, called Graphical Programming, to design and operate robot systems in unstructured environments. This Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. This approach uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command the actual robots and monitor their motions with the graphic system. Graphical Programming Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control. All of these capabilities when combined result in a flexible system which is readily able to meet the demands called for in construction automation. This paper describes the Graphical Programming approach, several example control systems that use Graphical Programming, key features necessary for implementing successful Graphical Programming systems, and specific examples of applying these systems to robotic operations.

  7. 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.

  8. 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.

  9. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  11. Automating Knowledge Acquisition in a Flightline Robot.

    Science.gov (United States)

    1985-12-01

    accept, but few would have accepted a similar prediction in 1920 for the horseless carriage. Isaac Asimov addressed this problem with his now famous three...CAP SPR) (RELEASE FUEL-CAP) (GOTO-ITEM DOOR) (CLOSE-ACCESS-DOOR DOOR)) G-2 Bibliography 1. Asimov , Isaac . I, Robot. New York: Ballantine Books, 1983...does not conflict with the First or Second Law (1:1). At first glance the list looks complete but Asimov notes that there are glitches in it. For one

  12. 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.

  13. Recent advances in automation, robotics and measuring techniques

    CERN Document Server

    Zieliński, Cezary; Kaliczyńska, Małgorzata

    2014-01-01

    This book presents the recent advances and developments in control, automation, robotics, and measuring techniques. It presents 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 book presents the results of the International Conference AUTOMATION 2014 held 26 - 28 March, 2014 in Warsaw, Poland on Automation – Innovations and Future Prospectives 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.

  14. 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.

  15. Automated retinal robotic laser system instrumentation

    Science.gov (United States)

    Barrett, Steven F.; Wright, Cameron H. G.; Jerath, Maya R.; Lewis, R. Stephen, II; Dillard, Bryan C.; Rylander, Henry G., III; Welch, Ashley J.

    1995-05-01

    Researchers at the University of Texas at Austin's Biomedical Engineering Laser Laboratory investigating the medical applications of lasers have worked toward the development of a retinal robotic laser system. The ultimate goal of this ongoing project is to precisely place and control the depth of laser lesions for the treatment of various retinal diseases such as diabetic retinopathy and retinal tears. Researchers at the USAF Academy's Department of Electrical Engineering have also become involved with this research due to similar interests. Separate low speed prototype subsystems have been developed to control lesion depth using lesion reflectance feedback parameters and lesion placement using retinal vessels as tracking landmarks. Both subsystems have been successfully demonstrated in vivo on pigmented rabbits using an argon continuous wave laser. Work is ongoing to build a prototype system to simultaneously control lesion depth and placement. The instrumentation aspects of the prototype subsystems were presented at SPIE Conference 1877 in January 1993. Since then our efforts have concentrated on combining the lesion depth control subsystem and the lesion placement subsystem into a single prototype capable of simultaneously controlling both parameters. We have designed this combined system CALOSOS for Computer Aided Laser Optics System for Ophthalmic Surgery. An initial CALOSOS prototype design is provided. We have also investigated methods to improve system response time. The use of high speed non-standard frame rate CCD cameras and high speed local bus frame grabbers hosted on personal computers are being investigated. A review of system testing in vivo to date is provided in SPIE Conference proceedings 2374-49 (Novel Applications of Lasers and Pulsed Power, Dual-Use Applications of Lasers: Medical session).

  16. Automated assay optimization with integrated statistics and smart robotics.

    Science.gov (United States)

    Taylor, P B; Stewart, F P; Dunnington, D J; Quinn, S T; Schulz, C K; Vaidya, K S; Kurali, E; Lane, T R; Xiong, W C; Sherrill, T P; Snider, J S; Terpstra, N D; Hertzberg, R P

    2000-08-01

    The transition from manual to robotic high throughput screening (HTS) in the last few years has made it feasible to screen hundreds of thousands of chemical entities against a biological target in less than a month. This rate of HTS has increased the visibility of bottlenecks, one of which is assay optimization. In many organizations, experimental methods are generated by therapeutic teams associated with specific targets and passed on to the HTS group. The resulting assays frequently need to be further optimized to withstand the rigors and time frames inherent in robotic handling. Issues such as protein aggregation, ligand instability, and cellular viability are common variables in the optimization process. The availability of robotics capable of performing rapid random access tasks has made it possible to design optimization experiments that would be either very difficult or impossible for a person to carry out. Our approach to reducing the assay optimization bottleneck has been to unify the highly specific fields of statistics, biochemistry, and robotics. The product of these endeavors is a process we have named automated assay optimization (AAO). This has enabled us to determine final optimized assay conditions, which are often a composite of variables that we would not have arrived at by examining each variable independently. We have applied this approach to both radioligand binding and enzymatic assays and have realized benefits in both time and performance that we would not have predicted a priori. The fully developed AAO process encompasses the ability to download information to a robot and have liquid handling methods automatically created. This evolution in smart robotics has proven to be an invaluable tool for maintaining high-quality data in the context of increasing HTS demands.

  17. 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

    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......‐lens and binary‐source models, including the possibility that the lens system consists of an M dwarf orbited by a brown dwarf. The detection of this microlensing anomaly and our analysis demonstrate that: (1) automated real‐time detection of weak microlensing anomalies with immediate feedback is feasible...

  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. Proceedings of the 1986 IEEE international conference on robotics and automation

    Energy Technology Data Exchange (ETDEWEB)

    1986-01-01

    This book presents the papers given at a conference on robots. Topics considered at the conference included manipulator simulations and solutions, robot dynamics and control, control mechanization, multi-arm control and planning, computer vision, planning and scheduling for automated electronics manufacturing, machining simulation, programming, adaptive manipulator control, manipulator dynamics, advanced control techniques, robot control organization, advanced sensing techniques, advanced robot control concepts and mechanizations, machine vision techniques, and multiple view and motion in computer vision.

  20. Multispectral tissue analysis and classification towards enabling automated robotic surgery

    Science.gov (United States)

    Triana, Brian; Cha, Jaepyeong; Shademan, Azad; Krieger, Axel; Kang, Jin U.; Kim, Peter C. W.

    2014-02-01

    Accurate optical characterization of different tissue types is an important tool for potentially guiding surgeons and enabling automated robotic surgery. Multispectral imaging and analysis have been used in the literature to detect spectral variations in tissue reflectance that may be visible to the naked eye. Using this technique, hidden structures can be visualized and analyzed for effective tissue classification. Here, we investigated the feasibility of automated tissue classification using multispectral tissue analysis. Broadband reflectance spectra (200-1050 nm) were collected from nine different ex vivo porcine tissues types using an optical fiber-probe based spectrometer system. We created a mathematical model to train and distinguish different tissue types based upon analysis of the observed spectra using total principal component regression (TPCR). Compared to other reported methods, our technique is computationally inexpensive and suitable for real-time implementation. Each of the 92 spectra was cross-referenced against the nine tissue types. Preliminary results show a mean detection rate of 91.3%, with detection rates of 100% and 70.0% (inner and outer kidney), 100% and 100% (inner and outer liver), 100% (outer stomach), and 90.9%, 100%, 70.0%, 85.7% (four different inner stomach areas, respectively). We conclude that automated tissue differentiation using our multispectral tissue analysis method is feasible in multiple ex vivo tissue specimens. Although measurements were performed using ex vivo tissues, these results suggest that real-time, in vivo tissue identification during surgery may be possible.

  1. 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.

  2. 1999 IEEE international conference on robotics and automation

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-07-01

    Topics covered in this conference include: biped robots; underwater vehicles; robot planning and programming for assembly; discrete event control of mobile robot maneuvering; navigation in unknown environment; biped robots; underwater vehicles; robot planning and programming for assembly; discrete event control of manufacturing systems; motion planning; robot control; actuator; teleoperation; force and position control; contact and grasping control; visual servo control; tactile sensing; mobile robots and applications; sensor-based navigation; underwater robotics; sensing, navigation and control; flexible manipulators; task scheduling; actuators and joint actuation; teleoperation; sensor-based teleoperation; contact geometry; sonar-based sensing; mobile robot-environment interaction; mobile robot motion planning; biology-inspired methods; service and underwater robots; manufacturing planning and scheduling; constraint and nonholonomic system; fault-tolerant robots; parallel manipulators; dexterous manipulation; computer vision in manufacturing; contact sensing; mobile robot field applications; flexible robots; fuzzy control; and more.

  3. 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.

  4. 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.

  5. 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...

  6. 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 ...

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. Self-Organization and Self-Coordination in Welding Automation with Collaborating Teams of Industrial Robots

    Directory of Open Access Journals (Sweden)

    Günther Starke

    2016-11-01

    Full Text Available In welding automation, growing interest can be recognized in applying teams of industrial robots to perform manufacturing processes through collaboration. Although robot teamwork can increase profitability and cost-effectiveness in production, the programming of the robots is still a problem. It is extremely time consuming and requires special expertise in synchronizing the activities of the robots to avoid any collision. Therefore, a research project has been initiated to solve those problems. This paper will present strategies, concepts, and research results in applying robot operating system (ROS and ROS-based solutions to overcome existing technical deficits through the integration of self-organization capabilities, autonomous path planning, and self-coordination of the robots’ work. The new approach should contribute to improving the application of robot teamwork and collaboration in the manufacturing sector at a higher level of flexibility and reduced need for human intervention.

  13. MAGNETIC RESONANCE IMAGING COMPATIBLE ROBOTIC SYSTEM FOR FULLY AUTOMATED BRACHYTHERAPY SEED PLACEMENT

    Science.gov (United States)

    Muntener, Michael; Patriciu, Alexandru; Petrisor, Doru; Mazilu, Dumitru; Bagga, Herman; Kavoussi, Louis; Cleary, Kevin; Stoianovici, Dan

    2011-01-01

    Objectives To introduce the development of the first magnetic resonance imaging (MRI)-compatible robotic system capable of automated brachytherapy seed placement. Methods An MRI-compatible robotic system was conceptualized and manufactured. The entire robot was built of nonmagnetic and dielectric materials. The key technology of the system is a unique pneumatic motor that was specifically developed for this application. Various preclinical experiments were performed to test the robot for precision and imager compatibility. Results The robot was fully operational within all closed-bore MRI scanners. Compatibility tests in scanners of up to 7 Tesla field intensity showed no interference of the robot with the imager. Precision tests in tissue mockups yielded a mean seed placement error of 0.72 ± 0.36 mm. Conclusions The robotic system is fully MRI compatible. The new technology allows for automated and highly accurate operation within MRI scanners and does not deteriorate the MRI quality. We believe that this robot may become a useful instrument for image-guided prostate interventions. PMID:17169653

  14. 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...

  15. Development of the Automated Bonding Robot for Space Solar Cells

    Institute of Scientific and Technical Information of China (English)

    WU Yue-xin; ZHAO Yan-zheng; FU Zhuang; ZHAO Hui; LUO Zhen

    2007-01-01

    The bonding process of space solar cells is a very complicated task undertaken by manual labor before. An automatic approach based on robot technology is presented to deal with the difficult problem. The architecture of the bonding robot for space solar cells is described. The two processes carried out by the robot, adhesive dispensing and cover-glass bonding, are studied. Based on the mechanical model, the flow velocity field of the adhesive in needles is obtained and the cover-glass bonding theory is interpreted. According to the studies, the thickness of the adhesive can be controlled accurately by robot and bubbles can be avoided coming about inside the adhesive.

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

    DEFF Research Database (Denmark)

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

    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...

  17. 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.

  18. Design and Development of an automated Robotic Pick & Stow System for an e-Commerce Warehouse

    OpenAIRE

    Kumar, Swagat; Majumder, Anima; Dutta, Samrat; Raja, Rekha; Jotawar, Sharath; Kumar, Ashish; Soni, Manish; Raju, Venkat; Kundu, Olyvia; Behera, Ehtesham Hassan Laxmidhar; K. S. Venkatesh; Sinha, Rajesh

    2017-01-01

    In this paper, we provide details of a robotic system that can automate the task of picking and stowing objects from and to a rack in an e-commerce fulfillment warehouse. The system primarily comprises of four main modules: (1) Perception module responsible for recognizing query objects and localizing them in the 3-dimensional robot workspace; (2) Planning module generates necessary paths that the robot end- effector has to take for reaching the objects in the rack or in the tote; (3) Calibra...

  19. 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.

  20. Enhancements to a Guidance System for an Automated Warehouse Equipped with Mobile Robots

    Science.gov (United States)

    1990-09-01

    34 Robotica , Vol 4, Part 11 (April- June 1986), pp 93-1(0. Litton AGVs, brochure (Litton Industrial Automation Systems, Inc., Automated Vehicle...work was accom- plished under contract by the Department of Mechanical and Industrial Engineering at the University of Illinois at Urbana/Champaign, IL...implementation and industry involvement in producing the needed mobile robots will be based on the out- come of the field test. 10 2 DESIGN OF WAREHOUSE

  1. Machine Vision Automation for Ground Control Tele-Robotics Project

    Data.gov (United States)

    National Aeronautics and Space Administration — This project seeks to advance ground based tele-robotic capabilities with the development of natural feature target tracking technology with the use of machine...

  2. 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…

  3. 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.

  4. An Artemis polymorphic variant reduces Artemis activity and confers cellular radiosensitivity

    NARCIS (Netherlands)

    Woodbine, Lisa; Grigoriadou, Sofia; Goodarzi, Aaron A.; Riballo, Enriqueta; Tape, Christopher; Oliver, Antony W.; van Zelm, Menno C.; Buckland, Matthew S.; Davies, E. Graham; Pearl, Laurence H.; Jeggo, Penny A.

    2010-01-01

    Artemis is required for V(D)J recombination and the repair of a subset of radiation-induced DNA double strand breaks (DSBs). Artemis-null patients display radiosensitivity (RS) and severe combined immunodeficiency (SCID), classified as RS-SCID. Strongly impacting hypomorphic Artemis mutations confer

  5. 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.

  6. 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.

  7. Distributed Automated Medical Robotics to Improve Medical Field Operations

    Science.gov (United States)

    2010-04-01

    and through animal and human cadaveric studies in collaboration with anesthesiologists and trauma surgeons at the Massachusetts General Hospital...Medical Robotics and Computer Assisted Surgery. 2009;5(2):136-46. [12] Hanly EJ, Marohn MR, Schenkman NS, Miller BE, Moses GR, Marchessault R

  8. Automated Optimization of Walking Parameters for the Nao Humanoid Robot

    NARCIS (Netherlands)

    Girardi, N.; Kooijman, C.; Wiggers, A.J.; Visser, A.

    2013-01-01

    This paper describes a framework for optimizing walking parameters for a Nao humanoid robot. In this case an omnidirectional walk is learned. The parameters are learned in simulation with an evolutionary approach. The best performance was obtained for a combination of a low mutation rate and a high

  9. Automated cleaning of foraminifera shells before Mg/Ca analysis using a pipette robot

    Science.gov (United States)

    Johnstone, Heather J. H.; Steinke, Stephan; Kuhnert, Henning; Bickert, Torsten; Pälike, Heiko; Mohtadi, Mahyar

    2016-08-01

    The molar ratio of magnesium to calcium (Mg/Ca) in foraminiferal calcite is a widely used proxy for reconstructing past seawater temperatures. Thorough cleaning of tests is required before analysis to remove contaminant phases such as clay and organic matter. We have adapted a commercial pipette robot to automate an established cleaning procedure, the "Mg-cleaning" protocol of Barker et al. (2003). Efficiency of the automated nine-step method was assessed through monitoring Al/Ca of trial samples (GeoB4420-2 core catcher). Planktonic foraminifera Globigerinoides ruber, Globigerinoides sacculifer, and Neogloboquadrina dutertrei from this sample gave Mg/Ca consistent with the habitat range of the three species, and 40-60% sample recovery after cleaning. Comparison between manually cleaned and robot-cleaned samples of G. ruber (white) from a sediment core (GeoB16602) showed good correspondence between the two methods for Mg/Ca (r = 0.93, p robot-cleaned samples was 0.05 mmol/mol, showing that the samples are cleaned effectively by the robot. The robot offers increased sample throughput as batch sizes of up to 88 samples/blanks can be processed in ˜7 h with little intervention.

  10. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

    Domning, E.E. (Lawrence Livermore National Lab., CA (United States)); McMahon, T.T.; Sievers, R.H. (Science Applications International Corp., Pleasanton, CA (United States))

    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.

  12. Automated site characterization for robotic sample acquisition systems

    Science.gov (United States)

    Scholl, Marija S.; Eberlein, Susan; Yates, Gigi; Schumate, Michael S.; Majani, Eric; Anderson, Charles H.; Sloan, Jeffrey A.

    1991-01-01

    A mobile, semi-autonomous vehicle with multiple sensors and on-board intelligence is proposed for performing preliminary scientific investigations on extraterrestrial bodies prior to human exploration. Two technologies, a hybrid optical-digital computer system based on optical correlator technology and an image and instrument data analysis system, provide complementary capabilities which might be part of an instrument package for an intelligent robotic vehicle. The hybrid digital-optical vision system could perform real-time image classification tasks using an optical correlator with programmable matched filters under control of a digital microcomputer. The data analysis system would analyze visible and multiband imagery to extract mineral composition and textural information for geologic characterization. Together these technologies would support the site characterization needs of a robotic vehicle for both navigational and scientific purposes.

  13. Information technology convergence security, robotics, automations and communication

    CERN Document Server

    Barolli, Leonard; Xhafa, Fatos; Jeong, Hwa-Young

    2013-01-01

    Information technology and its convergence issue is emerging rapidly as an exciting new paradigm with user-centric environment to provide computing and communication services. This area will be the most comprehensive topics with various aspects of advances in information technology and its convergence services. This book covers all topics as computational science and applications, electronics engineering, manufacturing technology, services, technical skill to control the robot, automatic operation and application, simulation and testing communication and many more.

  14. Robotic Platform for Automated Search and Rescue Missions of Humans

    OpenAIRE

    Eli Kolberg; Yevgeny Beiderman; Roy Talyosef; Raphi Amsalem; Javier Garcia; Zeev Zalevsky

    2013-01-01

    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 ...

  15. Trauma Pod: A Semi-Automated Robotic Surgery System

    Energy Technology Data Exchange (ETDEWEB)

    Noakes, Mark W [ORNL; Garcia, Pablo [SRI International; Rosen, Jacob [University of Washington; Kapoor, Chetan [University of Texas; Elbert, Greg [GDRS

    2009-01-01

    The Trauma Pod (TP) vision is to develop a rapidly deployable robotic system to perform critical acute stabilization and/or surgical procedures autonomously or in a teleoperative mode on wounded soldiers in the battlefield who might otherwise die before treatment in a combat hospital can be provided. In the first phase of a project pursuing this vision, a robotic TP system was developed and its capability demonstrated by performing select surgical procedures on a patient phantom. The system demonstrates the feasibility of performing acute stabilization procedures with the patient being the only human in the surgical cell. The teleoperated surgical robot is supported by autonomous arms that carry out scrub-nurse and circulating-nurse functions. Tool change and supply delivery are performed automatically and at least as fast as those performed manually by nurses. The TP system also includes tomographic X-ray facility for patient diagnosis and 2-D fluoroscopic data to support interventions. The vast amount of clinical protocols generated in the TP system are recorded automatically. These capabilities form the basis for a more comprehensive acute diagnostic and management platform that will provide life-saving care in environments where surgical personnel are not present.

  16. An Algorithm of Inverse Kinematics for the Automated Fiber Placement Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    G.E. Xin-Feng

    2012-08-01

    Full Text Available To solve inverse kinematics of the automated fiber placement robotic manipulator, an algorithm based on the position vector and posture transformation matrix is proposed. According to the structural characteristics of three revolute joint axes of the automated fiber placement robotic manipulator intersect at one point, three displacement joint variables and three revolute joint variables are calculated, respectively using the position vector and posture transformation matrix. Compared with the general iterative algorithm, the algorithm proposed in this paper reduces the number of solving inverse matrices, increases solving speed and is expressed more simply. The algorithm is verified by simulation and the simulation result shows that the proposed algorithm in this study is correct.

  17. 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...

  18. Evaluation of Human and AutomationRobotics Integration Needs for Future Human Exploration Missions

    Science.gov (United States)

    Marquez, Jessica J.; Adelstein, Bernard D.; Ellis, Stephen; Chang, Mai Lee; Howard, Robert

    2016-01-01

    NASA employs Design Reference Missions (DRMs) to define potential architectures for future human exploration missions to deep space, the Moon, and Mars. While DRMs to these destinations share some components, each mission has different needs. This paper focuses on the human and automation/robotic integration needs for these future missions, evaluating them with respect to NASA research gaps in the area of space human factors engineering. The outcomes of our assessment is a human and automation/robotic (HAR) task list for each of the four DRMs that we reviewed (i.e., Deep Space Sortie, Lunar Visit/Habitation, Deep Space Habitation, and Planetary), a list of common critical HAR factors that drive HAR design.

  19. Automating the Incremental Evolution of Controllers for Physical Robots

    DEFF Research Database (Denmark)

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

    2017-01-01

    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...... 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 et al. put it, “the evolution of things, rather than just...

  20. A robotics-based automated assay for inorganic and organic phosphates.

    Science.gov (United States)

    Cogan, E B; Birrell, G B; Griffith, O H

    1999-06-15

    Phosphate analyses are fundamental to a broad range of biochemical applications involving inorganic phosphate and organic phosphoesters such as phospholipids, phosphorylated proteins, and nucleic acids. A practical automated method utilizing robotics is described in this report. Five colorimetric methods of phosphate analyses based on formation of a phosphomolybdate complex and compatible with the automated assay were tested, and the fundamental chemistry is discussed. The relative sensitivities are malachite green > crystal violet > quinaldine red > ascorbate reduction > antimony-modified ascorbate reduction, although only a fourfold improvement was observed in going from the modified ascorbate procedure to malachite green. Malachite green was selected to optimize the assay because this dye provided the highest sensitivity. However, where color stability and low blanks are more important than sensitivity, the ascorbate reduction and quinaldine red methods were found to be better choices than malachite green. Automation using a robotic liquid-handling system substantially reduces the labor required to process large arrays of samples. The result is a sensitive, nonradioactive assay of inorganic phosphate with high throughput. A digestion step in an acid-resistant 96-well plate was developed to extend the assay to phosphate esters. The robotic-based assay was demonstrated with inorganic phosphate and a common phospholipid, phosphatidylcholine.

  1. Automation of microfactories: towards using small industrial robots

    DEFF Research Database (Denmark)

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

    2005-01-01

    Micro and nanotechnology is increasingly important in the industry. The demand for smaller and smaller components and parts increase, but the manufacturing systems for producing these components are conventional and decrease in size at a much slower rate. The idea of a microfactory is to decrease...... the physical size of the machines making micro-parts so that the complete manufacturing line exists on a small area, for example a table. An area where microfactories could be advantageous is for example the assembly of micro-parts for hearing aid components. Today, this is typically done manually......-assembly: flexibility and accuracy. It is very important that the robot is flexible in order to be able to use it for several different jobs. The accuracy is also critical since the small components require small assembly tolerances (typically less than 0,1 mm). This paper describes a methodology for specifying...

  2. A user-friendly automated port placement planning system for laparoscopic robotic surgery

    Science.gov (United States)

    Torres, Luis G.; Azimian, Hamidreza; Enquobahrie, Andinet

    2014-03-01

    Laparoscopic surgery is a minimally invasive surgical approach in which surgical instruments are passed through ports placed at small incisions. This approach can benefit patients by reducing recovery times and scars. Surgeons have gained greater dexterity, accuracy, and vision through adoption of robotic surgical systems. However, in some cases a preselected set of ports cannot be accommodated by the robot; the robot's arms may cause collisions during the procedure, or the surgical targets may not be reachable through the selected ports. In this case, the surgeon must either make more incisions for more ports, or even abandon the laparoscopic approach entirely. To assist in this, we are building an easytouse system which, given a surgical task and preoperative medical images of the patient, will recommend a suitable port placement plan for the robotic surgery. This work bears two main contributions: 1) a high level user interface that assists the surgeon in operating the complicated underlying planning algorithm; and 2) an interface to assist the surgical team in implementation of the recommended plan in the operating room. We believe that such an automated port placement system would reduce setup time for robotic surgery and reduce the morbidity to patients caused by unsuitable surgical port placement.

  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. KNOWLEDGE-BASED ROBOT VISION SYSTEM FOR AUTOMATED PART HANDLING

    Directory of Open Access Journals (Sweden)

    J. Wang

    2012-01-01

    Full Text Available

    ENGLISH ABSTRACT: This paper discusses an algorithm incorporating a knowledge-based vision system into an industrial robot system for handling parts intelligently. A continuous fuzzy controller was employed to extract boundary information in a computationally efficient way. The developed algorithm for on-line part recognition using fuzzy logic is shown to be an effective solution to extract the geometric features of objects. The proposed edge vector representation method provides enough geometric information and facilitates the object geometric reconstruction for gripping planning. Furthermore, a part-handling model was created by extracting the grasp features from the geometric features.

    AFRIKAANSE OPSOMMING: Hierdie artikel beskryf ‘n kennis-gebaseerde visiesisteemalgoritme wat in ’n industriёle robotsisteem ingesluit word om sodoende intelligente komponenthantering te bewerkstellig. ’n Kontinue wasige beheerder is gebruik om allerlei objekinligting deur middel van ’n effektiewe berekeningsmetode te bepaal. Die ontwikkelde algoritme vir aan-lyn komponentherkenning maak gebruik van wasige logika en word bewys as ’n effektiewe metode om geometriese inligting van objekte te bepaal. Die voorgestelde grensvektormetode verskaf voldoende inligting en maak geometriese rekonstruksie van die objek moontlik om greepbeplanning te kan doen. Voorts is ’n komponenthanteringsmodel ontwikkel deur die grypkenmerke af te lei uit die geometriese eienskappe.

  5. Automation Hardware & Software for the STELLA Robotic Telescope

    Science.gov (United States)

    Weber, M.; Granzer, Th.; Strassmeier, K. G.

    The STELLA telescope (a joint project of the AIP, Hamburger Sternwarte and the IAC) is to operate in fully robotic mode, with no human interaction necessary for regular operation. Thus, the hardware must be kept as simple as possible to avoid unnecessary failures, and the environmental conditions must be monitored accurately to protect the telescope in case of bad weather. All computers are standard PCs running Linux, and communication with specialized hardware is done via a RS232/RS485 bus system. The high level (java based) control software consists of independent modules to ease bug-tracking and to allow the system to be extended without changing existing modules. Any command cycle consists of three messages, the actual command sent from the central node to the operating device, an immediate acknowledge, and a final done message, both sent back from the receiving device to the central node. This reply-splitting allows a direct distinction between communication problems (no acknowledge message) and hardware problems (no or a delayed done message). To avoid bug-prone packing of all the sensor-analyzing software into a single package, each sensor-reading and interaction with other sensors is done within a self-contained thread. Weather-decision making is therefore totally decoupled from the core control software to avoid dead-locks in the core module.

  6. 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

  7. 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.

  8. Automated transportation of single cells using robot-tweezer manipulation system.

    Science.gov (United States)

    Hu, Songyu; Sun, Dong

    2011-08-01

    Manipulation of biological cells becomes increasingly important in biomedical engineering to address challenge issues in cell-cell interaction, drug discovery, and tissue engineering. Significant demand for both accuracy and productivity in cell manipulation highlights the need for automated cell transportation with integrated robotics and micro/nano manipulation technologies. Optical tweezers, which use highly focused low-power laser beams to trap and manipulate particles at micro/nanoscale, have emerged as an essential tool for manipulating single cells. In this article, we propose to use a robot-tweezer manipulation system to solve the problem of automatic transportation of biological cells, where optical tweezers function as special robot end effectors. Dynamics equation of the cell in optical tweezers is analyzed. A closed-loop controller is designed for transporting and positioning cells. Experiments are performed on live cells to demonstrate the effectiveness of the proposed approach in effective cell positioning. Copyright © 2011 Society for Laboratory Automation and Screening. Published by Elsevier Inc. All rights reserved.

  9. Automated calibration methods for robotic multisensor landmine detection

    Science.gov (United States)

    Keranen, Joe G.; Miller, Jonathan; Schultz, Gregory; Topolosky, Zeke

    2007-04-01

    Both force protection and humanitarian demining missions require efficient and reliable detection and discrimination of buried anti-tank and anti-personnel landmines. Widely varying surface and subsurface conditions, mine types and placement, as well as environmental regimes challenge the robustness of the automatic target recognition process. In this paper we present applications created for the U.S. Army Nemesis detection platform. Nemesis is an unmanned rubber-tracked vehicle-based system designed to eradicate a wide variety of anti-tank and anti-personnel landmines for humanitarian demining missions. The detection system integrates advanced ground penetrating synthetic aperture radar (GPSAR) and electromagnetic induction (EMI) arrays, highly accurate global and local positioning, and on-board target detection/classification software on the front loader of a semi-autonomous UGV. An automated procedure is developed to estimate the soil's dielectric constant using surface reflections from the ground penetrating radar. The results have implications not only for calibration of system data acquisition parameters, but also for user awareness and tuning of automatic target recognition detection and discrimination algorithms.

  10. A Novel Vision Localization Method of Automated Micro-Polishing Robot

    Institute of Scientific and Technical Information of China (English)

    Zhao-jun Yang; Fei Chen; Ji Zhao; Xiao-jie Wu

    2009-01-01

    Based on photograrnmetry technology, a novel localization method of micro-polishing robot, which is restricted within certain working space, is presented in this paper. On the basis of pinhole camera model, a new mathematical model of vision localization of automated polishing robot is established. The vision localization is based on the distance-constraints of feature points. The method to solve the mathematical model is discussed. According to the characteristics of gray image, an adaptive method of automatic threshold selection based on connected components is presented. The center coordinate of the feature image point is resolved by bilinear interpolation gray square weighted algorithm. Finally, the mathematical model of testing system is verified by global localization test. The experimental results show that the vision localization system in working space has high precision.

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

    DEFF Research Database (Denmark)

    Find, Jens

    extended periods in liquid nitrogen at -196°C However, commercial application of the technology has until now been hampered by two essential problems: The production costs per plant must be reduced. Labour costs are low in the early steps of the process whereas they increase dramatically during the later...... 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...... effective and fast method for clonal propagation. The method is suitable for automatisation and robot technology. The method is, for several plant species, the preferred basis for development of additional biotechnological breeding technologies as e.g. genetic transformation. Elite clones can be stored over...

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

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Hyun; Song, Sung Jin [Sungkyunkwan Univeristy, Seoul (Korea, Republic of); Lee, Kang Won; Kim, Young Jin [Korea Institue of Inductrial Technology, Daejeon (Korea, Republic of); Woo, Jong Sik [Seascan Inc. Ltd., Daejeon (Korea, Republic of)

    2006-05-15

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Hyun; Song, Sung Jin [Sungkyunkwan Univeristy, Seoul (Korea, Republic of); Lee, Kang Won; Kim, Young Jin [Korea Institue of Inductrial Technology, Daejeon (Korea, Republic of); Woo, Jong Sik [Seascan Inc. Ltd., Daejeon (Korea, Republic of)

    2006-05-15

    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.

  14. 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.

  15. Recognition of 3D objects for autonomous mobile robot's navigation in automated shipbuilding

    Science.gov (United States)

    Lee, Hyunki; Cho, Hyungsuck

    2007-10-01

    Nowadays many parts of shipbuilding process are automated, but the painting process is not, because of the difficulty of automated on-line painting quality measurement, harsh painting environment and the difficulty of robot navigation. However, the painting automation is necessary, because it can provide consistent performance of painting film thickness. Furthermore, autonomous mobile robots are strongly required for flexible painting work. However, the main problem of autonomous mobile robot's navigation is that there are many obstacles which are not expressed in the CAD data. To overcome this problem, obstacle detection and recognition are necessary to avoid obstacles and painting work effectively. Until now many object recognition algorithms have been studied, especially 2D object recognition methods using intensity image have been widely studied. However, in our case environmental illumination does not exist, so these methods cannot be used. To overcome this, to use 3D range data must be used, but the problem of using 3D range data is high computational cost and long estimation time of recognition due to huge data base. In this paper, we propose a 3D object recognition algorithm based on PCA (Principle Component Analysis) and NN (Neural Network). In the algorithm, the novelty is that the measured 3D range data is transformed into intensity information, and then adopts the PCA and NN algorithm for transformed intensity information to reduce the processing time and make the data easy to handle which are disadvantages of previous researches of 3D object recognition. A set of experimental results are shown to verify the effectiveness of the proposed algorithm.

  16. 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.

  17. Industrial Robot Automation in Solving Non-Vacuum Electron-Beam Welding Problems

    Directory of Open Access Journals (Sweden)

    Borovik Vasiliy

    2016-01-01

    Full Text Available The paper describes one modeling automated hardware-software system to develop additive technologically - based products. Algorithm synthesis for industrial robot control was performed. In this case, the operating tool is an electron -beam projector with plasma emitter. The model testing results of thermal processes (in 3D-enqueuing proceeding within additive substrate material system have been described. The modeling results revealed those required parameters of emission power which would provide the melting of additive material (TiC excluding boiling.

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

    Science.gov (United States)

    Kitson, Philip J; Glatzel, Stefan

    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. PMID:28144350

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. A Meta-Analysis of Factors Influencing the Development of Trust in Automation: Implications for Human-Robot Interaction

    Science.gov (United States)

    2014-07-01

    us in social relationships and systems, • our specific expectation that partners in an interaction will carry out their fiduciary obligations and...work, it is important to understand the relationship between the terms autonomy, automation, and robot. Literature and human perception have often...performance), the factors that make up these relationships are of critical importance to the development or degradation of trust in automation. However

  5. 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.

  6. The flight telerobotic servicer (FTS): A focus for automation and robotics on the space station

    Science.gov (United States)

    Hinkal, S. W.; Andary, J. F.; Watzin, J. G.; Provost, D. E.

    NASA has committed to the design and implementation of a robotic device to assist the astronauts in assembly, maintenance, servicing and inspection tasks in the unpressurized environment of the Space Station, substantially reducing the time required for crew extra vehicular activity (EVA). This system introduces into the Space Station program a "telerobot" adaptable to a variety of tasks and worksites. The term "telerobot" is used to indicate the combined attributes of an autonomous robot and a teleoperated manipulator. Design requirements for the telerobot are driven by a detailed analysis of the tasks which are required on the Space Station and its associated free-flying platforms. The Space Station will have several kilometers of truss structure to which are attached numerous scientific payloads, as well as functional elements and utilities of the Space Station itself. Scientific payloads require servicing of different levels of complexity. Free-flying spacecraft will be brought into the hangar-like servicing facility for repair. There will be maintenance and inspection tasks of the Space Station elements, as well as initial Space Station assembly tasks. A step-by-step analysis of candidate tasks has led to a design envelope for the telerobot. Since the telerobot is an extension or telepresence of the astronaut at the remote worksite, design of the workstation in the pressurized module has to give careful consideration to the man/machine interface, as well as the constrained volume in the pressurized modules. The flight telerobotic servicer (FTS) is designed for future growth toward more autonomy. By a careful selection of the functional architecture, and a modular approach to the hardware and software design, the FTS can accept developments in artificial intelligence and newer, more advanced sensors, such as machine vision and collision avoidance. The FTS is a focus for automation and robotics on the Space Station, as well as a baseline from which visionary

  7. 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.

  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. Automated design synthesis of robotic/human workcells for improved manufacturing system design in hazardous environments

    Energy Technology Data Exchange (ETDEWEB)

    Williams, Joshua M. [Los Alamos National Laboratory

    2012-06-12

    Manufacturing tasks that are deemed too hazardous for workers require the use of automation, robotics, and/or other remote handling tools. The associated hazards may be radiological or nonradiological, and based on the characteristics of the environment and processing, a design may necessitate robotic labor, human labor, or both. There are also other factors such as cost, ergonomics, maintenance, and efficiency that also effect task allocation and other design choices. Handling the tradeoffs of these factors can be complex, and lack of experience can be an issue when trying to determine if and what feasible automation/robotics options exist. To address this problem, we utilize common engineering design approaches adapted more for manufacturing system design in hazardous environments. We limit our scope to the conceptual and embodiment design stages, specifically a computational algorithm for concept generation and early design evaluation. In regard to concept generation, we first develop the functional model or function structure for the process, using the common 'verb-noun' format for describing function. A common language or functional basis for manufacturing was developed and utilized to formalize function descriptions and guide rules for function decomposition. Potential components for embodiment are also grouped in terms of this functional language and are stored in a database. The properties of each component are given as quantitative and qualitative criteria. Operators are also rated for task-relevant criteria which are used to address task compatibility. Through the gathering of process requirements/constraints, construction of the component database, and development of the manufacturing basis and rule set, design knowledge is stored and available for computer use. Thus, once the higher level process functions are defined, the computer can automate the synthesis of new design concepts through alternating steps of embodiment and function structure

  10. 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.

  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. 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.

  13. Experiment Automation with a Robot Arm using the Liquids Reflectometer Instrument at the Spallation Neutron Source

    Energy Technology Data Exchange (ETDEWEB)

    Zolnierczuk, Piotr A [ORNL; Vacaliuc, Bogdan [ORNL; Sundaram, Madhan [ORNL; Parizzi, Andre A [ORNL; Halbert, Candice E [ORNL; Hoffmann, Michael C [ORNL; Greene, Gayle C [ORNL; Browning, Jim [ORNL; Ankner, John Francis [ORNL

    2013-01-01

    The Liquids Reflectometer instrument installed at the Spallation Neutron Source (SNS) enables observations of chemical kinetics, solid-state reactions and phase-transitions of thin film materials at both solid and liquid surfaces. Effective measurement of these behaviors requires each sample to be calibrated dynamically using the neutron beam and the data acquisition system in a feedback loop. Since the SNS is an intense neutron source, the time needed to perform the measurement can be the same as the alignment process, leading to a labor-intensive operation that is exhausting to users. An update to the instrument control system, completed in March 2013, implemented the key features of automated sample alignment and robot-driven sample management, allowing for unattended operation over extended periods, lasting as long as 20 hours. We present a case study of the effort, detailing the mechanical, electrical and software modifications that were made as well as the lessons learned during the integration, verification and testing process.

  14. 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.

  15. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  16. Automation of the 1.3-meter Robotically Controlled Telescope (RCT)

    Science.gov (United States)

    Gelderman, Richard; Treffers, Richard R.

    2011-03-01

    This poster describes the automation for the Robotically Controlled Telescope (RCT) Consortium of the 50-inch telescope at Kitt Peak National Observatory. Building upon the work of the previous contractor the telescope, dome and instrument were wired for totally autonomous (robotic) observations. The existing motors, encoders, limit switches and cables were connected to an open industrial panel that allows easy interconnection, troubleshooting and modifications. A sixteen axis Delta Tau Turbo PMAC controller is used to control all motors, encoders, flat field lights and many of the digital functions of the telescope. ADAM industrial I/O bricks are used for additional digital and analog I/O functions. Complex relay logic problems, such as the mirror cover opening sequence and the slit control, are managed using Allen Bradley Pico PLDs. Most of the low level software is written in C using the GNU compiler. The basic functionality uses an ASCII protocol communicating over Berkeley sockets. Early versions of this software were developed at U.C. Berkeley, for what was to become the Katzman Automatic Imaging Telescope (KAIT) at Lick Observatory. ASCII communications are useful for control, testing and easy to debug by looking at the log files; C-shell scripts are written to form more complex orchestrations.

  17. 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%.

  18. System Design and Development of a Robotic Device for Automated Venipuncture and Diagnostic Blood Cell Analysis.

    Science.gov (United States)

    Balter, Max L; Chen, Alvin I; Fromholtz, Alex; Gorshkov, Alex; Maguire, Tim J; Yarmush, Martin L

    2016-10-01

    Diagnostic blood testing is the most prevalent medical procedure performed in the world and forms the cornerstone of modern health care delivery. Yet blood tests are still predominantly carried out in centralized labs using large-volume samples acquired by manual venipuncture, and no end-to-end solution from blood draw to sample analysis exists today. Our group is developing a platform device that merges robotic phlebotomy with automated diagnostics to rapidly deliver patient information at the site of the blood draw. The system couples an image-guided venipuncture robot, designed to address the challenges of routine venous access, with a centrifuge-based blood analyzer to obtain quantitative measurements of hematology. In this paper, we first present the system design and architecture of the integrated device. We then perform a series of in vitro experiments to evaluate the cannulation accuracy of the system on blood vessel phantoms. Next, we assess the effects of vessel diameter, needle gauge, flow rate, and viscosity on the rate of sample collection. Finally, we demonstrate proof-of-concept of a white cell assay on the blood analyzer using in vitro human samples spiked with fluorescently labeled microbeads.

  19. 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.

  20. 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.

  1. Evaluation of robot automated chromogenic substrate LAL endotoxin assay method for pharmaceutical products testing.

    Science.gov (United States)

    Tsuji, K; Martin, P A

    1985-01-01

    The robot automated chromogenic substrate LAL assay method was evaluated for endotoxin testing using three lots each of 12 pharmaceutical products. As many as 216 assays, including automated standard curve construction and sample preparation, can be performed in a single day of unattended operation. The method is linear (r greater than .99) in the range of 0 to 0.2 EU/ml. The precision of the method determined by assaying a lot of calcium gluconate for four days was 6%, 10%, and 10% for within an assay block, between assay blocks, and between assay days, respectively. Recovery of endotoxin when spiked into products ranged from 81% to 110% and was within the statistical variation (2 sigma limit) of the method. The endotoxin levels detected in a biological raw material by the chromogenic substrate assay method correlated well with that of the gel-clot LAL assay method. The endotoxin content of the majority of the pharmaceutical products tested was well below the sensitivity of both the chromogenic substrate and the gel clot LAL assay methods.

  2. 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.

  3. 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. …

  4. Improved single pellet grasping using automated ad libitum full-time training robot.

    Science.gov (United States)

    Fenrich, Keith K; May, Zacnicte; Hurd, Caitlin; Boychuk, Carolyn E; Kowalczewski, Jan; Bennett, David J; Whishaw, Ian Q; Fouad, Karim

    2015-03-15

    The single pellet grasping (SPG) task is a skilled forelimb motor task commonly used to evaluate reaching and grasp kinematics and recovery of forelimb function in rodent models of CNS injuries and diseases. To train rats in the SPG task, the animals are usually food restricted then placed in an SPG task enclosure and presented food pellets on a platform located beyond a slit located at the front of the task enclosure for 10-30 min, normally every weekday for several weeks. When the SPG task is applied in studies involving various experimental groups, training quickly becomes labor intensive, and can yield results with significant day-to-day variability. Furthermore, training is frequently done during the animals' light-cycle, which for nocturnal rodents such as mice and rats could affect performance. Here we describe an automated pellet presentation (APP) robotic system to train and test rats in the SPG task that reduces some of the procedural weaknesses of manual training. We found that APP trained rats performed significantly more trials per 24 h period, and had higher success rates with less daily and weekly variability than manually trained rats. Moreover, the results show that success rates are positively correlated with the number of dark-cycle trials, suggesting that dark-cycle training has a positive effect on success rates. These results demonstrate that automated training is an effective method for evaluating and training skilled reaching performance of rats, opening up the possibility for new approaches to investigating the role of motor systems in enabling skilled forelimb use and new approaches to investigating rehabilitation following CNS injury.

  5. Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

    Science.gov (United States)

    Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

    2008-01-01

    The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL

  6. Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

    Science.gov (United States)

    Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

    2008-01-01

    The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL

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

    Energy Technology Data Exchange (ETDEWEB)

    Schmidt, L.R.; Francoeur, J.; Aguero, A.; Wertheimer, M.R.; Klemberg-Sapieha, J.E.; Martinu, L.; Blezius, J.W.; Oliver, M.; Singh, A. [Cametoid Advanced Technologies, Inc., Whitby, Ontario (Canada)]|[Ecole Polytechnique, Montreal, Quebec (Canada)]|[MPB Technologies, Inc., Pointe Claire, Quebec (Canada)]|[National Optics Inst., Ste-Foy, Quebec (Canada)

    1995-02-01

    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.

  8. Laser Communication Experiments with Artemis Satellite

    Science.gov (United States)

    Kuzkov, Sergii; Sodnik, Zoran; Kuzkov, Volodymyr

    2013-10-01

    In November 2001, the European Space Agency (ESA) established the world-first inter-satellite laser communication link between the geostationary ARTEMIS satellite and the low Earth orbiting (LEO) SPOT-4 Earth observation satellite, demonstrating data rates of 50 Mbps. In 2006, the Japanese Space Agency launched the KIRARI (OICETS) LEO satellite with a compatible laser communication terminal and bidirectional laser communication links (50 Mbps and 2 Mbps) were successfully realized between KIRARI and ARTEMIS. ESA is now developing the European Data Relay Satellite (EDRS) system, which will use laser communication technology to transmit data between the Sentinel 1 and 2 satellites in LEO to two geostationary satellites (EDRS-A and EDRS-C) at data rates of 1.8 Gbps. As the data handling capabilities of state-of-the-art telecommunication satellites in GEO increase so is the demand for the feeder-link bandwidth to be transmitted from ground. This is why there is an increasing interest in developing high bandwidth ground-to-space laser communication systems working through atmosphere. In 2002, the Main Astronomical Observatory (MAO) started the development of its own laser communication system for its 0.7m AZT-2 telescope, located in Kyiv, Ukraine. The work was supported by the National Space Agency of Ukraine and by ESA. MAO developed a highly accurate computerized tracking system for AZT-2 telescope and a compact laser communication package called LACES (Laser Atmosphere and Communication Experiments with Satellites). The LACES instrument includes a camera of the pointing and tracking subsystems, a receiver module, a laser transmitter module, a tip/tilt atmospheric turbulence compensation subsystem, a bit error rate tester module and other optical and electronic components. The principal subsystems are mounted on a platform, which is located at the Cassegrain focus of the AZT-2 telescope. All systems were tested with the laser communication payload on-board ARTEMIS and

  9. Changing the Tooth-to-Tail Ratio Using Robotics and Automation to Beat Sequestration

    Science.gov (United States)

    2015-10-01

    robotics technology today is fast approaching parity in specific tasks with what a human can do. In Japan , Honda’s ASIMO robot can manipulate objects as...people, ROMEO is meant to help with tasks that the elderly find difficult, such as preparing meals (perhaps to a degree where hiring, processing, and...robotics companies are in Japan and their most significant emerging need— and, therefore, market—is the burgeoning population of elderly who already

  10. [Robotics].

    Science.gov (United States)

    Bier, J

    2000-05-01

    Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

  11. Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks

    Science.gov (United States)

    Schenker, Paul S.; Huntsberger, Terrance L.; Pirjanian, Paolo; Baumgartner, Eric T.; Aghazarian, Hrand; Trebi-Ollennu, Ashitey; Leger, Patrick C.; Cheng, Yang; Backes, Paul G.; Tunstel, Edward; Dubowsky, Steven; Iagnemma, Karl D.; McKee, Gerard T.

    2001-10-01

    During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy, atmosphere and other descriptors of current and historical planetary processes-and ultimately-the return of pristine samples to Earth for detailed analysis. Toward these ends, we have conducted a broad program of research on robotic systems for scientific exploration of the Mars surface, with minimal remote intervention. The goal is to enable high productivity semi-autonomous science operations where available mission time is concentrated on robotic operations, rather than up-and-down-link delays. Results of our work include prototypes for landed manipulators, long-ranging science rovers, sampling/sample return mobility systems, and more recently, terrain-adaptive reconfigurable/modular robots and closely cooperating multiple rover systems. The last of these are intended to facilitate deployment of planetary robotic outposts for an eventual human-robot sustained scientific presence. We overview our progress in these related areas of planetary robotics R&D, spanning 1995-to-present.

  12. Automated Cartography by an Autonomous Mobile Robot Using Ultrasonic Range Finders

    Science.gov (United States)

    1993-09-01

    allows the user to see a complete plot of the most recent robot mission. This button invokes the " gnuplot " program [Williams 92] which plots the...button runs the smm. sim.info - Output of reference posture by the simulation program. axis-data - Data for " gnuplot " program. B. Operations for the...the program has finished, gnuplot is automatically called to plot the robot’s whole trajectory to the screen or to the "ssl" printer. The robot’s

  13. Generador Automático de Presentaciones para Robot-Guía

    OpenAIRE

    Rainer Granados, José Javier; Galán López, Ramón

    2010-01-01

    En el ámbito de la robótica, los robots autónomos tienen una importancia cada vez mayor. Bekey los define como intelligent machines capable of performing tasks in the world by themselves, without explicit human control over their actions. l robot Urbano es una plataforma B21r de iRobot, equipada con un sistema de locomoción compuesto por cuatro ruedas, un láser tipo SICK LMS200 montado horizontalmente en la parte superior de la plataforma para la navegación y SLAM, y una cara y brazos robó...

  14. Applications of artificial intelligence to space station and automated software techniques: High level robot command language

    Science.gov (United States)

    Mckee, James W.

    1989-01-01

    The objective is to develop a system that will allow a person not necessarily skilled in the art of programming robots to quickly and naturally create the necessary data and commands to enable a robot to perform a desired task. The system will use a menu driven graphical user interface. This interface will allow the user to input data to select objects to be moved. There will be an imbedded expert system to process the knowledge about objects and the robot to determine how they are to be moved. There will be automatic path planning to avoid obstacles in the work space and to create a near optimum path. The system will contain the software to generate the required robot instructions.

  15. Implementation of a pharmacy automation system (robotics) to ensure medication safety at Norwalk hospital.

    Science.gov (United States)

    Bepko, Robert J; Moore, John R; Coleman, John R

    2009-01-01

    This article reports an intervention to improve the quality and safety of hospital patient care by introducing the use of pharmacy robotics into the medication distribution process. Medication safety is vitally important. The integration of pharmacy robotics with computerized practitioner order entry and bedside medication bar coding produces a significant reduction in medication errors. The creation of a safe medication-from initial ordering to bedside administration-provides enormous benefits to patients, to health care providers, and to the organization as well.

  16. Automated tracking and grasping of a moving object with a robotic hand-eye system

    Energy Technology Data Exchange (ETDEWEB)

    Allen, P.K.; Timcenko, A.; Yoshimi, B.; Michelman, P. (Columbia Univ., NY (United States). Dept. of Computer Science)

    1993-04-01

    Most robotic grasping tasks assume a stationary or fixed object. In this paper, the authors explore the requirements for tracking and grasping a moving object. The focus of the work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand--eye coordination for dynamic grasping takes such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organisms sensing modalities and motor control system is a hallmark of intelligent behavior, and they are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments. The system they have built addresses three distinct problems in robotic hand--eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms they have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.

  17. Automation Test Framework for MVC GUI Based on Robot Framework%基于Robot Framework的MVC GUI模块自动化测试框架

    Institute of Scientific and Technical Information of China (English)

    梁思秋; 葛华勇

    2015-01-01

    This article proposes an automated test framework for MVC GUI module, based on Robot Framework. The GUI automation test framework is divided into four aspects: user interface function testing, information set function testing, information query function testing, and special items testing. The whole framework, making the GUI test and the Database test combined together, fully completes the coverage of GUI automation test. According to different system environment, by writing Python scripts, the underlying data can be flexibly called. The combination of black-box and white-box test makes the tester quickly focus the code defect, and guarantees the correctness and completeness of the development program effectively. At the same time, the applicability of this test framework has been verified, as OpenWRT LuCI module specifically addressed.%基于Robot Framework提出了一种面向MVC GUI模块的自动化测试框架。该框架将GUI自动化测试分为四大方面:用户界面功能测试、信息设置功能测试、信息查询功能测试和特殊项测试。整个框架将上层 GUI和底层Database进行结合测试,使GUI自动化测试范围得以全面覆盖;并根据不同系统环境,编写Python脚本,灵活调用底层数据;而选用黑盒与白盒有机结合的测试方式,使测试者可以迅速锁定代码缺陷,保证了开发程序的正确性和完整性。同时,就OpenWRT LuCI模块作为具体实例,验证了本框架的适用性。

  18. SCID patients with ARTEMIS vs RAG deficiencies following HCT: increased risk of late toxicity in ARTEMIS-deficient SCID.

    Science.gov (United States)

    Schuetz, Catharina; Neven, Benedicte; Dvorak, Christopher C; Leroy, Sandrine; Ege, Markus J; Pannicke, Ulrich; Schwarz, Klaus; Schulz, Ansgar S; Hoenig, Manfred; Sparber-Sauer, Monika; Gatz, Susanne A; Denzer, Christian; Blanche, Stephane; Moshous, Despina; Picard, Capucine; Horn, Biljana N; de Villartay, Jean-Pierre; Cavazzana, Marina; Debatin, Klaus-Michael; Friedrich, Wilhelm; Fischer, Alain; Cowan, Morton J

    2014-01-09

    A subgroup of severe combined immunodeficiencies (SCID) is characterized by lack of T and B cells and is caused by defects in genes required for T- and B-cell receptor gene rearrangement. Several of these genes are also involved in nonhomologous end joining of DNA double-strand break repair, the largest subgroup consisting of patients with T(-)B(-)NK(+)SCID due to DCLRE1C/ARTEMIS defects. We postulated that in patients with ARTEMIS deficiency, early and late complications following hematopoietic cell transplantation might be more prominent compared with patients with T(-)B(-)NK(+)SCID caused by recombination activating gene 1/2 (RAG1/2) deficiencies. We analyzed 69 patients with ARTEMIS and 76 patients with RAG1/2 deficiencies who received transplants from either HLA-identical donors without conditioning or from HLA-nonidentical donors without or with conditioning. There was no difference in survival or in the incidence or severity of acute graft-versus-host disease regardless of exposure to alkylating agents. Secondary malignancies were not observed. Immune reconstitution was comparable in both groups, however, ARTEMIS-deficient patients had a significantly higher occurrence of infections in long-term follow-up. There is a highly significant association between poor growth in ARTEMIS deficiency and use of alkylating agents. Furthermore, abnormalities in dental development and endocrine late effects were associated with alkylation therapy in ARTEMIS deficiency.

  19. An application of multiattribute decision analysis to the Space Station Freedom program. Case study: Automation and robotics technology evaluation

    Science.gov (United States)

    Smith, Jeffrey H.; Levin, Richard R.; Carpenter, Elisabeth J.

    1990-01-01

    The results are described of an application of multiattribute analysis to the evaluation of high leverage prototyping technologies in the automation and robotics (A and R) areas that might contribute to the Space Station (SS) Freedom baseline design. An implication is that high leverage prototyping is beneficial to the SS Freedom Program as a means for transferring technology from the advanced development program to the baseline program. The process also highlights the tradeoffs to be made between subsidizing high value, low risk technology development versus high value, high risk technology developments. Twenty one A and R Technology tasks spanning a diverse array of technical concepts were evaluated using multiattribute decision analysis. Because of large uncertainties associated with characterizing the technologies, the methodology was modified to incorporate uncertainty. Eight attributes affected the rankings: initial cost, operation cost, crew productivity, safety, resource requirements, growth potential, and spinoff potential. The four attributes of initial cost, operations cost, crew productivity, and safety affected the rankings the most.

  20. Y-12 Plant remedial action Technology Logic Diagram: Volume 3, Technology evaluation data sheets: Part B, Characterization; robotics/automation

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-09-01

    The Y-12 Plant Remedial Action Technology Logic Diagram (TLD) was developed to provide a decision-support tool that relates environmental restoration (ER) problems at the Y-12 Plant to potential technologies that can remediate theses problems. The TLD identifies the research, development, demonstration, testing, and evaluation needed for sufficient development of these technologies to allow for technology transfer and application to remedial action (RA) activities. The TLD consists of three volumes. Volume 1 contains an overview of the TLD, an explanation of the program-specific responsibilities, a review of identified technologies, and the rankings of remedial technologies. Volume 2 contains the logic linkages among environmental management goals, environmental problems, and the various technologies that have the potential to solve these problems. Volume 3 contains the TLD data sheets. This report is Part B of Volume 3 and contains the Characterization and Robotics/Automation sections.

  1. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix B

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

    1984-01-01

    The purpose of the Robotics Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAN 77 and implemented on a VAX 11/750 computer using the VMS operating system. This programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With this manual and the in-code documentation, and experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities.

  2. 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

  3. Robots

    Institute of Scientific and Technical Information of China (English)

    驷萍

    1997-01-01

    一篇介绍机器人的文章写得如此耐读,如此清新! 首先.我们弄清了robot一词的来历: It was used first in 1920 in a play by Czcchoslovak writer Karel Capek.The wordrobot comes from the Czech word for slave. 上句提供了一个时间:1920。文章接着便抓住这个时间做文章: 且The word robot.and robots themselves are less than 100 years old.But humanshave been dreaming of real and imaginary copies of themselves for thousands of years. 文章就这样写出了波澜,1920年和 thousands of years自然而然构成了强烈对比。1954年和1960s是两个谈及机器人时不得不一提的时间: In 1954,the world’s first robot was produced in the United States. During the 1960s,the first industrial robots appeared beside human workers infactories.下面这句让我们体味到 the Czech word for slave中的 slave不仅言之有理,而且影视和小说里的机器人“造反”,进而 killed the humans who made them的情节也“事出有因”: What do today’s robots do?Robots do work.Work that human consideruninteresting or dangerous.…do many jobs that people consider tiring. 本文将机器人的“功过”放在一起写,笔

  4. Automated exterior inspection of an aircraft with a pan-tilt-zoom camera mounted on a mobile robot

    Science.gov (United States)

    Jovančević, Igor; Larnier, Stanislas; Orteu, Jean-José; Sentenac, Thierry

    2015-11-01

    This paper deals with an automated preflight aircraft inspection using a pan-tilt-zoom camera mounted on a mobile robot moving autonomously around the aircraft. The general topic is image processing framework for detection and exterior inspection of different types of items, such as closed or unlatched door, mechanical defect on the engine, the integrity of the empennage, or damage caused by impacts or cracks. The detection step allows to focus on the regions of interest and point the camera toward the item to be checked. It is based on the detection of regular shapes, such as rounded corner rectangles, circles, and ellipses. The inspection task relies on clues, such as uniformity of isolated image regions, convexity of segmented shapes, and periodicity of the image intensity signal. The approach is applied to the inspection of four items of Airbus A320: oxygen bay handle, air-inlet vent, static ports, and fan blades. The results are promising and demonstrate the feasibility of an automated exterior inspection.

  5. 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.

  6. [The actual possibilities of robotic microscopy in analysis automation and laboratory telemedicine].

    Science.gov (United States)

    Medovyĭ, V S; Piatnitskiĭ, A M; Sokolinskiĭ, B Z; Balugian, R Sh

    2012-10-01

    The article discusses the possibilities of automation microscopy complexes manufactured by Cellavision and MEKOS to perform the medical analyses of blood films and other biomaterials. The joint work of the complex and physician in the regimen of automatic load stages, screening, sampling and sorting on types with simple morphology, visual sorting of sub-sample with complex morphology provides significant increase of method sensitivity, load decrease and enhancement of physician work conditions. The information technologies, the virtual slides and laboratory telemedicine included permit to develop the representative samples of rare types and pathologies to promote automation methods and medical research targets.

  7. A Review of Camera Viewpoint Automation in Robotic and Laparoscopic Surgery

    Directory of Open Access Journals (Sweden)

    Abhilash Pandya

    2014-08-01

    Full Text Available Complex teleoperative tasks, such as surgery, generally require human control. However, teleoperating a robot using indirect visual information poses many technical challenges because the user is expected to control the movement(s of the camera(s in addition to the robot’s arms and other elements. For humans, camera positioning is difficult, error-prone, and a drain on the user’s available resources and attention. This paper reviews the state of the art of autonomous camera control with a focus on surgical applications. We also propose potential avenues of research in this field that will support the transition from direct slaved control to truly autonomous robotic camera systems.

  8. Development of a facility using robotics for testing automation of inertial instruments

    Science.gov (United States)

    Greig, Joy Y.; Lamont, Gary B.; Biezad, Daniel J.; Lewantowicz, Zdsislaw H.; Greig, Joy Y.

    1987-01-01

    The Integrated Robotics System Simulation (ROBSIM) was used to evaluate the performance of the PUMA 560 arm as applied to testing of inertial sensors. Results of this effort were used in the design and development of a feasibility test environment using a PUMA 560 arm. The implemented facility demonstrated the ability to perform conventional static inertial instrument tests (rotation and tumble). The facility included an efficient data acquisitions capability along with a precision test servomechanism function resulting in various data presentations which are included in the paper. Analysis of inertial instrument testing accuracy, repeatability and noise characteristics are provided for the PUMA 560 as well as for other possible commercial arm configurations. Another integral aspect of the effort was an in-depth economic analysis and comparison of robot arm testing versus use of contemporary precision test equipment.

  9. Industrial Robot Programming and UPnP Services Orchestration for the Automation of Factories

    Directory of Open Access Journals (Sweden)

    A. Valera

    2012-10-01

    Full Text Available The integration of equipment and other devices built into industrial robot cells with modern Ethernet interface technologies and low‐cost mass produced devices (such as vision systems, laser scanners, force torque‐sensors, PLCs and PDAs etc. enables integrators to offer more powerful and smarter solutions. Nevertheless, the programming of all these devices efficiently requires very specific knowledge about them, such as their hardware architectures and specific programming languages as well as details about the system’s low level communication protocols. To address these issues, this paper describes and analyses the Plug‐and‐Play architecture. This is one of the most interesting service‐oriented architectures (SOAs available, which exhibits characteristics that are well adapted to industrial robotics cells. To validate their programming features and applicability, a test bed was specially designed. This provides a new graphical service orchestration which was implemented using Workflow Foundation 4 of .NET. The obtained results allowed us to verify that the use of integration schemes based on SOAs reduces the system integration time and is better adapted to industrial robotic cell system integrators.

  10. Industrial Robot Programming and UPnP Services Orchestration for the Automation of Factories

    Directory of Open Access Journals (Sweden)

    A. Valera

    2012-10-01

    Full Text Available The integration of equipment and other devices built into industrial robot cells with modern Ethernet interface technologies and low-cost mass produced devices (such as vision systems, laser scanners, force torque-sensors, PLCs and PDAs etc. enables integrators to offer more powerful and smarter solutions. Nevertheless, the programming of all these devices efficiently requires very specific knowledge about them, such as their hardware architectures and specific programming languages as well as details about the system's low level communication protocols. To address these issues, this paper describes and analyses the Plug-and-Play architecture. This is one of the most interesting service-oriented architectures (SOAs available, which exhibits characteristics that are well adapted to industrial robotics cells. To validate their programming features and applicability, a test bed was specially designed. This provides a new graphical service orchestration which was implemented using Workflow Foundation 4 of .NET. The obtained results allowed us to verify that the use of integration schemes based on SOAs reduces the system integration time and is better adapted to industrial robotic cell system integrators.

  11. Earth Orbit Raise Design for the Artemis Mission

    Science.gov (United States)

    Wiffen, Gregory J.; Sweetser, Theodore H.

    2011-01-01

    The Artemis mission is an extension of the Themis mission. The Themis mission1 consisted of five identical spacecraft in varying sized Earth orbits designed to make simultaneous measurements of the Earth's electric and magnetic environment. Themis was designed to observe geomagnetic storms resulting from solar wind's interaction with the Earth's magnetosphere. Themis was meant to answer the age old question of why the Earth's aurora can change rapidly on a global scale. The Themis spacecraft are spin stabilized with 20 meter long electric field booms as well as several shorter magnetometer booms. The goal of the Artemis2 mission extension is to deliver the field and particle measuring capabilities of two of the Themis spacecraft to the vicinity of the Moon. The Artemis mission required transferring two Earth orbiting Themis spacecraft on to two different low energy trans-lunar trajectories ultimately ending in lunar orbit. This paper describes the processes that resulted in successful orbit raise designs for both spacecraft.

  12. A bio-inspired approach for the design of a multifunctional robotic end-effector customized for automated maintenance of a reconfigurable vibrating screen.

    Science.gov (United States)

    Makinde, O A; Mpofu, K; Vrabic, R; Ramatsetse, B I

    2017-01-01

    The development of a robotic-driven maintenance solution capable of automatically maintaining reconfigurable vibrating screen (RVS) machine when utilized in dangerous and hazardous underground mining environment has called for the design of a multifunctional robotic end-effector capable of carrying out all the maintenance tasks on the RVS machine. In view of this, the paper presents a bio-inspired approach which unfolds the design of a novel multifunctional robotic end-effector embedded with mechanical and control mechanisms capable of automatically maintaining the RVS machine. To achieve this, therblig and morphological methodologies (which classifies the motions as well as the actions required by the robotic end-effector in carrying out RVS machine maintenance tasks), obtained from a detailed analogy of how human being (i.e. a machine maintenance manager) will carry out different maintenance tasks on the RVS machine, were used to obtain the maintenance objective functions or goals of the multifunctional robotic end-effector as well as the maintenance activity constraints of the RVS machine that must be adhered to by the multifunctional robotic end-effector during the machine maintenance. The results of the therblig and morphological analyses of five (5) different maintenance tasks capture and classify one hundred and thirty-four (134) repetitive motions and fifty-four (54) functions required in automating the maintenance tasks of the RVS machine. Based on these findings, a worm-gear mechanism embedded with fingers extruded with a hexagonal shaped heads capable of carrying out the "gripping and ungrasping" and "loosening and bolting" functions of the robotic end-effector and an electric cylinder actuator module capable of carrying out "unpinning and hammering" functions of the robotic end-effector were integrated together to produce the customized multifunctional robotic end-effector capable of automatically maintaining the RVS machine. The axial forces ([Formula

  13. Automated spectro-goniometer: A spherical robot for the field measurement of the directional reflectance of snow

    Science.gov (United States)

    Painter, Thomas H.; Paden, Brad; Dozier, Jeff

    2003-12-01

    We describe an automated spectro-goniometer (ASG) that rapidly measures the spectral hemispherical-directional reflectance factor (HDRF) of snow in the field across the wavelength range 0.4⩽λ⩽2.5 μm. Few measurements of snow's HDRF exist in the literature, in part caused by a lack of a portable instrument capable of rapid, repeatable sampling. The ASG is a two-link spherical robot coupled to a field spectroradiometer. The ASG is the first revolute joint and first automated field goniometer for use over snow and other smooth surfaces. It is light enough (˜50 kg) to be portable in a sled by an individual. The ASG samples the HDRF at arbitrary angular resolution and 0.5 Hz sampling rate. The arm attaches to the fixed-point frame 0.65 m above the surface. With vertical and oblique axes, the ASG places the sensor of the field spectroradiometer at any point on the hemisphere above a snow target. In standard usage, the ASG has the sun as the illumination source to facilitate in situ measurements over fragile surfaces not easily transported to the laboratory and to facilitate simultaneous illumination conditions for validation and calibration of satellite retrievals. The kinematics of the ASG is derived using Rodrigues' formula applied to the 2 degree-of-freedom arm. We describe the inverse kinematics for the ASG and solve the inverse problem from a given view angle to the necessary rotation about each axis. Its two-dimensional hemispheric sampling space facilitates the measurement of spectral reflectance from snow and other relatively smooth surfaces into any direction. The measurements will be used to validate radiative transfer model results of directional reflectance and to validate/calibrate directional satellite measurements of reflectance from these smooth surfaces.

  14. Robotics and regional anesthesia.

    Science.gov (United States)

    Wehbe, Mohamad; Giacalone, Marilu; Hemmerling, Thomas M

    2014-10-01

    Robots in regional anesthesia are used as a tool to automate the performance of regional techniques reducing the anesthesiologist's workload and improving patient care. The purpose of this review is to show the latest findings in robotic regional anesthesia. The literature separates robots in anesthesia into two groups: pharmacological robots and manual robots. Pharmacological robots are mainly closed-loop systems that help in the titration of anesthetic drugs to patients undergoing surgery. Manual robots are mechanical robots that are used to support or replace the manual gestures performed by anesthesiologists. Although in the last decade researchers have focused on the development of decision support systems and closed-loop systems, more recent evidence supports the concept that robots can also be useful in performing regional anesthesia techniques. Robots can improve the performance and safety in regional anesthesia. In this review, we present the developments made in robotic and automated regional anesthesia, and discuss the current state of research in this field.

  15. 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…

  16. 3D Visual Tracking of an Articulated Robot in Precision Automated Tasks

    Directory of Open Access Journals (Sweden)

    Hamza Alzarok

    2017-01-01

    Full Text Available The most compelling requirements for visual tracking systems are a high detection accuracy and an adequate processing speed. However, the combination between the two requirements in real world applications is very challenging due to the fact that more accurate tracking tasks often require longer processing times, while quicker responses for the tracking system are more prone to errors, therefore a trade-off between accuracy and speed, and vice versa is required. This paper aims to achieve the two requirements together by implementing an accurate and time efficient tracking system. In this paper, an eye-to-hand visual system that has the ability to automatically track a moving target is introduced. An enhanced Circular Hough Transform (CHT is employed for estimating the trajectory of a spherical target in three dimensions, the colour feature of the target was carefully selected by using a new colour selection process, the process relies on the use of a colour segmentation method (Delta E with the CHT algorithm for finding the proper colour of the tracked target, the target was attached to the six degree of freedom (DOF robot end-effector that performs a pick-and-place task. A cooperation of two Eye-to Hand cameras with their image Averaging filters are used for obtaining clear and steady images. This paper also examines a new technique for generating and controlling the observation search window in order to increase the computational speed of the tracking system, the techniques is named Controllable Region of interest based on Circular Hough Transform (CRCHT. Moreover, a new mathematical formula is introduced for updating the depth information of the vision system during the object tracking process. For more reliable and accurate tracking, a simplex optimization technique was employed for the calculation of the parameters for camera to robotic transformation matrix. The results obtained show the applicability of the proposed approach to track the

  17. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

    1984-01-01

    A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation.

  18. First steps in translating human cognitive processes of cane pruning grapevines into AI rules for automated robotic pruning

    Directory of Open Access Journals (Sweden)

    Saxton Valerie

    2014-01-01

    Full Text Available Cane pruning of grapevines is a skilled task for which, internationally, there is a dire shortage of human pruners. As part of a larger project developing an automated robotic pruner, we have used artificial intelligence (AI algorithms to create an expert system for selecting new canes and cutting off unwanted canes. A domain and ontology has been created for AI, which reflects the expertise of expert human pruners. The first step in the creation of an expert system was to generate virtual vines, which were then ‘pruned’ by human pruners and also by the expert system in its infancy. Here we examined the decisions of 12 human pruners, for consistency of decision, on 60 virtual vines. 96.7% of the 12 pruners agreed on at least one cane choice after which there was diminishing agreement on which further canes to select for laying. Our results indicate that techniques developed in computational intelligence can be used to co-ordinate and synthesise the expertise of human pruners into a best practice format. This paper describes first steps in this knowledge elicitation process, and discusses the fit between cane pruning expertise and the expertise that can be elicited using AI based expert system techniques.

  19. 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…

  20. Laser Experiments with ARTEMIS Satellite in Cloudy Conditions

    Science.gov (United States)

    Kuzkov, Volodymyr; Sodnik, Zoran; Kuzkov, Sergii; Caramia, Vincenzo

    2014-05-01

    In July 2001, the ARTEMIS satellite with laser communication terminal OPALE on board was launched. 1789 laser communications sessions were performed between ARTEMIS and SPOT-4 (PASTEL) from 01 April 2003 to 09 January 2008 with total duration of 378 hours. In addition ESA's Optical Ground Station (OGS) performed laser communication experiments with OPALE in various atmospheric conditions. Since the launch of ARTEMIS, the amount of information handled by geostationary telecommunication satellites has increased dramatically and so has the demand for data rate that needs to be transmitted from ground. With limited bandwidth allocations in the radio frequency bands interest has grown for laser communication feeder link technology. In this respect there is interest to compare the influence of atmosphere conditions in different atmospheric regions with respect to laser transmission. Two locations are being compared, namely ESA's OGS (located in an altitude of 2400 m above sea level) and the Main Astronomical Observatory of Ukraine (MAO) (located at an altitude of 190 m above sea level). In 2002 MAO started the development of a ground laser communication system for the AZT-2 telescope. The MAO developed compact laser communication system is called LACES (Laser Atmosphere and Communication Experiments with Satellites) [1] and the work was supported by the National Space Agency of Ukraine and by ESA. The beacon laser from OPALE was occasionally detected even in cloudy conditions and an anomalous atmospheric refraction at low elevation angles was observed. The main results of laser experiments with ARTEMIS through clouds are presented in the paper.

  1. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

    1984-01-01

    A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.

  2. Robotics

    Science.gov (United States)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  3. Nanoliter-scale protein crystallization and screening with a microfluidic droplet robot

    National Research Council Canada - National Science Library

    Zhu, Ying; Zhu, Li-Na; Guo, Rui; Cui, Heng-Jun; Ye, Sheng; Fang, Qun

    2014-01-01

    .... Here we describe a fully-automated droplet robot for nanoliter-scale crystallization screening that combines the advantages of both automated robotics technique for protein crystallization screening...

  4. Improving the correlation of structural FEA models by the application of automated high density robotized laser Doppler vibrometry

    Science.gov (United States)

    Chowanietz, Maximilian; Bhangaonkar, Avinash; Semken, Michael; Cockrill, Martin

    2016-06-01

    Sound has had an intricate relation with the wellbeing of humans since time immemorial. It has the ability to enhance the quality of life immensely when present as music; at the same time, it can degrade its quality when manifested as noise. Hence, understanding its sources and the processes by which it is produced gains acute significance. Although various theories exist with respect to evolution of bells, it is indisputable that they carry millennia of cultural significance, and at least a few centuries of perfection with respect to design, casting and tuning. Despite the science behind its design, the nuances pertaining to founding and tuning have largely been empirical, and conveyed from one generation to the next. Post-production assessment for bells remains largely person-centric and traditional. However, progressive bell manufacturers have started adopting methods such as finite element analysis (FEA) for informing and optimising their future model designs. To establish confidence in the FEA process it is necessary to correlate the virtual model against a physical example. This is achieved by performing an experimental modal analysis (EMA) and comparing the results with those from FEA. Typically to collect the data for an EMA, the vibratory response of the structure is measured with the application of accelerometers. This technique has limitations; principally these are the observer effect and limited geometric resolution. In this paper, 3-dimensional laser Doppler vibrometry (LDV) has been used to measure the vibratory response with no observer effect due to the non-contact nature of the technique; resulting in higher accuracy measurements as the input to the correlation process. The laser heads were mounted on an industrial robot that enables large objects to be measured and extensive data sets to be captured quickly through an automated process. This approach gives previously unobtainable geometric resolution resulting in a higher confidence EMA. This is

  5. 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.

  6. MHD models compared with Artemis observations at -60 Re

    Science.gov (United States)

    Gencturk Akay, Iklim; Sibeck, David; Angelopoulos, Vassilis; Kaymaz, Zerefsan; Kuznetsova, Maria

    2016-07-01

    The distant magnetotail has been one of the least studied magnetic regions of the Earth's magnetosphere compared to the other near Earth both dayside and nightside magnetospheric regions owing to the limited number of spacecraft observations. Since 2011, ARTEMIS spacecraft give an excellent opportunity to study the magnetotail at lunar distances in terms of data quality and parameter space. This also gives opportunities to improve the magnetotail models at -60 Re and encourages the modelling studies of the distant magnetotail. Using ARTEMIS data in distant magnetotail, we create magnetic field and plasma flow vector maps in different planes and separated with IMF orientation to understand the magnetotail dynamics at this distance. For this study, we use CCMC's Run-on-Request resources of the MHD models; specifically SWMF-BATS-R-US, OpenGGCM, and LFM and perform the similar analysis with the models. Our main purpose in this study is to measure the performance of the MHD models at -60 Re distant magnetotail by comparing the model results with Artemis observations. In the literature, such a comprehensive comparative study is lacking in the distant tail. Preliminary results show that in general all three models underestimate the magnetic field structure while overestimating the flow speed. In the cross-sectional view, LFM seems to produce the better agreement with the observations. A clear dipolar magnetic field structure is seen with dawn-dusk asymmetry in all models owing to slight positive IMF By but the effect was found to be exaggerated. All models show tailward flows at this distance of the magnetotail, most possibly owing to the magnetic reconnection at the near Earth tail distances. A detailed comparison of several tail characteristics from the models will be presented and discussions will be given with respect to the observations from Artemis at this distance.

  7. 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

  8. ARTEMIS orbit raising inflight experience with ion propulsion

    Science.gov (United States)

    Killinger, Rainer; Kukies, Ralf; Surauer, Michael; Tomasetto, Angeo; van Holtz, Leo

    2003-08-01

    To demonstrate and promote North/South station keeping (inclination control) using ion propulsion, ESA on July 12, 2001 onboard Ariane 510 launched its most advanced telecommunication satellite: ARTEMIS. Due to a launcher failure the satellite was injected into a useless too low elliptic orbit. The ARTEMIS mission was salvaged by an Alenia Spazio / Astrium / ESA team at Telespazio (Fucino) using in novel modes to operate the on-board chemical and ion propulsion systems provided by Astrium. Using the chemical propulsion_ system provided by Astrium GmbH - Lampoldshausen - the inital orbit, having an apogee of half the targeted altitude. was quickly upgraded to a safe circular parking orbit at 31000 km altitude. The Liquid Apogee Engine was fired in total 8 times to achieve apogee as well as perigee raising. The final orbit raising to geostationary altitude is being performed by means of the ion propulsion system (IPP) applied in a newly designed spacecraft attitude control mode. Alenia Spazio and Astrium, in close cooperation, quickly redesigned all control and data handling software modules affected since the original spacecraft configuration was designed for inclination control only and not to generate thrust with the ion engines in a direction tangential to the orbit. The flexibility of the IPP system consisting of 4 thruster assemblies, provided in its totality by Astrium including the 2 alignment mechanisms for precision thrust direction control, had proven invaluable. To demonstrate the technologies available in Europe and to enhanced reliability, Astrium implemented two different technologies: a Kaufmann type system (EITA) provided by Astrium Ltd. - Portsmouth; and a Radiofrequency Ion Thruster Assembly (RITA) provided by Astrium GmbH - Ottobrunn. Two ion engines of different technology were mounted side by side on one ITAM (Ion Thruster Alignment Mechanism) provided by Austrian Aerospace. Artemis, after EURECA launched on 31 July 1992 and retrieved on 1 July

  9. Automated rose cutting in greenhouses with 3D vision and robotics : analysis of 3D vision techniques for stem detection

    NARCIS (Netherlands)

    Noordam, J.C.; Hemming, J.; Heerde, van C.J.E.; Golbach, F.B.T.F.; Soest, van R.; Wekking, E.

    2005-01-01

    The reduction of labour cost is the major motivation to develop a system for robot harvesting of roses in greenhouses that at least can compete with manual harvesting. Due to overlapping leaves, one of the most complicated tasks in robotic rose cutting is to locate the stem and trace the stem down t

  10. Automated rose cutting in greenhouses with 3D vision and robotics : analysis of 3D vision techniques for stem detection

    NARCIS (Netherlands)

    Noordam, J.C.; Hemming, J.; Heerde, van C.J.E.; Golbach, F.B.T.F.; Soest, van R.; Wekking, E.

    2005-01-01

    The reduction of labour cost is the major motivation to develop a system for robot harvesting of roses in greenhouses that at least can compete with manual harvesting. Due to overlapping leaves, one of the most complicated tasks in robotic rose cutting is to locate the stem and trace the stem down

  11. Collaborative Robotics Design Considerations

    Science.gov (United States)

    2004-05-06

    in Multirobot Systems," IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, October 2002 [3] Batavia, P., "A Survey of Collaborative... Transactions on Robotics and Automation, Vol. 18, No.5, Oct. 2002, pp 781-795. [21]Scholtz, J.C., "Human-Robot Interactions: Creating Synergistic Cyber...Parker, L.E, eds., Kluwer Academic Publishers, 2002, pp 185-193. [20] Roumeliotis, S., Bekey, G.A., "Distributed Multirobot Localization," IEEE

  12. Laser Ground System for Communication Experiments with ARTEMIS

    Science.gov (United States)

    Kuzkov, Volodymyr; Volovyk, Dmytro; Kuzkov, Sergii; Sodnik, Zoran; Pukha, Sergii; Caramia, Vincenzo

    2012-10-01

    The ARTEMIS satellite with the OPALE laser communication terminal on-board was launched on 12 July, 2001. 1789 laser communications sessions were performed between ARTEMIS and SPOT-4 (PASTEL) from 01 April 2003 to 09 January 2008 with total duration of 378 hours. Regular laser communication experiments between ESA's Optical Ground Station (OGS - altitude 2400 m above see level) and ARTEMIS in various atmosphere conditions were also performed. The Japanese Space Agency (JAXA) launched the KIRARI (OICETS) satellite with laser communication terminal called LUCE. Laser communication links between KIRARI and ARTEMIS were successfully realized and international laser communications experiments from the KIRARI satellite were also successfully performed with optical ground stations located in the USA (JPL), Spain (ESA OGS), Germany (DLR), and Japan (NICT). The German Space Agency (DLR) performed laser communication links between two LEO satellites (TerraSAR-X and NFIRE), demonstrating data transfer rates of 5.6Gbit/s and performed laser communication experiments between the satellites and the ESA optical ground station. To reduce the influence of weather conditions on laser communication between satellites and ground stations, a network of optical stations situated in different atmosphere regions needs to be created. In 2002, the Main Astronomical Observatory (MAO) started the development of its own laser communication system to be placed into the Cassegrain focus of its 0.7m AZT-2 telescope (Fe = 10.5m), located in Kyiv 190 meters above sea level. The work was supported by the National Space Agency of Ukraine and by ESA ARTEMIS has an orbital position of 21.4° E and an orbital inclination of more than 9.75°. As a result we developed a precise tracking system for AZT-2 telescope (weighing more than 2 tons) using micro-step motors. Software was developed for computer control of the telescope to track the satellite's orbit and a tracking accuracy of 0.6 arcsec was achieved

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

    NARCIS (Netherlands)

    A.D. Pimentel

    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,

  15. Effects of automation and task load on task switching during human supervision of multiple semi-autonomous robots in a dynamic environment.

    Science.gov (United States)

    Squire, P N; Parasuraman, R

    2010-08-01

    The present study assessed the impact of task load and level of automation (LOA) on task switching in participants supervising a team of four or eight semi-autonomous robots in a simulated 'capture the flag' game. Participants were faster to perform the same task than when they chose to switch between different task actions. They also took longer to switch between different tasks when supervising the robots at a high compared to a low LOA. Task load, as manipulated by the number of robots to be supervised, did not influence switch costs. The results suggest that the design of future unmanned vehicle (UV) systems should take into account not simply how many UVs an operator can supervise, but also the impact of LOA and task operations on task switching during supervision of multiple UVs. The findings of this study are relevant for the ergonomics practice of UV systems. This research extends the cognitive theory of task switching to inform the design of UV systems and results show that switching between UVs is an important factor to consider.

  16. 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 "...

  17. Evaluation of automated decision making methodologies and development of an integrated robotic system simulation. Volume 1. Study results

    Energy Technology Data Exchange (ETDEWEB)

    Lowrie, J.W.; Fermelia, A.J.; Haley, D.C.; Gremban, K.D.; Vanbaalen, J.

    1982-09-01

    A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

  18. Processing of 3'-Phosphoglycolate-Terminated DNA Double-StrandBreaks by Artemis Nuclease

    Energy Technology Data Exchange (ETDEWEB)

    Povrik, Lawrence F.; Zhou, Tong; Zhou, Ruizhe; Cowan, Morton J.; Yannone, Steven M.

    2005-10-01

    The Artemis nuclease is required for V(D)J recombination and for repair of an as yet undefined subset of radiation-induced DNA double-strand breaks. To assess the possibility that Artemis functions on oxidatively modified double-strand break termini, its activity toward model DNA substrates, bearing either 3{prime}-hydroxyl or 3{prime}-phosphoglycolate moieties, was examined. A 3{prime}-phosphoglycolate had little effect on Artemis-mediated trimming of long 3{prime} overhangs (>9 nucleotides), which were efficiently trimmed to 4-5 nucleotides. However, 3{prime}-phosphoglycolates on overhangs of 4-5 bases promoted selective Artemis-mediated trimming of a single 3{prime}-terminal nucleotide, while at least 2 nucleotides were trimmed from identical hydroxyl-terminated substrates. Artemis also efficiently removed a single nucleotide from a phosphoglycolate-terminated 3-base 3{prime} overhang, while leaving an analogous hydroxyl-terminated overhang largely intact. Such removal was dependent upon Ku, DNA-dependent protein kinase, and ATP. Together, these data suggest that Artemis-mediated cleavage of 3{prime} overhangs requires a minimum of 2 nucleotides, or a nucleotide plus a phosphoglycolate, 3{prime} to the cleavage site. Shorter 3{prime}-phosphoglycolate-terminated overhangs and blunt ends were also processed by Artemis, but much less efficiently. Consistent with the in vitro substrate specificity of Artemis, human cells lacking Artemis exhibited hypersensitivity to X-rays, bleomycin and neocarzinostatin, which all induce 3{prime}-phosphoglycolate-terminated double-strand breaks. Collectively, these results suggest that 3{prime}-phosphoglycolate termini and/or specific classes of DNA ends that arise from such blocked termini are relevant Artemis substrates in vivo.

  19. Automated security response robot

    Science.gov (United States)

    Ciccimaro, Dominic A.; Everett, Hobart R.; Gilbreath, Gary A.; Tran, Tien T.

    1999-01-01

    ROBART III is intended as an advance demonstration platform for non-lethal response measures, extending the concepts of reflexive teleoperation into the realm of coordinated weapons control in law enforcement and urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator supervision. Autonomous navigation and mapping of interior spaces is significantly enhanced by an innovative algorithm which exploits the fact that the majority of man-made structures are characterized by parallel and orthogonal walls. Extremely robust intruder detection and assessment capabilities are achieved through intelligent fusion of a multitude of inputs form various onboard motion sensors. Intruder detection is addressed by a 360-degree staring array of passive-IR motion detectors, augmented by a number of positionable head-mounted sensors. Automatic camera tracking of a moving target is accomplished using a video line digitizer. Non-lethal response systems include a six- barrelled pneumatically-powered Gatling gun, high-powered strobe lights, and three ear-piercing 103-decibel sirens.

  20. DEdicated MONitor of EXotransits and Transients (DEMONEXT): Low-Cost Robotic and Automated Telescope for Followup of Exoplanetary Transits and Transients

    Science.gov (United States)

    Villanueva, Steven; Eastman, Jason D.; Gaudi, B. Scott; Pogge, Richard W.; Stassun, Keivan G.; Trueblood, Mark; Trueblood, Patricia

    2017-01-01

    We present the design, development, and early science from the DEdicated MONitor of EXotransits and Transients (DEMONEXT), an automated and robotic 20 inch telescope jointly funded by The Ohio State University and Vanderbilt University. The telescope is a PlaneWave CDK20 f/6.8 Corrected Dall-Kirkham Astrograph telescope on a Mathis Instruments MI-750/1000 Fork Mount located at Winer Observatory in Sonoita, AZ. DEMONEXT has a Hedrick electronic focuser, Finger Lakes Instrumentation (FLI) CFW-3-10 filter wheel, and a 2048 x 2048 pixel FLI Proline CCD3041 camera with a pixel scale of 0.90 arc-seconds per pixel and a 30.7 x 30.7 arc-minute field-of-view. The telescope's automation, controls, and scheduling are implemented in Python, including a facility to add new targets in real time for rapid follow-up of time-critical targets. DEMONEXT will be used for the confirmation and detailed investigation of newly discovered planet candidates from the Kilodegree Extremely Little Telescope (KELT) survey, exploration of the atmospheres of Hot Jupiters via transmission spectroscopy and thermal emission measurements, and monitoring of select eclipsing binary star systems as benchmarks for models of stellar evolution. DEMONEXT will enable rapid confirmation imaging of supernovae, flare stars, tidal disruption events, and other transients discovered by the All Sky Automated Survey for SuperNovae (ASAS-SN).

  1. 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

  2. Integration of biotechnology, robot technology and visualisation technology for development of methods for automated mass production of elite trees

    DEFF Research Database (Denmark)

    Find, Jens

    . The method is, for several plant species, the preferred basis for development of additional biotechnological breeding technologies as e.g. genetic transformation. Elite clones can be stored over extended periods in liquid nitrogen at -196°C However, commercial application of the technology has until now been...... of plants for the forestry industry 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....... are produced from single cells without sexual reproduction. SE has some particular advantages for the development of cost effective methods for clonal mass propagation of elite plants: It is a very effective and fast method for clonal propagation. The method is suitable for automatisation and robot technology...

  3. The Canadian Space Agency, Space Station, Strategic Technologies for Automation and Robotics Program technology development activity in protection of materials from the low Earth orbit space environment

    Science.gov (United States)

    Francoeur, J. R.

    1992-01-01

    The Strategic Technologies in Automation and Robotics (STEAR) program is managing a number of development contracts to improve the protection of spacecraft materials from the Low Earth Orbit (LEO) space environment. The project is structured in two phases over a 3 to 4 year period with a budget of 3 to 4 million dollars. Phase 1 is designed to demonstrate the technical feasibility and commercial potential of a coating/substrate system and its associated application process. The objective is to demonstrate a prototype fabrication capability using a full scale component of a commercially viable process for the protection of materials and surface finishes from the LEO space environment, and to demonstrate compliance with a set of performance requirements. Only phase 1 will be discussed in this paper.

  4. Automating the Process of Work-Piece Recognition and Location for a Pick-and-Place Robot in a SFMS

    OpenAIRE

    R. V. Sharan; G. C. Onwubolu

    2014-01-01

    This paper reports the development of a vision system to automatically classify work-pieces with respect to their shape and color together with determining their location for manipulation by an in-house developed pick-and-place robot from its work-plane. The vision-based pick-and-place robot has been developed as part of a smart flexible manufacturing system for unloading work-pieces for drilling operations at a drilling workstation from an automatic guided vehicle designed to transport the w...

  5. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix B: ROBSIM programmer's guide

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.; Wolfe, W. J.; Nguyen, T.

    1986-01-01

    The purpose of the Robotic Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAM 77 and implemented on a VAX 11/750 computer using the VMS operating system. The programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With the manual and the in-code documentation, an experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities.

  6. 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

  7. Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

    Science.gov (United States)

    Trease, Brian P.; Lindeman, Randel A.; Arvidson, Raymond E.; Bennett, Keith; VanDyke, Lauren P.; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine

    2013-01-01

    The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files

  8. DEdicated MONitor of EXotransits and Transients (DEMONEXT): a low-cost robotic and automated telescope for followup of exoplanetary transits and other transient events

    Science.gov (United States)

    Villanueva, S.; Eastman, J. D.; Gaudi, B. S.; Pogge, R. W.; Stassun, K. G.; Trueblood, M.; Trueblood, P.

    2016-07-01

    We present the design and development of the DEdicatedMONitor of EXotransits and Transients (DEMONEXT), an automated and robotic 20 inch telescope jointly funded by The Ohio State University and Vanderbilt University. The telescope is a PlaneWave CDK20 f/6.8 Corrected Dall-Kirkham Astrograph telescope on a Mathis Instruments MI-750/1000 Fork Mount located atWiner Observatory in Sonoita, AZ. DEMONEXT has a Hedrick electronic focuser, Finger Lakes Instrumentation (FLI) CFW-3-10 filter wheel, and a 2048 x 2048 pixel FLI Proline CCD3041 camera with a pixel scale of 0.90 arc-seconds per pixel and a 30.7× 30.7 arc-minute field-of-view. The telescope's automation, controls, and scheduling are implemented in Python, including a facility to add new targets in real time for rapid follow-up of time-critical targets. DEMONEXT will be used for the confirmation and detailed investigation of newly discovered planet candidates from the Kilodegree Extremely Little Telescope (KELT) survey, exploration of the atmospheres of Hot Jupiters via transmission spectroscopy and thermal emission measurements, and monitoring of select eclipsing binary star systems as benchmarks for models of stellar evolution. DEMONEXT will enable rapid confirmation imaging of supernovae, flare stars, tidal disruption events, and other transients discovered by the All Sky Automated Survey for SuperNovae (ASAS-SN). DEMONEXT will also provide follow-up observations of single-transit planets identified by the Transiting Exoplanet Survey Satellite (TESS) mission, and to validate long-period eclipsing systems discovered by Gaia.

  9. Mobile Robot Positioning - Sensors and Techniques

    Science.gov (United States)

    1997-01-01

    Inertial Navigation Systems Mobile Robots.” IEEE Transactions on Robotics and Automation, Vol. 11, No. 3, June, pp. 328-342. 4. Battin, R. H., 1987...Results from Internal Odometry Error Correction With the OmniMate Mobile Platform." Submitted to the IEEE Transactions on Robotics and Automation, July 1996

  10. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix A: ROBSIM user's guide

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelley, J. H.; Depkovich, T. M.; Wolfe, W. J.; Nguyen, T.

    1986-01-01

    The purpose of the Robotics Simulation Program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotics systems. ROBSIM is program in FORTRAN 77 for use on a VAX 11/750 computer under the VMS operating system. This user's guide describes the capabilities of the ROBSIM programs, including the system definition function, the analysis tools function and the postprocessor function. The options a user may encounter with each of these executables are explained in detail and the different program prompts appearing to the user are included. Some useful suggestions concerning the appropriate answers to be given by the user are provided. An example user interactive run in enclosed for each of the main program services, and some of the capabilities are illustrated.

  11. Shielded cells transfer automation

    Energy Technology Data Exchange (ETDEWEB)

    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.

  12. Automating the Process of Work-Piece Recognition and Location for a Pick-and-Place Robot in a SFMS

    Directory of Open Access Journals (Sweden)

    R. V. Sharan

    2014-03-01

    Full Text Available This paper reports the development of a vision system to automatically classify work-pieces with respect to their shape and color together with determining their location for manipulation by an in-house developed pick-and-place robot from its work-plane. The vision-based pick-and-place robot has been developed as part of a smart flexible manufacturing system for unloading work-pieces for drilling operations at a drilling workstation from an automatic guided vehicle designed to transport the work-pieces in the manufacturing work-cell. Work-pieces with three different shapes and five different colors are scattered on the work-plane of the robot and manipulated based on the shape and color specification by the user through a graphical user interface. The number of corners and the hue, saturation, and value of the colors are used for shape and color recognition respectively in this work. Due to the distinct nature of the feature vectors for the fifteen work-piece classes, all work-pieces were successfully classified using minimum distance classification during repeated experimentations with work-pieces scattered randomly on the work-plane.

  13. Introduction to robotics

    Energy Technology Data Exchange (ETDEWEB)

    Vukobratovic, M.

    1989-01-01

    This book is organized into nine chapters. Chapter 1 presents general robot characteristics concerning the classification of robot systems, the general specification of robot mechanisms and the specification of manipulation robots. Chapter 2 is devoted to manipulation robot kinematics. It treats the kinematic structure of manipulation robots, the types of kinematic configurations, the kinematic model of manipulation robots, based on the Denavit-Hartenberg (homogeneous) coordinates. The inverse problem of kinematics is formulated and the basic principles of robot trajectory synthesis are given. Chapter 3 contains the fundamentals of studying robot dynamics. It presents the automated construction of the dynamic equations of motion, the modelling of actuator dynamics and the effect of fundamental vibration on the robot dynamics. The class of tasks involving constrained gripper motion is also presented. The problems of manipulation robot control are discussed in Chapter 4. Chapter 5 is devoted to the microcomputer implementation of control algorithms. It presents the basic elements of today's robot control systems as well as software modules among which communication-command module, kinematic module and dynamic (servosystem) module deserve to be especially mentioned. Manipulation robot programming is treated in Chapter 6. Chapter 7 deals with the sensors used in robotics: position sensors (potentiometers, encoders, resolvers), environment sensors (force sensors, tactile sensors, proximity sensors) and vision sensors (scene illumination, special vision sensors, lasers). The elements of industrial robot design and application are discussed in Chapter 8. In Chapter 9 the authors try to unify in a systematic way major problems (and possible solutions) encountered with factory automation by integrating one or more robots and several machine tools into work cell, flexible manufacturing line and assembly systems. (orig./HP) With 228 figs.

  14. Anatomic viral detection is automated: the application of a robotic molecular pathology system for the detection of DNA viruses in anatomic pathology substrates, using immunocytochemical and nucleic acid hybridization techniques.

    Science.gov (United States)

    Montone, K. T.; Brigati, D. J.; Budgeon, L. R.

    1989-01-01

    This paper presents the first automated system for simultaneously detecting human papilloma, herpes simplex, adenovirus, or cytomegalovirus viral antigens and gene sequences in standard formalin-fixed, paraffin-embedded tissue substrates and tissue culture. These viruses can be detected by colorimetric in situ nucleic acid hybridization, using biotinylated DNA probes, or by indirect immunoperoxidase techniques, using polyclonal or monoclonal antibodies, in a 2.0-hour assay performed at a single automated robotic workstation. Images FIG. 1 FIG. 4 FIG. 5 FIG. 6 FIG. 7 FIG. 8 FIG. 9 FIG. 10 FIG. 11 PMID:2773514

  15. 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....

  16. 机器人在塑料制造自动化中的发展及技术研究分析%Robots in the plastic manufacturing automation development and technological research and analysis

    Institute of Scientific and Technical Information of China (English)

    韦娟娟

    2013-01-01

    文章就塑料制造加工中自动化技术的发展状况进行了分析,并就塑料加工制造机器人的未来发展方向进行了探究,分析了机器人在塑料制造自动化中的技术关键点,对塑料制造机器人的主要技术参数进行了剖析,为企业机器人的选用提供参考依据。%Article on plastic manufacturing and processing in the development of automation technology were analyzed and discussed plastics manufacturing robots to explore future directions were analyzed in the plastic manufacturing au-tomation robots in key technical points, the plastic manufacturing robot main technical parameters were analyzed in the selection of robots for the enterprise to provide a reference.

  17. China's Reconfigurable Planet Probing Robot

    Institute of Scientific and Technical Information of China (English)

    RenShufang

    2005-01-01

    Research of reconfigurable planet probing robot conducted by the Shenyang Institute of Automation of the Chinese Academy of Science (SIA-CAS) has passed appraisal of 863 Program sresearch on intelligent robots.

  18. 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.

  19. Robots in astronomy

    Science.gov (United States)

    Baruch, John E. F.

    A development history and a development trends evaluation are presented for the growth of automation and robotics in industry and in observational astronomy, with a view to the distinctive problems of each field of application. Recent concepts concerning the astronomical use of robots as personal assistants are noted, and an effort is made to discern ways in which technology guides both methods and perceptions. Current programs for robotic and automated telescope development are noted, and it is argued that international standards should soon be formulated for this technology.

  20. Automated sample-changing robot for solution scattering experiments at the EMBL Hamburg SAXS station X33

    Science.gov (United States)

    Round, A. R.; Franke, D.; Moritz, S.; Huchler, R.; Fritsche, M.; Malthan, D.; Klaering, R.; Svergun, D. I.; Roessle, M.

    2008-01-01

    There is a rapidly increasing interest in the use of synchrotron small-angle X-ray scattering (SAXS) for large-scale studies of biological macromolecules in solution, and this requires an adequate means of automating the experiment. A prototype has been developed of an automated sample changer for solution SAXS, where the solutions are kept in thermostatically controlled well plates allowing for operation with up to 192 samples. The measuring protocol involves controlled loading of protein solutions and matching buffers, followed by cleaning and drying of the cell between measurements. The system was installed and tested at the X33 beamline of the EMBL, at the storage ring DORIS-III (DESY, Hamburg), where it was used by over 50 external groups during 2007. At X33, a throughput of approximately 12 samples per hour, with a failure rate of sample loading of less than 0.5%, was observed. The feedback from users indicates that the ease of use and reliability of the user operation at the beamline were greatly improved compared with the manual filling mode. The changer is controlled by a client–server-based network protocol, locally and remotely. During the testing phase, the changer was operated in an attended mode to assess its reliability and convenience. Full integration with the beamline control software, allowing for automated data collection of all samples loaded into the machine with remote control from the user, is presently being implemented. The approach reported is not limited to synchrotron-based SAXS but can also be used on laboratory and neutron sources. PMID:25484841

  1. Integration of biotechnology, robot technology and visualisation technology for development of methods for automated mass production of elite trees

    DEFF Research Database (Denmark)

    Find, Jens

    hampered by two essential problems: The production costs per plant must be reduced. Labour costs are low in the early steps of the process whereas they increase dramatically during the later stages (Fig. 1). Improved methods must be developed for transfer and acclimatisation of plants from sterile in vitro...... conditions to non sterile (ex vitro/in vivo) conditions at the nursery. Fig. 1. Predicted labour cost by clonal propagation through somatic embryogenesis.   The labour costs are very low in the early steps of the production, whereas they increase dramatically during the later stages: 'embryo selection...... & germination' and 'ex-vitro acclimatization'). The aim of the present project is to reduce labour costs associated with the late stages of the production of cloned plants through development of robot- and visualisation technologies. (From Afreen & Zobayed, p. 96, 2005)   The presentation will report on two...

  2. Oak Ridge K-25 Site Technology Logic Diagram. Volume 3, Technology evaluation data sheets; Part B, Remedial action, robotics/automation, waste management

    Energy Technology Data Exchange (ETDEWEB)

    Fellows, R.L. [ed.

    1993-02-26

    The Oak Ridge K-25 Technology Logic Diagram (TLD), a decision support tool for the K-25 Site, was developed to provide a planning document that relates environmental restoration (ER) and waste management (WN) problems at the Oak Ridge K-25 Site. The TLD technique identifies the research necessary to develop these technologies to a state that allows for technology transfer and application to waste management, remediation, decontamination, and decommissioning activities. The TLD consists of four separate volumes-Vol. 1, Vol. 2, Vol. 3A, and Vol. 3B. Volume 1 provides introductory and overview information about the TLD. Volume 2 contains logic diagrams. Volume 3 has been divided into two separate volumes to facilitate handling and use. This volume 3 B provides the Technology Evaluation Data Sheets (TEDS) for ER/WM activities (Remedial Action Robotics and Automation, Waste Management) that are referenced by a TEDS code number in Vol. 2 of the TLD. Each of these sheets represents a single logic trace across the TLD. These sheets contain more detail than each technology in Vol. 2. The TEDS are arranged alphanumerically by the TEDS code number in the upper right corner of each data sheet. Volume 3 can be used in two ways: (1) technologies that are identified from Vol. 2 can be referenced directly in Vol. 3 by using the TEDS codes, and (2) technologies and general technology areas (alternatives) can be located in the index in the front of this volume.

  3. Blazar variability studies with the 1.3m Robotically Controlled Telescope and the automated 0.6m Bell Observatory telescope

    Science.gov (United States)

    Carini, M. T.; Barnaby, D.; Mattox, J. R.; Walters, R.; Poteet, C.; Wills, W.; Gelderman, R.; Davis, D.; Everett, M.; Guinan, E.; Howell, S.; McGruder, C. H., III

    2004-10-01

    One of the key programs on the 1.3m Robotically Controlled Telescope (RCT) located at Kitt Peak National Observatory and the 0.6m telescope at the Bell Observatory operated by Western Kentucky University is a study of the variability of the class of Active Galactic Nuclei (AGN) known as Blazars. Blazars are highly variable on timescales of minutes to decades and this variability is seen across the electromagnetic spectrum. In addition, they display a featureless spectrum, thus continuum variability provides the only diagnostic of these objects. Variability provides information on the size of the emission region responsible for the observed variations and when observations are obtained at multiple wavelengths, it can be used to discriminate between emission models. However, traditional ground based observations are limited in a variety of ways. We will discuss how an automated facility, with time dedicated to this astrophysically interesting problem, can overcome many of these limitations, and we show results from the Bell Observatory as well as some of the first results of Blazar observations from the RCT.

  4. Single pellet grasping following cervical spinal cord injury in adult rat using an automated full-time training robot

    Science.gov (United States)

    Fenrich, Keith K.; May, Zacincte; Torres-Espín, Abel; Forero, Juan; Bennett, David J.; Fouad, Karim

    2016-01-01

    Task specific motor training is a common form of rehabilitation therapy in individuals with spinal cord injury (SCI). The single pellet grasping (SPG) task is a skilled forelimb motor task used to evaluate recovery of forelimb function in rodent models of SCI. The task requires animals to obtain food pellets located on a shelf beyond a slit at the front of an enclosure. Manually training and testing rats in the SPG task requires extensive time and often yields results with high outcome variability and small therapeutic windows (i.e., the difference between pre- and post-SCI success rates). Recent advances in automated SPG training using automated pellet presentation (APP) systems allow rats to train ad libitum 24 h a day, 7 days a week. APP trained rats have improved success rates, require less researcher time, and have lower outcome variability compared to manually trained rats. However, it is unclear whether APP trained rats can perform the SPG task using the APP system after SCI. Here we show that rats with cervical SCI can successfully perform the SPG task using the APP system. We found that SCI rats with APP training performed significantly more attempts, had slightly lower and less variable final score success rates, and larger therapeutic windows than SCI rats with manual training. These results demonstrate that APP training has clear advantages over manual training for evaluating reaching performance of SCI rats and represents a new tool for investigating rehabilitative motor training following CNS injury. PMID:26611563

  5. Single pellet grasping following cervical spinal cord injury in adult rat using an automated full-time training robot.

    Science.gov (United States)

    Fenrich, Keith K; May, Zacincte; Torres-Espín, Abel; Forero, Juan; Bennett, David J; Fouad, Karim

    2016-02-15

    Task specific motor training is a common form of rehabilitation therapy in individuals with spinal cord injury (SCI). The single pellet grasping (SPG) task is a skilled forelimb motor task used to evaluate recovery of forelimb function in rodent models of SCI. The task requires animals to obtain food pellets located on a shelf beyond a slit at the front of an enclosure. Manually training and testing rats in the SPG task requires extensive time and often yields results with high outcome variability and small therapeutic windows (i.e., the difference between pre- and post-SCI success rates). Recent advances in automated SPG training using automated pellet presentation (APP) systems allow rats to train ad libitum 24h a day, 7 days a week. APP trained rats have improved success rates, require less researcher time, and have lower outcome variability compared to manually trained rats. However, it is unclear whether APP trained rats can perform the SPG task using the APP system after SCI. Here we show that rats with cervical SCI can successfully perform the SPG task using the APP system. We found that SCI rats with APP training performed significantly more attempts, had slightly lower and less variable final score success rates, and larger therapeutic windows than SCI rats with manual training. These results demonstrate that APP training has clear advantages over manual training for evaluating reaching performance of SCI rats and represents a new tool for investigating rehabilitative motor training following CNS injury.

  6. Structural Basis of DNA Ligase IV-Artemis Interaction in Nonhomologous End-Joining

    Directory of Open Access Journals (Sweden)

    Pablo De Ioannes

    2012-12-01

    Full Text Available DNA ligase IV (LigIV and Artemis are central components of the nonhomologous end-joining (NHEJ machinery that is required for V(DJ recombination and the maintenance of genomic integrity in mammalian cells. We report here crystal structures of the LigIV DNA binding domain (DBD in both its apo form and in complex with a peptide derived from the Artemis C-terminal region. We show that LigIV interacts with Artemis through an extended hydrophobic surface. In particular, we find that the helix α2 in LigIV-DBD is longer than in other mammalian ligases and presents residues that specifically interact with the Artemis peptide, which adopts a partially helical conformation on binding. Mutations of key residues on the LigIV-DBD hydrophobic surface abolish the interaction. Together, our results provide structural insights into the specificity of the LigIV-Artemis interaction and how the enzymatic activities of the two proteins may be coordinated during NHEJ.

  7. Structural basis of DNA ligase IV-Artemis interaction in nonhomologous end-joining.

    Science.gov (United States)

    De Ioannes, Pablo; Malu, Shruti; Cortes, Patricia; Aggarwal, Aneel K

    2012-12-27

    DNA ligase IV (LigIV) and Artemis are central components of the nonhomologous end-joining (NHEJ) machinery that is required for V(D)J recombination and the maintenance of genomic integrity in mammalian cells. We report here crystal structures of the LigIV DNA binding domain (DBD) in both its apo form and in complex with a peptide derived from the Artemis C-terminal region. We show that LigIV interacts with Artemis through an extended hydrophobic surface. In particular, we find that the helix α2 in LigIV-DBD is longer than in other mammalian ligases and presents residues that specifically interact with the Artemis peptide, which adopts a partially helical conformation on binding. Mutations of key residues on the LigIV-DBD hydrophobic surface abolish the interaction. Together, our results provide structural insights into the specificity of the LigIV-Artemis interaction and how the enzymatic activities of the two proteins may be coordinated during NHEJ. Copyright © 2012 The Authors. Published by Elsevier Inc. All rights reserved.

  8. Functional analysis of naturally occurring DCLRE1C mutations and correlation with the clinical phenotype of ARTEMIS deficiency

    NARCIS (Netherlands)

    K. Felgentreff (Kerstin); Y.N. Lee (Yu Nee); F. Frugoni (Francesco); L. Du (Likun); M. van der Burg (Mirjam); S. Giliani; I. Tezcan (Ilhan); I. Reisli (Ismail); E. Mejstříková (Ester); J.P. de Villartay; B.P. Sleckman (Barry P.); J. Manis (John); L.D. Notarangelo (Luigi Daniele)

    2015-01-01

    textabstractBackground The endonuclease ARTEMIS, which is encoded by the DCLRE1C gene, is a component of the nonhomologous end-joining pathway and participates in hairpin opening during the V(D)J recombination process and repair of a subset of DNA double-strand breaks. Patients with ARTEMIS deficien

  9. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

    Due to a general shift in manufacturing paradigm from mass production towards mass customization, reconfigurable automation technologies, such as robots, are required. However, current industrial robot solutions are notoriously difficult to program, leading to high changeover times when new...... 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......-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...

  10. 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...... 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...... manual work and offer many advantages beyond robotics. Finally, this thesis outlines our contributions in representation of multi-floor buildings, which is a vital requirement to achieve robust and practical, real-world service robot applications....

  11. Conceptual design of the D- sup 3 He reactor artemis

    Energy Technology Data Exchange (ETDEWEB)

    Momoto, H.; Tomita, Y. (National Inst. for Fusion Science, Nagoya (JP)); Ishida, A. (Niigata Univ. (Japan)); Miley, G.H. (Illinois Univ., Urbana, IL (United States)); Kohzaki, Y. (Inst. for Future Technology, Tokyo (JP)); Ohi, S. (Osaka Univ., Suita (Japan)); Ohnishi, M. (Kyoto Univ. (Japan)); Sato, H. (Himeji Inst. of Tech., Hyogo (Japan)); Steinhauer, L.C. (STI Optronics, Inc., Bellevue, WA (US)); Tuszewski, M. (Los Alamos National Lab., NM (United States))

    1992-07-01

    In this paper, a comprehensive design study of the D-{sup 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 preferential trapping of D-{sup 3}He fusion-produced energetic protons. A novel direct energy converter for 15-MeV protons is also presented. On the basis of consistent fusion plasma production and simple engineering, a compact and simple reactor concept is presented. The D-{sup 3}He FRC power plant offers a most attractive prospect for energy development. It is environmentally acceptable in terms of radioactivity and fuel resources, and the estimated cost of electricity is low compared with a light water reactor. Critical physics and engineering issues in the development of the D-{sup 3}He FRC reactor are clarified.

  12. Dynamic Hybrid Simulation of the Lunar Wake During ARTEMIS Crossing

    Science.gov (United States)

    Wiehle, S.; Plaschke, F.; Angelopoulos, V.; Auster, H.; Glassmeier, K.; Kriegel, H.; Motschmann, U. M.; Mueller, J.

    2010-12-01

    The interaction of the highly dynamic solar wind with the Moon is simulated with the A.I.K.E.F. (Adaptive Ion Kinetic Electron Fluid) code for the ARTEMIS P1 flyby on February 13, 2010. The A.I.K.E.F. hybrid plasma simulation code is the improved version of the Braunschweig code. It is able to automatically increase simulation grid resolution in areas of interest during runtime, which greatly increases resolution as well as performance. As the Moon has no intrinsic magnetic field and no ionosphere, the solar wind particles are absorbed at its surface, resulting in the formation of the lunar wake at the nightside. The solar wind magnetic field is basically convected through the Moon and the wake is slowly filled up with solar wind particles. However, this interaction is strongly influenced by the highly dynamic solar wind during the flyby. This is considered by a dynamic variation of the upstream conditions in the simulation using OMNI solar wind measurement data. By this method, a very good agreement between simulation and observations is achieved. The simulations show that the stationary structure of the lunar wake constitutes a tableau vivant in space representing the well-known Friedrichs diagram for MHD waves.

  13. Magnetic reconnection associated fluctuations in the deep magnetotail: ARTEMIS results

    Directory of Open Access Journals (Sweden)

    Z. Vörös

    2011-11-01

    Full Text Available On the basis of ARTEMIS two-probe mission magnetic reconnection (MR outflow associated magnetic fluctuations and turbulence are analyzed on 19 February 2011. In the deep-tail, at distances between X = 45 – 51 RE, evidence for reconnection associated plasma sheet thinning was found, accompanied by heating of the plasma sheet. Correlated flow and field reversals and the large-scale Hall-effect signatures indicated the presence of the reconnection X-line. Within fast reconnection plasma outflows, magnetic fluctuations exhibit the same spectral scaling features and kinked spectra as magnetic fluctuations in the solar wind or in various parts of geospace. It was shown that the proton scale magnetic fluctuations are constrained by oblique firehose, proton cyclotron and mirror instability thresholds. For parallel plasma β|| > 1, where the thresholds converge, perpendicular magnetic fluctuations are enhanced. Magnetic compressibility decreases with the distance to the neutral sheet, however, near the instability thresholds it is comparable to the values obtained in the solar wind.

  14. 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.

  15. Comparison of Boiling and Robotics Automation Method in DNA Extraction for Metagenomic Sequencing of Human Oral Microbes.

    Science.gov (United States)

    Yamagishi, Junya; Sato, Yukuto; Shinozaki, Natsuko; Ye, Bin; Tsuboi, Akito; Nagasaki, Masao; Yamashita, Riu

    2016-01-01

    The rapid improvement of next-generation sequencing performance now enables us to analyze huge sample sets with more than ten thousand specimens. However, DNA extraction can still be a limiting step in such metagenomic approaches. In this study, we analyzed human oral microbes to compare the performance of three DNA extraction methods: PowerSoil (a method widely used in this field), QIAsymphony (a robotics method), and a simple boiling method. Dental plaque was initially collected from three volunteers in the pilot study and then expanded to 12 volunteers in the follow-up study. Bacterial flora was estimated by sequencing the V4 region of 16S rRNA following species-level profiling. Our results indicate that the efficiency of PowerSoil and QIAsymphony was comparable to the boiling method. Therefore, the boiling method may be a promising alternative because of its simplicity, cost effectiveness, and short handling time. Moreover, this method was reliable for estimating bacterial species and could be used in the future to examine the correlation between oral flora and health status. Despite this, differences in the efficiency of DNA extraction for various bacterial species were observed among the three methods. Based on these findings, there is no "gold standard" for DNA extraction. In future, we suggest that the DNA extraction method should be selected on a case-by-case basis considering the aims and specimens of the study.

  16. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    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...... for localization. The system features automatic annotation, which significantly reduces manual work and offer many advantages beyond robotics. A case study on logistics solutions is finally presented. A robotic solution is tested in a hospital to handle the transportation of blood samples between the clinic...... and the lab. Without any environmental modification; it is shown that lab turnover time can be reduced from hours to minutes; by simply replacing the human porter with a mobile robot....

  17. 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

  18. Advances in inspection automation

    Science.gov (United States)

    Weber, Walter H.; Mair, H. Douglas; Jansen, Dion; Lombardi, Luciano

    2013-01-01

    This new session at QNDE reflects the growing interest in inspection automation. Our paper describes a newly developed platform that makes the complex NDE automation possible without the need for software programmers. Inspection tasks that are tedious, error-prone or impossible for humans to perform can now be automated using a form of drag and drop visual scripting. Our work attempts to rectify the problem that NDE is not keeping pace with the rest of factory automation. Outside of NDE, robots routinely and autonomously machine parts, assemble components, weld structures and report progress to corporate databases. By contrast, components arriving in the NDT department typically require manual part handling, calibrations and analysis. The automation examples in this paper cover the development of robotic thickness gauging and the use of adaptive contour following on the NRU reactor inspection at Chalk River.

  19. Exploration based on robot housekeeper of smart home automation%“机器人管家”主理下的智能家庭自动化初探

    Institute of Scientific and Technical Information of China (English)

    孙少山

    2014-01-01

    Based on the analysis and understanding of existing scientific and technological achievements of the automatic con -trol, this article does the research and scientific predictions of the tendency of home automation development .Studies suggest that home automation will make progress toward integrated automation and intelligent control automation ; robot housekeeper will become an important member of smart home .Smart home automation will really push human life to be a smart era .%在分析和把握现有自动控制科技成果的基础上,对家庭自动化的发展趋势进行了研究和科学预测。研究认为,家庭自动化将向着综合自动化和智能自动化发展,“机器人管家”将成为智能家居中的核心部件和关键。智能家庭自动化将人类生活真正推向智能时代。

  20. Automated DNA Sequencing System

    Energy Technology Data Exchange (ETDEWEB)

    Armstrong, G.A.; Ekkebus, C.P.; Hauser, L.J.; Kress, R.L.; Mural, R.J.

    1999-04-25

    Oak Ridge National Laboratory (ORNL) is developing a core DNA sequencing facility to support biological research endeavors at ORNL and to conduct basic sequencing automation research. This facility is novel because its development is based on existing standard biology laboratory equipment; thus, the development process is of interest to the many small laboratories trying to use automation to control costs and increase throughput. Before automation, biology Laboratory personnel purified DNA, completed cycle sequencing, and prepared 96-well sample plates with commercially available hardware designed specifically for each step in the process. Following purification and thermal cycling, an automated sequencing machine was used for the sequencing. A technician handled all movement of the 96-well sample plates between machines. To automate the process, ORNL is adding a CRS Robotics A- 465 arm, ABI 377 sequencing machine, automated centrifuge, automated refrigerator, and possibly an automated SpeedVac. The entire system will be integrated with one central controller that will direct each machine and the robot. The goal of this system is to completely automate the sequencing procedure from bacterial cell samples through ready-to-be-sequenced DNA and ultimately to completed sequence. The system will be flexible and will accommodate different chemistries than existing automated sequencing lines. The system will be expanded in the future to include colony picking and/or actual sequencing. This discrete event, DNA sequencing system will demonstrate that smaller sequencing labs can achieve cost-effective the laboratory grow.

  1. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  2. Industrial robots in car construction - on the way to 'automized Fordism'. Industrieroboter im Automobilbau - auf dem Sprung zum 'automatisierten Fordismus'

    Energy Technology Data Exchange (ETDEWEB)

    Malsch, T.; Dohse, K.; Juergens, U.

    1984-05-01

    Since the end of the 70s international car manufacturers have adopted a new strategy with regard to the use of robots. Companies all over the world - headed by the Japanese car makers - decided not to 'dabble' with industrial robots anymore but to 'blockbust' with them. Complete production processes were literally turned inside out by the compact use of robots in waves, and adjusted to the requirements of flexible manufacturing technology. To deal with the characteristic conditions and features of the new strategy as well as its implications for labour policy, it is also necessary to examine the use of robots at the plant level. This study comes to the conclusion that the plant use of robots by no means follows a continuous curve, as would appear to be the case in industry and group statistics on the development of robot inventory. (orig./HW).

  3. 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.

  4. ROBOTIC ASSISTANCE IN SPINE SURGERY

    Directory of Open Access Journals (Sweden)

    N. A. Konovalov

    2010-01-01

    Full Text Available Robotic assistance recently gains increasing popularity in spinal surgery. Robotic assistance provides higher effectiveness and safety especially in complex anatomy environment. 16 patients with degenerative disc disease were operated with robotic assistance device («SpineAssist»; MAZOR Surgical Technologies, Caesarea, Israel. The robot was used for automated intraoperative positioning of the instruments according to preoperatively planned trajectories. Robotic assistance enabled optimal screw placement even in complex anatomical cases (thin pedicles and rotational deformity. No implant-related complications were recorded.

  5. A Free Market Architecture for Coordinating Multiple Robots

    Science.gov (United States)

    1999-12-01

    L. E., “ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation”, IEEE Transactions on Robotics and Automation, Vol. 14, No.2, pp. 220...Automation, pp. 582-587, 1993. 18. 6FKQHLGHU)RQWiQ00DWDULü0-³7HUULWRULDO0XOWL5RERW7DVN’LYLVLRQ´ IEEE Transactions on Robotics and

  6. Technical Note: Detective quantum efficiency simulation of a-Se imaging detectors using ARTEMIS.

    Science.gov (United States)

    Fang, Yuan; Ito, Takaaki; Nariyuki, Fumito; Kuwabara, Takao; Badano, Aldo; Karim, Karim S

    2017-08-01

    This work studies the detective quantum efficiency (DQE) of a-Se-based solid state x-ray detectors for medical imaging applications using ARTEMIS, a Monte Carlo simulation tool for modeling x-ray photon, electron and charged carrier transport in semiconductors with the presence of applied electric field. ARTEMIS is used to model the signal formation process in a-Se. The simulation model includes x-ray photon and high-energy electron interactions, and detailed electron-hole pair transport with applied detector bias taking into account drift, diffusion, Coulomb interactions, recombination and trapping. For experimental validation, the DQE performance of prototype a-Se detectors is measured following IEC Testing Standard 62220-1-3. Comparison of simulated and experimental DQE results show reasonable agreement for RQA beam qualities. Experimental validation demonstrated within 5% percentage difference between simulation and experimental DQE results for spatial frequency above 0.25 cycles/mm using uniform applied electric field for RQA beam qualities (RQA5, RQA7 and RQA9). Results include two different prototype detectors with thicknesses of 240 μm and 1 mm. ARTEMIS can be used to model the DQE of a-Se detectors as a function of x-ray energy, detector thickness, and spatial frequency. The ARTEMIS model can be used to improve understanding of the physics of x-ray interactions in a-Se and in optimization studies for the development of novel medical imaging applications. © 2017 American Association of Physicists in Medicine.

  7. 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…

  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. Facilitating Programming of Vision-Equipped Robots through Robotic Skills and Projection Mapping

    DEFF Research Database (Denmark)

    Andersen, Rasmus Skovgaard

    The field of collaborative industrial robots is currently developing fast both in the industry and in the scientific community. Companies such as Rethink Robotics and Universal Robots are redefining the concept of an industrial robot and entire new markets and use cases are becoming relevant...... for robotic automation. Where industrial robots traditionally are placed behind security fences and programmed to perform simple, repetitive tasks, this next generation of robots will be able to work side-by-side with humans and collaborate on completing common tasks. This thesis investigates methods for fast...... and intuitive programming and interaction with collaborative, industrial robots. The work is divided into two areas: Vision-enabled robotic skills and projection mapping interfaces. The purpose of robotic skills in general is to allow non-experts in robotics to program robots in an intuitive manner...

  10. Advancing automation of power distribution facilities and the cost reduction measures. Development of a distribution method by robot; Susumu haiden setsubi no jidoka, cost teigen taisaku. Robot koho no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Maruyama, Y. [Kyushu Electric Power Co. Inc. Fukuoka (Japan)

    1998-07-01

    Development of a distribution method by robot and its diffusion have been promoted since 1984 as a part of uninterruptive distribution method by Kyushu Electric Power Co., Inc. Robots operated by operator have been already developed, and diffused in all of 85 branch offices in the service area, to utilize them. Semi-automatic robots have been developed in the second phase. Thirteen semi-automatic robots have been completed, and verification tests of them are currently conducted. This paper describes an outline of semi-automatic robots. This system is composed of a vehicle, an arm, a robot, and an operation cabin. The robot is composed of two arms for various works, an arm for weight lifting (third arm), a monitor camera, a three-dimensional distance sensor, an automatic tool replacement unit, and an automatic material supply/receive unit. The operator in the cabin on the ground operates, directs and supervises using the monitor. The robot can conduct ten operations including hot-line work, and protecting tube fixation/removal works. 3 figs.

  11. Artemis 123: Development of a whole-head infant MEG system

    Directory of Open Access Journals (Sweden)

    Timothy PL Roberts

    2014-03-01

    Full Text Available Background: A major motivation in designing the new infant and child magnetoencephalography (MEG system described in this manuscript is the premise that electrophysiological signatures (resting activity and evoked responses may serve as biomarkers of neurodevelopmental disorders, with neuronal abnormalities in conditions such as autism spectrum disorder potentially detectable early in development. Whole-head MEG systems are generally optimized/sized for adults. Since magnetic field produced by neuronal currents decreases as a function of distance^2 and infants and young children have smaller head sizes, whole-head adult MEG systems do not provide optimal signal-to-noise in younger individuals. This spurred development of a whole-head infant and young child MEG system – Artemis 123. Methods: In addition to describing the instrument design, the focus of this manuscript is use of Artemis 123 to obtain auditory evoked and resting-state neuromagnetic data in young children. Data were collected from a 14-month female, an 18-month female, and a 48-month male. Phantom data are also provided to show localization accuracy. Results: Artemis 123 auditory data showed generalizability and reproducibility, with auditory responses observed in all participants. The auditory MEG measures were found to be manipulable, exhibiting sensitivity to tone frequency. Furthermore, there appeared to be a predictable sensitivity of evoked components to development, with latencies decreasing with age. Resting-state showed characteristic oscillatory activity. Finally, phantom data showed that dipole sources could be localized with an errorConclusions: Artemis 123 allows efficient recording of whole-head MEG in infants four years and younger. Future work will examine the feasibility of obtaining somatosensory and visual recordings in similar-age children as well as obtaining recordings from younger infants. Thus, Artemis 123 offers the promise of detecting earlier diagnostic

  12. 排气阀凹槽机器人自动化堆焊工艺设计%Exhaust valve groove robotic automation welding process design

    Institute of Scientific and Technical Information of China (English)

    周方明; 刘威; 王贤; 于洪战

    2014-01-01

    排气阀的工作环境恶劣,为了提高其使用寿命、提高生产效率和产品质量,采用机器人自动化堆焊技术在排气阀表面堆焊一层耐磨、耐高温、耐腐蚀的合金,通过正交试验对工艺参数进行优化,采用微观组织及成分分析、性能试验及超声波检测等手段对堆焊层质量进行检测和分析.研究结果表明:当堆焊电流为120~140 A,电压为17.5~19.5 V,焊接速度为0.19~0.23 m/min,摆动3~4 mm,频率1.5~2.0 Hz时,焊缝成型及质量最好.%The exhaust valve′s working environment is very harsh in the engine.In order to improve its service life,production efficiency and product quality,automation robotic welding technology is applied to surfacing welding of a layer of wear-resistant,high temperature,corrosion-resistant alloys on its surface.Orthogonal exper-iments are adopted to optimize the process parameters,and the microstructure and composition analysis,perform-ance testing,ultrasonic testing and other means are used to analyze the quality of surfacing layer.The results show that when welding current is 120 ~140 A,voltage 17.5 ~19.5 V,welding speed 0.19 ~0.23 m/min, swing 3~4 mm,frequency 1.5 ~2.0 Hz,the weld is the best.

  13. 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...

  14. Mining and robotized equipment

    Energy Technology Data Exchange (ETDEWEB)

    Krisztian, B.

    1984-01-01

    The general concepts about the expedience of using industrial robots (PR) in mining and about the most rational fields of their use are cited. The achievements in creating industrial robots for the needs of the mining industry in the USSR, Sweden (the ASEA Company), in the United States (Westinghouse Electric and Cincinnati Milacron Companies) and in Japan (the Fupitsu Fanuk Company) are noted. The necessity in a whole number of cases of a fundamental restructuring of the productive processes with respect to the planned introduction of industrial robots in mining enterprises is stressed. The questions associated with the necessity for changes introduced into systems for automating industrial processes with the introduction of industrial robots into them are also discussed. The prospects for the development, creation and introduction of industrial robots in the Hungarian (VNR) mining industry are indicated in conclusion.

  15. 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.; Ergun, R. E.; Plaschke, F.; Glassmeier, K. H.

    2011-12-01

    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 ˜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.

  16. 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.; Ergun, R. E.; Plaschke, F.; Glassmeier, K. H.

    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.

  17. 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.

  18. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  19. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire; Duca, Edward

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  20. Purification and characterization of exonuclease-free Artemis: Implications for DNA-PK – dependent processing of DNA termini in NHEJ catalyzed DSB repair

    Science.gov (United States)

    Pawelczak, Katherine S.; Turchi, John J.

    2010-01-01

    Artemis is a member of the β–CASP family of nucleases in the metallo-β-lactamase superfamily of hydrolases. Artemis has been demonstrated to be involved in V(D)J-recombination and in the NHEJ-catalyzed repair of DNA DSBs. In vitro, both DNA-PK independent 5’ to 3’ exonuclease activity and DNA-PK dependent endonuclease activity have been attributed to Artemis, though mutational analysis of the Artemis active site only disrupts endonuclease activity. This suggests that either the enzyme contains two different active sites, or the exonuclease activity is not intrinsic to the Artemis polypeptide. To distinguish between these possibilities, we sought to determine if it was possible to biochemically separate Artemis endonuclease activity from exonuclease activity. Recombinant [His]6–Artemis was expressed in a Baculovirus insect-cell expression system and isolated using a three-column purification methodology. Exonuclease and endonuclease activity, the ability to be phosphorylated by DNA-PK, and Artemis antibody reactivity was monitored throughout the purification and to characterize final pools of protein preparation. Results demonstrated the co-elution of exonuclease and endonuclease activity on a Ni-Agarose affinity column but separation of the two enzymatic activities upon fractionation on a hydroxyapatite column. An exonuclease free fraction of Artemis was obtained that retained DNA-PK dependent endonuclease activity, was phosphorylated by DNA-PK and reacted with an Artemis specific antibody. These data demonstrate that the exonuclease activity thought to be intrinsic to Artemis can be biochemically separated from the Artemis endonuclease. PMID:20347402

  1. Purification and characterization of exonuclease-free Artemis: Implications for DNA-PK-dependent processing of DNA termini in NHEJ-catalyzed DSB repair.

    Science.gov (United States)

    Pawelczak, Katherine S; Turchi, John J

    2010-06-04

    Artemis is a member of the beta-CASP family of nucleases in the metallo-beta-lactamase superfamily of hydrolases. Artemis has been demonstrated to be involved in V(D)J-recombination and in the NHEJ-catalyzed repair of DNA DSBs. In vitro, both DNA-PK independent 5'-3' exonuclease activities and DNA-PK dependent endonuclease activity have been attributed to Artemis, though mutational analysis of the Artemis active site only disrupts endonuclease activity. This suggests that either the enzyme contains two different active sites, or the exonuclease activity is not intrinsic to the Artemis polypeptide. To distinguish between these possibilities, we sought to determine if it was possible to biochemically separate Artemis endonuclease activity from exonuclease activity. Recombinant [His](6)-Artemis was expressed in a Baculovirus insect-cell expression system and isolated using a three-column purification methodology. Exonuclease and endonuclease activities, the ability to be phosphorylated by DNA-PK, and Artemis antibody reactivity was monitored throughout the purification and to characterize final pools of protein preparation. Results demonstrated the co-elution of exonuclease and endonuclease activities on a Ni-agarose affinity column but separation of the two enzymatic activities upon fractionation on a hydroxyapatite column. An exonuclease-free fraction of Artemis was obtained that retained DNA-PK dependent endonuclease activity, was phosphorylated by DNA-PK and reacted with an Artemis specific antibody. These data demonstrate that the exonuclease activity thought to be intrinsic to Artemis can be biochemically separated from the Artemis endonuclease. Copyright 2010 Elsevier B.V. All rights reserved.

  2. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  3. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  4. 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...

  5. Multiresolution Path Planning for Mobile Robots,

    Science.gov (United States)

    1985-05-01

    8217U’ MULTIRESOLUTION PATH PLANNING * . FOR MOBILE ROBOTS I Subbarao Kambhampati * -- Larry S. Davis Computer Vision Laboratory * Center for Automation...COUWEPARK MARVUM EP Vo Is- .. . .. CAR-TR-127 DAAK70-83-K--0018 CS-TR-1507 MAY 1085 MULTIRESOLUTION PATH PLANNING FOR MOBILE ROBOTS Subbarao Kambhampati...planning is central to mobile * robot applications. Path planning for mobile robots is in many ways different * from the more familiar case of path

  6. Advanced robotics for decontamination and dismantlement

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-06-01

    The decontamination and dismantlement (D&D) robotics technology application area of the US Department of Energy`s Robotics Technology Development Program is explained and described. D&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.

  7. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  8. Modeling Robot Flexibility for Endpoint Force Control.

    Science.gov (United States)

    1988-05-01

    SIDM 19. KE9Y WORDS fCntknu. OnPVOO&O 0401 It 00041000111O ed 0000#uF 6P 1111411 amA.w) robot force control * robot control / robot dynamics flexible...no. 3, pp. 62-75. [2] Eppinger, S.D. and Seering, W.P. On Dynamic Models of Robot Force Control . In Proceedings of International Conference on...W.P. Understanding Bandwidth Limitations in Robot Force Control . In Proceedings of International Conference on Robotics and Automation. IEEE, April 1987

  9. Robotization in Seismic Acquisition

    NARCIS (Netherlands)

    Blacquière, G.; Berkhout, A.J.

    2013-01-01

    The amount of sources and detectors in the seismic method follows "Moore’s Law of seismic data acquisition", i.e., it increases approximately by a factor of 10 every 10 years. Therefore automation is unavoidable, leading to robotization of seismic data acquisition. Recently, we introduced a new

  10. Mapping the Plasma Structure of the Central Magnetotail Using Artemis Observations

    Science.gov (United States)

    Gencturk Akay, Iklim; Sibeck, David; Angelopoulos, Vassilis; Kaymaz, Zerefsan

    2016-07-01

    Since 2011, ARTEMIS spacecraft 1 and 2 take observations from the dayside solar wind, nightside magnetopause and the magnetotail interior while they orbit around the Earth, as well as the Moon. With the state-of-the-art instruments, ARTEMIS probes perform the first systematic, two-point observations of the mid-to-distant tail and allow us to determine how the tail dynamics work and controlled at lunar distances, around -60 Re. In this study, we use magnetic field and plasma parameters of ARTEMIS probes to investigate the physical and dynamical processes that determine the structure of the tail and its variations in response to the changes in IMF and solar wind. We use approximately 2 years data from the ARTEMIS spacecraft to create the vector maps of the plasma flow. After several coordinate transformations, vector maps were constructed on different planes, xy-, xz-, and yz, in aberrated solar wind corrected GSM (aSWGSM) coordinates, and a relatively good orbital coverage of the central magnetotail was obtained. Flow vectors in YZ-plane are generally toward the center of the plasma sheet; being southward/northward in the northern/southern hemisphere. Vector maps of the flow in xy- and xz-planes show that the dominant flow is tailward. The percentage of tailward flows is about 62%-72% percentages and the speed of the flow ranges from a few tens of a km/sec to over 400km/sec. Vector maps were separated with respect to the IMF orientation. Magnetic field patterns complimentary to the flow patterns were also performed and revealed the expected distorted dipolar field topology at -60 Re. We discuss our findings from the magnetotail dynamics point of view and comparisons will be made with those obtained from earlier spacecraft missions.

  11. Atmospheric influence on a laser beam observed on the OICETS – ARTEMIS communication demonstration link

    Directory of Open Access Journals (Sweden)

    A. Löscher

    2010-09-01

    Full Text Available In 2006 bi-directional optical inter-satellite communication experiments were conducted between the Japan Aerospace Exploration Agency (JAXA Optical Inter-orbit Communications Engineering Test Satellite (OICETS and the European Space Agency (ESA multi-purpose telecommunications and technology demonstration satellite (Advanced Relay and Technology MISsion ARTEMIS. On 5 April 2006, an experiment was successfully carried out by maintaining the inter-satellite link during OICETS's setting behind the Earth limb until the signal was lost. This setup resembles an occultation observation where the influence of Earth's atmosphere is evident in the power fluctuations recorded at ARTEMIS's (and OICETS's receiver. These fluctuations do not exist or are at a low level at a link path above the atmosphere and steadily increase as OICETS sets behind the horizon until the tracking of the signal is lost. This specific experiment was performed only once since atmospheric science was not the goal of this demonstration. Nevertheless, this kind of data, if available more frequently in future, can help to study atmospheric turbulence and validate models. The data present here were recorded at ARTEMIS.

  12. Analysis of the preliminary optical links between ARTEMIS and the Optical Ground Station

    Science.gov (United States)

    Reyes Garcia-Talavera, Marcos; Chueca, Sergio; Alonso, Angel; Viera, Teodora; Sodnik, Zoran

    2002-12-01

    In the frame of the SILEX project, the European Space Agency (ESA) has put into orbit two Laser Communication Terminals, to establish an experimental free space optical communication link between a GEO satellite (ARTEMIS) and a LEO satellite (SPOT IV), to relay earth observation data. In order to perform In Orbit Testing (IOT) of these, and other, optical communications systems, ESA and the Instituto de Astrofisica de Canarias (IAC) reached an agreement for building the Optical Ground Station (OGS), in the Teide Observatory of the IAC. With ARTEMIS placed in a circular parking orbit at about 31000 kilometres, its optical payload has been preliminary tested with the OGS. First results and analysis are presented on the space-to-ground bi-directional link, including pointing acquisition and tracking performance, Bit-Error Rate (BER) and transmitted beam divergence effects related with atmospheric models and predictions. Future plans include deeper optical bi-directional communication tests of OGS, not only with ARTEMIS but also with OSCAR-40 (downlink) and SMART-1 (up-link) satellites, in order to do a full characterisation of the performances of laser beam propagation through atmospheric turbulence and a comparison with theoretical predictions.

  13. Atmospheric influence on a laser beam observed on the OICETS – ARTEMIS communication demonstration link

    Directory of Open Access Journals (Sweden)

    A. Löscher

    2010-05-01

    Full Text Available In 2006 bi-directional optical inter-satellite communication experiments have been conducted between the Japan Aerospace Exploration Agency (JAXA Optical Inter-orbit Communications Engineering Test Satellite (OICETS and the European Space Agency (ESA multi purpose telecommunications and technology demonstration satellite (Advanced Relay and Technology MISsion ARTEMIS. On 5 April 2006 an experiment was successfully carried out maintaining the inter-satellite link during OICETS's setting behind the Earth limb until the signal was lost. This setup resembles an occultation observation where the influence of Earth's atmosphere is evident in the power fluctuations recorded at ARTEMIS's (and OICETS's receiver. These fluctuations are not existing or at a low level at a link path above the atmosphere and steadily increase as OICETS sets behind the horizon until the tracking of the signal is lost. This specific experiment was performed only once since atmospheric science was not the goal of this demonstration. Nevertheless this kind of data, if available more frequently in future, can help to study atmospheric turbulence and validate respective models. The data presented here had been recorded at ARTEMIS.

  14. 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...

  15. Effects of DNA end configuration on XRCC4-DNA ligase IV and its stimulation of Artemis activity.

    Science.gov (United States)

    Gerodimos, Christina A; Chang, Howard H Y; Watanabe, Go; Lieber, Michael R

    2017-08-25

    In humans, nonhomologous DNA end-joining (NHEJ) is the major pathway by which DNA double-strand breaks are repaired. Recognition of each broken DNA end by the DNA repair protein Ku is the first step in NHEJ, followed by the iterative binding of nucleases, DNA polymerases, and the XRCC4-DNA ligase IV (X4-LIV) complex in an order influenced by the configuration of the two DNA ends at the break site. The endonuclease Artemis improves joining efficiency by functioning in a complex with DNA-dependent protein kinase, catalytic subunit (DNA-PKcs) that carries out endonucleolytic cleavage of 5' and 3' overhangs. Previously, we observed that X4-LIV alone can stimulate Artemis activity on 3' overhangs, but this DNA-PKcs-independent endonuclease activity of Artemis awaited confirmation. Here, using in vitro nuclease and ligation assays, we find that stimulation of Artemis nuclease activity by X4-LIV and the efficiency of blunt-end ligation are determined by structural configurations at the DNA end. Specifically, X4-LIV stimulated Artemis to cut near the end of 3' overhangs without the involvement of other NHEJ proteins. Of note, this ligase complex is not able to stimulate Artemis activity at hairpins or at 5' overhangs. We also found that X4-LIV and DNA-PKcs interfere with one another with respect to stimulating Artemis activity at 3' overhangs, favoring the view that these NHEJ proteins are sequentially rather than concurrently recruited to DNA ends. These data suggest specific functional and positional relationships among these components that explain genetic and molecular features of NHEJ and V(D)J recombination within cells. © 2017 by The American Society for Biochemistry and Molecular Biology, Inc.

  16. Optical design for the 450, 350, and 200 µm ArTeMiS camera

    Science.gov (United States)

    Dubreuil, Didier; Martignac, Jérôme; Toussaint, Jean Christian; Visticot, François; Delisle, Cyrille; Gallais, Pascal; Le Pennec, Jean; Lerch, Thierry; André, Philippe; Lortholary, Michel; Maffei, Bruno; Haynes, Vic; Hurtado, Norma; Pisano, Giampaolo; Revéret, Vincent; Rodriguez, Louis; Talvard, Michel

    2014-07-01

    ArTeMiS is a submillimeter camera planned to work simultaneously at 450 μm, 350 μm and 200 μm by use of 3 focal planes of, respectively, 8, 8 and 4 bolometric arrays, each one made of 16 x18 pixels. In July 2013, with a preliminary setting reduced to 4 modules and to the 350 μm band, ArTeMiS was installed successfully at the Cassegrain focus of APEX, a 12 m antenna located on the Chajnantor plateau, Chile. After the summary of the scientific requirements, we describe the main lines of the ArTeMiS nominal optical design with its rationale and performances. This optical design is highly constrained by the room allocation available in the Cassegrain cabin. It is an all-reflective design including a retractable pick off mirror, a warm Fore Optics to image the focal plane of the telescope inside the cryostat, and the cold optics. The large size of the field of view at the focal plane of the telescope, 72 mm x 134 mm for the 350 μm and 450 μm beams, leads to the use of biconical toroidal mirrors. In this way, the nominal image quality obtained on the bolometric arrays is only just diffraction limited at some corners of the field of view. To keep a final PSF as much uniform as possible across the field of view, we have used the technic of manufacturing by diamond turning to machine the mirrors. This approach, while providing high accuracy on the shape of the mirrors, made easier the control of the two sub units, the Fore Optics and the cold optics, in the visible domain and at room temperature. Moreover, the use of the similar material (Aluminium alloy 6061) for the optical bench and the mirrors with their mount ensures a homothetic shrinking during the cooling down. The alignment protocol, drew up at the early step of the study, is also presented. It required the implementation of two additional mechanisms inside the cryostat to check the optical axis of the cold optics, in the real conditions of operation of ArTeMiS. In this way, it was possible to pre-align the

  17. 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...

  18. Rehearsal for the Robot Revolution

    DEFF Research Database (Denmark)

    Jochum, Elizabeth; Goldberg, Ken

    This paper considers the use of tele-operated and autonomous robots in live performance. Theatre is a conducive to studying what makes robots compelling and engaging. Because theatre is a narrowly defined domain in which robots can excel, it is a useful test bed for exploring issues that are cent...... dramaturgy and puppetry-inspired control techniques create compelling and interactive performances. Theatre performances function as authentic sites of human-robot interaction staged in fictional landscapes that both exaggerate and occlude the capabilities of robots.......This paper considers the use of tele-operated and autonomous robots in live performance. Theatre is a conducive to studying what makes robots compelling and engaging. Because theatre is a narrowly defined domain in which robots can excel, it is a useful test bed for exploring issues...... 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...

  19. Tool handling robot system; Tool handling robot system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-10

    As an example of the delivery of industrial use automation equipment by Meidensha Corp., the paper introduced a tool handling robot system. The system is a tool handling robot of case processing use FMS (flexible manufacturing system). This is a system which exchanges tool automatically according to the From To order from the managing computer using the ceiling running robot between five horizontal type machining centers and more than 800 collective tool stockers. The structure of the system is as follows: tool handling robot (MHR-400), robot controller (meirocs-F), tool hand, robot running unit, tool stocker (for 844 tools), five life tool exchange trucks, tool truck lifting unit, system control panel. (NEDO)

  20. Robot and robot system

    Science.gov (United States)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  1. Navigation and Control of a Wheeled Mobile Robot

    Science.gov (United States)

    2005-01-01

    IEEE Transactions on Robotics and Automation, Vol. 16, No. 5, pp. 615- 620, (2000). [10] J. Guldner and...V. I. Utkin, �Sliding Mode Con- trol for Gradient Tracking and Robot Navigation Us- ing ArtiÞcial Potential Fields,� IEEE Transactions on Robotics and...P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, �A Motion Planner for Nonholonomic Mobile Robots,� IEEE Transactions on Robotics and Automa-

  2. Research on Industrial Robot Automated Sorting System Based on Eye-in-hand Vision%基于手眼视觉的工业机器人自动分拣系统研究

    Institute of Scientific and Technical Information of China (English)

    王金涛

    2014-01-01

    An industrial robot automated sorting system based on eye-in-hand vision is developed, for the needs of intelligent sorting application. In this system, the image of workpiece on the production line was collected by a camera. The workpiece was then identified and located via templating matching. The capture of workpiece was finally completed by the robot end-effector in the guidance of vision system. Experiments prove that this system has advantages such as flexible calibration, high positioning accuracy, and strong identification capacity on complex workpiece under cluttered background.%面向智能分拣应用需求,开发了一套基于手眼视觉的分拣系统。系统首先通过相机采集生产线上工件的图像,然后用模板匹配的方法对工件进行识别和定位,最后引导机器人末端完成工件的抓取。实验表明,本文开发的系统具有标定灵活、定位精度高,对杂乱背景下的复杂工件分拣能力强等特点。

  3. 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 fulfi......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...... is a minor contributor to the carbon footprint at cell or line level, from the perspective of a robot producer reducing the electricity consumption during the robot's use stage can be a considerable improvement in the carbon footprint of a robot, and thus in the sustainability profile of the robot....

  4. The automated Palomar 60 inch telescope

    OpenAIRE

    Cenko, S Bradley; Fox, Derek B.; Moon, Dae-Sik; Harrison, Fiona A.; Kulkarni, S.R.; Henning, John R.; Guzman, C. Dani; Bonati, Marco; Smith, Roger M.; Thicksten, Robert P.; Doyle, Michael W.; Petrie, Hal L.; Gal-Yam, Avishay; Soderberg, Alicia M.; Anagnostou, Nathaniel L.

    2006-01-01

    We have converted the Palomar 60-inch telescope (P60) from a classical night assistant-operated telescope to a fully robotic facility. The automated system, which has been operational since September 2004, is designed for moderately fast (t

  5. 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.

  6. The eukaryotic Pso2/Snm1/Artemis proteins and their function as genomic and cellular caretakers

    Directory of Open Access Journals (Sweden)

    D. Bonatto

    2005-03-01

    Full Text Available DNA double-strand breaks (DSBs represent a major threat to the genomic stability of eukaryotic cells. DNA repair mechanisms such as non-homologous end joining (NHEJ are responsible for the maintenance of eukaryotic genomes. Dysfunction of one or more of the many protein complexes that function in NHEJ can lead to sensitivity to DNA damaging agents, apoptosis, genomic instability, and severe combined immunodeficiency. One protein, Pso2p, was shown to participate in the repair of DSBs induced by DNA inter-strand cross-linking (ICL agents such as cisplatin, nitrogen mustard or photo-activated bi-functional psoralens. The molecular function of Pso2p in DNA repair is unknown, but yeast and mammalian cell line mutants for PSO2 show the same cellular responses as strains with defects in NHEJ, e.g., sensitivity to ICLs and apoptosis. The Pso2p human homologue Artemis participates in V(DJ recombination. Mutations in Artemis induce a variety of immunological deficiencies, a predisposition to lymphomas, and an increase in chromosomal aberrations. In order to better understand the role of Pso2p in the repair of DSBs generated as repair intermediates of ICLs, an in silico approach was used to characterize the catalytic domain of Pso2p, which led to identification of novel Pso2p homologues in other organisms. Moreover, we found the catalytic core of Pso2p fused to different domains. In plants, a specific ATP-dependent DNA ligase I contains the catalytic core of Pso2p, constituting a new DNA ligase family, which was named LIG6. The possible functions of Pso2p/Artemis/Lig6p in NHEJ and V(DJ recombination and in other cellular metabolic reactions are discussed.

  7. Direct Measurements of Laser Communication Point-Ahead Angles from the ARTEMIS Geostationary Satellite Through Clouds

    Science.gov (United States)

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

    2017-01-01

    Laser experiments with ARTEMIS geostationary satellite have been performed in partly cloudy weather using the developed system for the telescope. It has been found that the part of the laser beam is observed simultaneously at the points in direction of the velocity vector where the satellite would arrive at when the laser light reaches the telescope. These results agree with the theory of relativity for light aberration in transition from fixed to moving coordinate system.Observation results open the way for research and development of systems to compensate atmospheric turbulence in laser communications between ground stations and satellites through the atmosphere.

  8. Direct Measurements of Laser Communication Point-Ahead Angles from the Artemis Geostationary Satellite Through Clouds

    Directory of Open Access Journals (Sweden)

    Kuzkov, V.P.

    2017-01-01

    Full Text Available Laser experiments with ARTEMIS geostationary satellite have been performed in partly cloudy weather using the developed system for the telescope. It has been found that the part of the laser beam is observed simultaneously at the points in direction of the velocity vector where the satellite would arrive at when the laser light reaches the telescope. These results agree with the theory of relativity for light aberration in transition from fixed to moving coordinate system. Observation results open the way for research and development of systems to compensate atmospheric turbulence in laser communications between ground stations and satellites through the atmosphere.

  9. A Study on the Artemis Fowl Series in the Context of Publishing Success

    OpenAIRE

    Lindve, Katarina

    2007-01-01

    A close reading of a series of books by Eoin Colfer that enjoyed universal success showed a change in the language between the books especially with respect to minor linguistic features such as choice of location and abstract vs. concrete language. The books are about the boy Artemis Fowl, and were presumably conceived as children’s books. My original thesis was that the writer could not be sure of the success of the first book, but would definitely be aware of a worldwide audience for at lea...

  10. [Effects of selected factors on the degree of psychomotor efficiency of welders in a railroad car factory with automated work stations (robots)].

    Science.gov (United States)

    Pietraszkiewicz, T; Andrzejak, R; Gosk, A; Smolik, R

    1992-01-01

    The study of 64 welders employed at automated work stands in the railway car factory conducted in 1989 and 1990 has shown that the psychomotor efficiency level in the examined workers (except for a few cases) was normal. The psychomotor efficiency of the welders studied depended on their age, work day phase and, to a small degree, on the detected biochemical and toxicological disorders.

  11. 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.…

  12. 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…

  13. Automated construction of lightweight, simple, field-erected structures

    Science.gov (United States)

    Leonard, R. S.

    1980-01-01

    The feasibility of automation of construction processes which could result in mobile construction robots is examined. The construction of a large photovoltaic power plant with a peak power output of 100 MW is demonstrated. The reasons to automate the construction process, a conventional construction scenario as the reference for evaluation, and a list of potential cost benefits using robots are presented. The technical feasibility of using robots to construct SPS ground stations is addressed.

  14. [The safety of robotics for restorative medicine].

    Science.gov (United States)

    Razumov, A N; Rezchikov, E A; Maistruk, A V; Arkhipov, M V; Golovin, V F

    2015-01-01

    The present article is devoted to the peculiarities of the safety measures that need to be taken during the operation of the automated robots intended to perform noninvasive controlled deformations of the patient's soft tissues. The authors propose the use of the commercially available devices for nonmedical applications operated without enclosure for staff as basic robots.

  15. Robotic CCD microscope for enhanced crystal recognition

    Science.gov (United States)

    Segelke, Brent W.; Toppani, Dominique

    2007-11-06

    A robotic CCD microscope and procedures to automate crystal recognition. The robotic CCD microscope and procedures enables more accurate crystal recognition, leading to fewer false negative and fewer false positives, and enable detection of smaller crystals compared to other methods available today.

  16. 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....

  17. Designing a Microhydraulically driven Mini robotic Squid

    Science.gov (United States)

    2016-05-20

    34Hybrid type of underwater micro biped robot with walking and swimming motions," in Mechatronics and Automation, 2005 IEEE International Conference, Niagara Falls, Ont., 2005. ...Secretary of Defense for Research and Engineering. Designing a Microhydraulically-driven Mini- robotic Squid by Kevin Dehan Meng B.S., U.S. Air...Committee on Graduate Students 2 Designing a Microhydraulically-driven Mini- robotic Squid by Kevin Dehan Meng Submitted to the Department

  18. A Perturbation Approach to Robot Calibration.

    Science.gov (United States)

    1985-04-01

    Robotica 2(4):205-209. 12. Lenarcic, J. 1984. Kinematic Equations of Robot Manipulator. Digital Systems for Industrial Automation 2(2):133-151. - 13. Luh...manipulators. 12th Int. Symp. on Industrial Robots, Paris, France. Bedford: IFS Publications, pp. 469-478. * 15. Mooring, B. W. 1983 (August 7-11). The...Society of Manufacturing Engineers, pp. 147-152. - 25. Whitney, D. E., and Lozinski, C. A. 1984. Industrial Robot Calibration Methods and Results

  19. TU-AB-201-03: A Robot for the Automated Delivery of An Electromagnetic Tracking Sensor for the Localization of Brachytherapy Catheters

    Energy Technology Data Exchange (ETDEWEB)

    Don, S; Cormack, R; Viswanathan, A; Damato, A [Dana-Farber Cancer Institute / Brigham and Women’s Hospital, Boston, MA (United States)

    2015-06-15

    Purpose: To present a programmable robotic system for the accurate and fast deployment of an electromagnetic (EM) sensor for brachytherapy catheter localization. Methods: A robotic system for deployment of an EM sensor was designed and built. The system was programmed to increment the sensor position at specified time and space intervals. Sensor delivery accuracy was measured in a phantom using the localization of the EM sensor and tested in different environmental conditions. Accuracy was tested by measuring the distance between the physical locations reached by the sensor (measured by the EM tracker) and the intended programmed locations. Results: The system consisted of a stepper motor connected to drive wheels (that grip the cable to move the sensor) and a series of guides to connect to a brachytherapy transfer tube, all controlled by a programmable Arduino microprocessor. The total cost for parts was <$300. The positional accuracy of the sensor location was within 1 mm of the expected position provided by the motorized guide system. Acquisition speed to localize a brachytherapy catheter with 20 cm of active length was 10 seconds. The current design showed some cable slip and warping depending on environment temperature. Conclusion: The use of EM tracking for the localization of brachytherapy catheters has been previously demonstrated. Efficient data acquisition and artifact reduction requires fast and accurate deployment of an EM sensor in consistent, repeatable patterns, which cannot practically be achieved manually. The design of an inexpensive, programmable robot allowing for the precise deployment of stepping patterns was presented, and a prototype was built. Further engineering is necessary to ensure that the device provides efficient independent localization of brachytherapy catheters. This research was funded by the Kaye Family Award.

  20. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  1. Robotic weed monitoring

    DEFF Research Database (Denmark)

    Bochtis, Dionysis; Sørensen, Claus Aage Grøn; Jørgensen, R N

    2011-01-01

    -farm operating console, the mobile robotic unit, and a field server for generating and storingmaps. The hypothesis is that it is possible to automate the planning and execution of theoperation of monitoring of the in-field weed density and species distribution. The developedplanning system includes the automatic...... of the weed monitoring operation.Key words: autonomous vehicles, farm management, mission planning, route planning,sampling....

  2. LEGO Mindstorms在农业信息与自动化技术课程教学中的应用研究%Applying LEGO Mindstorms robots as a teaching tool in Agricultural Information and Automation education

    Institute of Scientific and Technical Information of China (English)

    冯雷; 郭亚芳; 王若青; 沈明卫; 何勇

    2012-01-01

    为了培养农业与生物系统工程类学生的创新能力,引导学生进行自主、探究式学习,在精细农业等农业信息和自动化技术类课程教学中应用LEGO Mindstorms组件作为教具,研制智能化可编程农机作业模拟系统.多组学生在Robolab编程环境下,使用此系统构建小型智能农业机械模型.结果表明,学生对这个实验项目的效果很满意.因为它不仅为学生提供了解决问题的技巧,提高了他们编程和机械设计等相关技能,同时有益于学生间形成团队协作的良好氛围.介绍了LECGO Mindstorms在相关农业信息课程教学中的探索应用以及实验结果.%The objective is to present details of an LEGO Mindstorms robot design challenge arranged for agriculture and biosystems engineering students in Zhejiang University. As a new teaching tool in the course of Agricultural Information and Automation, different groups of students built Robotic Agricultural Machines using LEGO Mindstorms kits, with Robolab as the programming environment. A survey among 30 students showed that all students were challenged by the projects and were highly satisfied with the outcomes. They all strongly agreed that the projects were effective in helping them to work in teams, apply problem-solving techniques and to boost their programming and mechanical design skills.

  3. 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.

  4. 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

  5. Robotic Architectures

    Directory of Open Access Journals (Sweden)

    Mbali Mtshali

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.Defence Science Journal, 2010, 60(1, pp.15-22, DOI:http://dx.doi.org/10.14429/dsj.60.96

  6. The ArT\\'eMiS wide-field submillimeter camera: preliminary on-sky performances at 350 microns

    CERN Document Server

    Reveret, Vincent; Pennec, Jean Le; Talvard, Michel; Agnèse, Patrick; Arnaud, Agnès; Clerc, Laurent; de Breuck, Carlos; Cigna, Jean-Charles; Delisle, Cyrille; Doumayrou, Eric; Duband, Lionel; Dubreuil, Didier; Dumaye, Luc; Ercolani, Eric; Gallais, Pascal; Groult, Elodie; Jourdan, Thierry; Leriche, Bernadette; Maffei, Bruno; Lortholary, Michel; Martignac, Jérôme; Rabaud, Wilfried; Relland, Johan; Rodriguez, Louis; Vandeneynde, Aurélie; Visticot, François

    2014-01-01

    ArTeMiS is a wide-field submillimeter camera operating at three wavelengths simultaneously (200, 350 and 450 microns). A preliminary version of the instrument equipped with the 350 microns focal plane, has been successfully installed and tested on APEX telescope in Chile during the 2013 and 2014 austral winters. This instrument is developed by CEA (Saclay and Grenoble, France), IAS (France) and University of Manchester (UK) in collaboration with ESO. We introduce the mechanical and optical design, as well as the cryogenics and electronics of the ArTeMiS camera. ArTeMiS detectors are similar to the ones developed for the Herschel PACS photometer but they are adapted to the high optical load encountered at APEX site. Ultimately, ArTeMiS will contain 4 sub-arrays at 200 microns and 2x8 sub-arrays at 350 and 450 microns. We show preliminary lab measurements like the responsivity of the instrument to hot and cold loads illumination and NEP calculation. Details on the on-sky commissioning runs made in 2013 and 2014...

  7. NK cells are intrinsically functional in pigs with Severe Combined Immunodeficiency (SCID) caused by spontaneous mutations in the Artemis gene

    Science.gov (United States)

    We have identified Severe Combined Immunodeficiency (SCID) in a line of Yorkshire pigs at Iowa State University. These SCID pigs lack B-cells and T-cells, but possess Natural Killer (NK) cells. This SCID phenotype is caused by recessive mutations in the Artemis gene. Interestingly, two human tumor c...

  8. 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.

  9. Automation of the proximate analysis of coals

    Energy Technology Data Exchange (ETDEWEB)

    1985-01-01

    A study is reported of the feasibility of using a multi-jointed general-purpose robot for the automated analysis of moisture, volatile matter, ash and total post-combustion sulfur in coal and coke. The results obtained with an automated system are compared with those of conventional manual methods. The design of the robot hand and the safety measures provided are now both fully satisfactory, and the analytic values obtained exhibit little scatter. It is concluded that the use of this robot system results in a better working environment and in considerable labour saving. Applications to other tasks are under development.

  10. A new approach to automating services

    OpenAIRE

    2016-01-01

    While many white collar workers may feel threatened by service automation, companies that thoughtfully automate services are finding that the worries are overblown. By pairing humans and robots, companies can deliver better services for less, and jobs can become more interesting.

  11. 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

  12. Robotics in Remote and Hostile Environments

    Science.gov (United States)

    Bellingham, James G.; Rajan, Kanna

    2007-11-01

    In our continuing quest for knowledge, robots are powerful tools for accessing environments too dangerous or too remote for human exploration. Early systems functioned under close human supervision, effectively limited to executing preprogrammed tasks. However, as exploration moves to regions where communication is ineffective or unviable, robots will need to carry out complex tasks without human supervision. To enable such capabilities, robots are being enhanced by advances ranging from new sensor development to automated mission planning software, distributed robotic control, and more efficient power systems. As robotics technology becomes simultaneously more capable and economically viable, individual robots operated at large expense by teams of experts are increasingly supplemented by teams of robots used cooperatively under minimal human supervision.

  13. Platooning strategy of mobile robot: simulation and experiment

    OpenAIRE

    Baarath K.; Zakaria Muhammad Aizzat; Suparmaniam M.V.; Abu Mohd Yazid bin

    2017-01-01

    Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic mo...

  14. Robotic Maintenance and ROS - Appearance Based SLAM and Navigation With a Mobile Robot Prototype

    OpenAIRE

    Lindrup, Vegard Stjerna

    2016-01-01

    Robotic maintenance has been a topic in several master's theses and specialization projects at the Department of Engineering Cybernetics (ITK) at NTNU over many years. This thesis continues on the same topic, with special focus on camera-based mapping and navigation in conjunction with automated maintenance, and automated maintenance in general. The objective of this thesis is to implement one or more functionalities based on camera-based sensors in a mobile autonomous robot. This is accompli...

  15. Evaluation of automated decision making methodologies and development of an integrated robotic system simulation. Volume 2, Part 1. Appendix a: software documentation

    Energy Technology Data Exchange (ETDEWEB)

    Lowrie, J.W.; Fermelia, A.J.; Haley, D.C.; Gremban, K.D.; Vanbaalen, J.

    1982-09-01

    Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

  16. Production of Candida antarctica lipase B gene open reading frame using automated PCR gene assembly protocol on robotic workcell and expression in an ethanologenic yeast for use as resin-bound biocatalyst in biodiesel production.

    Science.gov (United States)

    Hughes, Stephen R; Moser, Bryan R; Harmsen, Amanda J; Bischoff, Kenneth M; Jones, Marjorie A; Pinkelman, Rebecca; Bang, Sookie S; Tasaki, Ken; Doll, Kenneth M; Qureshi, Nasib; Saha, Badal C; Liu, Siqing; Jackson, John S; Robinson, Samantha; Cotta, Michael C; Rich, Joseph O; Caimi, Paolo

    2011-02-01

    A synthetic Candida antarctica lipase B (CALB) gene open reading frame (ORF) for expression in yeast was constructed, and the lycotoxin-1 (Lyt-1) C3 variant gene ORF, potentially to improve the availability of the active enzyme at the surface of the yeast cell, was added in frame with the CALB ORF using an automated PCR assembly and DNA purification protocol on an integrated robotic workcell. Saccharomyces cerevisiae strains expressing CALB protein or CALB Lyt-1 fusion protein were first grown on 2% (w/v) glucose, producing 9.3 g/L ethanol during fermentation. The carbon source was switched to galactose for GAL1-driven expression, and the CALB and CALB Lyt-1 enzymes expressed were tested for fatty acid ethyl ester (biodiesel) production. The synthetic enzymes catalyzed the formation of fatty acid ethyl esters from ethanol and either corn or soybean oil. It was further demonstrated that a one-step-charging resin, specifically selected for binding to lipase, was capable of covalent attachment of the CALB Lyt-1 enzyme, and that the resin-bound enzyme catalyzed the production of biodiesel. High-level expression of lipase in an ethanologenic yeast strain has the potential to increase the profitability of an integrated biorefinery by combining bioethanol production with coproduction of a low-cost biocatalyst that converts corn oil to biodiesel.

  17. Automated High-Volume Manufacturing of Modular Photovoltaic Panel Assemblies for Space Solar Arrays Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Deployable Space Systems, Inc. (DSS) will focus the proposed SBIR program on the creation and development of an automated robotic manufacturing infrastructure...

  18. 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, e

  19. 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,

  20. Robot assisted transperitoneal laparoscopic pyeloplasty

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    @@ Nowadays,with laparoscope techniques increasingly developed its indications are covering more complicated medical fields.Moreover,as a camera holder,the robotic system of an automated endoscopic system for optimal positioning (AESOP) can be controlled directly by the surgeon's voice.

  1. 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...

  2. 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.

  3. Bagged material palletizing robot system; Fukuromono paretaizu robot system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-10

    This paper introduces a case of delivery of an industrial automation machinery fabricated by Meidensha, Inc. A robot was delivered as a robot system to automate the work of palletizing craft paper bags containing cement. While bags filled with cement and sewn on the openings with a sewing machine in the previous process are transported to the robot, a shaping machine makes the bag height aligned, and a bleeder machine pushes out unnecessary air in the bags. The robot stacks the bags on a pallet sequentially one by one. A pallet magazine supplies automatically a next pallet when stacking by the robot has been completed. Introduction of this system has achieved such effects as elimination of labor shortage, release from simple muscle work, and stabilization of palletizing accuracy. Major constituting devices include: a palletizing robot (VTR-1000Y), a bag transporting equipment (comprising a conveyer, a shaping machine, and a bleeding device), and a pallet transporting equipment (comprising a conveyer and an empty pallet magazine). (NEDO)

  4. Anterior segment biometry using ultrasound biomicroscopy and the Artemis-2 very high frequency ultrasound scanner

    Directory of Open Access Journals (Sweden)

    Al-Farhan HM

    2013-01-01

    Full Text Available Haya M Al-Farhan, Reem N AlMutairiKing Saud University, College of Applied Medical Sciences, Department of Optometry and Vision Sciences, Riyadh, Kingdom of Saudi ArabiaPurpose: To compare the precision of anterior chamber angle (ACA and anterior chamber depth (ACD measurements taken with ultrasound biomicroscopy (UBM and the Artemis-2 Very High Frequency Ultrasound Scanner (VHFUS in normal subjects.Design: Prospective study.Methods: We randomly selected one eye from each of 59 normal subjects in this study. Two subjects dropped out of the study; the associated data were excluded from analysis. ACA and ACD measurements were obtained using the VHFUS and the UBM. The results were compared statistically using repeated-measures analysis of variance for the intraobserver repeatability, unpaired t-test, and limits of agreement.Results: The average ACA values for the UBM and the VHFUS (±standard deviation were 41.83° ± 5.03° and 33.36° ± 6.03°, respectively. The average ACD values were 2.96 ± 0.34 mm and 2.87 ± 0.31 mm. The intraobserver repeatability analysis of variance P-values for ACA and ACD measurements using UBM were 0.10 and 0.68, respectively; for the Artemis-2 VHFUS, the respective values were 0.68 and 0.09. The difference in ACA measurements was statistically significant (t = 8.41; P < 0.0001, while the difference in ACD values was not (t = 1.51; P < 0.13. The mean ACA difference was 8.50° ± 2.50°, and the limits of agreement were +13.30° to −3.60°. The mean ACD difference was 0.09 ± 0.27 mm, and the limits of agreement ranged from 0.61 mm to −0.43 mm. The mean difference percentage of ACD was 3.1% for both instruments.Conclusion: In case of the ACD, both instruments can be used interchangeably; however, with the ACA instruments, they cannot be used interchangeably.Keywords: anterior chamber angle, anterior chamber depth, Artemis-2 VHF scanner, ultrasound biomicroscope, normal eyes

  5. 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.

  6. The Robotic Edge Finishing Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Loucks, C.S.; Selleck, C.B.

    1990-08-01

    The Robotic Edge Finishing Laboratory at Sandia National Laboratories is developing four areas of technology required for automated deburring, chamfering, and blending of machined edges: (1) the automatic programming of robot trajectories and deburring processes using information derived from a CAD database, (2) the use of machine vision for locating the workpiece coupled with force control to ensure proper tool contact, (3) robotic deburring, blending, and machining of precision chamfered edges, and (4) in-process automated inspection of the formed edge. The Laboratory, its components, integration, and results from edge finishing experiments to date are described here. Also included is a discussion of the issues regarding implementation of the technology in a production environment. 24 refs., 17 figs.

  7. Coordinateendonucleolytic 5' and 3' trimming of terminally blocked blunt DNA double-strand break ends by Artemis nuclease and DNA-dependent protein kinase

    Energy Technology Data Exchange (ETDEWEB)

    Povirk, Lawrence; Yannone, Steven M.; Khan, Imran S.; Zhou, Rui-Zhe; Zhou, Tong; Valerie, Kristoffer; F., Lawrence

    2008-02-18

    Previous work showed that, in the presence of DNA-PK, Artemis slowly trims 3'-phosphoglycolate-terminated blunt ends. To examine the trimming reaction in more detail, long internally labeled DNA substrates were treated with Artemis. In the absence of DNA-PK, Artemis catalyzed extensive 5' {yields} 3' exonucleolytic resection of double-stranded DNA. This resection required a 5'-phosphate but did not require ATP, and was accompanied by endonucleolytic cleavage of the resulting 3' overhang. In the presence of DNA-PK, Artemis-mediated trimming was more limited, was ATP-dependent, and did not require a 5'-phosphate. For a blunt end with either a 3'-phosphoglycolate or 3'-hydroxyl terminus, endonucleolytic trimming of 2-4 nucleotides from the 3'-terminal strand was accompanied by trimming of 6 nucleotides from the 5'-terminal strand. The results suggest that autophosphorylated DNA-PK suppresses the exonuclease activity of Artemis toward blunt-ended DNA, and promotes slow and limited endonucleolytic trimming of the 5'-terminal strand, resulting in short 3' overhangs that are trimmed endonucleolytically. Thus, Artemis and DNA-PK can convert terminally blocked DNA ends of diverse geometry and chemical structure to a form suitable for polymerase mediated patching and ligation, with minimal loss of terminal sequence. Such processing could account for the very small deletions often found at DNA double-strand break repair sites.

  8. Direct measurements of laser light aberration from the ARTEMIS geostationary satellite through thin clouds

    CERN Document Server

    Kuzkov, Volodymyr; Sodnik, Zoran

    2015-01-01

    A precise ground based telescope system was developed for laser communication experiments with the geostationary satellite ARTEMIS of ESA. Precise tracking of the satellite was realized by using time resolved coordinates of the satellite. During the experiments, the time propagation of laser signal from the satellite and the point-ahead angle for the laser beam were calculated. Some laser experiments though thin clouds were performed. A splitting of some images of the laser beam from the satellite along declination and right ascension coordinates of telescope could be observed through thin clouds. The splitting along the declination coordinate may be interpreted as refraction in the atmosphere. The splitting along the right ascension coordinate is equivalent to the calculated point-ahead angle for the satellite. We find out that a small part of laser beam was observed ahead of the velocity vector in the point where the satellite would be after the laser light from the satellite reaches the telescope. These re...

  9. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  10. Tail reconnection region versus auroral activity inferred from conjugate ARTEMIS plasma sheet flow and auroral observations

    Science.gov (United States)

    Nishimura, Y.; Lyons, L. R.; Xing, X.; Angelopoulos, V.; Donovan, E. F.; Mende, S. B.; Bonnell, J. W.; Auster, U.

    2013-09-01

    sheet flow bursts have been suggested to correspond to different types of auroral activity, such as poleward boundary intensifications (PBIs), ensuing auroral streamers, and substorms. The flow-aurora association leads to the important question of identifying the magnetotail source region for the flow bursts and how this region depends on magnetic activity. The present study uses the ARTEMIS spacecraft coordinated with conjugate ground-based auroral imager observations to identify flow bursts beyond 45 RE downtail and corresponding auroral forms. We find that quiet-time flows are directed dominantly earthward with a one-to-one correspondence with PBIs. Flow bursts during the substorm recovery phase and during steady magnetospheric convection (SMC) periods are also directed earthward, and these flows are associated with a series of PBIs/streamers lasting for tens of minutes with similar durations to that of the series of earthward flows. Presubstorm onset flows are also earthward and associated with PBIs/streamers. The earthward flows during those magnetic conditions suggest that the flow bursts, which lead to PBIs and streamers, originate from further downtail of ARTEMIS, possibly from the distant-tail neutral line (DNL) or tailward-retreated near-Earth neutral line (NENL) rather than from the nominal NENL location in the midtail. We find that tailward flows are limited primarily to the substorm expansion phase. They continue throughout the period of auroral poleward expansion, indicating that the expansion-phase flows originate from the NENL and that NENL activity is closely related to the auroral expansion of the substorm expansion phase.

  11. Low-Resolution Tactile Image Recognition for Automated Robotic Assembly Using Kernel PCA-Based Feature Fusion and Multiple Kernel Learning-Based Support Vector Machine

    Directory of Open Access Journals (Sweden)

    Yi-Hung Liu

    2014-01-01

    Full Text Available In this paper, we propose a robust tactile sensing image recognition scheme for automatic robotic assembly. First, an image reprocessing procedure is designed to enhance the contrast of the tactile image. In the second layer, geometric features and Fourier descriptors are extracted from the image. Then, kernel principal component analysis (kernel PCA is applied to transform the features into ones with better discriminating ability, which is the kernel PCA-based feature fusion. The transformed features are fed into the third layer for classification. In this paper, we design a classifier by combining the multiple kernel learning (MKL algorithm and support vector machine (SVM. We also design and implement a tactile sensing array consisting of 10-by-10 sensing elements. Experimental results, carried out on real tactile images acquired by the designed tactile sensing array, show that the kernel PCA-based feature fusion can significantly improve the discriminating performance of the geometric features and Fourier descriptors. Also, the designed MKL-SVM outperforms the regular SVM in terms of recognition accuracy. The proposed recognition scheme is able to achieve a high recognition rate of over 85% for the classification of 12 commonly used metal parts in industrial applications.

  12. Army Robotics

    Science.gov (United States)

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  13. TARDEC Robotics

    Science.gov (United States)

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  14. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann;

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance i...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  15. Mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1986-01-01

    This book presents papers given at a conference on mobile robots. Topics the conference included are the following: mobility systems for robotic vehicles; detection and control of mobile robot motion by real-time computer vision, obstacle avoidance algorithms for an autonomous land vehicle; hierarchical processor and matched filters for range image processing; asynchronous distributed control system for a mobile robot, and, planning in a hierarchical nested autonomous control system.

  16. Robotic Surveying

    Energy Technology Data Exchange (ETDEWEB)

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    -actuated functions to be controlled by an onboard computer. The computer-controlled Speedrower was developed at Carnegie Mellon University to automate agricultural harvesting. Harvesting tasks require the vehicle to cover a field using minimally overlapping rows at slow speeds in a similar manner to geophysical data acquisition. The Speedrower had demonstrated its ability to perform as it had already logged hundreds of acres of autonomous harvesting. This project is the first use of autonomous robotic technology on a large-scale for geophysical surveying.

  17. Warehouse automation

    OpenAIRE

    Pogačnik, Jure

    2017-01-01

    An automated high bay warehouse is commonly used for storing large number of material with a high throughput. In an automated warehouse pallet movements are mainly performed by a number of automated devices like conveyors systems, trolleys, and stacker cranes. From the introduction of the material to the automated warehouse system to its dispatch the system requires no operator input or intervention since all material movements are done automatically. This allows the automated warehouse to op...

  18. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  19. Automated stand-up and sit-down detection for robot-assisted body-weight support training with the FLOAT.

    Science.gov (United States)

    Bannwart, Mathias; Emst, Dominique; Easthope, Chris; Bolliger, Marc; Rauter, Georg

    2017-07-01

    Patients with impaired walking function are often dependent on assistive devices to retrain gait and regain independence in life. To provide adequate support, gait rehabilitation devices have to be manually set to the correct support mode or have to recognize the type and starting point of a certain motion automatically. For automated motion type detection, machine learning-based classification algorithms using sensor signals from different body parts can achieve robust performance. However, until today, there is only little work available to detect motion onset. In this paper, we investigate task onset detection of sit-to-stand and stand-to-sit transitions. The focus of the current study is twofold: First, the optimal window size for the online classification algorithm shall be found. Second, the ideal sensor placement in a single sensor-setup, to detect movement onset with shortest detection delays possible is of interest. For our investigations a linear discriminant analysis classifier, basic kinematic features, and a leave-one-subject-out cross validation are used. As a result, an average detection time of 56 milliseconds (SD 111) for sit-to-stand and 48 milliseconds (SD 137) for stand-to-sit were achieved with a window size of 15 and 35 milliseconds respectively at a data rate of 200 hertz. For sit-to-stand transitions, a sensor close to the tenth vertebra and for stand-to-sit transitions close to the posterior pelvis provided the smallest detection times.

  20. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  1. 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.

  2. 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.

  3. Variable correction of Artemis deficiency by I-Sce1-meganuclease-assisted homologous recombination in murine hematopoietic stem cells.

    Science.gov (United States)

    Rivière, J; Hauer, J; Poirot, L; Brochet, J; Souque, P; Mollier, K; Gouble, A; Charneau, P; Fischer, A; Pâques, F; de Villartay, J-P; Cavazzana, M

    2014-05-01

    The correction of genetic mutations by homologous recombination is an attractive approach to gene therapy. We used the DNA double-strand breaks introduced by the site-specific endonuclease I-Sce1 as a means of increasing homologous recombination of an exogenous DNA template in murine hematopoietic stem cells (mHSCs). To develop this approach, we chose an Artemis knockout (Art(-/-)) mouse in which exon 12 of the Artemis gene had been replaced by an I-Sce1 recognition site. The I-Sce1 enzyme and the Artemis correction template were each delivered by a self-inactivating (SIN)-integrase-defective lentiviral vector (SIN-IDLV-CMV-ISce1 and SIN-IDLV-Art, respectively). Transduction of Art(-/-) mHSCs with the two vectors successfully reverted the Art(-/-) phenotype in 2 of our 10 experiments. Even though the potential for genotoxicity has yet to be evaluated, this new approach to gene editing appears to be promising. Improving the efficacy of this approach will require further technical work.

  4. Understanding temporal and spatial variability of the lunar helium atmosphere using simultaneous observations from LRO, LADEE, and ARTEMIS

    Science.gov (United States)

    Hurley, Dana M.; Cook, Jason C.; Benna, Mehdi; Halekas, Jasper S.; Feldman, Paul D.; Retherford, Kurt D.; Hodges, R. Richard; Grava, Cesare; Mahaffy, Paul; Gladstone, G. Randall; Greathouse, Thomas; Kaufmann, David E.; Elphic, Richard C.; Stern, S. Alan

    2016-07-01

    Simultaneous measurements of helium in the exosphere of the Moon are made from the Lunar Reconnaissance Orbiter (LRO) Lyman Alpha Mapping Project (LAMP) and the Lunar Atmosphere and Dust Environment Explorer (LADEE) Neutral Mass Spectrometer (NMS) through the entire 5-month span of the LADEE mission. In addition, the ARTEMIS mission monitored the solar wind alpha particle flux to the Moon. Modeling the lunar helium exosphere, we relate the LAMP polar observations to the LADEE equatorial observations. Further, using the ARTEMIS alpha flux in the Monte Carlo model reproduces the temporal variations in helium density. Comparing the LAMP data to the LADEE data shows excellent agreement. Comparing those with the ARTEMIS data reveals that the solar wind alpha flux is the primary driver to variability in the helium exosphere throughout the LADEE mission. Using a decay time for exospheric helium of 5 days, we determine that the solar wind contributes 64 ± 5% of the helium to the lunar exosphere. The remaining 36 ± 5% is presumed to come from outgassing of radiogenic helium from the interior of the Moon. Furthermore, the model reproduces the measurements if 63 ± 6% of the incident alpha particles are converted to thermalized helium atoms through the interaction between the alphas and the lunar surface. However, these values are dependent on both inferred source rates from LAMP and LADEE observations and on the assumed time constant of the exospheric decay rate.

  5. Robotic and Survey Telescopes

    Science.gov (United States)

    Woźniak, Przemysław

    Robotic telescopes are revolutionizing the way astronomers collect their dataand conduct sky surveys. This chapter begins with a discussion of principles thatguide the process of designing, constructing, and operating telescopes andobservatories that offer a varying degree of automation, from instruments remotelycontrolled by observers to fully autonomous systems requiring no humansupervision during their normal operations. Emphasis is placed on designtrade-offs involved in building end-to-end systems intended for a wide range ofscience applications. The second part of the chapter contains descriptions ofseveral projects and instruments, both existing and currently under development.It is an attempt to provide a representative selection of actual systems thatillustrates state of the art in technology, as well as important ideas and milestonesin the development of the field. The list of presented instruments spans the fullrange in size starting from small all-sky monitors, through midrange robotic andsurvey telescopes, and finishing with large robotic instruments and surveys.Explosive growth of telescope networking is enabling entirely new modesof interaction between the survey and follow-up observing. Increasingimportance of standardized communication protocols and software is stressed.These developments are driven by the fusion of robotic telescope hardware,massive storage and databases, real-time knowledge extraction, and datacross-correlation on a global scale. The chapter concludes with examplesof major science results enabled by these new technologies and futureprospects.

  6. Development of novel techiques for cooperative localization and mapping using mobile robots and their application in precise agriculture

    OpenAIRE

    Saso KOCESKI; Koceska, Natasa; Sazdovski, Vasko; Stojkovic, Natasa; Stojanova, Aleksandra; Vladimirov, Angel

    2015-01-01

    The application of robotics in agriculture is part of the recent trends of automating the tasks and the activities of people, which are characterized by increased physical effort. Recent robotics trends are also including automation of processes that can be harmful to human health. On the other hand, cooperation and coordination are modern concepts in the development of robotics systems which include information exchange between the robots regarding their condition and their measurements and ...

  7. Robotic surgery.

    Science.gov (United States)

    Diana, M; Marescaux, J

    2015-01-01

    Proficiency in minimally invasive surgery requires intensive and continuous training, as it is technically challenging for unnatural visual and haptic perceptions. Robotic and computer sciences are producing innovations to augment the surgeon's skills to achieve accuracy and high precision during complex surgery. This article reviews the current use of robotically assisted surgery, focusing on technology as well as main applications in digestive surgery, and future perspectives. The PubMed database was interrogated to retrieve evidence-based data on surgical applications. Internal and external consulting with key opinion leaders, renowned robotics laboratories and robotic platform manufacturers was used to produce state-of-the art business intelligence around robotically assisted surgery. Selected digestive procedures (oesophagectomy, gastric bypass, pancreatic and liver resections, rectal resection for cancer) might benefit from robotic assistance, although the current level of evidence is insufficient to support widespread adoption. The surgical robotic market is growing, and a variety of projects have recently been launched at both academic and corporate levels to develop lightweight, miniaturized surgical robotic prototypes. The magnified view, and improved ergonomics and dexterity offered by robotic platforms, might facilitate the uptake of minimally invasive procedures. Image guidance to complement robotically assisted procedures, through the concepts of augmented reality, could well represent a major revolution to increase safety and deal with difficulties associated with the new minimally invasive approaches. © 2015 BJS Society Ltd. Published by John Wiley & Sons Ltd.

  8. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically supp

  9. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically supp

  10. 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.

  11. The automation of science.

    Science.gov (United States)

    King, Ross D; Rowland, Jem; Oliver, Stephen G; Young, Michael; Aubrey, Wayne; Byrne, Emma; Liakata, Maria; Markham, Magdalena; Pir, Pinar; Soldatova, Larisa N; Sparkes, Andrew; Whelan, Kenneth E; Clare, Amanda

    2009-04-03

    The basis of science is the hypothetico-deductive method and the recording of experiments in sufficient detail to enable reproducibility. We report the development of Robot Scientist "Adam," which advances the automation of both. Adam has autonomously generated functional genomics hypotheses about the yeast Saccharomyces cerevisiae and experimentally tested these hypotheses by using laboratory automation. We have confirmed Adam's conclusions through manual experiments. To describe Adam's research, we have developed an ontology and logical language. The resulting formalization involves over 10,000 different research units in a nested treelike structure, 10 levels deep, that relates the 6.6 million biomass measurements to their logical description. This formalization describes how a machine contributed to scientific knowledge.

  12. Mobile robots: An assessment of business opportunities in an emerging industry

    Energy Technology Data Exchange (ETDEWEB)

    Miller, R.K.

    1987-01-01

    The mobile robotics industry is one that is certain to reach the billion-dollar level in the early 1990s. The authors' analysis finds that at least eight areas of application have the potential of exceeding the manufacturing AGVS market by the turn of the century: service and maintenance robots, medical robots, agricultural robots, military robots, office automation, electric utilities, space robots, and construction/mining. This report describes these and other applications, and reviews the mobile robotic products of 45 companies. Leading research is also assessed, and a market forecast is presented.

  13. A Framework for Automated Testing of JavaScript Web Applications

    DEFF Research Database (Denmark)

    Artzi, Shay; Dolby, Julian; Jensen, Simon Holm;

    2011-01-01

    Current practice in testing JavaScript web applications requires manual construction of test cases, which is difficult and tedious. We present a framework for feedback-directed automated test generation for JavaScript in which execution is monitored to collect information that directs the test...... generator towards inputs that yield increased coverage. We implemented several instantiations of the framework, corresponding to variations on feedback-directed random testing, in a tool called Artemis. Experiments on a suite of JavaScript applications demonstrate that a simple instantiation...

  14. Cooperative Relative Localization for Mobile Robot Teams: An Ego-Centric Approach

    Science.gov (United States)

    2003-03-01

    solution to the simultaneous localization and map building (SLAM) problem. IEEE Transactions on Robotics and Automation, 17(3):229–241. Fox, D., Burgard...geometric beacons. IEEE Transactions on Robotics and Automation, 7(3):376–382. Lu, F. and Milios, E. (1997). Globally consistent range scan alignment

  15. Accounting Automation

    OpenAIRE

    Laynebaril1

    2017-01-01

    Accounting Automation   Click Link Below To Buy:   http://hwcampus.com/shop/accounting-automation/  Or Visit www.hwcampus.com Accounting Automation” Please respond to the following: Imagine you are a consultant hired to convert a manual accounting system to an automated system. Suggest the key advantages and disadvantages of automating a manual accounting system. Identify the most important step in the conversion process. Provide a rationale for your response. ...

  16. An automated cleaning system for hospitals

    OpenAIRE

    Griffin, Colin

    2009-01-01

    Insufficient hygienic practices in Irish hospitals coupled with one of the highest number of reported cases of MRSA in Europe have highlighted the need for solutions to aid in the task of cleaning. This automated cleaning system consisted of two robots: a core robot developed separately with navigational and task scheduling capabilities integrated. The cleaning task was carried out by making use of a commercially available Roomba vacuum cleaner which had been adapted to operate in conju...

  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. DNA ligase IV and artemis act cooperatively to suppress homologous recombination in human cells: implications for DNA double-strand break repair.

    Science.gov (United States)

    Kurosawa, Aya; Saito, Shinta; So, Sairei; Hashimoto, Mitsumasa; Iwabuchi, Kuniyoshi; Watabe, Haruka; Adachi, Noritaka

    2013-01-01

    Nonhomologous end-joining (NHEJ) and homologous recombination (HR) are two major pathways for repairing DNA double-strand breaks (DSBs); however, their respective roles in human somatic cells remain to be elucidated. Here we show using a series of human gene-knockout cell lines that NHEJ repairs nearly all of the topoisomerase II- and low-dose radiation-induced DNA damage, while it negatively affects survival of cells harbouring replication-associated DSBs. Intriguingly, we find that loss of DNA ligase IV, a critical NHEJ ligase, and Artemis, an NHEJ factor with endonuclease activity, independently contribute to increased resistance to replication-associated DSBs. We also show that loss of Artemis alleviates hypersensitivity of DNA ligase IV-null cells to low-dose radiation- and topoisomerase II-induced DSBs. Finally, we demonstrate that Artemis-null human cells display increased gene-targeting efficiencies, particularly in the absence of DNA ligase IV. Collectively, these data suggest that DNA ligase IV and Artemis act cooperatively to promote NHEJ, thereby suppressing HR. Our results point to the possibility that HR can only operate on accidental DSBs when NHEJ is missing or abortive, and Artemis may be involved in pathway switching from incomplete NHEJ to HR.

  19. DNA ligase IV and artemis act cooperatively to suppress homologous recombination in human cells: implications for DNA double-strand break repair.

    Directory of Open Access Journals (Sweden)

    Aya Kurosawa

    Full Text Available Nonhomologous end-joining (NHEJ and homologous recombination (HR are two major pathways for repairing DNA double-strand breaks (DSBs; however, their respective roles in human somatic cells remain to be elucidated. Here we show using a series of human gene-knockout cell lines that NHEJ repairs nearly all of the topoisomerase II- and low-dose radiation-induced DNA damage, while it negatively affects survival of cells harbouring replication-associated DSBs. Intriguingly, we find that loss of DNA ligase IV, a critical NHEJ ligase, and Artemis, an NHEJ factor with endonuclease activity, independently contribute to increased resistance to replication-associated DSBs. We also show that loss of Artemis alleviates hypersensitivity of DNA ligase IV-null cells to low-dose radiation- and topoisomerase II-induced DSBs. Finally, we demonstrate that Artemis-null human cells display increased gene-targeting efficiencies, particularly in the absence of DNA ligase IV. Collectively, these data suggest that DNA ligase IV and Artemis act cooperatively to promote NHEJ, thereby suppressing HR. Our results point to the possibility that HR can only operate on accidental DSBs when NHEJ is missing or abortive, and Artemis may be involved in pathway switching from incomplete NHEJ to HR.

  20. Home Automation

    OpenAIRE

    Ahmed, Zeeshan

    2010-01-01

    In this paper I briefly discuss the importance of home automation system. Going in to the details I briefly present a real time designed and implemented software and hardware oriented house automation research project, capable of automating house's electricity and providing a security system to detect the presence of unexpected behavior.

  1. Report on Computer Programs for Robotic Vision

    Science.gov (United States)

    Cunningham, R. T.; Kan, E. P.

    1986-01-01

    Collection of programs supports robotic research. Report describes computer-vision software library NASA's Jet Propulsion Laboratory. Programs evolved during past 10 years of research into robotics. Collection includes low- and high-level image-processing software proved in applications ranging from factory automation to spacecraft tracking and grappling. Programs fall into several overlapping categories. Image utilities category are low-level routines that provide computer access to image data and some simple graphical capabilities for displaying results of image processing.

  2. Report on Computer Programs for Robotic Vision

    Science.gov (United States)

    Cunningham, R. T.; Kan, E. P.

    1986-01-01

    Collection of programs supports robotic research. Report describes computer-vision software library NASA's Jet Propulsion Laboratory. Programs evolved during past 10 years of research into robotics. Collection includes low- and high-level image-processing software proved in applications ranging from factory automation to spacecraft tracking and grappling. Programs fall into several overlapping categories. Image utilities category are low-level routines that provide computer access to image data and some simple graphical capabilities for displaying results of image processing.

  3. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

    Full Text Available Che cosa e' un robot? A che cosa serve un robot? Un robot e' qualcosa di fisico, costruito da noi, che somiglia a un organismo vivente e si comporta come un organismo vivente. Gli organismi viventi comprendono gli animali e le piante, ma i robot riproducono gli animali piuttosto che le piante, anche se ci sono tentativi di costruire robotpiante. Comportarsi come un animale significa avere degli organi sensoriali con cui ricevere informazioni dall'ambiente e degli organi motori che permettono di spostarsi nell'ambiente o di muovere una qualche parte del proprio corpo, ad esempio la testa o un braccio, in maniera non programmata, ma autonoma, cioe' rispondendo agli stimoli che arrivano momento per momento ai sensori del robot. Questo risponde alla domanda "Che cosa e' un robot?".

  4. Robotics in Industrial Arts. Final Narrative Report for the Exemplary Project.

    Science.gov (United States)

    Ascension Parish School Board, Donaldsonville, LA.

    To introduce students to the world of robotics and industrial automation, robotics was introduced to students enrolled in electronics classes in the industrial arts program at St. Amant High School (Louisiana). Three robots, three host microcomputers, and necessary software were purchased. The electronics instructor installed the three robots…

  5. The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control

    Science.gov (United States)

    1990-07-01

    Technical Report AI-TR 1072, August, 1989. [5] Eppinger, S.D. and Seering, W.P., "On Dynamic Models of Robot Force Control ", MIT Artificial... Robot Force Control ", Proceedings of the IEEE Conference on Robotics and Automation, April, 1985, Vol. 1, pp. 262- 268. 80 Appendix A: Torque Sensor

  6. 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...

  7. Principal Base Parameter Analysis: Implementation and Analysis in an Adaptive Model-Based Robotic Controller

    Science.gov (United States)

    1991-12-01

    Proc. IEEE Conf. on Robotics and Automation, pages 1520-1531, 1986. Vol. 3. 12. P. Khosla and T. Kanade. Parameters Identification of Robot Dynamics . In...Manipulator Control: A Case Study. In Proc. of IEEE Int. Conf. on Robotics and Automation, pages 1392-1400, 1987. 26. Mark W. Spong and M. Vidyasagar. Robot ... Dynamics and Control. John Wiley and Sons, 1989. 27. T.J. Tan and A.K. Beiczy. Dynamic Equations for PUMA-560 Robot Arm. Technical Report SSM-RL-85-02

  8. Range determination for mobile robots using one omnidirectional camera

    OpenAIRE

    Millnert, Ola; Goedemé, Toon; Tuytelaars, Tinne; Van Gool, Luc; Hüntemann, Alexander; Nuttin, Marnix

    2006-01-01

    Millnert O., Goedemé T., Tuytelaars T., Van Gool L., Hüntemann A., Nuttin M., ''Range determination for mobile robots using one omnidirectional camera'', 3rd international conference on informatics in control, automation and robotics - ICINCO 2006, pp. 366-371, August 1-5, 2006, Setúbal, Portugal.

  9. 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...

  10. 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...

  11. 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.

  12. Detection and classification of Web robots with honeypots

    OpenAIRE

    McKenna, Sean F.

    2016-01-01

    Approved for public release; distribution is unlimited Web robots are automated programs that systematically browse the Web, collecting information. Although Web robots are valuable tools for indexing content on the Web, they can also be malicious through phishing, spamming, or performing targeted attacks. In this thesis, we study an approach to Web-robot detection that uses honeypots in the form of hidden resources on Web pages. Our detection model is based upon the observation that malic...

  13. Tactile Sensing and Control in Humans and Robotic/Teleoperated Systems

    Science.gov (United States)

    1992-08-04

    Surface Features with Stress Rate Sensing," accepted for publication in the IEEE Transactions on Robotics and Automation. [Cutkosky and Howe 1990] M.R... Transactions on Robotics and Automation, Vol. 5, No. 2, April, 1989, pp. 151-165. [Kao and Cutkosky 1992] I. Kao and M. R. Cutkosky, "Quasistatic...1992. Additional References [Cutkosky and Kao 1989] M.R. Cutkosky and I. Kao, "Computing and Controlling the Compli- ance of a Robotic Grasp," IEEE

  14. Robotic system

    Science.gov (United States)

    Ambrose, Robert O. (Inventor)

    2003-01-01

    A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

  15. Delta robot

    NARCIS (Netherlands)

    Herder, J.L.; Van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at le

  16. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  17. Delta robot

    NARCIS (Netherlands)

    Herder, J.L.; Van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at le

  18. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic architectural environments to be implemented and tested in the last decade in virtual and physical prototypes. These prototypes are incorporating sensing-actuating mec

  19. Task automation in a successful industrial telerobot

    Energy Technology Data Exchange (ETDEWEB)

    Spelt, P.F. [Oak Ridge National Lab., TN (United States); Jones, S.L. [REMOTEC, Inc., Oak Ridge, TN (United States)

    1994-01-01

    In this paper, we discuss cooperative work by Oak Ridge National Laboratory and Remotec{trademark}, Inc., to automate components of the operator`s workload using Remotec`s Andros telerobot, thereby providing an enhanced user interface which can be retroll to existing fielded units as well as being incorporated into now production units. Remotec`s Andros robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as by the armed forces and numerous law enforcement agencies. The automation of task components, as well as the video graphics display of the robot`s position in the environment, will enhance all tasks performed by these users, as well as enabling performance in terrain where the robots cannot presently perform due to lack of knowledge about, for instance, the degree of tilt of the robot. Enhanced performance of a successful industrial mobile robot leads to increased safety and efficiency of performances in hazardous environments. The addition of these capabilities will greatly enhance the utility of the robot, as well as its marketability.

  20. 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.

  1. 一种基于机器人自动化煤质分析系统的煤样微量添加与称量模块的特点与应用%Characteristics and application of trace add coal sample and the weighing module based on the robot automation coal quality analysis system

    Institute of Scientific and Technical Information of China (English)

    刘振中

    2015-01-01

    Articleabstract:This paper mainly introduces characteristics and main function of trace add coal sample and the weighing module based on the robot automation coal quality analysis system, through the elaboration of robotic automation coal quality analysis system development background, and clear the importance of the research and development of the module and its application prospect, and puts forward some technical problems need to be further solved, hope the perfected constantly, serve industry rapid development.%本文主要介绍了一种基于机器人自动化煤质分析系统的煤样微量添加与称量模块的技术特点与主要功能,通过阐述机器人自动化煤质分析系统的研发背景来说明该模块研发的重要性及其应用前景,同时提出了需要进一步解决的一些技术问题,希望其不断得以完善,为工业快速发展服务。

  2. Technological applications of robotics in mining

    Energy Technology Data Exchange (ETDEWEB)

    Konyukh, V. [Institute of Coal, Kemerovo (Russian Federation)

    1996-12-31

    There are the objective preconditions for use of automated multifunctional machines in mining. Some methods for evaluation of mining robotisability are offered. Functional modeling and Petri nets were used for synthesis and dynamic simulation of mining robotics systems. It enables to construct some robotics-based technologies for underground mining. The trial of rail robocar and teleloader in the Siberian ore-mines showed it is necessary to have a post-learning of control system. The created database about 90 applications of robotics in coal and other mining is used for choice and synthesis of robotized technologies. There are 6 direct and 8 indirect sources of robotics efficiency in mining, that are evaluated total by correlation between materialized and present labor expenses. 4 refs., 7 figs.

  3. 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.

  4. Artemis is required to improve the accuracy of repair of double-strand breaks with 5'-blocked termini generated from non-DSB-clustered lesions.

    Science.gov (United States)

    Malyarchuk, Svitlana; Castore, Reneau; Shi, Runhua; Harrison, Lynn

    2013-05-01

    Clustered DNA lesions are defined as ≥2 damage events within 20 bp. Oxidised bases, abasic (AP) sites, single-strand breaks and double-strand breaks (DSBs) exist in radiation-induced clusters, and these lesions are more difficult to repair and can be more mutagenic than single lesions. Understanding clustered lesion repair is therefore important for the design of complementary treatments to enhance radiotherapy. Non-DSB-clustered lesions consisting of opposing AP sites can be converted to DSBs by base excision repair, and non-homologous end-joining (NHEJ) plays a role in repairing these DSBs. Artemis is an endonuclease that removes blocking groups from DSB termini during NHEJ. Hence, we hypothesised that Artemis plays a role in the processing of DSBs or complex DSBs generated from non-DSB-clustered lesions. We examined the repair of clusters containing two or three lesions in wild-type (WT) or Artemis-deficient (ART(-/-)) mouse fibroblasts using a reporter plasmid. Each cluster contained two opposing tetrahydrofurans (an AP site analogue), which AP endonuclease can convert to a DSB with blocked 5' termini. Loss of Artemis did not decrease plasmid survival, but did result in more mutagenic repair with plasmids containing larger deletions. This increase in deletions did not occur with ClaI-linearised plasmid. Since Mre11 has been implicated in deletional NHEJ, we used small interfering RNA to reduce Mre11 in WT and ART(-/-) cells, but decreasing Mre11 did not change the size of deletions in the repair products. This work implicates Artemis in limiting the deletions introduced during repair of 5'-blocked termini DSBs generated from non-DSB-clustered lesions. Decreasing repair accuracy without decreasing repair capacity could result in mutated cells surviving irradiation. Inhibiting Artemis in normal cells could promote carcinogenesis, while in tumour cells enhanced mutagenic repair following irradiation could promote tumour recurrence.

  5. 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.

  6. Role of Artemis in DSB repair and guarding chromosomal stability following exposure to ionizing radiation at different stages of cell cycle

    Energy Technology Data Exchange (ETDEWEB)

    Darroudi, Firouz [Department of Toxicogenetics, Leiden University Medical Centre, Einthovenweg 20, 2300RC Leiden (Netherlands)]. E-mail: F.Darroudi@LUMC.NL; Wiegant, Wouter [Department of Toxicogenetics, Leiden University Medical Centre, Einthovenweg 20, 2300RC Leiden (Netherlands); Meijers, Matty [Department of Toxicogenetics, Leiden University Medical Centre, Einthovenweg 20, 2300RC Leiden (Netherlands); Friedl, Anna A. [Radiobiological Institute, University of Munich, Munich (Germany); Institute of Radiobiology, GSF National Research Center for Environment and Health, Neuherberg (Germany); Burg, Mirjam van der [Department of Immunology, Erasmus Medical Centre, Rotterdam (Netherlands); Fomina, Janna [Department of Toxicogenetics, Leiden University Medical Centre, Einthovenweg 20, 2300RC Leiden (Netherlands); Dongen, Jacques J.M. van [Department of Immunology, Erasmus Medical Centre, Rotterdam (Netherlands); Gent, Dik C. van [Department of Cell Biology and Genetics, Erasmus Medical Centre, Rotterdam (Netherlands); Zdzienicka, Malgorzata Z. [Department of Toxicogenetics, Leiden University Medical Centre, Einthovenweg 20, 2300RC Leiden (Netherlands); Department of Molecular Cell Genetics, Collegium Medicum, N. Corpernicus University, Bydgoszcz (Poland)

    2007-02-03

    We analyzed the phenotype of cells derived from SCID patients with different mutations in the Artemis gene. Using clonogenic survival assay an increased sensitivity was found to X-rays (2-3-fold) and bleomycin (2-fold), as well as to etoposide, camptothecin and methylmethane sulphonate (up to 1.5-fold). In contrast, we did not find increased sensitivity to cross-linking agents mitomycin C and cis-platinum. The kinetics of DSB repair assessed by pulsed-field gel electrophoresis and {gamma}H2AX foci formation after ionizing irradiation, indicate that 15-20% of DSB are not repaired in Artemis-deficient cells. In order to get a better understanding of the repair defect in Artemis-deficient cells, we studied chromosomal damage at different stages of the cell cycle. In contrast to AT cells, Artemis-deficient cells appear to have a normal G{sub 1}/S-block that resulted in a similar frequency of dicentrics and translocations, however, frequency of acentrics fragments was found to be 2-4-fold higher compared to normal fibroblasts. Irradiation in G{sub 2} resulted in a higher frequency of chromatid-type aberrations (1.5-3-fold) than in normal cells, indicating that a fraction of DSB requires Artemis for proper repair. Our data are consistent with a function of Artemis protein in processing of a subset of complex DSB, without G{sub 1} cell cycle checkpoint defects. This type of DSB can be induced in high proportion and persist through S-phase and in part might be responsible for the formation of chromatid-type exchanges in G{sub 1}-irradiated Artemis-deficient cells. Among different human radiosensitive fibroblasts studied for endogenous (in untreated samples) as well as X-ray-induced DNA damage, the ranking order on the basis of higher incidence of spontaneously occurring chromosomal alterations and induced ones was: ligase 4 {>=} AT > Artemis. This observation implicates that in human fibroblasts following exposure to ionizing radiation a lower risk might be created when

  7. The FAO/NASA/NLR Artemis system - An integrated concept for environmental monitoring by satellite in support of food/feed security and desert locust surveillance

    Science.gov (United States)

    Hielkema, J. U.; Howard, J. A.; Tucker, C. J.; Van Ingen Schenau, H. A.

    1987-01-01

    The African real time environmental monitoring using imaging satellites (Artemis) system, which should monitor precipitation and vegetation conditions on a continental scale, is presented. The hardware and software characteristics of the system are illustrated and the Artemis databases are outlined. Plans for the system include the use of hourly digital Meteosat data and daily NOAA/AVHRR data to study environmental conditions. Planned mapping activities include monthly rainfall anomaly maps, normalized difference vegetation index maps for ten day and monthly periods with a spatial resolution of 7.6 km, ten day crop/rangeland moisture availability maps, and desert locust potential breeding activity factor maps for a plague prevention program.

  8. Role of Artemis in DSB repair and guarding chromosomal stability following exposure to ionizing radiation at different stages of cell cycle.

    Science.gov (United States)

    Darroudi, Firouz; Wiegant, Wouter; Meijers, Matty; Friedl, Anna A; van der Burg, Mirjam; Fomina, Janna; van Dongen, Jacques J M; van Gent, Dik C; Zdzienicka, Małgorzata Z

    2007-02-03

    We analyzed the phenotype of cells derived from SCID patients with different mutations in the Artemis gene. Using clonogenic survival assay an increased sensitivity was found to X-rays (2-3-fold) and bleomycin (2-fold), as well as to etoposide, camptothecin and methylmethane sulphonate (up to 1.5-fold). In contrast, we did not find increased sensitivity to cross-linking agents mitomycin C and cis-platinum. The kinetics of DSB repair assessed by pulsed-field gel electrophoresis and gammaH2AX foci formation after ionizing irradiation, indicate that 15-20% of DSB are not repaired in Artemis-deficient cells. In order to get a better understanding of the repair defect in Artemis-deficient cells, we studied chromosomal damage at different stages of the cell cycle. In contrast to AT cells, Artemis-deficient cells appear to have a normal G(1)/S-block that resulted in a similar frequency of dicentrics and translocations, however, frequency of acentrics fragments was found to be 2-4-fold higher compared to normal fibroblasts. Irradiation in G(2) resulted in a higher frequency of chromatid-type aberrations (1.5-3-fold) than in normal cells, indicating that a fraction of DSB requires Artemis for proper repair. Our data are consistent with a function of Artemis protein in processing of a subset of complex DSB, without G(1) cell cycle checkpoint defects. This type of DSB can be induced in high proportion and persist through S-phase and in part might be responsible for the formation of chromatid-type exchanges in G(1)-irradiated Artemis-deficient cells. Among different human radiosensitive fibroblasts studied for endogenous (in untreated samples) as well as X-ray-induced DNA damage, the ranking order on the basis of higher incidence of spontaneously occurring chromosomal alterations and induced ones was: ligase 4> or =AT>Artemis. This observation implicates that in human fibroblasts following exposure to ionizing radiation a lower risk might be created when cells are devoid of

  9. ROBOT TASK SCENE ANALYZER

    Energy Technology Data Exchange (ETDEWEB)

    William R. Hamel; Steven Everett

    2000-08-01

    Environmental restoration and waste management (ER and WM) challenges in the United States Department of Energy (DOE), and around the world, involve radiation or other hazards which will necessitate the use of remote operations to protect human workers from dangerous exposures. Remote operations carry the implication of greater costs since remote work systems are inherently less productive than contact human work due to the inefficiencies/complexities of teleoperation. To reduce costs and improve quality, much attention has been focused on methods to improve the productivity of combined human operator/remote equipment systems; the achievements to date are modest at best. The most promising avenue in the near term is to supplement conventional remote work systems with robotic planning and control techniques borrowed from manufacturing and other domains where robotic automation has been used. Practical combinations of teleoperation and robotic control will yield telerobotic work systems that outperform currently available remote equipment. It is believed that practical telerobotic systems may increase remote work efficiencies significantly. Increases of 30% to 50% have been conservatively estimated for typical remote operations. It is important to recognize that the basic hardware and software features of most modern remote manipulation systems can readily accommodate the functionality required for telerobotics. Further, several of the additional system ingredients necessary to implement telerobotic control--machine vision, 3D object and workspace modeling, automatic tool path generation and collision-free trajectory planning--are existent.

  10. 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

    2015-01-01

    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. PMID:26476407

  11. 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.

  12. 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.

  13. Robotic transportation.

    Science.gov (United States)

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.

  14. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    2013-01-01

    In this paper, we have investigated the concept of "Cultural Robotics" with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

  15. 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.

  16. 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.

  17. Novel Robotic Tools for Piping Inspection and Repair, Phase 1

    Science.gov (United States)

    2014-02-13

    11 Basic automated motion using software ... mockup horizontally and vertically. Gripping force testing Pulling in an axial direction the gripper assembly achieved 36.33lbs of gripping force...bags being partially inflated (Figure 11). Figure 11 - Gripper sleds Basic automated motion using software The robot successfully ran on auto

  18. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  19. 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.

  20. 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,...

  1. Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain

    Science.gov (United States)

    2012-01-01

    Isotropy for ASOC Design All omnidirectional mobile robots are able to instantaneously travel in any planar direction. However, while some...omnidirectional mobile robots exhibit preferred directions of travel, others exhibit equal mobility characteristics in all directions, i.e. “isotropic...Redundantly Actuated Omni-directional Mobile Robots . In: Proc. of the 2002 IEEE Int. Conf. on Robotics and Automation, Washington DC, pp. 732–737. 13

  2. Plasma Characteristics and Transport in the Near-Lunar Magnetotail: Observations from THEMIS/ARTEMIS

    Science.gov (United States)

    Stubbs, T. J.; Wang, Y.; Merka, J.; Sibeck, D. G.; Angelopoulos, V.

    2015-12-01

    The region of the Earth's magnetosphere tailward of ~30 RE remains relatively unexplored. A better characterization of the processes taking place in the mid-to-distant magnetotail is critical to a more complete understanding of the coupling between the solar wind and the Earth's magnetosphere. Similarly, an assessment of the magnetotail plasma encountered by the Moon will be valuable for understanding how the lunar environment is modified during these traversals. The THEMIS/ARTEMIS missions have returned sufficient data from this region of the magnetotail for a large-scale statistical survey to be undertaken with the publicly available data from NASA/CDAWeb. In this study various plasma moments are organized by occurrence frequency and location in the magnetotail. Further sorting is done to identify different regions within the magnetotail, such as the tail lobes and plasma sheet, and the physical processes taking place, such as reconnection. Additional sorting of the ion data has been required in order to identify intervals in the tail lobe where the signal-to-noise is so low that moments are erroneously calculated from just background counts. Initial results indicate that previous studies of the mid-to-distant magnetotail that were limited to using electron moments from the ISEE-3 mission overestimated Alfven Mach numbers. Super-Alfvenic flows, such as those associated with reconnection, are very rare in this region of the magnetotail. This survey is the first step in constructing a comprehensive large-scale picture of the energization, distribution, and transport of plasma in the mid-to-distant magnetotail, as well as characterizing the properties of the plasma environments encountered by the Moon during magnetotail traversals.

  3. R&D Effort at NSCL with the Off-line ECR Ion Source ARTEMIS-B%NSCL的离线ECR离子源ARTEMIS-B的研究与发展

    Institute of Scientific and Technical Information of China (English)

    G.Machicoane; M.Doleans; G.Humenik; F.Marti; P.Miller; M.Steiner; J.Stetson; X.Wu; P.Zavodszky

    2007-01-01

    This paper reviews recent experimental work done with the off line source ARTEMIS-B at the NSCL.This source was built during the year 2005 and provides opportunities for off line development that can benefit the Coupled Cyclotron Facility(CCF)operation while minimizing the time taken away from the nuclear experimental program.The Artemis-B setup includes many beam diagnostics and a detailed description of the emittance scanner(Allison)and emittance measurement method is presented.A first beam dynamics study indicates that the analysis magnet has strong field aberrations and that the beam size in the dipole must be small in order to avoid significant beam brightness degradation.A second study compares beam brightness for different focusing systems between the ECR ion source and the analyzing magnet.Two electrostatic devices:a quadrupole triplet and a double quadrupole doublet have been tested successively and compared to a magnetic focusing solenoid.The experimental results tend to indicate a better beam brightness at smaller emittance for the electrostatic devices,although emittances measured for each focusing element were for a large part dependant on the tuning procedure developed to minimize the effects of the analyzing magnet.

  4. Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters; Uso de un manipulador robotico en la simulacion de la automatizacion de un proceso de calibracion de dosimetros

    Energy Technology Data Exchange (ETDEWEB)

    Benitez R, J.S.; Najera H, M.C. [Instituto Nacional de Investigaciones Nucleares, A.P. 18-1027, 11801 Mexico D.F. (Mexico)

    2002-07-01

    The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

  5. 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.

  6. Robotics and automation activities in South Africa

    CSIR Research Space (South Africa)

    Utete, S

    2013-09-01

    Full Text Available stream_source_info Utete_2013_ABSTRACT ONLY.pdf.txt stream_content_type text/plain stream_size 738 Content-Encoding ISO-8859-1 stream_name Utete_2013_ABSTRACT ONLY.pdf.txt Content-Type text/plain; charset=ISO-8859-1 IEEE...

  7. 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.

  8. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

    Light Robotics - Structure-Mediated Nanobiophotonics covers the latest means of sculpting of both light and matter for achieving bioprobing and manipulation at the smallest scales. The synergy between photonics, nanotechnology and biotechnology spans the rapidly growing field of nanobiophotonics...

  9. 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.

  10. 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.

  11. Design Methodology for Automated Construction Machines

    Science.gov (United States)

    1987-12-11

    positioning of structural members, and tunneling [3,5]. U.S. construction firms typically allocate little or no funding for R & D; progress to date...addition, four general purpose robots for building construction tasks [1] and the automation of sandblasting and concrete formwork cleaning have been

  12. Cognitive Robotics

    OpenAIRE

    Levesque, Hector J.; Lakemeyer, Gerhard

    2010-01-01

    This chapter is dedicated to the memory of Ray Reiter. It is also an overview of cognitive robotics, as we understand it to have been envisaged by him.1 Of course, nobody can control the use of a term or the direction of research. We apologize in advance to those who feel that other approaches to cognitive robotics and related problems are inadequately represented here.

  13. 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.

  14. 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.

  15. Library Automation

    OpenAIRE

    Dhakne, B. N.; Giri, V. V.; Waghmode, S. S.

    2010-01-01

    New technologies library provides several new materials, media and mode of storing and communicating the information. Library Automation reduces the drudgery of repeated manual efforts in library routine. By use of library automation collection, Storage, Administration, Processing, Preservation and communication etc.

  16. Robot Rescue

    Science.gov (United States)

    Morring, Frank, Jr.

    2004-01-01

    Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

  17. [Robotic surgery].

    Science.gov (United States)

    Moreno-Portillo, Mucio; Valenzuela-Salazar, Carlos; Quiroz-Guadarrama, César David; Pachecho-Gahbler, Carlos; Rojano-Rodríguez, Martín

    2014-12-01

    Medicine has experienced greater scientific and technological advances in the last 50 years than in the rest of human history. The article describes relevant events, revises concepts and advantages and clinical applications, summarizes published clinical results, and presents some personal reflections without giving dogmatic conclusions about robotic surgery. The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) defines robotic surgery as a surgical procedure using technology to aid the interaction between surgeon and patient. The objective of the surgical robot is to correct human deficiencies and improve surgical skills. The capacity of repeating tasks with precision and reproducibility has been the base of the robot´s success. Robotic technology offers objective and measurable advantages: - Improving maneuverability and physical capacity during surgery. - Correcting bad postural habits and tremor. - Allowing depth perception (3D images). - Magnifying strength and movement limits. - Offering a platform for sensors, cameras, and instruments. Endoscopic surgery transformed conceptually the way of practicing surgery. Nevertheless in the last decade, robotic assisted surgery has become the next paradigm of our era.

  18. Can a robot improve mine safety?

    CSIR Research Space (South Africa)

    Green, JJ

    2010-09-01

    Full Text Available zones and indicate them on a map. The automation of this process removes any variance or ambiguity that is present with a human operator thereby providing consistent results. Localisation is paramount to the success of this robotic application...

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

    Energy Technology Data Exchange (ETDEWEB)

    Alexoff, D.L.; Shea, C.; Fowler, J.S.; Gatley, S.J.; Schlyer, D.J. [Brookhaven National Lab., Upton, NY (United States). Dept. of Chemistry

    1995-12-01

    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 [{sup 11}C]Benztropine, [{sup 11}C]cocaine, [{sup 11}C]clorgyline, [{sup 11}C]deprenyl, [{sup 11}C]methadone, [{sup 11}C]methylphenidate, [{sup 11}C]raclorpride, and [{sup 11}C]SR46349B. A simple robot-assisted methods development strategy has been implemented to facilitate the automation of plasma assays of new radiotracers.

  20. High-voltage live cleaning robot design based on security

    Institute of Scientific and Technical Information of China (English)

    XIE Xiao-peng; XIA Hong-wei; YANG Ru-qing

    2005-01-01

    High-Voltage Live Cleaning Robot works in a hot-line environment (220 kV/330 kV), and so the safety of its application and equipment is most important. In terms of safety, the designs of robot mechanism and control system have been discussed, and the test data are given regarding the control system of a model machine. The model machine of a high-voltage live cleaning robot can satisfy the needs of basic cleaning in common conditions. From manual operation to automation, the cleaning efficiency is improved. The robot can decrease the amount of work, and guarantee security. Among high-voltage live cleaning equipment in China, the cleaning robot is advanced in automation and intelligence.

  1. Automation tools for flexible aircraft maintenance.

    Energy Technology Data Exchange (ETDEWEB)

    Prentice, William J.; Drotning, William D.; Watterberg, Peter A.; Loucks, Clifford S.; Kozlowski, David M.

    2003-11-01

    This report summarizes the accomplishments of the Laboratory Directed Research and Development (LDRD) project 26546 at Sandia, during the period FY01 through FY03. The project team visited four DoD depots that support extensive aircraft maintenance in order to understand critical needs for automation, and to identify maintenance processes for potential automation or integration opportunities. From the visits, the team identified technology needs and application issues, as well as non-technical drivers that influence the application of automation in depot maintenance of aircraft. Software tools for automation facility design analysis were developed, improved, extended, and integrated to encompass greater breadth for eventual application as a generalized design tool. The design tools for automated path planning and path generation have been enhanced to incorporate those complex robot systems with redundant joint configurations, which are likely candidate designs for a complex aircraft maintenance facility. A prototype force-controlled actively compliant end-effector was designed and developed based on a parallel kinematic mechanism design. This device was developed for demonstration of surface finishing, one of many in-contact operations performed during aircraft maintenance. This end-effector tool was positioned along the workpiece by a robot manipulator, programmed for operation by the automated planning tools integrated for this project. Together, the hardware and software tools demonstrate many of the technologies required for flexible automation in a maintenance facility.

  2. High resolution observations with Artemis-IV and the NRH. I. Type IV associated narrow-band bursts

    CERN Document Server

    Bouratzis, C; Alissandrakis, C E; Preka-Papadema, P; Moussas, X; Caroubalos, C; Tsitsipis, P; Kontogeorgos, A

    2016-01-01

    Narrow band bursts appear on dynamic spectra from microwave to decametric frequencies as fine structures with very small duration and bandwidth. They are thought to mark small scale magnetic reconnection. We analyzed 27 metric type-IV events with narrow band bursts observed by the ARTEMIS-IV radiospectrograph in 30/6/1999-1/8/2010. We examined the morphological characteristics of isolated narrow-band bursts and groups or chains of spikes. The events were recorded with the SAO (10 ms cadence) receiver of ARTEMIS-IV in the 270-450 MHz range. We measured the duration, spectral width, and frequency drift of ~12000 individual narrow-band bursts, groups, and chains. Spike sources were imaged with the NRH for the event of 21 April 2003. The mean duration of individual bursts at fixed frequency was ~100 ms, while the instantaneous relative bandwidth was ~2%. Some bursts had measurable frequency drift, positive or negative. Often spikes appeared in chains, which were closely spaced in time (column chains) or in freque...

  3. Structure of the catalytic region of DNA ligase IV in complex with an Artemis fragment sheds light on double-strand break repair.

    Science.gov (United States)

    Ochi, Takashi; Gu, Xiaolong; Blundell, Tom L

    2013-04-02

    Nonhomologous end joining (NHEJ) is central to the repair of double-stranded DNA breaks throughout the cell cycle and plays roles in the development of the immune system. Although three-dimensional structures of most components of NHEJ have been defined, those of the catalytic region of DNA ligase IV (LigIV), a specialized DNA ligase known to work in NHEJ, and of Artemis have remained unresolved. Here, we report the crystal structure at 2.4 Å resolution of the catalytic region of LigIV (residues 1-609) in complex with an Artemis peptide. We describe interactions of the DNA-binding domain of LigIV with the continuous epitope of Artemis, which, together, form a three-helix bundle. A kink in the first helix of LigIV introduced by a conserved VPF motif gives rise to a hydrophobic pocket, which accommodates a conserved tryptophan from Artemis. We provide structural insights into features of LigIV among human DNA ligases.

  4. 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.

  5. 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.

  6. Process development for automated solar cell and module production. Task 4: automated array assembly

    Energy Technology Data Exchange (ETDEWEB)

    Hagerty, J.J.

    1980-06-30

    The scope of work under this contract involves specifying a process sequence which can be used in conjunction with automated equipment for the mass production of solar cell modules for terrestrial use. This process sequence is then critically analyzed from a technical and economic standpoint to determine the technological readiness of each process step for implementation. The process steps are ranked according to the degree of development effort required and according to their significance to the overall process. Under this contract the steps receiving analysis were: back contact metallization, automated cell array layup/interconnect, and module edge sealing. For automated layup/interconnect both hard automation and programmable automation (using an industrial robot) were studied. The programmable automation system was then selected for actual hardware development. Economic analysis using the SAMICS system has been performed during these studies to assure that development efforts have been directed towards the ultimate goal of price reduction. Details are given. (WHK)

  7. Automation or De-automation

    Science.gov (United States)

    Gorlach, Igor; Wessel, Oliver

    2008-09-01

    In the global automotive industry, for decades, vehicle manufacturers have continually increased the level of automation of production systems in order to be competitive. However, there is a new trend to decrease the level of automation, especially in final car assembly, for reasons of economy and flexibility. In this research, the final car assembly lines at three production sites of Volkswagen are analysed in order to determine the best level of automation for each, in terms of manufacturing costs, productivity, quality and flexibility. The case study is based on the methodology proposed by the Fraunhofer Institute. The results of the analysis indicate that fully automated assembly systems are not necessarily the best option in terms of cost, productivity and quality combined, which is attributed to high complexity of final car assembly systems; some de-automation is therefore recommended. On the other hand, the analysis shows that low automation can result in poor product quality due to reasons related to plant location, such as inadequate workers' skills, motivation, etc. Hence, the automation strategy should be formulated on the basis of analysis of all relevant aspects of the manufacturing process, such as costs, quality, productivity and flexibility in relation to the local context. A more balanced combination of automated and manual assembly operations provides better utilisation of equipment, reduces production costs and improves throughput.

  8. 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.

  9. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of "Cultural Robotics" with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  10. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

  11. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost.

  12. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  13. Rehabilitation robotics

    Science.gov (United States)

    KREBS, H.I.; VOLPE, B.T.

    2015-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician’s toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual’s functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We will provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we will then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We will present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. PMID:23312648

  14. On the shape of the Geomagnetic Tail at Lunar distances: Preliminary Resuts from Artemis Observations

    Science.gov (United States)

    Gencturk Akay, Iklim; Kaymaz, Zerefsan; Sibeck, David G.

    2013-04-01

    Geomagnetic tail is one of the least investigated regions of the magnetosphere behind the Earth owing to the limited number of spacecraft and observations. It is the region where the geomagnetic dipole field lines of the Earth are organized by the solar wind stretching. The characteristics of the geomagnetic tail and its response to IMF were studied by the missions, ISEE-3, IMP-8, Wind, Geotail, visited geomagnetic tail at different distances. The structure of the geomagnetic tail is controlled by the IMF orientation and its own internal dynamics. Geomagnetic tail has different regions where the plasma and magnetic field characteristics are largely depend on the IMF orientation. These characteristics show differences at different tail distances. For example it is determined that the tail twists as result of the reconnection with IMF By and this twist is higher as one move away from the Earth toward the distant tail. Like a windsock, it is expected that the IMF control will increase toward the distant tail. Twisting also displaces the north and south lobes on the dawn and dusk sides. Tail length and the shape are also different for different IMF orientations. Flattening of the geomagnetic tail cross-section occurs during the strong IMF Bys. It becomes an ellipse in the yz plane as the IMF By stress causes the tail to be flattened on the top and bottom. Models estimate that the geomagnetic tail length can be 165 Re while Pioneer spacecraft detected geomagnetic tail as long as 100 Re. These findings are based on the very limited data from brief geomagnetic tail encounters of the spacecraft. Since August 2011, with the repositioning of the two of THEMIS spacecraft pair, ARTEMIS is giving a new opportunity to study the geomagnetic tail at the lunar distances, 60 Re. Using these observations, we will investigate the geomagnetic field shape and its IMF dependence at 60 Re. Based on the magnetopause locations at 60 Re, we will study the shape of the tail on the xy

  15. Lunar exospheric helium observations of LRO/LAMP coordinated with ARTEMIS

    Science.gov (United States)

    Grava, C.; Retherford, K. D.; Hurley, D. M.; Feldman, P. D.; Gladstone, G. R.; Greathouse, T. K.; Cook, J. C.; Stern, S. A.; Pryor, W. R.; Halekas, J. S.; Kaufmann, D. E.

    2016-07-01

    We present results from Lunar Reconnaissance Orbiter's (LRO) UV spectrograph LAMP (Lyman-Alpha Mapping Project) campaign to study the lunar atmosphere. Several off-nadir maneuvers (lateral rolls) were performed to search for resonantly scattering species, increasing the illuminated line-of-sight (and hence the signal from atoms resonantly scattering the solar photons) compared to previously reported LAMP's "twilight observations" (Cook, J.C., Stern, S.A. [2014]. Icarus 236, 48-55). Helium was the only element distinguishable on a daily basis, and we present latitudinal profiles of its line-of-sight column density in December 2013. We compared the helium line-of-sight column densities with solar wind alpha particle fluxes measured from the ARTEMIS (Acceleration, Reconnection, Turbulence, & Electrodynamics of Moon's Interaction with the Sun) twin spacecraft. Our data show a correlation with the solar wind alpha particle flux, confirming that the solar wind is the main source of the lunar helium. We also support the finding by Benna et al. (Benna, M. et al. [2015]. Geophys. Res. Lett. 42, 3723-3729) and Hurley et al. (Hurley, D.M. et al. [2015]. Icarus, this issue), that a non-zero contribution from endogenic helium, coming from radioactive decay of 232Th and 238U, is present. Moreover, our results suggest that not all of the incident alpha particles are converted to thermalized helium, allowing for a non-negligible fraction to escape as suprathermal helium or simply backscattered from the lunar surface. We compare LAMP-derived helium surface density with the one recorded by the mass spectrometer LACE (Lunar Atmospheric Composition Experiment) deployed on the lunar surface during the Apollo 17 mission, finding good agreement between the two measurements. The LRO/LAMP roll observations presented here are in agreement with the most recent lunar exospheric helium model (Hurley, D.M. et al. [2015]. Icarus, this issue) around mid- to high-latitudes (50-70°) regardless of

  16. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  17. 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.

  18. Hierarchical Robot Control In A Multisensor Environment

    Science.gov (United States)

    Bhanu, Bir; Thune, Nils; Lee, Jih Kun; Thune, Mari

    1987-03-01

    Automatic recognition, inspection, manipulation and assembly of objects will be a common denominator in most of tomorrow's highly automated factories. These tasks will be handled by intelligent computer controlled robots with multisensor capabilities which contribute to desired flexibility and adaptability. The control of a robot in such a multisensor environment becomes of crucial importance as the complexity of the problem grows exponentially with the number of sensors, tasks, commands and objects. In this paper we present an approach which uses CAD (Computer-Aided Design) based geometric and functional models of objects together with action oriented neuroschemas to recognize and manipulate objects by a robot in a multisensor environment. The hierarchical robot control system is being implemented on a BBN Butterfly multi processor. Index terms: CAD, Hierarchical Control, Hypothesis Generation and Verification, Parallel Processing, Schemas

  19. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  20. Cooperating mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  1. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

    In this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and

  2. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

    We propose a robust framework for combining performance paradigms with human robot interaction (HRI) research. Following an analysis of several case studies that combine the performing arts with HRI experiments, we propose a methodology and “best practices” for implementing choreography and other...... performance paradigms in HRI experiments. Case studies include experiments conducted in laboratory settings, “in the wild”, and live performance settings. We consider the technical and artistic challenges of designing and staging robots alongside humans in these various settings, and discuss how to combine...

  3. Intelligent Personal Assistant and Surveillance Robot using Zigbee Communication

    Directory of Open Access Journals (Sweden)

    KRISHNASWAMY KANNAN

    2012-10-01

    Full Text Available The modern world meets an innovation every day! Innovation is aimed at reducing human effort as well as providing a secure environment. With this in mind, we propose a Zigbee Network System which is centered on an Intelligent Robot that provides both security and control of the entire house. The Robot acts as a virtual assistant by monitoring the house to detect the presence of intruders and simultaneously providing electronic control of the entire house from a single place. The house is monitored through a wireless video cameramounted on the robot, which is in turn controlled through Zigbee IEEE 802.15.4 standard. The appliances are interfaced to the Robot using relays while the entire house is monitored and controlled through the Zigbee Network. Thus, the proposed robot serves as a simple, yet powerful, low cost alternative to the assistant robots by simultaneously providing Home Security and Home Automation.

  4. Robotic Partial Nephrectomy Using Robotic Bulldog Clamps

    OpenAIRE

    2011-01-01

    Background and Objectives: The need for a skilled assistant to perform hilar clamping during robotic partial nephrectomy is a potential limitation of the technique. We describe our experience using robotic bulldog clamps applied by the console surgeon for hilar clamping. Methods: A total of 60 consecutive patients underwent robotic partial nephrectomy, 30 using laparoscopic bulldog clamps applied by the assistant and 30 using robotic bulldog clamps applied with the robotic Prograsp instrument...

  5. MATLAB-based automated patch-clamp system for awake behaving mice

    OpenAIRE

    Desai, Niraj S.; Siegel, Jennifer J.; Taylor, William; Chitwood, Raymond A.; Johnston, Daniel

    2015-01-01

    Automation has been an important part of biomedical research for decades, and the use of automated and robotic systems is now standard for such tasks as DNA sequencing, microfluidics, and high-throughput screening. Recently, Kodandaramaiah and colleagues (Nat Methods 9: 585–587, 2012) demonstrated, using anesthetized animals, the feasibility of automating blind patch-clamp recordings in vivo. Blind patch is a good target for automation because it is a complex yet highly stereotyped process th...

  6. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

  7. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of fu

  8. Beyond Robotics

    Science.gov (United States)

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  9. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    . They are sexist, primitively normative and clearly ‘wax-doll machines’. So though Ava’s dimensions are perfect she, like the Vitruvian Man, remains a fiction. In real life, however, we may have to deal with an increasing solipsism stemming from people engaging with machines like sex robots. In this case...

  10. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    , Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  11. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

    Full Text Available Now days, due to busy routine life, people forget to water their plants. In this paper, we present a completely autonomous and a cost-effective system for watering indoor potted plants placed on an even surface. The system comprises of a mobile robot and a temperature-humidity sensing module. The system is fully adaptive to any environment and takes into account the watering needs of the plants using the temperature-humidity sensing module. The paper describes the hardware architecture of the fully automated watering system, which uses wireless communication to communicate between the mobile robot and the sensing module. This gardening robot is completely portable and is equipped with a Radio Frequency Identification (RFID module, a microcontroller, an on-board water reservoir and an attached water pump. It is capable of sensing the watering needs of the plants, locating them and finally watering them autonomously without any human intervention. Mobilization of the robot to the potted plant is achieved by using a predefined path. For identification, an RFID tag is attached to each potted plant. The paper also discusses the detailed implementation of the system supported with complete circuitry. Finally, the paper concludes with system performance including the analysis of the water carrying capacity and time requirements to water a set of plants.

  12. Robotics crosscutting program: Technology summary

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology.

  13. Trust me, I am Robot!

    DEFF Research Database (Denmark)

    Stoyanova, Angelina; Drefeld, Jonas; Tanev, Stoyan

    of the emerging trust relationship is a key component of the use value of the robotic system and of the value proposition of the robotic system producers. The study is based on a qualitative research approach combining the phenomenological research paradigm with a grounded theory building approach based...... on multiple case studies. The investigation so far suggests that it will be necessary to conceptualize three types of trust – interpersonal, social trust and trust in automation. This knowledge is incorporated in a descriptive model that could be used by technology and application designers....../developers to further refine their product design. The paper will conclude with a more detailed conceptual analysis of interpersonal trust in human-technology interactions. The personalization of technological artifacts or assigning personality to active objects has been considered as natural to human beings (Gombrich...

  14. Low Cost Semi-Autonomous Agricultural Robots In Pakistan-Vision Based Navigation Scalable methodology for wheat harvesting

    OpenAIRE

    Ahmad, Muhammad Zubair; Akhtar, Ayyaz; Khan, Abdul Qadeer; Khan, Amir Ali; Khan, Muhammad Murtaza

    2015-01-01

    Robots have revolutionized our way of life in recent years.One of the domains that has not yet completely benefited from the robotic automation is the agricultural sector. Agricultural Robotics should complement humans in the arduous tasks during different sub-domains of this sector. Extensive research in Agricultural Robotics has been carried out in Japan, USA, Australia and Germany focusing mainly on the heavy agricultural machinery. Pakistan is an agricultural rich country and its economy ...

  15. 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'.

  16. Benefits of automated surface decontamination of a radioiodine ward.

    Science.gov (United States)

    Westcott, Eliza; Broadhurst, Alicia; Crossley, Steven; Lee, Lloyd; Phan, Xuyen; Scharli, Rainer; Xu, Yan

    2012-02-01

    A floor-washing robot has been acquired to assist physicists with decontamination of radioiodine therapy ward rooms after discharge of the patient at Sir Charles Gairdner Hospital. The effectiveness of the robot in decontaminating the ward has been evaluated. A controlled experiment was performed by deliberately contaminating a polyvinyl chloride flooring offcut with 131I followed by automated decontamination with the robot. The extent of fixed and removable contamination was assessed before and after decontamination by two methods: (1) direct Geiger-Mueller counting and (2) beta-counting wipe tests. Surface contamination was also assessed in situ on the ward by Geiger-Mueller counting and wipe testing. Contamination maps confirmed that contamination was removed rather than spread around by the robot. Wipe testing revealed that the robot was successful in clearing approximately 60-80% of removable contamination. The robotic floor-washing device was considered suitable to provide effective automated decontamination of the radioiodine ward. In addition, the robot affords other benefits: the time spent by the physicists decontaminating the room is greatly reduced offering financial and occupational safety and health benefits. The robot has also found utility in other decontamination applications in the healthcare environment.

  17. 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....

  18. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  19. Robotics Education and Employment.

    Science.gov (United States)

    Linnell, Charles C.

    1993-01-01

    Describes characteristics of robots, provides a glossary of related terms, and discusses available careers in the field of robotics. Includes a list of postsecondary institutions with robotics programs. (JOW)

  20. Micro Robotics Lab

    Data.gov (United States)

    Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

  1. Robotics in Protected Cultivation

    NARCIS (Netherlands)

    Henten, van E.; Bac, C.W.; Hemming, J.; Edan, Y.

    2013-01-01

    This paper reviews robotics for protected cultivation systems. Based on a short description of the greenhouse crop production process, the current state in greenhouse mechanization and the challenges for robotics in protected cultivation are identified. Examples of current greenhouse robotics

  2. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  3. Automated High-Volume Manufacturing of Modular Photovoltaic Panel Assemblies for Space Solar Arrays Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Deployable Space Systems, Inc. (DSS) will focus the proposed SBIR Phase 2 program on the development and demonstration of an automated robotic manufacturing...

  4. 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.)

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

    Energy Technology Data Exchange (ETDEWEB)

    Spelt, P.F. [Oak Ridge National Lab., TN (United States); Jones, S.L. [REMOTEC, Inc., Oak Ridge, TN (United States)

    1994-12-31

    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.

  6. Biologically inspired design framework for Robot in Dynamic Environments using Framsticks

    CERN Document Server

    S., Raja Mohamed

    2012-01-01

    Robot design complexity is increasing day by day especially in automated industries. In this paper we propose biologically inspired design framework for robots in dynamic world on the basis of Co-Evolution, Virtual Ecology, Life time learning which are derived from biological creatures. We have created a virtual khepera robot in Framsticks and tested its operational credibility in terms hardware and software components by applying the above suggested techniques. Monitoring complex and non complex behaviors in different environments and obtaining the parameters that influence software and hardware design of the robot that influence anticipated and unanticipated failures, control programs of robot generation are the major concerns of our techniques.

  7. Mearsurement and control system for agricultural robot

    Science.gov (United States)

    Sun, Tong; Zhang, Fangming; Ying, Yibin

    2006-10-01

    Automation of agricultural equipments in the near term appears both economically viable and technically feasible. This paper describes measurement and control system for agriculture robot. It consists of a computer, a pair of NIR cameras, one inclinometer, one potentionmeter and two encoders. Inclinometer, potentionmeter and encoders are used to measure obliquity of camera, turning angle of front-wheel and velocity of rear wheel, respectively. These sensor data are filtered before sending to PC. The test shows that the system can measure turning angle of front-wheel and velocity of rear wheel accurately whether robot is at stillness state or at motion state.

  8. Autonomous Dome for Robotic Telescope

    CERN Document Server

    Kumar, Akash; Ganesh, Shashikiran

    2016-01-01

    Physical Research Laboratory operates a 50cm robotic observatory at Mount Abu. This Automated Telescope for Variability Studies (ATVS) makes use of Remote Telescope System 2 (RTS2) for autonomous operations. The observatory uses a 3.5m dome from Sirius Observatories. We have developed electronics using Arduino electronic circuit boards with home grown logic and software to control the dome operations. We are in the process of completing the drivers to link our Arduino based dome controller with RTS2. This document is a short description of the various phases of the development and their integration to achieve the required objective.

  9. 3D-Printed Microfluidic Automation

    Science.gov (United States)

    Au, Anthony K.; Bhattacharjee, Nirveek; Horowitz, Lisa F.; Chang, Tim C.; Folch, Albert

    2015-01-01

    Microfluidic automation – the automated routing, dispensing, mixing, and/or separation of fluids through microchannels – generally remains a slowly-spreading technology because device fabrication requires sophisticated facilities and the technology’s use demands expert operators. Integrating microfluidic automation in devices has involved specialized multi-layering and bonding approaches. Stereolithography is an assembly-free, 3D-printing technique that is emerging as an efficient alternative for rapid prototyping of biomedical devices. Here we describe fluidic valves and pumps that can be stereolithographically printed in optically-clear, biocompatible plastic and integrated within microfluidic devices at low cost. User-friendly fluid automation devices can be printed and used by non-engineers as replacement for costly robotic pipettors or tedious manual pipetting. Engineers can manipulate the designs as digital modules into new devices of expanded functionality. Printing these devices only requires the digital file and electronic access to a printer. PMID:25738695

  10. 3D-printed microfluidic automation.

    Science.gov (United States)

    Au, Anthony K; Bhattacharjee, Nirveek; Horowitz, Lisa F; Chang, Tim C; Folch, Albert

    2015-04-21

    Microfluidic automation - the automated routing, dispensing, mixing, and/or separation of fluids through microchannels - generally remains a slowly-spreading technology because device fabrication requires sophisticated facilities and the technology's use demands expert operators. Integrating microfluidic automation in devices has involved specialized multi-layering and bonding approaches. Stereolithography is an assembly-free, 3D-printing technique that is emerging as an efficient alternative for rapid prototyping of biomedical devices. Here we describe fluidic valves and pumps that can be stereolithographically printed in optically-clear, biocompatible plastic and integrated within microfluidic devices at low cost. User-friendly fluid automation devices can be printed and used by non-engineers as replacement for costly robotic pipettors or tedious manual pipetting. Engineers can manipulate the designs as digital modules into new devices of expanded functionality. Printing these devices only requires the digital file and electronic access to a printer.

  11. 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.

  12. Soft robotics: a bioinspired evolution in robotics.

    Science.gov (United States)

    Kim, Sangbae; Laschi, Cecilia; Trimmer, Barry

    2013-05-01

    Animals exploit soft structures to move effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft technologies into their designs. The goal is to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments. Here, we review emerging soft-bodied robotic systems, and in particular recent developments inspired by soft-bodied animals. Incorporating soft technologies can potentially reduce the mechanical and algorithmic complexity involved in robot design. Incorporating soft technologies will also expedite the evolution of robots that can safely interact with humans and natural environments. Finally, soft robotics technology can be combined with tissue engineering to create hybrid systems for medical applications.

  13. Teleoperated Modular Robots for Lunar Operations

    Science.gov (United States)

    Globus, Al; Hornby, Greg; Larchev, Greg; Hancher, Matt; Cannon, Howard; Lohn, Jason

    2004-01-01

    Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot

  14. Robotic technologies for outdoor industrial vehicles

    Science.gov (United States)

    Stentz, Anthony

    2001-09-01

    The commercial industries of agriculture, mining, construction, and material handling employ a wide variety of mobile machines, including tractors, combines, Load-Haul-Dump vehicles, trucks, paving machines, fork trucks, and many more. Automation of these vehicles promises to improve productivity, reduce operational costs, and increase safety. Since the vehicles typically operate in difficult environments, under all weather conditions, and in the presence of people and other obstacles, reliable automation faces severe technical challenges. Furthermore, the viable technology solutions are constrained by cost considerations. Fortunately, due to the limited application domain, repetitive nature, and the utility of partial automation for most tasks, robotics technologies can have a profound impact on industrial vehicles. In this paper, we describe a technical approach developed at Carnegie Mellon University for automating mobile machines in several applications, including mass excavation, mining, and agriculture. The approach is introduced via case studies, and the results are presented.

  15. Design and Development of RC Railed Robot for Coffee Nursery Logistics

    Directory of Open Access Journals (Sweden)

    Marivic Gatan Dizon

    2014-12-01

    Full Text Available The Remote Controlled (RC Railed Robot was designed and developed to transfer polybags from manual operation to an automated logistic system. Gizduino microcontroller was used to read and interpret commands sent and received by the transceivers to the robot and a remote to command instructions to the robot.The project was tested and evaluated at the Coffee Nursery of Cavite State University by determining the speed of the robot, the effectiveness of the remote control and the accuracy of the robot to lift a pallet and place it into an empty space.Results showed that the robot was able to receive and interpret commands provided by the remote control as well as perform the tasks successfully.The most significant recommendation was to use a counterweight at the rear side of the robot to avoid unnecessary derailments of the robot if lifting heavier or greater number of pallets is desired.

  16. Fully automated apparatus for the proximate analysis of coals

    Energy Technology Data Exchange (ETDEWEB)

    Fukumoto, K.; Ishibashi, Y.; Ishii, T.; Maeda, K.; Ogawa, A.; Gotoh, K.

    1985-01-01

    The authors report the development of fully-automated equipment for the proximate analysis of coals, a development undertaken with the twin aims of labour-saving and developing robot applications technology. This system comprises a balance, electric furnaces, a sulfur analyzer, etc., arranged concentrically around a multi-jointed robot which automatically performs all the necessary operations, such as sampling and weighing the materials for analysis, and inserting and removing them from the furnaces. 2 references.

  17. Automating Finance

    Science.gov (United States)

    Moore, John

    2007-01-01

    In past years, higher education's financial management side has been riddled with manual processes and aging mainframe applications. This article discusses schools which had taken advantage of an array of technologies that automate billing, payment processing, and refund processing in the case of overpayment. The investments are well worth it:…

  18. Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data

    OpenAIRE

    Boonvisut, Pasu; Çavuşoğlu, M. Cenk

    2013-01-01

    Robotic motion planning algorithms used for task automation in robotic surgical systems rely on availability of accurate models of target soft tissue’s deformation. Relying on generic tissue parameters in constructing the tissue deformation models is problematic because, biological tissues are known to have very large (inter- and intra-subject) variability. A priori mechanical characterization (e.g., uniaxial bench test) of the target tissues before a surgical procedure is also not usually pr...

  19. Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data

    OpenAIRE

    Boonvisut, Pasu; Jackson, Russell; Çavuşoğlu, M. Cenk

    2012-01-01

    Robotic motion planning algorithms used for task automation in robotic surgical systems rely on availability of accurate models of target soft tissue’s deformation. Relying on generic tissue parameters in constructing the tissue deformation models is problematic; because, biological tissues are known to have very large (inter- and intra-subject) variability. A priori mechanical characterization (e.g., uniaxial bench test) of the target tissues before a surgical procedure is ...

  20. Detection And Classification Of Web Robots With Honeypots

    Science.gov (United States)

    2016-03-01

    programs has been attributed to the explosion in content and user-generated social media on the Internet. The Web search engines like Google require...large numbers of automated bots on the Web to build their indexes. Furthermore, the growth of internet has produced a market for businesses, both...played an important role in its evolution and growth. Conversely, the “bad” Web robots have been and continue to be a significant problem. Bad Web robots

  1. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  2. Nanoliter-Scale Protein Crystallization and Screening with a Microfluidic Droplet Robot

    OpenAIRE

    Ying Zhu; Li-Na Zhu; Rui Guo; Heng-Jun Cui; Sheng Ye; Qun Fang

    2014-01-01

    Large-scale screening of hundreds or even thousands of crystallization conditions while with low sample consumption is in urgent need, in current structural biology research. Here we describe a fully-automated droplet robot for nanoliter-scale crystallization screening that combines the advantages of both automated robotics technique for protein crystallization screening and the droplet-based microfluidic technique. A semi-contact dispensing method was developed to achieve flexible, programma...

  3. Intelligent control and automation technology for nuclear application

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jae Hee; Eom, Heung Sub; Kim, Ko Ryu; Lee, Jae Cheol; Choi, You Rak; Lee, Soo Cheol [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    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).

  4. Automatic Docking System with Recharging and Battery Replacement for Surveillance Robot

    Directory of Open Access Journals (Sweden)

    M. Meena

    2012-06-01

    Full Text Available Most of the applications like industrial automation, home automation, hospitals, space exploration, military, etc, the surveillance robot are widely used. For that, continuous functioning of surveillance robot is necessary. In this paper, the development of automatic docking system with recharging and battery replacement process for surveillance robot is proposed. The robot can return to the docking station for recharging operations when the battery is low. The charging duration of the battery mounted in the robot is an important issue. To overcome this problem, battery replacement is a perfect solution. The battery is automatically exchanged within 30 seconds. So the robot needs not to be turned off for long duration of time while replacing the battery.

  5. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

    2013-01-01

    In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

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

    Energy Technology Data Exchange (ETDEWEB)

    Jones, R.E.; Ames, A.L.; Calton, T.L. [and others

    1995-06-01

    The Automated Assembly Team of the APRIMED Project (abbreviated as A{prime}) consists of two parts: the Archimedes Project, which is an ongoing project developing automated assembly technology, and the A{prime} 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{prime} robot team designed, developed, and implemented a flexible robot workcell which served as the automated factory of the A{prime} 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{prime} robot team to the A{prime} 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{prime} project. We also present the work of the A{prime} robot team in designing and developing the A{prime} robot workcell, including all tooling and programming to support assembly of the A{prime} discriminator devices. Finally, we discuss the process changes which these technologies have enabled in the A{prime} project.

  7. Phoenito experiments: combining the strengths of commercial crystallization automation.

    Science.gov (United States)

    Newman, Janet; Pham, Tam M; Peat, Thomas S

    2008-11-01

    The use of crystallization robots for initial screening in macromolecular crystallization is well established. This paper describes how four general optimization techniques, growth-rate modulation, fine screening, seeding and additive screening, have been adapted for automation in a medium-throughput crystallization service facility. The use of automation for more challenging optimization experiments is discussed, as is a novel way of using both the Mosquito and the Phoenix nano-dispensing robots during the setup of a single crystallization plate. This dual-dispenser technique plays to the strengths of both machines.

  8. 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.

  9. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  10. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  11. Troubleshooting of an Electromechanical System (Westinghouse PLC Controlling a Pneumatic Robot). High-Technology Training Module.

    Science.gov (United States)

    Tucker, James D.

    This training module on the troubleshooting of an electromechanical system, The Westinghouse Programmable Logic Controller (PLC) controlling a pneumatic robot, is used for a troubleshooting unit in an electromechanical systems/robotics and automation systems course. In this unit, students locate and repair a defect in a PLC-operated machine. The…

  12. Cyclic multiple-robot scheduling with time-window constraints using a critical path approach

    NARCIS (Netherlands)

    Alcaide, David; Chu, Chengbin; Kats, Vladimir; Levner, Eugene; Sierksma, Gerard

    2007-01-01

    An automated production system is considered in which several robots are used for transporting parts between workstations following a given route in a carousel mode. The problem is to maximize the throughput rate. Extending previous works treating scheduling problems for a single robot, we consider

  13. Ergodic Dynamics by Design: A Route to Predictable Multi-Robot Systems

    Science.gov (United States)

    2005-03-01

    in a principled fashion. We focus here on inter- robot dynamics , the roles played by those dynam- ics toward task achievement, and their implications...which the robot dynamics are essentially ergodic can be used to produce meaningful behavior, and allow automated synthesis techniques to focus on a small

  14. 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 ...

  15. Automated packaging employing real-time vision

    Science.gov (United States)

    Chang, Wen-Chung; Wu, Chia-Hung

    2016-07-01

    Existing packaging systems rely on human operation to position a box in the packaging device perform do the packaging task. Current facilities are not capable of handling boxes with different sizes in a flexible way. In order to improve the above-mentioned problems, an eye-to-hand visual servo automated packaging approach is proposed in this paper. The system employs two cameras to observe the box and the gripper mounted on the robotic manipulator to precisely control the manipulator to complete the packaging task. The system first employs two-camera vision to determine the box pose. With appropriate task encoding, a closed-loop visual servoing controller is designed to drive a manipulator to accomplish packaging tasks. The proposed approach can be used to complete automated packaging tasks in the case of uncertain location and size of the box. The system has been successfully validated by experimenting with an industrial robotic manipulator for postal box packaging.

  16. Design and Experimental Validation of a Simple Controller for a Multi-Segment Magnetic Crawler Robot

    Science.gov (United States)

    2015-04-01

    X., "Development of a wall climbing robot for ship rust removal," Int. Conf. on Mechatronics and Automation (ICMA), 4610-4615 (2009). [6] Leon...Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot Leah Kelley*a, Saam Ostovari**b, Aaron B...magnetic crawler robot has been designed for ship hull inspection. In its simplest version, passive linkages that provide two degrees of relative

  17. "MRI Stealth" robot for prostate interventions.

    Science.gov (United States)

    Stoianovici, Dan; Song, Danny; Petrisor, Doru; Ursu, Daniel; Mazilu, Dumitru; Muntener, Michael; Mutener, Michael; Schar, Michael; Patriciu, Alexandru

    2007-01-01

    The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep 1, designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the "MRI stealth" robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low

  18. Robotics Challenge: Cognitive Robot for General Missions

    Science.gov (United States)

    2015-01-01

    ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS UNIVERSITY OF KANSAS JANUARY 2015 FINAL TECHNICAL REPORT... University of Kansas 2120 Learned Hall 1530 W. 15th Street Lawrence, KS 66045 8. PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING/MONITORING...controls. 15. SUBJECT TERMS Autonomy , Supervised Autonomy , Robotics, Cognitive Architecture 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF

  19. Employee on Boarding Process Automation

    Directory of Open Access Journals (Sweden)

    Khushboo Nalband

    2017-03-01

    Full Text Available On boarding, also known as organizational socialization, plays a vital role in building the initial relationship between an organization and an employee. It also contributes to an employees’ satisfaction, better performance and greater organizational commitment thus increasing an employees’ effectiveness and productivity in his/her role. Therefore, it is essential that on boarding process of an organization is efficient and effective to improve new employees’ retention. Generally this on boarding process is done manually which is time consuming and monotonous. To enhance this process, the proposed solution automates the on boarding or joining process. It will enable HR, ADMINISTRATOR and IT to complete this process by robot which will automatically perform the actions taken to complete the on boarding process. To complete this process direct access is given to applications, where as in automation, robot will perform all the actions taken to complete the process, which is a secured way to access applications. This will thus improve the timeframe and efficiency to complete the on boarding or joining process.

  20. The Automated Palomar 60 Inch Telescope

    Science.gov (United States)

    Cenko, S. Bradley; Fox, Derek B.; Moon, Dae-Sik; Harrison, Fiona A.; Kulkarni, S. R.; Henning, John R.; Guzman, C. Dani; Bonati, Marco; Smith, Roger M.; Thicksten, Robert P.; Doyle, Michael W.; Petrie, Hal L.; Gal-Yam, Avishay; Soderberg, Alicia M.; Anagnostou, Nathaniel L.; Laity, Anastasia C.

    2006-10-01

    We have converted the Palomar 60 inch (1.52 m) telescope from a classic night-assistant-operated telescope to a fully robotic facility. The automated system, which has been operational since 2004 September, is designed for moderately fast (tdesign requirements, hardware and software upgrades, and lessons learned from roboticization. We present an overview of the current system performance as well as plans for future upgrades.

  1. Heating automation

    OpenAIRE

    Tomažič, Tomaž

    2013-01-01

    This degree paper presents usage and operation of peripheral devices with microcontroller for heating automation. The main goal is to make a quality system control for heating three house floors and with that, increase efficiency of heating devices and lower heating expenses. Heat pump, furnace, boiler pump, two floor-heating pumps and two radiator pumps need to be controlled by this system. For work, we have chosen a development kit stm32f4 - discovery with five temperature sensors, LCD disp...

  2. Automation Security

    OpenAIRE

    Mirzoev, Dr. Timur

    2014-01-01

    Web-based Automated Process Control systems are a new type of applications that use the Internet to control industrial processes with the access to the real-time data. Supervisory control and data acquisition (SCADA) networks contain computers and applications that perform key functions in providing essential services and commodities (e.g., electricity, natural gas, gasoline, water, waste treatment, transportation) to all Americans. As such, they are part of the nation s critical infrastructu...

  3. Marketing automation

    OpenAIRE

    Raluca Dania TODOR

    2017-01-01

    The automation of the marketing process seems to be nowadays, the only solution to face the major changes brought by the fast evolution of technology and the continuous increase in supply and demand. In order to achieve the desired marketing results, businessis have to employ digital marketing and communication services. These services are efficient and measurable thanks to the marketing technology used to track, score and implement each campaign. Due to the...

  4. FPGA-based Controller for a Mobile Robot

    CERN Document Server

    Kale, Shilpa

    2009-01-01

    With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This project presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and computing proposal oriented to embed systems implementation. This kind of controller can be tested on different platform representing the mobile robots using reprogrammable logic components (FPGA). This mobile robot will detect obstacle and also be able to control the speed. Different modules will be Actuators, Sensors, wireless transmission. All this modules will be interfaced using FPGA controller. I would like to construct a mechanically simple robot model, which can measure the distance from obstacle with the aid of sensor and accordingly should able to control the speed of motor. I would like to construct a mechanically s...

  5. 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.

  6. Applying commercial robotic technology to radioactive material processing

    Energy Technology Data Exchange (ETDEWEB)

    Grasz, E.L. (Lawrence Livermore National Lab., CA (USA)); Sievers, R.H. Jr. (Science Applications International Corp., San Diego, CA (USA))

    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.

  7. Evolutionary humanoid robotics

    CERN Document Server

    Eaton, Malachy

    2015-01-01

    This book examines how two distinct strands of research on autonomous robots, evolutionary robotics and humanoid robot research, are converging. The book will be valuable for researchers and postgraduate students working in the areas of evolutionary robotics and bio-inspired computing.

  8. Autonomous Hexapod Spider Robot

    DEFF Research Database (Denmark)

    Pandey, Nisha; Pandey, Bishwajeet; Hussain, Dil muhammed Akbar

    2017-01-01

    Robotics world is changing very rapidly in today’s scenario. One of its unique applications is hexapod robots (walking leg robots). These types of robots can walk on uneven surfaces and can be used for spying purpose in various forms of industries. This paper represents the autonomous feature of ...

  9. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

    Although there are many studies on the constructionist use of educational robotics, they have certain limitations. Some of them refer to robotics education, rather than educational robotics. Others follow a constructionist approach, but give emphasis only to design skills, creativity and collaboration. Some studies use robotics as an educational…

  10. 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.

  11. Calibration of robotic drilling systems with a moving rail

    Institute of Scientific and Technical Information of China (English)

    Tian Wei; Zeng Yuanfan; Zhou Wei; Liao Wenhe

    2014-01-01

    Industrial robots are widely used in aircraft assembly systems such as robotic drilling sys-tems. 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 mov-ing 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.

  12. Design and implementation of a mechanically heterogeneous robot group

    Science.gov (United States)

    Sukhatme, Gaurav S.; Montgomery, James F.; Mataric, Maja J.

    1999-08-01

    This paper describes the design and construction of a cooperative, heterogeneous robot group comprised of one semi-autonomous aerial robot and two autonomous ground robots. The robots are designed to perform automated surveillance and reconnaissance of an urban outdoor area using onboard sensing. The ground vehicles have GPS, sonar for obstacle detection and avoidance, and a simple color- based vision system. Navigation is performed using an optimal mixture of odometry and GPS. The helicopter is equipped with a GPS/INS system, a camera, and a framegrabber. Each robot has an embedded 486 PC/104 processor running the QNX real-time operating system. Individual robot controllers are behavior-based and decentralized. We describe a control strategy and architecture that coordinates the robots with minimal top- down planning. The overall system is controlled at high level by a single human operator using a specially designed control unit. The operator is able to task the group with a mission using a minimal amount of training. The group can re-task itself based on sensor inputs and can also be re- tasked by the operator. We describe a particular reconnaissance mission that the robots have been tested with, and lessons learned during the design and implementation. Our initial results with these experiments are encouraging given the challenging mechanics of the aerial robot. We conclude the paper with a discussion of ongoing and future work.

  13. Safe cooperative robot dynamics on graphs

    OpenAIRE

    Ghrist, Robert; Koditschek, Daniel

    2000-01-01

    This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of pathways. In contrast to the case of locally Euclidean configuration spaces, regularization of collisions is no longer a local procedure, and issues concerning the global topology of configuration spaces must be addressed. The focus of the present inquiry is...

  14. Challenges of In Space Robotic Servicing

    Science.gov (United States)

    Roberts, Brian John

    2015-01-01

    As future space missions extend beyond the friendly confines of low earth orbit, robots are becoming an increasingly vital component on flight manifests. While the main focus to-date has been on satellite servicing due to its high commercial potential, robots are also being considered for orbital debris removal, space construction, and asteroid sample retrieval. The robotic technologies and automation required to carry out these missions represent a significant advancement beyond the manipulation technology used previously on the Space Shuttle, the International Space Station, and planetary rovers. While higher demands are being driven by the more ambitious nature of the tasks, the handling of uncooperative targets such as satellites and asteroids, present a greater challenge.

  15. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  16. NASA Robotic Neurosurgery Testbed

    Science.gov (United States)

    Mah, Robert

    1997-01-01

    The detection of tissue interface (e.g., normal tissue, cancer, tumor) has been limited clinically to tactile feedback, temperature monitoring, and the use of a miniature ultrasound probe for tissue differentiation during surgical operations, In neurosurgery, the needle used in the standard stereotactic CT or MRI guided brain biopsy provides no information about the tissue being sampled. The tissue sampled depends entirely upon the accuracy with which the localization provided by the preoperative CT or MRI scan is translated to the intracranial biopsy site. In addition, no information about the tissue being traversed by the needle (e.g., a blood vessel) is provided. Hemorrhage due to the biopsy needle tearing a blood vessel within the brain is the most devastating complication of stereotactic CT/MRI guided brain biopsy. A robotic neurosurgery testbed has been developed at NASA Ames Research Center as a spin-off of technologies from space, aeronautics and medical programs. The invention entitled "Robotic Neurosurgery Leading to Multimodality Devices for Tissue Identification" is nearing a state ready for commercialization. The devices will: 1) improve diagnostic accuracy and precision of general surgery, with near term emphasis on stereotactic brain biopsy, 2) automate tissue identification, with near term emphasis on stereotactic brain biopsy, to permit remote control of the procedure, and 3) reduce morbidity for stereotactic brain biopsy. The commercial impact from this work is the potential development of a whole new generation of smart surgical tools to increase the safety, accuracy and efficiency of surgical procedures. Other potential markets include smart surgical tools for tumor ablation in neurosurgery, general exploratory surgery, prostate cancer surgery, and breast cancer surgery.

  17. NASA Robotic Neurosurgery Testbed

    Science.gov (United States)

    Mah, Robert

    1997-01-01

    The detection of tissue interface (e.g., normal tissue, cancer, tumor) has been limited clinically to tactile feedback, temperature monitoring, and the use of a miniature ultrasound probe for tissue differentiation during surgical operations, In neurosurgery, the needle used in the standard stereotactic CT or MRI guided brain biopsy provides no information about the tissue being sampled. The tissue sampled depends entirely upon the accuracy with which the localization provided by the preoperative CT or MRI scan is translated to the intracranial biopsy site. In addition, no information about the tissue being traversed by the needle (e.g., a blood vessel) is provided. Hemorrhage due to the biopsy needle tearing a blood vessel within the brain is the most devastating complication of stereotactic CT/MRI guided brain biopsy. A robotic neurosurgery testbed has been developed at NASA Ames Research Center as a spin-off of technologies from space, aeronautics and medical programs. The invention entitled "Robotic Neurosurgery Leading to Multimodality Devices for Tissue Identification" is nearing a state ready for commercialization. The devices will: 1) improve diagnostic accuracy and precision of general surgery, with near term emphasis on stereotactic brain biopsy, 2) automate tissue identification, with near term emphasis on stereotactic brain biopsy, to permit remote control of the procedure, and 3) reduce morbidity for stereotactic brain biopsy. The commercial impact from this work is the potential development of a whole new generation of smart surgical tools to increase the safety, accuracy and efficiency of surgical procedures. Other potential markets include smart surgical tools for tumor ablation in neurosurgery, general exploratory surgery, prostate cancer surgery, and breast cancer surgery.

  18. Robotic Variable Polarity Plasma Arc (VPPA) Welding

    Science.gov (United States)

    Jaffery, Waris S.

    1993-01-01

    The need for automated plasma welding was identified in the early stages of the Space Station Freedom Program (SSFP) because it requires approximately 1.3 miles of welding for assembly. As a result of the Variable Polarity Plasma Arc Welding (VPPAW) process's ability to make virtually defect-free welds in aluminum, it was chosen to fulfill the welding needs. Space Station Freedom will be constructed of 2219 aluminum utilizing the computer controlled VPPAW process. The 'Node Radial Docking Port', with it's saddle shaped weld path, has a constantly changing surface angle over 360 deg of the 282 inch weld. The automated robotic VPPAW process requires eight-axes of motion (six-axes of robot and two-axes of positioner movement). The robot control system is programmed to maintain Torch Center Point (TCP) orientation perpendicular to the part while the part positioner is tilted and rotated to maintain the vertical up orientation as required by the VPPAW process. The combined speed of the robot and the positioner are integrated to maintain a constant speed between the part and the torch. A laser-based vision sensor system has also been integrated to track the seam and map the surface of the profile during welding.

  19. Mobile Surveillance and Monitoring Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kimberly, Howard R.; Shipers, Larry R.

    1999-07-14

    Long-term nuclear material storage will require in-vault data verification, sensor testing, error and alarm response, inventory, and maintenance operations. System concept development efforts for a comprehensive nuclear material management system have identified the use of a small flexible mobile automation platform to perform these surveillance and maintenance operations. In order to have near-term wide-range application in the Complex, a mobile surveillance system must be small, flexible, and adaptable enough to allow retrofit into existing special nuclear material facilities. The objective of the Mobile Surveillance and Monitoring Robot project is to satisfy these needs by development of a human scale mobile robot to monitor the state of health, physical security and safety of items in storage and process; recognize and respond to alarms, threats, and off-normal operating conditions; and perform material handling and maintenance operations. The system will integrate a tool kit of onboard sensors and monitors, maintenance equipment and capability, and SNL developed non-lethal threat response technology with the intelligence to identify threats and develop and implement first response strategies for abnormal signals and alarm conditions. System versatility will be enhanced by incorporating a robot arm, vision and force sensing, robust obstacle avoidance, and appropriate monitoring and sensing equipment.

  20. Autonomous robotic sweeper

    OpenAIRE

    Kržišnik, Domen

    2015-01-01

    There is already a wide range of personal/domestic robots on the market capable of performing various tasks. We haven't however been able to find any commercially available robots designed for effectively performing the task of backyard sweeping. This thesis presents the process and end result of planning, assembly and programming of an autonomous robot, capable of performing the above mentioned task. We first analyze robots with similar functions, including robotic vacuum cleaners and lawn m...