WorldWideScience

Sample records for articulated sensate robot

  1. Intelligent Articulated Robot

    Science.gov (United States)

    Nyein, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

  2. Landing Motion Control of Articulated Hopping Robot

    Directory of Open Access Journals (Sweden)

    Youngil Youm

    2008-11-01

    Full Text Available This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG(Center of Gravity or joint paths. To achieve soft landing, variable body stiffness and damping values were optimized. PBOT, which has four links with flexible joints was used for validation of the landing controller. A body stiffness and damping controller was used as an outer landing control loop and a fast subsystem controller for flexible joints was used as an inner force control loop. Simulations and experimental results about the landing motion are presented to show the performance of the body stiffness and damping controller.

  3. A Hand-Eye Vision Measuring System for Articulate Robots

    Institute of Scientific and Technical Information of China (English)

    岁波; 都东; 陈强; 韩翔宇; 王力; 张骅

    2004-01-01

    To make dynamic measurements for an articulate robot, a hand-eye vision measuring system is built up.This system uses two charge coupled device (CCD) cameras mounted on the end-effector of the robot.System analysis is based on the stereovision theory and line-matching technology, using a computer to evaluate the dynamic performance parameters of an articulate robot from the two images captured by the two cameras.The measuring procedure includes four stages, namely, calibration, sampling, image processing, and calculation.The path accuracy of an articulate industrial robot was measured by this system.The results show that this system is a low-cost, easy to operate, and simple system for the dynamic performance testing of articulate robots.

  4. Visual servo simulation of EAST articulated maintenance arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-03-15

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  5. Two-Armed, Mobile, Sensate Research Robot

    Science.gov (United States)

    Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

    2004-01-01

    The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and

  6. The technology of mobile robot with articulated crawler mechanism

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Suh, Yong Chil; Lee, Yung Kwang; Sin, Jae Ho [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-01-01

    The main application of a mobile robot are to do the inspection and maintenance tasks in the primary and auxiliary building, and to meet with the radiological emergency response in nuclear power plant. Our project to develop crawler-type mobile robot has been divided into 3 phases. In 1 st phase, the-state-of-the-arts of mobile robot technology were studied and analyzed. And then the technical report `development of mobile robot technology for the light work` was published on July, 1993. In current phase, the articulated crawler type mobile robot named as ANDROS Mark VI was purchased to evaluate deeply its mechanism and control system. Then we designed the autonomous track surface, to get the inclination angle of robot, and to control the front and rear auxiliary track autonomously during climbing up and down stairs. And also, the autonomous stair-climbing algorithm has been developed to going over stairs with high stability. For the final phase, the advanced model of articulated crawler type mobile robot is going to be developed. (Author) 13 refs., 30 figs., 12 tabs.

  7. Sensory Integration with Articulated Motion on a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    J. Rojas

    2005-01-01

    Full Text Available This paper describes the integration of articulated motion with auditory and visual sensory information that enables a humanoid robot to achieve certain reflex actions that mimic those of people. Reflexes such as reach-and-grasp behavior enables the robot to learn, through experience, its own state and that of the world. A humanoid robot with binaural audio input, stereo vision, and pneumatic arms and hands exhibited tightly coupled sensory-motor behaviors in four different demonstrations. The complexity of successive demonstrations was increased to show that the reflexive sensory-motor behaviors combine to perform increasingly complex tasks. The humanoid robot executed these tasks effectively and established the groundwork for the further development of hardware and software systems, sensory-motor vector-space representations, and coupling with higher-level cognition.

  8. The calculation of robot dynamics using articulated-body inertias

    Science.gov (United States)

    Featherstone, R.

    1983-05-01

    This paper describes a new method for calculating the acceleration of a robot in response to given actuator forces. The method is applicable to open-loop kinematic chains containing revolute and prismatic joints. The algorithm is based on recursive formulas involving quantities called articulated-body inertias, which represent the inertia properties of collections of rigid bodies connected together by joints allowing constrained relative motion between the bodies. A new, matrix-based notation is introduced to represent articulated-body inertias and other spatial quantities. This notation is used to develop the algorithm, and results in a compact representation of the equations. The new algorithm has a computational requirement that varies linearly with the number of joints, and its efficiency is compared with other published algorithms.

  9. Very fast motion planning for highly dexterous-articulated robots

    Science.gov (United States)

    Challou, Daniel J.; Gini, Maria; Kumar, Vipin

    1994-01-01

    Due to the inherent danger of space exploration, the need for greater use of teleoperated and autonomous robotic systems in space-based applications has long been apparent. Autonomous and semi-autonomous robotic devices have been proposed for carrying out routine functions associated with scientific experiments aboard the shuttle and space station. Finally, research into the use of such devices for planetary exploration continues. To accomplish their assigned tasks, all such autonomous and semi-autonomous devices will require the ability to move themselves through space without hitting themselves or the objects which surround them. In space it is important to execute the necessary motions correctly when they are first attempted because repositioning is expensive in terms of both time and resources (e.g., fuel). Finally, such devices will have to function in a variety of different environments. Given these constraints, a means for fast motion planning to insure the correct movement of robotic devices would be ideal. Unfortunately, motion planning algorithms are rarely used in practice because of their computational complexity. Fast methods have been developed for detecting imminent collisions, but the more general problem of motion planning remains computationally intractable. However, in this paper we show how the use of multicomputers and appropriate parallel algorithms can substantially reduce the time required to synthesize paths for dexterous articulated robots with a large number of joints. We have developed a parallel formulation of the Randomized Path Planner proposed by Barraquand and Latombe. We have shown that our parallel formulation is capable of formulating plans in a few seconds or less on various parallel architectures including: the nCUBE2 multicomputer with up to 1024 processors (nCUBE2 is a registered trademark of the nCUBE corporation), and a network of workstations.

  10. Dynamics and control of robotic aircraft with articulated wings

    Science.gov (United States)

    Paranjape, Aditya Avinash

    There is a considerable interest in developing robotic aircraft, inspired by birds, for a variety of missions covering reconnaissance and surveillance. Flapping wing aircraft concepts have been put forth in light of the efficiency of flapping flight at small scales. These aircraft are naturally equipped with the ability to rotate their wings about the root, a form of wing articulation. This thesis covers some problems concerning the performance, stability and control of robotic aircraft with articulated wings in gliding flight. Specifically, we are interested in aircraft without a vertical tail, which would then use wing articulation for longitudinal as well as lateral-directional control. Although the dynamics and control of articulated wing aircraft share several common features with conventional fixed wing aircraft, the presence of wing articulation presents several unique benefits as well as limitations from the perspective of performance and control. One of the objective of this thesis is to understand these features using a combination of theoretical and numerical tools. The aircraft concept envisioned in this thesis uses the wing dihedral angles for longitudinal and lateral-directional control. Aircraft with flexible articulated wings are also investigated. We derive a complete nonlinear model of the flight dynamics incorporating dynamic CG location and the changing moment of inertia. We show that symmetric dihedral configuration, along with a conventional horizontal tail, can be used to control flight speed and flight path angle independently of each other. This characteristic is very useful for initiating an efficient perching maneuver. It is shown that wing dihedral angles alone can effectively regulate sideslip during rapid turns and generate a wide range of equilibrium turn rates while maintaining a constant flight speed and regulating sideslip. We compute the turning performance limitations that arise due to the use of wing dihedral for yaw control

  11. Method for analyzing articulated torques of heavy-duty six-legged robot

    Science.gov (United States)

    Zhuang, Hongchao; Gao, Haibo; Ding, Liang; Liu, Zhen; Deng, Zongquan

    2013-07-01

    The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.

  12. Inferring 3D Articulated Models for Box Packaging Robot

    CERN Document Server

    Yang, Heran; Cong, Matthew; Saxena, Ashutosh

    2011-01-01

    Given a point cloud, we consider inferring kinematic models of 3D articulated objects such as boxes for the purpose of manipulating them. While previous work has shown how to extract a planar kinematic model (often represented as a linear chain), such planar models do not apply to 3D objects that are composed of segments often linked to the other segments in cyclic configurations. We present an approach for building a model that captures the relation between the input point cloud features and the object segment as well as the relation between the neighboring object segments. We use a conditional random field that allows us to model the dependencies between different segments of the object. We test our approach on inferring the kinematic structure from partial and noisy point cloud data for a wide variety of boxes including cake boxes, pizza boxes, and cardboard cartons of several sizes. The inferred structure enables our robot to successfully close these boxes by manipulating the flaps.

  13. The Use of the Articulated Total Body Model as a Robot Dynamics Simulation Tool

    Science.gov (United States)

    1988-07-01

    AARL-SR-90-512 AD-A235 930l[liill ~i 11111111111 iIII J The Use of the Articulated Total Body Model as a Robot Dynamics Simulation Tool Louise A...R 4. TITLE AND SUBTITLE S. FUNDING NUMBERS The Use of the Articulated Total Body Model as a Robot Dynamics Simulation Tool PE 62202F 6. AUTHOR(S) PR...Lagrange method. In this paper the use of the ATH model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this

  14. Functionalization of Tactile Sensation for Robot Based on Haptograph and Modal Decomposition

    Science.gov (United States)

    Yokokura, Yuki; Katsura, Seiichiro; Ohishi, Kiyoshi

    In the real world, robots should be able to recognize the environment in order to be of help to humans. A video camera and a laser range finder are devices that can help robots recognize the environment. However, these devices cannot obtain tactile information from environments. Future human-assisting-robots should have the ability to recognize haptic signals, and a disturbance observer can possibly be used to provide the robot with this ability. In this study, a disturbance observer is employed in a mobile robot to functionalize the tactile sensation. This paper proposes a method that involves the use of haptograph and modal decomposition for the haptic recognition of road environments. The haptograph presents a graphic view of the tactile information. It is possible to classify road conditions intuitively. The robot controller is designed by considering the decoupled modal coordinate system, which consists of translational and rotational modes. Modal decomposition is performed by using a quarry matrix. Once the robot is provided with the ability to recognize tactile sensations, its usefulness to humans will increase.

  15. Development of a robotic evaluation system for the ability of proprioceptive sensation in slow hand motion.

    Science.gov (United States)

    Tanaka, Yoshiyuki; Mizoe, Genki; Kawaguchi, Tomohiro

    2015-01-01

    This paper proposes a simple diagnostic methodology for checking the ability of proprioceptive/kinesthetic sensation by using a robotic device. The perception ability of virtual frictional forces is examined in operations of the robotic device by the hand at a uniform slow velocity along the virtual straight/circular path. Experimental results by healthy subjects demonstrate that percentage of correct answers for the designed perceptual tests changes in the motion direction as well as the arm configuration and the HFM (human force manipulability) measure. It can be supposed that the proposed methodology can be applied into the early detection of neuromuscular/neurological disorders.

  16. Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

    Directory of Open Access Journals (Sweden)

    Bui Thi Hai Linh

    2015-01-01

    Full Text Available When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

  17. A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Fukushima, Edwardo F.; Hirose, Shigeo [Tokyo Inst. of Tech. (Japan)

    2000-05-01

    This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

  18. Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints

    Science.gov (United States)

    Kwok, Ka-Wai; Tsoi, Kuen Hung; Vitiello, Valentina; Clark, James; Chow, Gary C. T.; Luk, Wayne; Yang, Guang-Zhong

    2014-01-01

    This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks. PMID:24741371

  19. Design and Development of an Automatic Tool Changer for an Articulated Robot Arm

    Science.gov (United States)

    Ambrosio, H.; Karamanoglu, M.

    2014-07-01

    In the creative industries, the length of time between the ideation stage and the making of physical objects is decreasing due to the use of CAD/CAM systems and adicitive manufacturing. Natural anisotropic materials, such as solid wood can also be transformed using CAD/CAM systems, but only with subtractive processes such as machining with CNC routers. Whilst some 3 axis CNC routing machines are affordable to buy and widely available, more flexible 5 axis routing machines still present themselves as a too big investment for small companies. Small refurbished articulated robots can be a cheaper alternative but they require a light end-effector. This paper presents a new lightweight tool changer that converts a small 3kg payload 6 DOF robot into a robot apprentice able to machine wood and similar soft materials.

  20. Adapting a Low-Cost Selective Compliant Articulated Robotic Arm for Spillage Avoidance.

    Science.gov (United States)

    McMorran, Darren; Chung, Dwayne Chung Kim; Li, Jonathan; Muradoglu, Murat; Liew, Oi Wah; Ng, Tuck Wah

    2016-12-01

    Flexible automation systems provide the needed adaptability to serve shorter-term projects and specialty applications in biochemical analysis. A low-cost selective compliant articulated robotic arm designed for liquid spillage avoidance is developed here. In the vertical-plane robotic arm movement test, the signals from an inertial measurement unit (IMU) and accelerometer were able to sense collisions. In the horizontal movement test, however, only the signals from the IMU enabled collision to be detected. Using a calculation method developed, it was possible to chart the regions where the obstacle was likely to be located when a collision occurred. The low cost of the IMU and its easy incorporation into the robotic arm offer the potential to meet the pressures of lowering operating costs, apply laboratory automation in resource-limited venues, and obviate human intervention in response to sudden disease outbreaks. © 2016 Society for Laboratory Automation and Screening.

  1. The use of the articulated total body model as a robot dynamics simulation tool

    Science.gov (United States)

    Obergfell, Louise A.; Avula, Xavier J. R.; Kalegs, Ints

    1988-01-01

    The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.

  2. Calibration of a flexible measurement system based on industrial articulated robot and structured light sensor

    Science.gov (United States)

    Mu, Nan; Wang, Kun; Xie, Zexiao; Ren, Ping

    2017-05-01

    To realize online rapid measurement for complex workpieces, a flexible measurement system based on an articulated industrial robot with a structured light sensor mounted on the end-effector is developed. A method for calibrating the system parameters is proposed in which the hand-eye transformation parameters and the robot kinematic parameters are synthesized in the calibration process. An initial hand-eye calibration is first performed using a standard sphere as the calibration target. By applying the modified complete and parametrically continuous method, we establish a synthesized kinematic model that combines the initial hand-eye transformation and distal link parameters as a whole with the sensor coordinate system as the tool frame. According to the synthesized kinematic model, an error model is constructed based on spheres' center-to-center distance errors. Consequently, the error model parameters can be identified in a calibration experiment using a three-standard-sphere target. Furthermore, the redundancy of error model parameters is eliminated to ensure the accuracy and robustness of the parameter identification. Calibration and measurement experiments are carried out based on an ER3A-C60 robot. The experimental results show that the proposed calibration method enjoys high measurement accuracy, and this efficient and flexible system is suitable for online measurement in industrial scenes.

  3. Computer vision system R&D for EAST Articulated Maintenance Arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Linglong, E-mail: linglonglin@ipp.ac.cn; Song, Yuntao, E-mail: songyt@ipp.ac.cn; Yang, Yang, E-mail: yangy@ipp.ac.cn; Feng, Hansheng, E-mail: hsfeng@ipp.ac.cn; Cheng, Yong, E-mail: chengyong@ipp.ac.cn; Pan, Hongtao, E-mail: panht@ipp.ac.cn

    2015-11-15

    Highlights: • We discussed the image preprocessing, object detection and pose estimation algorithms under poor light condition of inner vessel of EAST tokamak. • The main pipeline, including contours detection, contours filter, MER extracted, object location and pose estimation, was carried out in detail. • The technical issues encountered during the research were discussed. - Abstract: Experimental Advanced Superconducting Tokamak (EAST) is the first full superconducting tokamak device which was constructed at Institute of Plasma Physics Chinese Academy of Sciences (ASIPP). The EAST Articulated Maintenance Arm (EAMA) robot provides the means of the in-vessel maintenance such as inspection and picking up the fragments of first wall. This paper presents a method to identify and locate the fragments semi-automatically by using the computer vision. The use of computer vision in identification and location faces some difficult challenges such as shadows, poor contrast, low illumination level, less texture and so on. The method developed in this paper enables credible identification of objects with shadows through invariant image and edge detection. The proposed algorithms are validated through our ASIPP robotics and computer vision platform (ARVP). The results show that the method can provide a 3D pose with reference to robot base so that objects with different shapes and size can be picked up successfully.

  4. Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

    Science.gov (United States)

    Malachowski, M. J.

    1990-01-01

    Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

  5. High-precision robotic microcontact printing (R-μCP) utilizing a vision guided selectively compliant articulated robotic arm.

    Science.gov (United States)

    McNulty, Jason D; Klann, Tyler; Sha, Jin; Salick, Max; Knight, Gavin T; Turng, Lih-Sheng; Ashton, Randolph S

    2014-06-01

    Increased realization of the spatial heterogeneity found within in vivo tissue microenvironments has prompted the desire to engineer similar complexities into in vitro culture substrates. Microcontact printing (μCP) is a versatile technique for engineering such complexities onto cell culture substrates because it permits microscale control of the relative positioning of molecules and cells over large surface areas. However, challenges associated with precisely aligning and superimposing multiple μCP steps severely limits the extent of substrate modification that can be achieved using this method. Thus, we investigated the feasibility of using a vision guided selectively compliant articulated robotic arm (SCARA) for μCP applications. SCARAs are routinely used to perform high precision, repetitive tasks in manufacturing, and even low-end models are capable of achieving microscale precision. Here, we present customization of a SCARA to execute robotic-μCP (R-μCP) onto gold-coated microscope coverslips. The system not only possesses the ability to align multiple polydimethylsiloxane (PDMS) stamps but also has the capability to do so even after the substrates have been removed, reacted to graft polymer brushes, and replaced back into the system. Plus, non-biased computerized analysis shows that the system performs such sequential patterning with <10 μm precision and accuracy, which is equivalent to the repeatability specifications of the employed SCARA model. R-μCP should facilitate the engineering of complex in vivo-like complexities onto culture substrates and their integration with microfluidic devices.

  6. Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines

    Directory of Open Access Journals (Sweden)

    Juan J. Aguilar

    2009-09-01

    Full Text Available A technique for intrinsic and extrinsic calibration of a laser triangulation sensor (LTS integrated in an articulated arm coordinate measuring machine (AACMM is presented in this paper. After applying a novel approach to the AACMM kinematic parameter identification problem, by means of a single calibration gauge object, a one-step calibration method to obtain both intrinsic―laser plane, CCD sensor and camera geometry―and extrinsic parameters related to the AACMM main frame has been developed. This allows the integration of LTS and AACMM mathematical models without the need of additional optimization methods after the prior sensor calibration, usually done in a coordinate measuring machine (CMM before the assembly of the sensor in the arm. The experimental tests results for accuracy and repeatability show the suitable performance of this technique, resulting in a reliable, quick and friendly calibration method for the AACMM final user. The presented method is also valid for sensor integration in robot arms and CMMs.

  7. Modelling and calibration technique of laser triangulation sensors for integration in robot arms and articulated arm coordinate measuring machines.

    Science.gov (United States)

    Santolaria, Jorge; Guillomía, David; Cajal, Carlos; Albajez, José A; Aguilar, Juan J

    2009-01-01

    A technique for intrinsic and extrinsic calibration of a laser triangulation sensor (LTS) integrated in an articulated arm coordinate measuring machine (AACMM) is presented in this paper. After applying a novel approach to the AACMM kinematic parameter identification problem, by means of a single calibration gauge object, a one-step calibration method to obtain both intrinsic-laser plane, CCD sensor and camera geometry-and extrinsic parameters related to the AACMM main frame has been developed. This allows the integration of LTS and AACMM mathematical models without the need of additional optimization methods after the prior sensor calibration, usually done in a coordinate measuring machine (CMM) before the assembly of the sensor in the arm. The experimental tests results for accuracy and repeatability show the suitable performance of this technique, resulting in a reliable, quick and friendly calibration method for the AACMM final user. The presented method is also valid for sensor integration in robot arms and CMMs.

  8. Returning Motion from the State of Falling Sideways for Articulated Mobile Robot

    Science.gov (United States)

    Nunobiki, Masayuki; Okuda, Koichi; Hasegawa, Motoyoshi

    We developed an inchworm-type mobile robot. It consisted of only six segments connected by four pitch joints and one yaw joint. Although this robot had neither legs nor wheels, it was able to advance by using vertically undulatory motion of whole body. Even if it became upside down, it was able to move just like normal posture. But if it fell sideways, it was not able to move until returning to normal posture. In this study, we proposed a returning method by which the angular moment around roll axis was generated by twisting itself. To analyze this motion, we developed a mathematical model for this returning motion by considering the robot to be an underactuated mechanical system that consisted of a base frame and two link frames. We confirmed this returning motion was able to equate with a falling down motion of an underactuated two-linked system.

  9. Design and experimental study of joint torque balance mechanism of seed implantation articulated robot

    Directory of Open Access Journals (Sweden)

    Zhang Yongde

    2015-06-01

    Full Text Available This article discusses several new mechanisms that may be used in prostate cancer seed implant robotics. We have developed relatively simple but effective mathematical models of multi-needle puncture prostate using nonlinear spring–damper model; based on Automatic Dynamic Analysis of Mechanical Systems or dynamics module, displacement simulation for prostate is performed, and simulation results indicate that the multi-needle puncture mechanism could reduce prostate displacement in the y- or z-direction. Then aiming at the limitation of human body structure space and seed implant needle insertion path, a revolute-revolute-translational-type prostate seed implantation robot with three-dimensional transrectal ultrasound navigation is designed. It is noteworthy that drive torque fluctuation is caused by the center of gravity change of revolute-revolute tandem cantilever structure; an elastic balance mechanism is designed to realize the complete balance of cantilever weight. Based on Automatic Dynamic Analysis of Mechanical Systems or dynamics module, static drive torque simulation of 2-revolute tandem cantilever structure is performed. Finally, we manufacture the robot prototype and make verification experiment to the cantilever balancing device, and the experiment results provide evidence that elastic balance mechanism can realize the complete balance of cantilever weight, improve the fluctuation in the amplitude value of driving torque, and increase its operation stationary of seed implantation robot system.

  10. Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

    Science.gov (United States)

    Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

    2003-01-01

    The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

  11. Tema 2: The NAO robot as a Persuasive Educational and Entertainment Robot (PEER – a case study on children’s articulation, categorization and interaction with a social robot for learning

    Directory of Open Access Journals (Sweden)

    Lykke Brogaard Bertel

    2016-01-01

    Full Text Available The application of social robots as motivational tools and companions in education is increasingly being explored from a theoretical and practical point of view. In this paper, we examine the social robot NAO as a Persuasive Educational and Entertainment Robot (PEER and present findings from a case study on the use of NAO to support learning environments in Danish primary schools. In the case study we focus on the children’s practice of articulation and embodied interaction with NAO and investigate the role of NAO as a ‘tool’, ‘social actor’ or ‘simulating medium’ in the learning designs. We examine whether this categorization is static or dynamic, i. e. develops and changes over the course of the interaction and explore how this relates to and affects the student’s motivation to engage in the NAO-supported learning activities.

  12. 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

  13. Research on control technology of elderly-assistant & walking-assistant robot based on tactile-slip sensation

    Institute of Scientific and Technical Information of China (English)

    Zhang Xiaodong; Wang Yunxia; Wei Xiaojuan

    2013-01-01

    In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot.First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed.Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm.And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design.Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties.At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.

  14. [Occlusion, articulated and articulation].

    Science.gov (United States)

    De Boever, J A

    1990-01-01

    In this paper the so-called 'normal' or 'ideal' occlusal relationships are described in static centric as well as in dynamic, eccentric positions. However, difference is made between the different occlusal concepts. There is no real antagonism between the 'physiologic occlusal concept' in natural dentition and the 'therapeutic occlusal concept' on which the treatment should be based in restoring the occlusion. The different forms of occlusion and articulation found in the natural dentition are the expression of physiologic, biological variations. The rest position of the mandible is an unreliable reference point in occlusal rehabilitation. Moderate attrition in older patients should not be considered as pathologic and there is no indication for treatment in absence of functional pathology.

  15. Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines

    OpenAIRE

    Aguilar, Juan J.; Albajez, José A.; Carlos Cajal; David Guillomía; Jorge Santolaria

    2009-01-01

    A technique for intrinsic and extrinsic calibration of a laser triangulation sensor (LTS) integrated in an articulated arm coordinate measuring machine (AACMM) is presented in this paper. After applying a novel approach to the AACMM kinematic parameter identification problem, by means of a single calibration gauge object, a one-step calibration method to obtain both intrinsic―laser plane, CCD sensor and camera geometry―and extrinsic parameters related to the AACMM main frame has been develope...

  16. Field programmable gate array–based servo control integrated chip for a six-axis articulated robot manipulator

    Directory of Open Access Journals (Sweden)

    Ying-Shieh Kung

    2016-05-01

    Full Text Available The objective of this article is to build a field programmable gate array–based six-axis servo control integrated chip which can integrate the function of a motion trajectory planning and the function of six position/speed/current servo controllers into one integrated chip. In the work, first, a mathematical modeling of a robot manipulator with the actuator using permanent magnet synchronous motor is derived. Second, the proportional controller in the position loop, a proportional–integral controller in the speed loop and a vector controller in the current loop for each axis are applied. Third, a system on a programmable chip technology which comprises an Altera field programmable gate array chip and an embedded soft-core Nios-II processor is considered to develop the proposed servo control integrated chip. However, in the servo control integrated chip, it has two modules. The first module is an embedded soft-core Nios-II processor which is used to generate the motion trajectory planning by software. The second module presents a six-axis servo controller intellectual property by hardware which is applied to execute six position/speed/current controllers. Therefore, the function of a motion trajectory command and the function of six position/speed/current servo controllers for a six-axis robot manipulator can be integrated into one field programmable gate array. Finally, to verify the effectiveness and correctness of the proposed field programmable gate array–based servo control integrated chip, a six-axis robot manipulator is applied and some experimental results are demonstrated.

  17. Articulating Atmospheres

    DEFF Research Database (Denmark)

    Kinch, Sofie

    2011-01-01

    This paper presents an architectural approach to designing computational interfaces by articulating the notion of atmosphere in the field of interaction design. It draws upon the concept of kinesthetic interaction and a philosophical notion on atmosphere emphasizing the importance of bodily...... experience in space, presented as middle ground experience. In the field of HCI, middle ground experiences complete the unarticulated spectrum between designing for foreground of attention or background awareness. When “Articulating Atmospheres through Middle Ground Experiences in Interaction Design...

  18. 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.

  19. Robotics and general surgery.

    Science.gov (United States)

    Jacob, Brian P; Gagner, Michel

    2003-12-01

    Robotics are now being used in all surgical fields, including general surgery. By increasing intra-abdominal articulations while operating through small incisions, robotics are increasingly being used for a large number of visceral and solid organ operations, including those for the gallbladder, esophagus, stomach, intestines, colon, and rectum, as well as for the endocrine organs. Robotics and general surgery are blending for the first time in history and as a specialty field should continue to grow for many years to come. We continuously demand solutions to questions and limitations that are experienced in our daily work. Laparoscopy is laden with limitations such as fixed axis points at the trocar insertion sites, two-dimensional video monitors, limited dexterity at the instrument tips, lack of haptic sensation, and in some cases poor ergonomics. The creation of a surgical robot system with 3D visual capacity seems to deal with most of these limitations. Although some in the surgical community continue to test the feasibility of these surgical robots and to question the necessity of such an expensive venture, others are already postulating how to improve the next generation of telemanipulators, and in so doing are looking beyond today's horizon to find simpler solutions. As the robotic era enters the world of the general surgeon, more and more complex procedures will be able to be approached through small incisions. As technology catches up with our imaginations, robotic instruments (as opposed to robots) and 3D monitoring will become routine and continue to improve patient care by providing surgeons with the most precise, least traumatic ways of treating surgical disease.

  20. Reaction torque minimization techniques for articulated payloads

    Science.gov (United States)

    Kral, Kevin; Aleman, Roberto M.

    1988-01-01

    Articulated payloads on spacecraft, such as antenna telemetry systems and robotic elements, impart reaction torques back into the vehicle which can significantly affect the performance of other payloads. This paper discusses ways to minimize the reaction torques of articulated payloads through command-shaping algorithms and unique control implementations. The effects of reaction torques encountered on Landsat are presented and compared with simulated and measured data of prototype systems employing these improvements.

  1. [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.

  2. Social Sensations of Symptoms:

    DEFF Research Database (Denmark)

    Meinert, Lotte; Whyte, Susan Reynolds

    2016-01-01

    The interpretation of sensations and the recognition of symptoms of a sickness, as well as the movement to seek treatment, have long been recognized in medical anthropology as inherently social processes. Based on cases of HIV and trauma (PTSD) in Uganda, we show that even the first signs...... and sensations of sickness can be radically social. The sensing body can be a ‘social body’ – a family, a couple, a network – a unit that transcends the individual body. In this article we focus on four aspects of the sociality of sensations and symptoms: mode of transmission; the shared experience of sensations...

  3. Feature classification for tracking articulated surgical tools.

    Science.gov (United States)

    Reiter, Austin; Allen, Peter K; Zhao, Tao

    2012-01-01

    Tool tracking is an accepted capability for computer-aided surgical intervention which has numerous applications, both in robotic and manual minimally-invasive procedures. In this paper, we describe a tracking system which learns visual feature descriptors as class-specific landmarks on an articulated tool. The features are localized in 3D using stereo vision and are fused with the robot kinematics to track all of the joints of the dexterous manipulator. Experiments are performed using previously-collected porcine data from a surgical robot.

  4. 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

  5. Contact Angle and Slippage Estimation of an Articulated Mobile Robot with Five Wheels%铰接式五轮移动机器人接地角估计及滑转测量

    Institute of Scientific and Technical Information of China (English)

    徐贺; 刘星; 张振宇; 伏虎

    2013-01-01

    对一种铰接式移动机器人穿越崎岖地面时的运动学进行了建模和分析.推导了基于轮式机器人的完整6自由度运动模型,对各个与地面接触的轮子分别进行了微分运动学推导.在推导过程中,考虑了前后倾角及侧倾角.之后,给出了正向和逆向运动学模型.在这个过程中,考虑到了车轮地形接触角度和车体打滑的存在.因此在刚体运动特点的基础上,根据各个部分之间的速度关系,做出了接触角估计.并在车体上安装一个被动式的第5轮,根据其运动学模型,提出了一种滑转估计方法.分别在崎岖地形和沙地上进行了实验验证,证实了本文提出的接触角和滑转估计方法的有效性.%A general approach to kinematics modeling and analysis of articulated mobile robots traversing uneven terrain is described. Taking caster and camber into consideration, a full 6 DOF (degree of freedom) motion model is derived for a wheeled robot, and differential kinematics is derived for individual wheels in contact with ground. Then, forward and inverse kinematics models are given. During this process, slipping and wheel-terrain contact angle are considered. Based on the characteristics of rigid body movement, the contact angle is estimated according to the relationship of velocity of components. A passive fifth wheel is installed on the robot, and a slippage estimation method is given based on its kinematics model. Experiments on uneven terrain and sandlot are carried out to verify the effectiveness of the proposed contact angle and slippage estimation method.

  6. Virtual articulators in prosthodontics

    National Research Council Canada - National Science Library

    R.S., Gugwad; M., Basavakumar; K., Abhijeet; M., Arvind; M., Sudhindra; C., Ramesh

    2011-01-01

    Virtual technologies in dentistry provide better education and training by simulating complex contexts and enhancing procedures that are traditionally limited, such as work with mechanical articulator...

  7. Beyond Speculative Robot Ethics

    OpenAIRE

    Smits, M.; Plas, A. van der

    2010-01-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also lead to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model we think to have designed an interesting response on a recent call for a less sp...

  8. Auditory and Visual Sensations

    CERN Document Server

    Ando, Yoichi

    2010-01-01

    Professor Yoichi Ando, acoustic architectural designer of the Kirishima International Concert Hall in Japan, presents a comprehensive rational-scientific approach to designing performance spaces. His theory is based on systematic psychoacoustical observations of spatial hearing and listener preferences, whose neuronal correlates are observed in the neurophysiology of the human brain. A correlation-based model of neuronal signal processing in the central auditory system is proposed in which temporal sensations (pitch, timbre, loudness, duration) are represented by an internal autocorrelation representation, and spatial sensations (sound location, size, diffuseness related to envelopment) are represented by an internal interaural crosscorrelation function. Together these two internal central auditory representations account for the basic auditory qualities that are relevant for listening to music and speech in indoor performance spaces. Observed psychological and neurophysiological commonalities between auditor...

  9. An Articulated Inspection Arm for fusion purposes

    Energy Technology Data Exchange (ETDEWEB)

    Villedieu, E., E-mail: eric.villedieu@cea.fr [CEA-IRFM, 13108 Saint Paul lez Durance (France); Bruno, V.; Pastor, P.; Gargiulo, L. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Song, Y.T.; Cheng, Y.; Feng, H. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Liu, C. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Shi, S.S. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2016-11-01

    Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

  10. Sensation Seeking in Street Violence

    DEFF Research Database (Denmark)

    Heinskou, Marie Bruvik; Liebst, Lasse Suonperä

    Sensation seeking leads to violence—runs an influential hypothesis in the social scientific study of violent behavior. Although studies confirm that violence is sometimes structured by sensation-seeking motives, the literature seldom comments on the limits to this explanation of violence....... The present study examines the scale of violence motivated by sensation seeking and the degree to which there are several distinct forms of sensation seeking motives operative in violence, rather than a sensation-seeking motive in the singular. The study draws on a sample of situations from Copenhagen...... involving street violence, which are coded quantitatively and qualitatively. Our analysis shows that sensation seeking only seldom seems to play a role in the structuring of street violence. Moreover, the data indicate that sensation seeking finds expression in street violence situations in two different...

  11. 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.

  12. Robotic Assisted Colorectal Surgery

    OpenAIRE

    Baik, Seung Hyuk; M.D&#

    2010-01-01

    Improvements of the robotic surgical system are continuously being made to overcome the technical limitations and disadvantages found during the surgeries. So detailed operation methods are newly designed to adapt to the upgraded model of the robotic surgical system. The major core technologies of the robotic surgical system are a three dimensional image of the surgical field and a function of articulation of the instruments tips compared to conventional laparoscopic instruments. With the hel...

  13. The virtual articulator.

    Science.gov (United States)

    Bisler, A; Bockholt, U; Kordass, B; Suchan, M; Voss, G

    2002-01-01

    The virtual articulator (VA) is intended for use as a tool for the analysis fo the complex static and dynamic occlusal relations. Its chief application is in individual diagnosis and the simulation of the mechanical articulator. As entry data, the VA requires digital, 3-dimensional representations of the jaws and patient-specific data on jaw movement. It then simulates jaw movement and provides a dynamic visualization of the occlusal contacts. If no patient-specific data are available, the modus operandi of the mechanical articulator can be simulated. Virtual reality (VR) techniques applied in computer-aided diagnosis are revolutionizing medical routine in many disciplines. Particularly in the field of dental engineering, VR combined with CAD/CAM technology has great potential in implant planning and design in terms of greater precision and shorter treatment duration. The geometry of teeth can be digitized, the implant models can be designed with specialized CAD systems, and the final implants can be manufactured with a CNC machine. In this context, the virtual articulator completes the digital manufacturing process.

  14. Differences in risk experience between sensation avoiders and sensation seekers

    NARCIS (Netherlands)

    Heino, A.; van der Molen, H.H.; Wilde, G.J S

    1996-01-01

    The prime purpose of our study was to find out whether the need for stimulation has a systematic influence on perceived risk. While driving on a motorway, 21 male sensation avoiders and 21 male sensation seekers had to follow another car, once at a free following distance chosen by the subject himse

  15. Sinkage and slippage estimation for an articulated vehicle

    Science.gov (United States)

    Wilcox, Brian H.

    2002-07-01

    This paper describes an approach to estimating in real-time the degree to which an articulated robotic vehicle is undergoing wheel slip and/or sinkage in soft terrain. Robotic vehicles generally have hazard avoidance sensors which measure the shape of the sensible surface, and these can be used to predict what the articulation pose of the vehicle will be as it moves over the surface. An articulated vehicle (one with three or more wheels on each side) can directly measure the shape of the loadbearing surface by combining inclination and articulation sensing. Delays between the actual articulations and the expectations can be explained by wheel slippage. Differences between the expectation and the actual articulations can be explained by sinkage below the sensed surface. If one assumes that successive wheels on each side follow the same profile as the front wheel (sinking the same amount, if any, into the soil), then it is possible to estimate sinkage and slippage separately. A Maximum-A-Posteriori estimation procedure formalizing this heuristic approach is developed and simulated, and the results presented and discussed.

  16. Serpentine Locomotion Articulated Chain: ANA II

    Directory of Open Access Journals (Sweden)

    A. M. Cardona

    2005-01-01

    Full Text Available When humanity faces challenges in solving problems beyond their technical resources, and has no foundation to solve a problem, engineering must search for an answer developing new concepts and innovative frameworks to excel these limitations and travel beyond our capabilities. This project “Serpentine locomotion articulated chain: ANA II” is a self-contained robot built to evaluate the behavior of the platform being capable of serpentine movements, in a modular chain mechanical design, based on a master/slave architecture.

  17. Medical modification of sensation.

    Science.gov (United States)

    Hodge, C J; King, R B

    1976-01-01

    The authors describe the sensory examinations of 3 patients who had undergone cervical rhizotomy alone and in combination with trigeminal tractotomy and section of the nervus intermedius, the glossopharyngeal nerve, and the upper portion of the vagus nerve. Following administration of L-dopa there was an increase in their pain and a decrease in the area of clinically anesthetic or analgesic skin. When methyldopa was given, the subjective and objective changes were the opposite of those elicited by L-dopa. These observations support the existence of a wider dorsal root cutaneous distribution than is usually accepted as well as significant control of cutaneous sensation by suprasegmental areas of the central nervous system. Part of the suprasegmental bias supplied to the area in the spinal cord that processes sensory information apparently occurs by way of an aminergic descending reticulospinal tract. These findings are discussed in terms of attempts totally to denervate restricted cutaneous areas of the body for treatment of pain-producing states.

  18. Face bow and articulator for planning orthognathic surgery: 2 articulator.

    Science.gov (United States)

    Walker, Fraser; Ayoub, Ashraf F; Moos, Khursheed F; Barbenel, Joseph

    2008-10-01

    Patients who require orthognathic surgery may have asymmetry of the position of the temporomandibular joints relative to the maxilla, which is impossible to reproduce on the current semiadjustable articulators used for surgical planning. We describe a highly-adjustable spirit level orthognathic face bow that allows records to be made of patients with asymmetrical maxillae. The orthognathic articulator also allows the position of the condylar components of the articulator to be adjusted in three dimensions. The use of the new face bow and articulator made it possible to mount the dental casts of asymmetrical faces to reproduce their clinical appearance. The devices were evaluated by comparing the measurements of anatomical variables obtained from cephalometric radiographs with equivalent values obtained from the orthognathic articulator and casts mounted on the articulator. Although the measurements showed significant intersubject variability, the angle between the horizontal and maxillary occlusal plane, occlusal cant angle, and intercondylar widths, were not significantly different.

  19. Open software architecture for east articulated maintenance arm

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Li, Ming [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Yang, Yang [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Alcina, Daniel A.M. [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland)

    2016-11-01

    Highlights: • A software requirement of serial-articulated robot for EAST assembly and maintains is presented. • A open software architecture of the robot is developed. • A component-based model distribution system with real-time communication of the robot is constructed. - Abstract: For the inside inspection and the maintenance of vacuum vessel in the EAST, an articulated maintenance arm is developed. In this article, an open software architecture developed for the EAST articulated maintenance arm (EAMA) is described, which offers a robust and proper performance and easy-going experience based on standard open robotic platform OROCOS. The paper presents a component-based model software architecture using multi-layer structure: end layer, up layer, middle, and down layer. In the end layer the components are defined off-line in the task planner manner. The components in up layer complete the function of trajectory plan. The CORBA, as a communication framework, is adopted to exchange the data between the distributed components. The contributors use Real-Time Workshop from the MATLAB/Simulink to generate the components in the middle layer. Real-time Toolkit guarantees control applications running in the hard real-time mode. Ethernets and the CAN bus are used for data transfer in the down layer, where the components implement the hardware functions. The distributed architecture of control system associates each processing node with each joint, which is mapped to a component with all functioning features of the framework.

  20. Azimut: a multimodal locomotion robotic platform

    Science.gov (United States)

    Michaud, Francois; Letourneau, Dominic; Arsenault, Martin; Bergeron, Yann; Cadrin, Richard; Gagnon, Frederic; Legault, Marc-Antoine; Millette, Mathieu; Pare, Jean-Francois; Tremblay, Marie-Christine; Lepage, Pierre; Morin, Yan; Caron, Serge

    2003-09-01

    Other than from its sensing and processing capabilities, a mobile robotic platform can be limited in its use by its ability to move in the environment. A wheeled robot works well on flat surfaces. Tracks are useful over rough terrains, while legs allow a robot to move over obstacles. In this paper we present a new concept of mobile robot with the objective of combining different locomotion mechanisms on the same platform to increase its locomotion capabilities. After presenting a review of multi-modal robotic platforms, we describe the design of our robot called AZIMUT. AZIMUT combines wheels, legs and tracks to move in three-dimensional environments. The robot is symmetrical and is made of four independent leg-track-wheel articulations. It can move with its articulations up, down or straight, or move sideways without changing the robot's orientation. The robot could be used in surveillance and rescue missions, exploration or operation in hazardous environments.

  1. Articulator selection for restorative dentistry.

    Science.gov (United States)

    Hobo, S; Shillingburg, H T; Whitsett, L D

    1976-07-01

    There are many types of articulators that can be used for making fixed restorations. While unquestionably the most accurate, the fully adjustable instrument is not feasible or necessary for many forms of simple occlusal treatment. The effects of tooth-hinge axis radius, intercondylar distance, and condylar inclination on occlusal morphology have been discussed. Guidelines have been proposed for matching the type of articulator with the extent of treatment anticipated. The use of small, nonadjustable hinge articulators is not recommended.

  2. Does Deqi (needle sensation) exist?

    Science.gov (United States)

    Park, Hijoon; Park, Jongbae; Lee, Hyangsook; Lee, Hyejung

    2002-01-01

    The mechanism, by which acupuncture works is not yet clear, therefore there is no unequivocal consensus about styles and sensations of needling. To enhance the scientific base of acupuncture, needling somehow should be objectified. The term Deqi is understood to represent all or at least the main form of phenomena to acupuncture stimulation. The characteristics of Deqi, however, have always been based on a translation of original Chinese description. Hoping to find a clue to develop sham (placebo) method for subject blinding, we investigated which sensations are frequently expected and experienced, and whether or not these expectations and experiences of sensations are similar in naive subjects. The acupuncture sensation scale developed by Vincent et al. (1989) was translated into Korean. Thirty-eight healthy acupuncture naïve female volunteers (mean age 29.1, range 25-39) were asked to complete the sensation scale of acupuncture according to what they expected needling to feel like before needling. Needling was done on left Hegu (LI4) point in the hand and consisted of insertion, stimulation for 30 seconds, and removal. Directly after needling, the subjects were asked to complete the same sensation scale according to what they experienced. The subjects expected to feel hurting, penetrating, sharp, tingling, pricking and stinging, and actually experienced aching, spreading, radiating, pricking and stinging more than 60% of the time. Comparison between expectation and experience, the subjects expected more penetrating, tingling, pricking and burning than they experienced, and on the contrary experienced more aching, pulling, heavy, dull, electric and throbbing than they expected. Traditionally described sensations of Deqi are something beyond just a general pain dimension in the Korean population. Further study involving acupuncture experienced subjects or subjects from other cultures need to confirm this finding. Moreover, sham acupuncture should be studied.

  3. Articulating Material Criteria

    DEFF Research Database (Denmark)

    Hasling, Karen Marie

    2013-01-01

    This paper discusses the experiences and potentials with materials teaching at the Institute for Product Design at Kolding School of Design, using materials teaching as experiments in my PhD project. The project intents to create a stronger material awareness among product design students...... with emphasis on sustainability. The experiments aim to develop an understanding of, how product design students include materials in their design practice and how tools can be developed that further enhance this. Hence experiments are essential for the progress of the PhD project as they help to observe......, imitate and articulate the students’ inclusion of materials. This paper particularly discusses the experiences made and ideas generated after the execution of a material science course for second year students, with emphasis on the concept of the material selection matrix as an educational tool...

  4. The psychoacoustics of musical articulation

    Science.gov (United States)

    Spiegelberg, Scott Charles

    This dissertation develops psychoacoustical definitions of notated articulations, the necessary first step in articulation research. This research can be useful to theorists interested in timbre analysis, the psychology of performance, analysis and performance, the psychology of style differentiation, and performance pedagogy. An explanation of wavelet transforms precedes the development of new techniques for analyzing transient sounds. A history of timbre perception research reveals the inadequacies of current sound segmentation models, resulting in the creation of a new model, the Pitch/Amplitude/Centroid Trajectory (PACT) model of sound segmentation. The new analysis techniques and PACT model are used to analyze recordings of performers playing a melodic fragment in a series of notated articulations. Statistical tests showed that the performers generally agreed on the interpretation of five different articulation groups. A cognitive test of articulation similarity, using musicians and non-musicians as participants, revealed a close correlation between similarity judgments and physical attributes, though additional unknown factors are clearly present. A second psychological test explored the perceptual salience of articulation notation, by asking musically-trained participants to match stimuli to the same notations the performers used. The participants also marked verbal descriptors for each articulation, such as short/long, sharp/dull, loud/soft, harsh/gentle, and normal/extreme. These results were matched against the results of Chapters Five and Six, providing an overall interpretation of the psychoacoustics of articulation.

  5. Ambient Space and Ambient Sensation

    DEFF Research Database (Denmark)

    Schmidt, Ulrik

    The ambient is the aesthetic production of the sensation of being surrounded. As a concept, 'ambient' is mostly used in relation to the music genre 'ambient music' and Brian Eno's idea of environmental background music. However, the production of ambient sensations must be regarded as a central...... aspect of the aesthetization of modern culture in general, from architecture, transport and urbanized lifeforms to film, sound art, installation art and digital environments. This presentation will discuss the key aspects of ambient aesthetization, including issues such as objectlessness...

  6. Recognizing articulated objects and object articulation in SAR images

    Science.gov (United States)

    Bhanu, Bir; Jones, Grinnell, III; Ahn, Joon S.

    1998-09-01

    The focus of this paper is recognizing articulated objects and the pose of the articulated parts in SAR images. Using SAR scattering center locations as features, the invariance with articulation (i.e. turret rotation for the T72, T80 and M1a tanks, missile erect vs. down for the SCUD launcher) is shown as a function of object azimuth. Similar data is shown for configuration differences in the MSTAR (Public) Targets. The UCR model-based recognition engine (which uses non- articulated models to recognize articulated, occluded and non-standard configuration objects) is described and target identification performance results are given as confusion matrices and ROC curves for six inch and one foot resolution XPATCH images and the one foot resolution MSTAR data. Separate body and turret models are developed that are independent of the relative positions between the body and the turret. These models are used with a subsequent matching technique to refine the pose of the body and determine the pose of the turret. An expression of the probability that a random match will occur is derived and this function is used to set thresholds to minimize the probability of a random match for the recognition system. Results for identification, body pose and turret pose are presented as a function of percent occlusion for articulated XPATCH data and results are given for identification and body pose for articulated MSTAR data.

  7. Lingual articulation in songbirds.

    Science.gov (United States)

    Suthers, Roderick A; Rothgerber, John R; Jensen, Kenneth Kragh

    2016-02-01

    Lingual articulation in humans is one of the primary means of vocal tract resonance filtering that produces the characteristic vowel formants of speech. In songbirds, the function of the tongue in song has not been thoroughly examined, although recent research has identified the oropharyngeal-esophageal cavity as a resonance filter that is actively tuned to the frequency of the song. In northern cardinals (Cardinalis cardinalis), the volume of this cavity is inversely proportional to the frequency of the song above 2 kHz. However, cardinal song extends below this range, leaving the question of whether and how the vocal tract is tracking these low frequencies. We investigated the possible role of the tongue in vocal tract filtering using X-ray cineradiography of northern cardinals. Below 2 kHz, there was prominent tongue elevation in which the tip of the tongue was raised until it seemed to touch the palate. These results suggest that tongue elevation lowers the resonance frequency below 2 kHz by reducing the area of the passage from the oral cavity into the beak. This is consistent with a computational model of the songbird vocal tract in which resonance frequencies are actively adjusted by both changing the volume of the oropharyngeal-esophageal cavity and constricting the opening into the beak.

  8. Transmission and Reproduction of Force Sensation by Bilateral Control

    Science.gov (United States)

    Katsura, Seiichiro; Ohnishi, Kouhei

    Minimally invasive surgery (MIS) which thinks a great deal of patient’s quality of life (QOL) has attracted attention during about ten years. In this paper, it aims at development of the technology for transmitting force sensation required in medical treatment especially through surgical instruments, such as forceps. In bilateral control, it is a problem how master and slave robots realize the law of action and reaction to the environment. Mechanism of contact with environment and bilateral controller based on stiffness are shown. Master arm in contact with human and slave arm in contact with environment are given compliance, and stable contact with environment can be realized. The proposed method is applied to 3-link master-slave manipulators. As a result, transmission and reproduction of force sensation can be realized. The experimental results show viability of the proposed method.

  9. Gaucho Gazette: Speech and Sensationalism

    Directory of Open Access Journals (Sweden)

    Roberto José Ramos

    2013-07-01

    Full Text Available The Gaucho Gazette presents itself as a “popular newspaper”. Attempts to produce a denial about his aesthetic tabloid. Search only say that discloses what happens, as if the media were merely a reflection of society. This paper will seek to understand and explain your Sensationalism, through their speeches. Use for both, semiology, Roland Barthes, in their possibilities transdisciplinary.

  10. Human-like Manipulation Planning for Articulated Manipulator

    Institute of Scientific and Technical Information of China (English)

    Yahui Gan; Xianzhong Dai

    2012-01-01

    A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper.This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space.The robot configuration space is divided into different subregions by human likeness assessment.A widely used strategy,Rapid Upper Limb Assessment (RULA) in applied ergonomics,is adopted here to evaluate the human likeness of robot configuration.A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem.Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented.Further applications to a humanoid industrial robot SDA10D are also presented.The reasonable planning results for these applications assert the effectiveness of our method.

  11. Toward a medical anthropology of sensations: definitions and research agenda.

    Science.gov (United States)

    Hinton, Devon E; Howes, David; Kirmayer, Laurence J

    2008-06-01

    In this article, we outline the importance of a medical anthropology of sensations for theories of psychopathology and psychological healing. We define what is meant by ;sensation' (differentiating monomodal and polymodal sensations) and describe some of the mechanisms that generate and amplify sensations. We propose the heuristic use of the concepts of sensation schemas, sensation interpretants, and sensation scripts. We argue against the naive assumption that sensation experience is the same across cultures. Finally, we consider how healing may occur through 'sensation semiosis.'

  12. SENSAT(C) prototype expert system

    Science.gov (United States)

    Lavender, Joseph A.

    1994-06-01

    The Sensor Satellite Expert System (SENSAT)TM is an application of the concurrent engineering simulation methodology which utilizes fuzzy logic in an object-oriented programming environment. Several unique characteristics of SENSAT includes the implementation team, mission system parameters, and priority optimization with respect to mission, cost, schedule, technology, and funding levels. SENSAT operates within a WINDOWSTM environment and a `simulation tour' is included in this paper along with a video to be shown with an actual SENSAT prototype simulation.

  13. Articulation Points in Complex Networks

    CERN Document Server

    Tian, Liang; Shi, Da-Ning; Liu, Yang-Yu

    2016-01-01

    An articulation point in a network is a node whose removal disconnects the network. Those nodes play key roles in ensuring connectivity of many real-world networks, from infrastructure networks to protein interaction networks and terrorist communication networks. Despite their fundamental importance, a general framework of studying articulation points in complex networks is lacking. Here we develop analytical tools to study key issues pertinent to articulation points, e.g. the expected number of them and the network vulnerability against their removal, in an arbitrary complex network. We find that a greedy articulation point removal process provides us a novel perspective on the organizational principles of complex networks. Moreover, this process is associated with two fundamentally different types of percolation transitions with a rich phase diagram. Our results shed light on the design of more resilient infrastructure networks and the effective destruction of terrorist communication networks.

  14. Articulation points in complex networks

    Science.gov (United States)

    Tian, Liang; Bashan, Amir; Shi, Da-Ning; Liu, Yang-Yu

    2017-01-01

    An articulation point in a network is a node whose removal disconnects the network. Those nodes play key roles in ensuring connectivity of many real-world networks, from infrastructure networks to protein interaction networks and terrorist communication networks. Despite their fundamental importance, a general framework of studying articulation points in complex networks is lacking. Here we develop analytical tools to study key issues pertinent to articulation points, such as the expected number of them and the network vulnerability against their removal, in an arbitrary complex network. We find that a greedy articulation point removal process provides us a different perspective on the organizational principles of complex networks. Moreover, this process results in a rich phase diagram with two fundamentally different types of percolation transitions. Our results shed light on the design of more resilient infrastructure networks and the effective destruction of terrorist communication networks.

  15. Articulation points in complex networks

    Science.gov (United States)

    Tian, Liang; Bashan, Amir; Shi, Da-Ning; Liu, Yang-Yu

    2017-01-01

    An articulation point in a network is a node whose removal disconnects the network. Those nodes play key roles in ensuring connectivity of many real-world networks, from infrastructure networks to protein interaction networks and terrorist communication networks. Despite their fundamental importance, a general framework of studying articulation points in complex networks is lacking. Here we develop analytical tools to study key issues pertinent to articulation points, such as the expected number of them and the network vulnerability against their removal, in an arbitrary complex network. We find that a greedy articulation point removal process provides us a different perspective on the organizational principles of complex networks. Moreover, this process results in a rich phase diagram with two fundamentally different types of percolation transitions. Our results shed light on the design of more resilient infrastructure networks and the effective destruction of terrorist communication networks. PMID:28139697

  16. Bodily illusions disrupt tactile sensations.

    Science.gov (United States)

    D'Amour, Sarah; Pritchett, Lisa M; Harris, Laurence R

    2015-02-01

    To accurately interpret tactile information, the brain needs to have an accurate representation of the body to which to refer the sensations. Despite this, body representation has only recently been incorporated into the study of tactile perception. Here, we investigate whether distortions of body representation affect tactile sensations. We perceptually altered the length of the arm and the width of the waist using a tendon vibration illusion and measured spatial acuity and sensitivity. Surprisingly, we found reduction in both tactile acuity and sensitivity thresholds when the arm or waist was perceptually altered, which indicates a general disruption of low-level tactile processing. We postulate that the disruptive changes correspond to the preliminary stage as the body representation starts to change and may give new insights into sensory processing in people with long-term or sudden abnormal body representation such as are found in eating disorders or following amputation.

  17. Quantifying and simulating human sensation

    DEFF Research Database (Denmark)

    Quantifying and simulating human sensation – relating science and technology of indoor climate research Abstract In his doctoral thesis from 1970 civil engineer Povl Ole Fanger proposed that the understanding of indoor climate should focus on the comfort of the individual rather than averaged...... archival material related to Lund Madsen’s efforts are preserved at the Technical University of Denmark and I have used these artefacts as the point of departure for my investigation. In this paper I will examine which factors the researchers perceived as important for human indoor comfort and how...... this understanding of human sensation was adjusted to technology. I will look into the construction of the equipment, what it measures and the relationship between theory, equipment and tradition....

  18. Population coding of somatic sensations

    Institute of Scientific and Technical Information of China (English)

    Qiufu Ma

    2012-01-01

    The somatic sensory system includes a variety of sensory modalities,such as touch,pain,itch,and temperature sensitivity.The coding of these modalities appears to be best explained by the population-coding theory,which is composed of the following features.First,an individual somatic sensory afferent is connected with a specific neural circuit or network (for simplicity,a sensory-labeled line),whose isolated activation is sufficient to generate one specific sensation under normal conditions.Second,labeled lines are interconnected through local excitatory and inhibitory interneurons.As a result,activation of one labeled line could modulate,or provide gate control of,another labeled line.Third,most sensory fibers are polymodal,such that a given stimulus placed onto the skin often activates two or multiple sensory-labeled lines;crosstalk among them is needed to generate one dominant sensation.Fourth and under pathological conditions,a disruption of the antagonistic interaction among labeled lines could open normally masked neuronal pathways,and allow a given sensory stimulus to evoke a new sensation,such as pain evoked by innocuous mechanical or thermal stimuli and itch evoked by painful stimuli.As a result of this,some sensory fibers operate along distinct labeled lines under normal versus pathological conditions.Thus,a better understanding of the neural network underlying labeled line crosstalk may provide new strategies to treat chronic pain and itch.

  19. Self-Powered System of Articulated Bionic Robotic Fish Using Wave Energy Harvesting%基于波浪能获取的多关节仿生机器鱼能源自给系统

    Institute of Scientific and Technical Information of China (English)

    董二宝; 颜钦; 张世武; 杨杰

    2009-01-01

    A self-powered system of the multi-joint bionic robotic fish using wave energy to generate power by joint swing is presented to solve the energy bottleneck problem for the long-term underwater service. The frequency characteristics and energy harvesting potential of wave are analyzed according to the random wave theory. An energy harvesting system generating power by joint swing is designed, and its electromechanical model is developed. Finally, simulation and single joint swing based power generation experiment indicate that this method is effective and applicable to designing self-powered system for long-term underwater service of bionic robotic fishes.%为解决仿生机器鱼水下长期服役的能源瓶颈问题,提出利用波浪能摆动关节来发电的多关节仿生机器鱼能源自给系统.根据随机波浪理论分析了海浪的频谱特性和软能潜力,设计了利用关节摆动发电的能源获取系统,并建立该系统的机电模型.最后,通过仿真模拟和单关节摆动发电试验验证了该方法的可行性,为仿生机器鱼水下长期服役的能源自给系统设计提供了参考.

  20. Vowel articulation in Parkinson's disease.

    Science.gov (United States)

    Skodda, Sabine; Visser, Wenke; Schlegel, Uwe

    2011-07-01

    The aim of the study was to analyze vowel articulation in Parkinson's disease (PD) speakers suffering from mild hypokinetic dysarthria as compared with healthy controls in correlation to net speech rate (NSR) and intonation variability (F(0)SD). Furthermore, we intended to reveal possible correlations among vowel articulation, global motor performance, and stage of disease. We examined 68 PD patients (34 male) with mild dysarthria (1 point according to the "speech" item 18 of the Unified Parkinson's Disease Rating Scale/UPDRS-III) and 32 age-matched control persons (16 male) using a reading task with subsequent acoustical analysis. F1 and F2 frequency values of the vowels /a/, /i/, and /u/ were extracted from defined words within the text. Description of vowel articulation was based on measures of triangular vowel space area (tVSA) and Vowel Articulation Index (VAI). PD patients were scored according to UPDRS-III and Hoehn and Yahr stages. VAI values were significantly reduced in male and female PD patients as compared with the accordant control group, whereas tVSA was only reduced in the male PD speakers. NSR was negatively correlated to tVSA and VAI only in female PD speakers. No correlations were seen between vowel articulation and UPDRS-III and stage of disease. VAI seem to be superior to tVSA in the description of impaired vowel articulation in PD. Reduced VAI could be detected in male and female parkinsonian speakers suffering only from mild dysarthria with preserved speech intelligibility and therefore might be applicable to identify subclinical changes of vowel articulation. Moreover, some aspects of altered speech performance in PD seem to feature some gender-specific patterns, which justify further investigation. Copyright © 2011 The Voice Foundation. Published by Mosby, Inc. All rights reserved.

  1. 21 CFR 872.3150 - Articulator.

    Science.gov (United States)

    2010-04-01

    ... DENTAL DEVICES Prosthetic Devices § 872.3150 Articulator. (a) Identification. An articulator is a... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Articulator. 872.3150 Section 872.3150 Food and... the patient's jaws. An articulator is intended to fit dentures or provide orthodontic treatment....

  2. Who’s Afraid of Robots?

    DEFF Research Database (Denmark)

    Di Nucci, Ezio; Santoni de Sio, Filippo

    2014-01-01

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

  3. The articulator: a diagnostic instrument.

    Science.gov (United States)

    Millstein, Philip L

    2002-01-01

    The success of dental restorations depends on how we view the existing occlusion. Clinicians may be confounded with what aspects of the occlusion will contribute to the success of a restoration. This information can be reviewed with the dental laboratory when it is stored in a dental articulator in the form of dental casts with simulated movements.

  4. PRINCIPLE,CONSTRUCTION AND KINEMATIC ANALYSIS FOR THE OMNIDIRECTIONAL MOBILE ROBOT--ICE-SKATER ROBOT

    Institute of Scientific and Technical Information of China (English)

    宋立博; 吕恬生; 费燕琼; 袁池

    2002-01-01

    Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg-wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the iceskater robot developed from Roller-walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic-based coordinated control system and corresponded flowchart were designed. At last, taking the ice-skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.

  5. Robotics and neuroscience.

    Science.gov (United States)

    Floreano, Dario; Ijspeert, Auke Jan; Schaal, Stefan

    2014-09-22

    In the attempt to build adaptive and intelligent machines, roboticists have looked at neuroscience for more than half a century as a source of inspiration for perception and control. More recently, neuroscientists have resorted to robots for testing hypotheses and validating models of biological nervous systems. Here, we give an overview of the work at the intersection of robotics and neuroscience and highlight the most promising approaches and areas where interactions between the two fields have generated significant new insights. We articulate the work in three sections, invertebrate, vertebrate and primate neuroscience. We argue that robots generate valuable insight into the function of nervous systems, which is intimately linked to behaviour and embodiment, and that brain-inspired algorithms and devices give robots life-like capabilities.

  6. Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Song, Yuntao; Cheng, Yong; Zhao, Wenglong [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Wang, Yongbo [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-11-01

    Highlights: • A redundant 10-DOF serial-articulated robot for EAST assembly and maintains is presented. • A trajectory optimization algorithm of the robot is developed. • A minimum jerk objective is presented to suppress machining vibration of the robot. - Abstract: EAMA (EAST Articulated Maintenance Arm) is an articulated serial manipulator with 7 degrees of freedom (DOF) articulated arm followed by 3-DOF gripper, total length is 8.867 m, works in experimental advanced superconductor tokamak (EAST) vacuum vessel (VV) to perform blanket inspection and remote maintenance tasks. This paper presents a trajectory optimization method which aims to pursue the 7-DOF articulated arm a stable movement, which keeps the mounted inspection camera anti-vibration. Based on dynamics analysis, trajectory optimization algorithm adopts multi-order polynomial interpolation in joint space and high order geometry Jacobian transform. The object of optimization algorithm is to suppress end-effector movement vibration by minimizing jerk RMS (root mean square) value. The proposed solution has such characteristics which can satisfy kinematic constraints of EAMA’s motion and ensure the arm running under the absolute values of velocity, acceleration and jerk boundaries. GA (genetic algorithm) is employed to find global and robust solution for this problem.

  7. What Is The Sensation Seeker? Personality Trait And Experience Correlates Of The Sensation-Seeking Scales

    Science.gov (United States)

    Zuckerman, Marvin; And Others

    1972-01-01

    The correlations of the Sensation Seeking Scale with Personality scales indicate that the general sensation seeking trait is related to an uninhibited, nonconforming, inpulsive, dominant type of extraversion, but not particularly related to the socialization type of extraversion. (Author)

  8. 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…

  9. Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2014-08-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  10. Occlusion: 3. Articulators and related instruments.

    Science.gov (United States)

    Milosevic, Alex

    2003-11-01

    Dental articulators are instruments that reproduce jaw movements to varying degrees of accuracy. This article aims to give an overview of the various types of articulator and describe their applications and limitations.

  11. Testing haptic sensations for spinal anesthesia.

    LENUS (Irish Health Repository)

    2011-01-01

    Having identified key determinants of teaching and learning spinal anesthesia, it was necessary to characterize and render the haptic sensations (feeling of touch) associated with needle insertion in the lower back. The approach used is to match recreated sensations (eg, "pop" through skin or dura mater) with experts\\' perceptions of the equivalent clinical events.

  12. FCC in Viking articulated boom

    Science.gov (United States)

    Hawkins, E. S.

    1972-01-01

    The application requirements and manufacturing techniques for the flat conductor cable used in the Viking Lander Articulated Boom Unit are described. The Viking Boom is a 3-axis device utilized to position a soil sampler and provide digging forces. This application imposed severe restrictions on size, weight, materials, and choice of manufacturing processes. The final cable assembly design resulted in a combination of collated cable and flexible circuits assembled by resistance welding techniques.

  13. 21 CFR 872.6140 - Articulation paper.

    Science.gov (United States)

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Articulation paper. 872.6140 Section 872.6140 Food... DEVICES DENTAL DEVICES Miscellaneous Devices § 872.6140 Articulation paper. (a) Identification. Articulation paper is a device composed of paper coated with an ink dye intended to be placed between the...

  14. Robotic surgery: colon and rectum.

    Science.gov (United States)

    Baek, Seong Kyu; Carmichael, Joseph C; Pigazzi, Alessio

    2013-01-01

    Although robotic technology aims to obviate some of the limitations of conventional laparoscopic surgery, the role of robotics in colorectal surgery is still largely undefined and different with respect to its application in abdominal versus pelvic surgery. This review aims to elucidate current developments in colorectal robotic surgery.In colon surgery, robotic techniques are associated with longer operative times and higher costs compared with laparoscopic surgery. However, robotics provides a stable camera platform and articulated instruments that are not subject to human tremors. Because of these advantages, robotic systems can play a role in complex procedures such as the dissection of lymph nodes around major vessels. In addition robot-assisted hand-sewn intracorporeal anastomoses can be easily performed by the surgeon, without a substantial need for a competent assistant. At present, although the short-term outcomes and oncological adequacy of robotic colon resection have been observed to be acceptable, the long-term outcomes of robotic colon resection remain unknown.In rectal surgery, robotic-assisted surgery for rectal cancer can be carried out safely and in accordance with current oncological principles. However, to date, the impact of robotic rectal surgery on the long-term oncological outcomes of minimally invasive total mesorectal excision remains undetermined. Robotic total mesorectal excision may allow for better preservation of urinary and sexual functions, and robotic surgery may attenuate the learning curve for laparoscopic rectal resection. However, a major drawback to robotic rectal surgery is the high cost involved.Large-scale prospective randomized clinical trials such as the international randomized trial ROLARR are required to establish the benefits of robotic rectal surgery.

  15. Molecular mechanism of sweetness sensation.

    Science.gov (United States)

    DuBois, Grant E

    2016-10-01

    The current understanding of peripheral molecular events involved in sweet taste sensation in humans is reviewed. Included are discussions of the sweetener receptor T1R2/T1R3, its agonists, antagonists, positive allosteric modulators, the transduction of its activation in taste bud cells and the coding of its signaling to the CNS. Areas of incomplete understanding include 1) signal communication with afferent nerve fibers, 2) contrasting concentration/response (C/R) functions for high-potency (HP) sweeteners (hyperbolic) and carbohydrate (CHO) sweeteners (linear), 3) contrasting temporal profiles for HP sweeteners (delayed onset and extinction) and CHO sweeteners (rapid onset and extinction) and 4) contrasting adaptation behaviors for HP sweeteners (moderate to strong adaptation) and CHO sweeteners (low adaptation). Evidence based on the sweet water aftertastes of several novel sweetness inhibitors is presented providing new support for constitutive activity in T1R2/T1R3. And a model is developed to rationalize the linear C/R functions of CHO sweeteners and hyperbolic C/R functions of HP sweeteners, where the former may activate T1R2/T1R3 by both binding and constitutive activity modulation (i.e., without binding) and the latter activate T1R2/T1R3 only by binding. Copyright © 2016 Elsevier Inc. All rights reserved.

  16. Beyond speculative robot ethics: a vision assessment study on the future of the robotic caretaker.

    Science.gov (United States)

    van der Plas, Arjanna; Smits, Martijntje; Wehrmann, Caroline

    2010-11-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also led to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model, we think to have designed an interesting response on a recent call for a less speculative ethics of technology by encouraging discussions about the quality of positive and negative visions on the future of robotics.

  17. 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/

  18. 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/

  19. 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...

  20. 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...

  1. Perineal Sensation Predictive of Spina Bifida Outcome

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap

    2007-01-01

    Full Text Available Neurologic examination, including perineal sensation, was conducted in a prospective cohort study of 117 consecutive patients with open spina bifida at St George's, University of London, and Addenbrooke's Hospital, Cambridge, UK.

  2. Serotonin, visceral sensation in irritable bowel syndrome

    Institute of Scientific and Technical Information of China (English)

    QIAN Jia-ming

    2007-01-01

    @@ Irritable bowel syndrome(IBS) is highly prevalent and can affect up to 20% of the population.1 It is a common gastrointestinal(GI) disorder associated with alterations in motility,secretion and visceral sensation.

  3. Lunar articulated remote transportation system

    Science.gov (United States)

    1990-01-01

    The students of the Florida A&M/Florida State University College of Engineering continued their design from 1988 to 1989 on a first generation lunar transportation vehicle for use on the surface of the Moon between the years 2010 and 2020. Attention is focused on specific design details on all components of the Lunar Articulated Remote Transportation System (Lunar ARTS). The Lunar ARTS will be a three-cart, six-wheeled articulated vehicle. Its purpose will be the transportation of astronauts and/or materials for excavation purposes at a short distance from the base (37.5 km). The power system includes fuel cells for both the primary system and the back-up system. The vehicle has the option of being operated in a manned or unmanned mode. The unmanned mode includes stereo imaging with signal processing for navigation. For manned missions the display console is a digital readout displayed on the inside of the astronaut's helmet. A microprocessor is also on board the vehicle. Other components of the vehicle include a double wishbone/flexible hemispherical wheel suspension; chassis; a steering system; motors; seat retraints; heat rejection systems; solar flare protection; dust protection; and meteoroid protection. A one-quarter scale dynamic model has been built to study the dynamic behavior of the vehicle. The dynamic model closely captures the mechanical and electrical details of the total design.

  4. 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...

  5. Robotic endocrine surgery: state of the art.

    Science.gov (United States)

    Taskin, Halit Eren; Arslan, Naciye Cigdem; Aliyev, Shamil; Berber, Eren

    2013-12-01

    Over the last decade, developments in technology have led a rapid progress in robotic endocrine surgery applications. Robotics is attractive to the surgeon because of the three-dimensional image quality, articulating instruments, and stable surgical platform. Safety and effectiveness of robotic adrenalectomy and thyroidectomy have been shown in many studies. While these robotic procedures offer better ergonomics for the surgeon, they provide similar outcomes compared to the laparoscopic approach for adrenalectomy and better cosmetic results versus the conventional option for thyroidectomy. Recently, while the robotic approach for adrenalectomy has been popularized, enthusiasm for robotic thyroidectomy has decreased. In the present review we aim to describe emerging robotic procedures and review the literature regarding outcomes.

  6. Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

    Energy Technology Data Exchange (ETDEWEB)

    Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

    2015-10-15

    Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

  7. 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.

  8. Articulation effects in melody recognition memory.

    Science.gov (United States)

    Wee Hun Lim, Stephen; Goh, Winston D

    2013-09-01

    Various surface features-timbre, tempo, and pitch-influence melody recognition memory, but articulation format effects, if any, remain unknown. For the first time, these effects were examined. In Experiment 1, melodies that remained in the same, or appeared in a different but similar, articulation format from study to test were recognized better than were melodies that were presented in a distinct format at test. A similar articulation format adequately induced matching processes to enhance recognition. Experiment 2 revealed that melodies rated as perceptually dissimilar on the basis of the location of the articulation mismatch did not impair recognition performance, suggesting an important boundary condition for articulation format effects on memory recognition-the matching of the memory trace and recognition probe may depend more on the overall proportion, rather than the temporal location, of the mismatch. The present findings are discussed in terms of a global matching advantage hypothesis.

  9. Sensation seekers as a healthcare marketing metasegment.

    Science.gov (United States)

    Self, Donald R; Findley, Carolyn Sara

    2010-01-01

    This article discusses "sensation seekers" as a market segment for communication and prevention programs for various lifestyle and/or risk-related health problem areas such as alcohol abuse, drug abuse, suicide attempts, and sexually transmitted diseases. Although sensation seekers tend to be creative, artistic individuals, they are also prone to various negative health behaviors and many population-based prevention programs have over-looked these individuals as an important target. Various inputs to sensation-seeking causation are explored, including biological/chemical, psychological, and the impact of external characteristics. Using a combination for regulatory focus and risk homeostasis, propositions are provided for improving the effectiveness of the communications. Recommendations for prevention efforts focusing on reaching this subculture using television, along with other electronic media are proposed, including recommendations for message construction and presentation venues.

  10. Air Turbulence and sensation of draught

    DEFF Research Database (Denmark)

    Fanger, Povl Ole; Melikov, Arsen Krikor; Hanzawa, H.

    1988-01-01

    on the occurence of draught sensation. A model is presented which predicts the percentage of people dissatisfied because of draught as a function of air temperature, mean velocity and turbulence intensity. The model can be a useful tool for quantifying the draught risk in spaces and for developing air distribution......The impact of turbulence intensity (Tu) on sensation of draught has been investigated. Fifty subjects, dressed to obtain a neutral thermal sensation, were in three experiments exposed to air flow with low (Tu55%) turbulence intensity. In each experiment...... the sedentary subjects were exposed to six mean air velocities ranging from 0.05 m/s to 0.40 m/s. The air temperature was kept constant at 23°C. They were asked whether and where they could feel air movement and whether or not it felt uncomfortable. The turbulence intensity had a significant impact...

  11. Challenging the assumptions for thermal sensation scales

    DEFF Research Database (Denmark)

    Schweiker, Marcel; Fuchs, Xaver; Becker, Susanne

    2016-01-01

    extensively, which is suitable for describing a one-dimensional relationship between physical parameters of indoor environments and subjective thermal sensation. However, human thermal comfort is not merely a physiological but also a psychological phenomenon. Thus, it should be investigated how scales for its...... the complex relationships between physical parameters, subjective perceptions and measurement-related issues) need to be addressed by the field of thermal comfort and new approaches developed.......Scales are widely used to assess the personal experience of thermal conditions in built environments. Most commonly, thermal sensation is assessed, mainly to determine whether a particular thermal condition is comfortable for individuals. A seven-point thermal sensation scale has been used...

  12. Re: The Effect of Pelvic Organ Prolapse Repair on Vaginal Sensation

    Directory of Open Access Journals (Sweden)

    Lowenstein L

    2016-03-01

    Full Text Available The association between the pelvic organ prolapse (POP and sensory functioning of the genital region has not been studied well. It is not also obvious whether the changes occurring at the same time are the cause or the result. In this study, the authors investigated the quantitative sensory changes one day before and 6 months after the surgical repair of POP by robotic sacrocolpopexy. They also used the Pelvic Organ Prolapse Distress Inventory-6 which quantifies the bother and distress caused by the pelvic symptoms. By this method, the initial perception of a sensation of temperature (hot or cold and vibration was measured. After six months, sensitivity to thermal stimuli was found to be significantly improved, but there was no significant change in the vaginal and clitoral vibratory sensory thresholds. The value of reduced sensation in the genitals is not a well-known issue. We know that the thermal and vibratory sensations are diminished in female sexual dysfunction and they can be important in orgasmic function also. It is a well-designed study although it has some limitations. The anatomic correction in POP surgery could improve the genital sensation. Prevention or, at least, early correction of POP can provide serious advantages not only for urinary system but also for the genital functions of women.

  13. Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system

    Energy Technology Data Exchange (ETDEWEB)

    Shi, Shanshuang, E-mail: shiss@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Song, Yuntao; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Villedieu, Eric; Bruno, Vincent [CEA-IRFM, F-13108 Saint-Paul-Lez-Durance (France); Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Wu, Huapeng [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wang, Peng [State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000 (China); Hao, Zhiwei; Li, Yang; Wang, Kun; Pan, Hongtao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China)

    2016-03-15

    Highlights: • EAST Articulated Maintenance Arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM. • Conceptual design for a 3-DOF wrist end effector with gripper has been finished. • Kinematic design can reach 90% of the workspace inside EAST tokamak vessel. • A prototype of EAMA arm segment has been built to validate the design. - Abstract: EAST articulated maintenance arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM for the purpose of remote inspection and simple maintenance operations in EAST vacuum vessel during physical experiments without breaking the ultra-high vacuum condition. The EAMA system design is based on a similar articulated inspection arm robot successfully demonstrated in Tore Supra in 2008. In order to better meet EAST configurations and maintenance requirements, optimized mechanisms and dimensions are considered for EAMA robot as upgrades. Besides, the segmented arm is equipped with a 3-DOF wrist end effector and gripper for gripping operation as well as inspection. Some calculations and simulations on statics, kinematics and workspace of EAMA have been presented to validate the feasibility. This paper introduces the overall design of the EAMA robot and presents implementation progress.

  14. Articulated navigation testbed (ANT): an example of adaptable intrinsic mobility

    Science.gov (United States)

    Brosinsky, Chris A.; Hanna, Doug M.; Penzes, Steven G.

    2000-07-01

    An important but oft overlooked aspect of any robotic system is the synergistic benefit of designing the chassis to have high intrinsic mobility which complements rather than limits, its system capabilities. This novel concept continues to be investigated by the Defence Research Establishment Suffield (DRES) with the Articulated Navigation Testbed (ANT) Unmanned Ground Vehicle (UGV). The ANT demonstrates high mobility through the combination of articulated steering and a hybrid locomotion scheme which utilizes individually powered wheels on the edge of rigid legs; legs which are capable of approximately 450 degrees of rotation. The configuration can be minimally configured as a 4x4 and modularly expanded to 6x6, 8x8, and so on. This enhanced mobility configuration permits pose control and novel maneuvers such as stepping, bridging, crawling, etc. Resultant mobility improvements, particularly in unstructured and off-road environments, will reduce the resolution with which the UGV sensor systems must perceive its surroundings and decreases the computational requirements of the UGV's perception systems1 for successful semi-autonomous or autonomous terrain negotiation. This paper reviews critical vehicle developments leading up to the ANT concept, describes the basis for its configuration and speculates on the impact of the intrinsic mobility concept for UGV effectiveness.

  15. Phantom breast sensations are frequent after mastectomy

    DEFF Research Database (Denmark)

    Hansen, Dorthe Marie Helbo; Kehlet, Henrik; Gärtner, Rune

    2011-01-01

    Phantom breast sensation (PBS) following mastectomy has been recognized for many years. PBS is a feeling that the removed breast is still there. The reported prevalence and risk factors have not been established in large well-defined patient series. The purpose of this study was to examine...

  16. Phantom breast sensations are frequent after mastectomy

    DEFF Research Database (Denmark)

    Hansen, Dorthe Marie Helbo; Kehlet, Henrik; Gærtner, Rune

    2011-01-01

    Phantom breast sensation (PBS) following mastectomy has been recognized for many years. PBS is a feeling that the removed breast is still there. The reported prevalence and risk factors have not been established in large well-defined patient series. The purpose of this study was to examine...... the prevalence of PBS following mastectomy and associated risk factors....

  17. Pronunciation and Articulation for Singing Chinese Works

    Institute of Scientific and Technical Information of China (English)

    郑菲菲

    2013-01-01

    For singing Chinese works, pronunciation and articulation are the most essential and the most crucial factors. Their beginning should be brief, middle should be melodious and long-lasting, and end should be as clear and crisp as crystal. Considering from pronunciations, Chinese works can be divided into two categories:one is comprehensive style emphasizing clear enunciation; the other is local folk song that should be sung based on corresponding local accent of the works. Besides, based on correct pronunciation and articulation, balance between pro-nunciation and articulation should be achieved, both the essence of western traditional mode of singing and Chinese traditional music should be followed and inherited.

  18. Apprenticeship Learning for Robotic Control

    Science.gov (United States)

    2015-10-09

    Sigma Hulls for Gaussian Belief Space Planning for Imprecise Articulated Robots amid Obstacles, Alex Lee, Yan (Rocky) Duan, Sachin Patil, John ...Trajectory Optimization and Automatic Differentiation, Sachin Patil, Greg Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel. In...with  Sequential  Convex  Optimization  and   Convex  Collision  Checking,   John  Schulman,  Yan  Duan,  Jonathan  Ho

  19. Design Articulations for Aesthetics of Interaction

    DEFF Research Database (Denmark)

    Petersen, Marianne Graves; Krogh, Peter

    2009-01-01

    In this paper we present three categories of design articulations addressing the characteristic qualities of aesthetics of interaction. By aesthetics of interaction we point to the process in which interactive technology brings about aesthetic experience in the use of interactive technology...... in everyday life. As designers we are prohibited access to the aesthetic experience of the user. However, we have the possibility of articulating intentions and values embedded in the artefact that can be interpreted in use and thereby providing the artefact an aesthetic potential for users to unleash. Design...... articulations serve as catalysts for developing and choosing design expressions in the design process. Design articulations are embodied in artifacts, that address desired, anticipated or identified user experiences and capabilities, carrying a format which enable discussions also with non...

  20. Reading sensations: understanding the process of distinguishing 'fine' from 'sick'.

    Science.gov (United States)

    Hay, M Cameron

    2008-06-01

    Sensations form the bases of our recognition that we are well, or, alternatively, that something is wrong. What is the process which transforms a sensation into a symptom? In this article, I draw on fieldwork from Lombok, Indonesia to propose a model of the processes through which sensations become symptoms. Perceptional and interpretive decisions regarding what sensations need to be attended to as potential symptoms may be the result of personal awareness of cultural ideas about vulnerability, sensation duration, and interference with activities. The interpretation of sensations is always tentative, conditional on further cultural information regarding whether the sensation should be constructed into a symptom. I conclude by suggesting a model of the processes through which sensations are interpreted, become pathologized, and are socially legitimated.

  1. Binding tactile and visual sensations via unique association by cross-anchoring between double-touching and self-occlusion

    OpenAIRE

    Yoshikawa, Yuichiro; Hosoda, Koh; Asada, Minoru

    2004-01-01

    Binding is one of the most fundamental cognitive functions, how to find the correspondence of sensations between different modalities such as vision and touch. Without a priori knowledge on this correspondence, binding is regarded to be a formidable issue for a robot since it often perceives multiple physical phenomena in its different modal sensors, therefore it should correctly match the foci of attention in different modalities that may have multiple correspondences each other. We suppose ...

  2. Unscented Kalman filtering for articulated human tracking

    DEFF Research Database (Denmark)

    Boesen Lindbo Larsen, Anders; Hauberg, Søren; Pedersen, Kim Steenstrup

    2011-01-01

    We present an articulated tracking system working with data from a single narrow baseline stereo camera. The use of stereo data allows for some depth disambiguation, a common issue in articulated tracking, which in turn yields likelihoods that are practically unimodal. While current state...... with superior results. Tracking quality is measured by comparing with ground truth data from a marker-based motion capture system....

  3. Extensional Information Articulation from the Universe

    OpenAIRE

    Yasufumi Saruwatari; Makoto Yoshitake

    2012-01-01

    Information must have physical support and this physical universe comprisesphysical interactions. Hence actual information processes should have a description byinteractions alone, i.e., an extensional description. In this paper, such a model of the processof information articulation from the universe is developed by generalizing the extensivemeasurement theory in metrology. Moreover, a model of the attribute creation processis presented to exemplify a step of the informational articulation p...

  4. University of Florida, University research program in robotics. Annual technical progress report

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1994-05-01

    Progress is reported in the areas of environmental hardening, database, world modeling, vision, man-machine interface, advanced liquid metal reactor inspection robot, and articulated transporter/manipulator system (ATMS) development.

  5. A remote telepresence robotic system for inspection and maintenance of a nuclear power plant

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1993-02-01

    Progress in reported in the areas of environmental hardening; database/world modeling; man-machine interface; development of the Advanced Liquid Metal Reactor (ALMR) maintenance inspection robot design; and Articulated Transporter/Manipulator System (ATMS) development.

  6. 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....

  7. Characterization of deqi sensation and acupuncture effect.

    Science.gov (United States)

    Yang, Xing-Yue; Shi, Guang-Xia; Li, Qian-Qian; Zhang, Zhen-Hua; Xu, Qian; Liu, Cun-Zhi

    2013-01-01

    Acupuncture stimulation elicits deqi, a composite of unique sensations. According to traditional Chinese medicine (TCM), deqi experienced by patients is often described as suan (aching or soreness), ma (numbness or tingling), zhang (fullness, distention, or pressure), and zhong (heaviness) and is felt by the acupuncturists (needle grasping) as tense, tight, and full. It is believed that deqi may be an important variable in the studies of the mechanism and efficacy of acupuncture treatment. In recent years, great efforts have been made to understand deqi, which include a couple of questionnaires to qualify and quantify deqi sensations, neuroimaging studies of deqi and acupuncture, physiological mechanisms of deqi, and the relation between deqi and clinical efficacy. However, many problems need to be resolved, and more researches are required to be made in the future.

  8. Characterization of Deqi Sensation and Acupuncture Effect

    Directory of Open Access Journals (Sweden)

    Xing-Yue Yang

    2013-01-01

    Full Text Available Acupuncture stimulation elicits deqi, a composite of unique sensations. According to traditional Chinese medicine (TCM, deqi experienced by patients is often described as suan (aching or soreness, ma (numbness or tingling, zhang (fullness, distention, or pressure, and zhong (heaviness and is felt by the acupuncturists (needle grasping as tense, tight, and full. It is believed that deqi may be an important variable in the studies of the mechanism and efficacy of acupuncture treatment. In recent years, great efforts have been made to understand deqi, which include a couple of questionnaires to qualify and quantify deqi sensations, neuroimaging studies of deqi and acupuncture, physiological mechanisms of deqi, and the relation between deqi and clinical efficacy. However, many problems need to be resolved, and more researches are required to be made in the future.

  9. Characterization of Deqi Sensation and Acupuncture Effect

    OpenAIRE

    Xing-Yue Yang; Guang-Xia Shi; Qian-Qian Li; Zhen-Hua Zhang; Qian Xu; Cun-Zhi Liu

    2013-01-01

    Acupuncture stimulation elicits deqi, a composite of unique sensations. According to traditional Chinese medicine (TCM), deqi experienced by patients is often described as suan (aching or soreness), ma (numbness or tingling), zhang (fullness, distention, or pressure), and zhong (heaviness) and is felt by the acupuncturists (needle grasping) as tense, tight, and full. It is believed that deqi may be an important variable in the studies of the mechanism and efficacy of acupuncture treatment. In...

  10. The impact of robotic surgery on gynecologic oncology.

    Science.gov (United States)

    Nick, Alpa M; Ramirez, Pedro T

    2011-09-01

    The objective of this article was to review the published scientific literature pertaining to robotic surgery and its applications in gynecologic malignancies and to summarize the impact of robotic surgery on the field of gynecologic oncology. Summarizing data from different gynecologic disease-sites, robotic-assisted surgery is safe, feasible, and demonstrates equivalent histopathologic and oncologic outcomes. In general, benefits to robotic surgery include decreased blood loss, fewer perioperative complications and decreased length of hospital stay. Disadvantages include accessibility to robot surgical systems, decreased haptic sensation and fixed cost as well as cost of disposable equipment. As robotic surgery becomes readily available it will be imperative to develop standardized training modalities. Further research is needed to validate the role of robotic surgery in the treatment of gynecologic malignancies.

  11. 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

  12. [The controversy of routine articulator mounting in orthodontics].

    Science.gov (United States)

    Wang, Li; Han, Xianglong; Bai, Ding

    2013-06-01

    Articulators have been widely used by clinicians of dentistry. But routine articulator mounting is still controversial in orthodontics. Orthodontists oriented by gnathology approve routine articulator mounting while nongnathologic orthodontists disapprove it. This article reviews the thoughts of orthodontist that they agree or disagree with routine articulator mounting based on the considerations of biting, temporomandibular disorder (TMD), periodontitis, and so on.

  13. Comparative Evaluation of Tactile Sensation by Electrical and Mechanical Stimulation.

    Science.gov (United States)

    Yem, Vibol; Kajimoto, Hiroyuki

    2017-01-01

    An electrotactile display is a tactile interface that provides tactile perception by passing electrical current through the surface of the skin. It is actively used instead of mechanical tactile displays for tactile feedback because of several advantages such as its small and thin size, light weight, and high responsiveness. However, the similarities and differences between these sensations is still not clear. This study directly compares the intensity sensation of electrotactile stimulation to that of mechanical stimulation, and investigates the characteristic sensation of anodic and cathodic stimulation. In the experiment, participants underwent a 30 pps electrotactile stimulus every one second to their middle finger, and were asked to match this intensity by adjusting the intensity of a mechanical tactile stimulus to an index finger. The results showed that anodic stimulation mainly produced vibration sensation, whereas cathodic sensation produced both vibration and pressure sensations. Relatively low pressure sensation was also observed for anodic stimulation but it remains low, regardless of the increasing of electrical intensity.

  14. Piezoelectric Polymer-Based Collision Detection Sensor for Robotic Applications

    Directory of Open Access Journals (Sweden)

    J. Michael Wooten

    2015-03-01

    Full Text Available The authors present a large area collision detection sensor utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed sensor system provides high dynamic range for touch sensation, as well as robust adaptability to achieve collision detection on complex-shaped surfaces. The design allows for cohabitation of humans and robots in cooperative environments that require advanced and robust collision detection systems. Data presented in the paper are from sensors successfully retrofitted onto an existing commercial robotic manipulator.

  15. Articulations of the ribs: a pictorial review.

    Science.gov (United States)

    Sutro, C J; Sutro, W H

    1981-01-01

    The joints of the ribs are true articulations and may be involved by local or general affections of the skeleton. Scoliosis, kyphosis, infections, arthritis (local or general types) may result in fibrosis, abnormal configuration, or ankylosis of the joints in question. In certain types of fractures of the dorsal vertebrae, disruption of the contiguous rib articulations may result in fibrosis or bony depositions and secondarily aid in local stabilization of the fracture. Narrowing of the intercostal spaces, as noted in kyphosis, scoliosis, and arthritis of the dorsal region, does not seem to be routinely associated with clinical findings of intercostal neuralgia.

  16. Extensional Information Articulation from the Universe

    Directory of Open Access Journals (Sweden)

    Yasufumi Saruwatari

    2012-11-01

    Full Text Available Information must have physical support and this physical universe comprisesphysical interactions. Hence actual information processes should have a description byinteractions alone, i.e., an extensional description. In this paper, such a model of the processof information articulation from the universe is developed by generalizing the extensivemeasurement theory in metrology. Moreover, a model of the attribute creation processis presented to exemplify a step of the informational articulation process. These modelsdemonstrate the valuableness of the extensional view and are expected to enhance theunderstanding of the extensional aspects of fundamentals of information.

  17. Cognitive predictors of articulation in writing.

    Science.gov (United States)

    Wormack, L

    1979-06-01

    Among 106 college students scores on a spontaneous 20-min. essay were regressed on referents of verbal and visual spatial ability. 26% of the variability in writing articulation among males was accounted for by the regression of graded writing scores against logical relations and embedded figures tests. 82% of the variability in writing ability among (females was accounted for by the regression of graded writing scores on visual closure, reading comprehension, spatial visualization, and embedded figures tests. The use of verbal and visual sptial referents as predictors of the degree of articulation in spontaneous writing samples consistent with sex-specific models of.cerebral lateralization was described.

  18. 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,...

  19. Design and development of a hand robotic rehabilitation device for post stroke patients.

    Science.gov (United States)

    Rashedi, E; Mirbagheri, A; Taheri, B; Farahmand, F; Vossoughi, G R; Parnianpour, M

    2009-01-01

    Robot-mediated rehabilitation is a rapidly advancing discipline that seeks to develop improved treatment procedures using new technologies, e.g., robotics, coupled with modern theories in neuroscience and rehabilitation. A robotic device was designed and developed for rehabilitation of upper limbs of post stroke patients. A novel force feedback bimanual working mode provided real-time dynamic sensation of the paretic hand. Results of the preliminary clinical tests revealed a quantitative evaluation of the patient's level of paresis and disability.

  20. Single Word versus Connected Speech Articulation Testing.

    Science.gov (United States)

    Johnson, John P.; And Others

    1980-01-01

    The study compared the productions of 35 articulation impaired children (ages 3 to 10) obtained by picture elicited single word and connected speech sampling methods. Productions were compared on the basis of both the number and type of errors made under the two testing conditions. (Author/PHR)

  1. Articulated Multimedia Physics, Lesson 4, Vectors.

    Science.gov (United States)

    New York Inst. of Tech., Old Westbury.

    As the fourth lesson of the Articulated Multimedia Physics Course, instructional materials are presented in this study guide. The subject matter is concerned with displacements, speeds, scalers, vector sum, and vector analysis.The content is arranged in scrambled form, and the use of matrix transparencies is required for students to control their…

  2. The School and the Articulation of Values.

    Science.gov (United States)

    Lovin, Robin W.

    1988-01-01

    Value neutrality and values clarification fail to foster critical thinking about values. The values articulation approach identifies the rationality that is applied to value claims. It avoids noncognitivism and moral relativism and suggests ways the discussion of values in the classroom prepares students to deal with broader moral issues. (VM)

  3. Computer animation for articulated 3D characters

    NARCIS (Netherlands)

    Kiss, S.

    2002-01-01

    We present a review of the computer animation literature, mainly concentrating on articulated characters and at least some degree of interactivity or real time simulation. Advances in dierent techniques such as key-frame, motion capture (also known as mocap), dynamics, inverse kinematics (IK), contr

  4. Computer Animation for Articulated 3D Characters

    NARCIS (Netherlands)

    Kiss, S.

    2002-01-01

    We present a review of the computer animation literature, mainly concentrating on articulated characters and at least some degree of interactivity or real time simulation. Advances in dierent techniques such as key-frame, motion capture (also known as mocap), dynamics, inverse kinematics (IK),

  5. Single Word versus Connected Speech Articulation Testing.

    Science.gov (United States)

    Johnson, John P.; And Others

    1980-01-01

    The study compared the productions of 35 articulation impaired children (ages 3 to 10) obtained by picture elicited single word and connected speech sampling methods. Productions were compared on the basis of both the number and type of errors made under the two testing conditions. (Author/PHR)

  6. Articulation Research 2004: Summary of Results

    Science.gov (United States)

    Moyle, Jayne

    2005-01-01

    Most junior syndicate teachers have concerns about the speech clarity of some of the children in their class. It is difficult for teachers to know whether to refer such students for speech assessments by their speech-language therapist. This article outlines a project which gathered New Zealand normative data for a test of articulation. A summary…

  7. Predicting articulated human motion from spatial processes

    DEFF Research Database (Denmark)

    Hauberg, Søren; Pedersen, Kim Steenstrup

    2011-01-01

    We present a probabilistic interpretation of inverse kinematics and extend it to sequential data. The resulting model is used to estimate articulated human motion in visual data. The approach allows us to express the prior temporal models in spatial limb coordinates, which is in contrast to most...

  8. 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....

  9. Different Types of Sensation Seeking: A Person-Oriented Approach in Sensation-Seeking Research

    Science.gov (United States)

    Suranyi, Zsuzsanna; Hitchcock, David B.; Hittner, James B.; Vargha, Andras; Urban, Robert

    2013-01-01

    Previous research on sensation seeking (SS) was dominated by a variable-oriented approach indicating that SS level has a linear relation with a host of problem behaviors. Our aim was to provide a person-oriented methodology--a probabilistic clustering--that enables examination of both inter- and intra-individual differences in not only the level,…

  10. 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

  11. 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

  12. 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....

  13. 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.

  14. Characterization of articulated vehicles using ladar seekers

    Science.gov (United States)

    Wellfare, Michael R.; Norris-Zachery, Karen

    1997-08-01

    Many vehicle targets of interest to military automatic target recognition (ATR) possess articulating components: that is, they have components that change position relative to the main body. Many vehicles also have multiple configurations wherein one or more devices or objects may be added to enhance specific military or logistical capabilities. As the expected target set for military ATR becomes more comprehensive, many additional articulations and optional components must be handled. Mobile air defense units often include moving radar antennae as well as turreted guns and missile launchers. Surface-to-surface missile launchers may be encountered with or without missiles, and with the launch rails raised or lowered. Engineers and countermine vehicles have a tremendous number of possible configurations and even conventional battle tanks may very items such as external reactive armor, long- range tanks, turret azimuth, and gun elevation. These changes pose a significant barrier to the target identification process since they greatly increase the range of possible target signatures. When combined with variations already encountered due to target aspect changes, an extremely large number of possible signatures is formed. Conventional algorithms cannot process so many possibilities effectively, so in response, the matching process is often made less selective. This degrades identification performance, increase false alarm rates, and increases data requirements for algorithm testing and training. By explicitly involving articulation in the detection and identification stages of an ATR algorithm, more precise matching constraints can be applied, and better selectivity can be achieve. Additional benefits include the measurement of the position and orientation of articulated components, which often has tactical significance. In this paper, the result of a study investigating the impact of target articulation in ATR for military vehicles are presented. 3D ladar signature

  15. Southampton needle sensation questionnaire: development and validation of a measure to gauge acupuncture needle sensation.

    Science.gov (United States)

    White, Peter; Bishop, Felicity; Hardy, Henry; Abdollahian, Sam; White, Adrian; Park, Jongbae; Kaptchuk, Ted J; Lewith, George T

    2008-05-01

    The specific sensations (deqi) generated during acupuncture are thought to be important for a positive clinical outcome, particularly when treating pain. It is important to be able to measure these sensations and discriminate between deqi and pain. A greater understanding of this will greatly aid researchers who wish to conduct mechanistic studies of acupuncture. Previous questionnaire designs failed to consider patient experience and, hence, may have been flawed. The aim of this study was to generate and validate a new sensation questionnaire, that was able to discriminate between pain and deqi, taking into account patient experience and expert opinions. The questionnaire was designed following qualitative interviews with patients, literature review, and consultation with experts. The questionnaire was piloted and then validated. It was successfully completed by 227 patients and analyzed using factor analysis and partial correlation. Patients were recruited via the physical therapy department at Southampton General Hospital and from private practice clinics in and around the Southampton area. The subjects were patients receiving acupuncture for any condition. Two (2) factors were clearly demonstrated: "Aching deqi" (7 items) which suggested deqi with pain and "Tingling deqi" (7 items) suggesting deqi only. One (1) item related solely to pain and 2 further items did not load into any factor. The final questionnaire is presented containing 17 items and is shown to be a valid, rigorous, soundly grounded, and patient-centered measure, capable of accurately recording deqi. We suggest that analysis should include a partial correlation of certain sensations against a pain visual analogue scale to ascertain how painful each sensation was, particularly if the questionnaire is to be used in a context in which pain and deqi need to be separated or their relationship clarified.

  16. The Book of Disquiet, the aesthetics and materiality of sensations

    Directory of Open Access Journals (Sweden)

    Diego Giménez

    2016-10-01

    Full Text Available This paper correlates the aesthetic theorization of sensation with the materiality of sensation in The Book of Disquiet. The different editions of Fernando Pessoa’s work have, in the text or fragment, a unity of expression that the publishers put in order following a varietyof criteria. This paper argues that these unities are based on a conceptualization of sensation, such that the identity and the time of the narrative are inscribed according to impressions provoked by the writing.

  17. A remote telepresence robotic system for inspection and maintenance of a nuclear power plant. Annual research status report

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1993-02-01

    Progress in reported in the areas of environmental hardening; database/world modeling; man-machine interface; development of the Advanced Liquid Metal Reactor (ALMR) maintenance inspection robot design; and Articulated Transporter/Manipulator System (ATMS) development.

  18. Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2013-09-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  19. 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.

  20. Design and fabrication of an articulated four axes microrobot arm

    Science.gov (United States)

    Zhang, Ruoshi; Yang, Zhong; Wei, Danming; Popa, Dan O.

    2017-05-01

    In order to carry out nanomanufacturing tasks, a microrobot requires both high precision and high reliability over prolonged periods of time. Articulated Four-Axis Microrobots (AFAM) have been introduced a decade ago as millimetric microrobots capable of carrying out nanoscale tasks. The original robot design relied on a Micro Electro Mechanical (MEMS) actuator bank positioned onto a Silicon substrate, and an assembled arm mechanically coupled to the actuators through a cable. Movement of two thermal actuator banks positions the AFAM's end effector in 3-Dimensional space with approximately 75 microns workspace and 50 nm repeatability. However, failure of the AFAM's cable mechanism was observed after less than 1 million cycles. In this paper, we propose a novel arm mechanism for AFAM that improve its performance. The design presented in this article substitutes the "wire-gluing" cable with an anchored electrostatic actuator, and therefore it simplifies assembly requirements, reduces overall footprint of the microrobot, and achieves higher operating frequency. Simulation results are presented for a rotary electrostatic comb drive as basis for the microrobot arm with overall dimensions of 2 mm × 2 mm. The AFAM arm cantilever is 1 mm long to achieve a workspace of dimension of 75 microns along the vertical axis. Experimental evaluation of the design was accomplished using a prototype fabricated on a silicon on insulator (SOI) wafer processed with the deep reactive ion etching (DRIE) process.

  1. 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....

  2. 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.

  3. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    OpenAIRE

    Marcin Szuster; Piotr Gierlak

    2016-01-01

    This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic...

  4. The perception of materials through oral sensation.

    Directory of Open Access Journals (Sweden)

    Philip D Howes

    Full Text Available This paper presents the results of a multimodal study of oral perception conducted with a set of material samples made from metals, polymers and woods, in which both the somatosensory and taste factors were examined. A multidimensional scaling analysis coupled with subjective attribute ratings was performed to assess these factors both qualitatively and quantitatively. The perceptual somatosensory factors of warmth, hardness and roughness dominated over the basic taste factors, and roughness was observed to be a less significant sensation compared to touch-only experiments. The perceptual somatosensory ratings were compared directly with physical property data in order to assess the correlation between the perceived properties and measured physical properties. In each case, a strong correlation was observed, suggesting that physical properties may be useful in industrial design for predicting oral perception.

  5. The perception of materials through oral sensation.

    Science.gov (United States)

    Howes, Philip D; Wongsriruksa, Supinya; Laughlin, Zoe; Witchel, Harry J; Miodownik, Mark

    2014-01-01

    This paper presents the results of a multimodal study of oral perception conducted with a set of material samples made from metals, polymers and woods, in which both the somatosensory and taste factors were examined. A multidimensional scaling analysis coupled with subjective attribute ratings was performed to assess these factors both qualitatively and quantitatively. The perceptual somatosensory factors of warmth, hardness and roughness dominated over the basic taste factors, and roughness was observed to be a less significant sensation compared to touch-only experiments. The perceptual somatosensory ratings were compared directly with physical property data in order to assess the correlation between the perceived properties and measured physical properties. In each case, a strong correlation was observed, suggesting that physical properties may be useful in industrial design for predicting oral perception.

  6. A sensate liner for personnel monitoring applications

    Science.gov (United States)

    Lind, Eric J.; Jayaraman, Sundaresan; Park, Ms. Sungmee; Rajamanickam, Rangaswamy; Eisler, Robert, , Dr.; Burghart, Mr. George; McKee, Mr. Tony

    This program develops and demonstrates technologies useful for implementing a manageable cost effective systems approach to monitoring the medical condition of personnel by way of an instrumented uniform hereafter referred to as a Sensate Liner (SL). The SL consists of a form fitting garment which contains and interconnects sensing elements and devices to an electronics pack containing a processor and transmitter. The SL prototype requires fiber, textile, garment and sensor development. The SL textile consists of a mesh of electrically and optically conductive fibers integrated into the normal structure (woven or knitted) of fibers and yarns selected for comfort and durability. A suite of SL garment compatible embedded biological and physical sensors are then integrated into the SL. The initial SL sensor suite is selected to improve triage for combat casualties. Additional SL sensor concepts for medical monitoring will be discussed.

  7. A review on robotic surgery in rectal cancer.

    Science.gov (United States)

    Mohd Azman, Zairul Azwan; Kim, Seon-Hahn

    2016-01-01

    Robotic surgery has the upper hand when compared to the laparoscopic approach in terms of superior visualisation, flexibility in movement, steadiness and accessibility to confined anatomical spaces. Nevertheless, limitations still exist with regards to cost, reduced tactile sensation, time-consuming setup and a significant learning curve to achieve. Although studies have shown better or at least comparable outcomes between the robotic and laparoscopic approach, the limitations mentioned result in poor penetrance among centres and surgeons. Advancements in robotic surgery technology and attaining the acquired skillset will translate into better clinical outcomes for patients.

  8. A review on robotic surgery in rectal cancer

    Science.gov (United States)

    Mohd Azman, Zairul Azwan

    2016-01-01

    Robotic surgery has the upper hand when compared to the laparoscopic approach in terms of superior visualisation, flexibility in movement, steadiness and accessibility to confined anatomical spaces. Nevertheless, limitations still exist with regards to cost, reduced tactile sensation, time-consuming setup and a significant learning curve to achieve. Although studies have shown better or at least comparable outcomes between the robotic and laparoscopic approach, the limitations mentioned result in poor penetrance among centres and surgeons. Advancements in robotic surgery technology and attaining the acquired skillset will translate into better clinical outcomes for patients. PMID:28138573

  9. Generation of Articulated Mechanisms by Optimization Techniques

    DEFF Research Database (Denmark)

    Kawamoto, Atsushi

    2004-01-01

    that handles topological variations. In this thesis the technique is also extended so as to design the shape as well as the topology of the truss using cross-sectional areas and nodal positions as design variables. This leads to a technique for simultaneous type and dimensional synthesis of articulated...... optimization [Paper 2] 3. Branch and bound global optimization [Paper 3] 4. Path-generation problems [Paper 4] In terms of the objective of the articulated mechanism design problems, the first to third papers deal with maximization of output displacement, while the fourth paper solves prescribed path...... generation problems. From a mathematical programming point of view, the methods proposed in the first and third papers are categorized as deterministic global optimization, while those of the second and fourth papers are categorized as gradient-based local optimization. With respect to design variables, only...

  10. The LPN-ADN articulation project.

    Science.gov (United States)

    Perlich, L J; Hopkin, L A; Kalunian, K; LeGault, G; Fried, M

    1989-01-01

    Faced with a staffing situation where RN positions were needed but there were more LPN positions than were needed. Tucson Medical Center began an LPN-ADN articulation project to rectify the situation without resorting to layoffs. With the cooperation of a local junior college, LPNs are enrolled in ADN programs that provide a more flexible work/study situation. This article describes the program and the results thus far.

  11. Generation of environments: three articulated concepts

    OpenAIRE

    REGO, Nelson

    2010-01-01

    The objective of this article is to expose three concepts, or idea connections, articulators of the concept of generation of environments: the relation environment round/environment among, the establishing interpretation, the dialogal relation of the logisc/dialogal relation of the dialogue. These concepts have been consolidated as idea connections and operational bases for the concept of generation of environments along the course of dialogues with several practices. O objetivo deste arti...

  12. Articulation in Schoolchildren and Adults with Neurofibromatosis Type 1

    Science.gov (United States)

    Cosyns, Marjan; Mortier, Geert; Janssens, Sandra; Bogaert, Famke; D'Hondt, Stephanie; Van Borsel, John

    2012-01-01

    Several authors mentioned the occurrence of articulation problems in the neurofibromatosis type 1 (NF1) population. However, few studies have undertaken a detailed analysis of the articulation skills of NF1 patients, especially in schoolchildren and adults. Therefore, the aim of the present study was to examine in depth the articulation skills of…

  13. Sensation-seeking, Internet dependency, and online interpersonal deception.

    Science.gov (United States)

    Lu, Hung-Yi

    2008-04-01

    This study aimed to elaborate the relationships between sensation-seeking, Internet dependency, and online interpersonal deception. Of the 707 individuals recruited to this study, 675 successfully completed the survey. The results showed high sensation-seekers and high Internet dependents were more likely to engage in online interpersonal deception than were their counterparts.

  14. 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.

  15. Advances in robotics: The DLR experience

    Energy Technology Data Exchange (ETDEWEB)

    Hirzinger, G.; Fischer, M.; Brunner, B.; Koeppe, R.; Otter, M.; Grebenstein, M.; Schaefer, I.

    1999-11-01

    Key items in the development of a new smart robot generation are explained in light of DLR's recent activities in robotics research. These items are the design of articulated hands, ultra-lightweight links, and joint drive systems with integrated joint torque control, sensory feedback including real-time 3-D vision, learning and skill-transfer, modeling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a virtual environment.

  16. Infrared-Proximity-Sensor Modules For Robot

    Science.gov (United States)

    Parton, William; Wegerif, Daniel; Rosinski, Douglas

    1995-01-01

    Collision-avoidance system for articulated robot manipulators uses infrared proximity sensors grouped together in array of sensor modules. Sensor modules, called "sensorCells," distributed processing board-level products for acquiring data from proximity-sensors strategically mounted on robot manipulators. Each sensorCell self-contained and consists of multiple sensing elements, discrete electronics, microcontroller and communications components. Modules connected to central control computer by redundant serial digital communication subsystem including both serial and a multi-drop bus. Detects objects made of various materials at distance of up to 50 cm. For some materials, such as thermal protection system tiles, detection range reduced to approximately 20 cm.

  17. Ernst Mach and the episode of the monocular depth sensations.

    Science.gov (United States)

    Banks, E C

    2001-01-01

    Although Ernst Mach is widely recognized in psychology for his discovery of the effects of lateral inhibition in the retina ("Mach Bands"), his contributions to the theory of depth perception are not as well known. Mach proposed that steady luminance gradients triggered sensations of depth. He also expanded on Ewald Hering's hypothesis of "monocular depth sensations," arguing that they were subject to the same principle of lateral inhibition as light sensations were. Even after Hermann von Helmholtz's attack on Hering in 1866, Mach continued to develop theories involving the monocular depth sensations, proposing an explanation of perspective drawings in which the mutually inhibiting depth sensations scaled to a mean depth. Mach also contemplated a theory of stereopsis in which monocular depth perception played the primary role. Copyright 2001 John Wiley & Sons, Inc.

  18. Autonomous vehicle platforms from modular robotic components

    Science.gov (United States)

    Schonlau, William J.

    2004-09-01

    A brief survey of current autonomous vehicle (AV) projects is presented with intent to find common infrastructure or subsystems that can be configured from commercially available modular robotic components, thereby providing developers with greatly reduced timelines and costs and encouraging focus on the selected problem domain. The Modular Manipulator System (MMS) robotic system, based on single degree of freedom rotary and linear modules, is introduced and some approaches to autonomous vehicle configuration and deployment are examined. The modules may be configured to provide articulated suspensions for very rugged terrain and fall recovery, articulated sensors and tooling plus a limited capacity for self repair and self reconfiguration. The MMS on-board visually programmed control software (Model Manager) supports experimentation with novel physical configurations and behavior algorithms via real-time 3D graphics for operations simulation and provides useful subsystems for vision, learning and planning to host intelligent behavior.

  19. 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

  20. 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

  1. [Future aspect of robotic surgery].

    Science.gov (United States)

    Shimada, Mitsuo; Sugimachi, Keizo

    2002-04-01

    Minimally invasive surgery has become a standard options of surgery. We have introduced a master-slave manipulator "da Vinci" to the clinical situation in July 2000, and developed new operative techniques, which are safer and more tender for patients than before. Up to now, a total of 45 patients underwent a robot-assisted endoscopic surgery using "da Vinci" system. Several procedures including laparoscopic splenectomy and thoracoscopic mediastinal tumor extirpation were first performed in the world. This system provided surgeons with motion scaling, physiological tremor elimination, and high-resolution 3-dimensional vision. Thanks to those sophisticated functions, all surgical procedures, which have been limited due to endoscopic circumstances, were performed much easily and safely than before. Every effort to develop a new type of robotic has been made in collaboration with other fields of scientists. A next-generation robotic surgery is required to equip new functions including tactile sensation system, a real-time navigation system and tele-operation system. Robotic surgery is believed to be one of the most promising and important fields of surgery in the near future.

  2. 铰接式车体应用及研究现状概述%Summary of Articulated Vehicle Application and Research Status

    Institute of Scientific and Technical Information of China (English)

    杨众; 贾小平; 于魁龙; 马骏

    2015-01-01

    为使车辆研究领域相关人员对铰接式车体有更加深刻的认识,通过对典型铰接式车辆、铰接式机器人的应用情况以及铰接式车体最新理论研究成果进行梳理总结,概述了铰接式车体的应用及研究现状。认为小型化、多自由度化及功能可拓展化是铰接式车体的未来发展趋势,为以后铰接式车体的设计研究提供了一定的思路。%To let the research personnel have more profound understanding at articulated vehicles, the application of typical articulated vehicles and articulated robots as well as the latest theoretical research results of articulated vehicle bodies are sum-marized, the application and research status of articulated vehicles are described. It’s considered that miniaturization, multi-de-gree of freedom and function expandable is the future development trend of articulated vehicles , providing some ideas for future design and research of articulated vehicle body.

  3. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2013-10-15

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  4. 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?".

  5. Application of robotics in congenital cardiac surgery.

    Science.gov (United States)

    Cannon, Jeremy W; Howe, Robert D; Dupont, Pierre E; Triedman, John K; Marx, Gerald R; del Nido, Pedro J

    2003-01-01

    Over the past 5 years, robotic systems that combine advanced endoscopic imaging with computer-enhanced instrument control have been used for both coronary revascularization and intracardiac procedures in adults. In addition, endoscope positioning systems and articulated instruments with a robotic wrist mechanism have further expanded the potential applications for robotics in cardiac surgery. In pediatric cardiac surgery, potential applications can be divided into simple scope manipulation versus the use of 3-dimensional imaging and a robotic wrist for dissection and reconstruction. A voice-controlled robotic arm for scope manipulation can facilitate current pediatric thoracoscopic procedures such as ligation of patent ductus arteriosus and division of vascular rings. By using an advanced imaging system along with a robotic wrist, more complex extracardiac and even intracardiac procedures can be performed in children. Examples include coarctation repair, septal defect repair, and mitral or tricuspid valvuloplasty. Furthermore, with adequate intracardiac imaging, a robot-assisted off-pump approach to intracardiac pathology is conceivable. New real-time 3-dimensional echocardiography now offers sufficient resolution to enable such procedures, while the addition of instrument tracking, haptic feedback, and novel tissue fixation devices can facilitate safe and reliable intracardiac repair without extracorporeal circulation.

  6. Robotics and Biology: Lets get Physical

    Science.gov (United States)

    Choset, Howie

    Our research group investigates the core fundamentals of locomotion as it exists in biology and as it applies to locomoting robotic systems. Initially, our work advanced techniques found in geometric mechanics to design cyclic controllers, often called gaits, for snake robots, highly articulated mechanisms that can thread through tightly packed spaces to access locations people cannot. We had considerable success in designing snake robot gaits, but found our systems stymied in terrains characterized by sandy substrates. Sandy terrains and other granular media pose a challenge to snake robots because it is unclear how the mechanism interacts with environment: we cannot simply assume the robot is on hard-ground nor in a fluid. Simulating granular interactions can prove to be computationally intractable for real-time use on the robots. Therefore, we developed experimental tools that allowed us to sieve out models of the locomoting systems operating on granular media. We were then able to bring these models into harmony with the elegant formulation of our geometric mechanics approach. This allowed us to derive adaptive controllers for our snake robots in sandy terrains, and enabled us to gain deeper insight into of how biological systems move over similar terrains as well.

  7. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

    Science.gov (United States)

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

    2017-01-01

    Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

  8. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

    Science.gov (United States)

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

    2017-01-01

    Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

  9. The velic traverse: an independent oral articulator?

    Science.gov (United States)

    Gick, Bryan; Francis, Naomi; Klenin, Anna; Mizrahi, Ezra; Tom, Denise

    2013-03-01

    Two speech functions have traditionally been ascribed to the velum: opening and closing the velopharyngeal port and providing a passive surface against which the tongue can produce oral constrictions. Contrary to this passive oral function, the present x-ray study finds that a substantial portion of the velum moves to constrict the oropharyngeal isthmus for French uvular /ʁ/. This substructure, designated the velic traverse, functions independently of the parts of the velum used for velopharyngeal port closure, thus acting as an oral articulator. An active velic traverse challenges methods for estimating vocal tract shapes based on tongue posture alone.

  10. Topic-Focus Articulation of Isotopy

    Directory of Open Access Journals (Sweden)

    Radim Sova

    2012-09-01

    Full Text Available The paper deals with linguistic phenomena at suprasentential level. In particular, it looks into how textual analysis can be enhanced by supplementing the Parisian programme of interpretive semantics, as devised by François Rastier, namely his theory of isotopies, with elementary aspects of topic-focus articulation (TFA, as well as contextual boundness (CB and contextual non-boundness (CN, as elaborated within the Praguian linguistic tradition (V. Mathesius, P. Sgall, E. Hajičová, F. Daneš, J. Firbas, and how the descriptive power of the former can be increased by the latter. In this respect, it is argued that two types of TFA phenomena interact during any process of textual interpretation: those of topic-focus articulation at the level of sentence, conceiving lexical morphs as thematic (T and/or rhematic (R, as well as contextually bound (CB and/or contextually non-bound (CN, and those of topic-focus articulation at the level of isotopy, with each isotopy being conceived as structured around a center (an abstract semantic unit and periphery (a span of concrete utterances. Two types of such interaction are described, each defined by either correlation, or non-correlation of the CB and CN semes at the levels of isotopy and sentence, respectively: thematic-rhematic isotopy, induced by co-occurrence of the CB seme of the center and the CB seme of the periphery; and thematic-rhematic allotopy (i.e. non-isotopy, induced by co-occurrence of the CB seme of the center and the CN seme of the periphery. Since topic-focus isotopies and allotopies can be perceived as members of privative oppositions, a tentative system of such oppositions is presented, based on linguistic analyses of selected European Commission texts drafted in English and their Czech translations. The author’s ultimate intention is to show that the semantic features of topic-focus articulation at the sentential and suprasentential levels are both structurally parallel and

  11. Easy cross parameterization for articulated shapes

    Institute of Scientific and Technical Information of China (English)

    Jian-wei HU; Li-gang LIU; Guo-zhao WANG

    2009-01-01

    This paper presents a novel interactive system for establishing compatible meshes for articulated shapes. Given two mesh surfaces, our system automatically generates both the global level component correspondence and the local level feature correspondence. Users can use some sketch-based tools to specify the correspondence in an intuitive and easy way. Then all the other vertex correspondences could be generated automatically. The cross parameterization preserves both high level and low level features of the shapes. The technique showed in the system benefits various applications in graphics including mesh inter-polation, deformation transfer, and texture transfer.

  12. New Developments in Robotics and Single-site Gynecologic Surgery.

    Science.gov (United States)

    Matthews, Catherine A

    2017-06-01

    Within the last 10 years there have been significant advances in minimal-access surgery. Although no emerging technology has demonstrated improved outcomes or fewer complications than standard laparoscopy, the introduction of the robotic surgical platform has significantly lowered abdominal hysterectomy rates. While operative time and cost were higher in robotic-assisted procedures when the technology was first introduced, newer studies demonstrate equivalent or improved robotic surgical efficiency with increased experience. Single-port hysterectomy has not improved postoperative pain or subjective cosmetic results. Emerging platforms with flexible, articulating instruments may increase the uptake of single-port procedures including natural orifice transluminal endoscopic cases.

  13. 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.

  14. 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

  15. 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…

  16. 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

  17. 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

  18. Active steering control strategy for articulated vehicles

    Institute of Scientific and Technical Information of China (English)

    Kyong-il KIM; Hsin GUAN; Bo WANG; Rui GUO; Fan LIANG

    2016-01-01

    To improve maneuverability and stability of articulated vehicles, we design an active steering controller, including tractor and trailer controllers, based on linear quadratic regulator (LQR) theory. First, a three-degree-of-freedom (3-DOF) model of the tractor-trailer with steered trailer axles is built. The simulated annealing particle swarm optimization (SAPSO) algorithm is applied to identify the key parameters of the model under specified vehicle speed and steering wheel angle. Thus, the key pa-rameters of the simplified model can be obtained according to the vehicle conditions using an online look-up table and interpola-tion. Simulation results show that vehicle parameter outputs of the simplified model and TruckSim agree well, thus providing the ideal reference yaw rate for the controller. Then the active steering controller of the tractor and trailer based on LQR is designed to follow the desired yaw rate and minimize their side-slip angle of the center of gravity (CG) at the same time. Finally, simulation tests at both low speed and high speed are conducted based on the TruckSim-Simulink program. The results show significant effects on the active steering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated vehicle. The control strategy is applicable for steering not only along gentle curves but also along sharp curves.

  19. Articulation rate across dialect, age, and gender.

    Science.gov (United States)

    Jacewicz, Ewa; Fox, Robert A; O'Neill, Caitlin; Salmons, Joseph

    2009-07-01

    The understanding of sociolinguistic variation is growing rapidly, but basic gaps still remain. Whether some languages or dialects are spoken faster or slower than others constitutes such a gap. Speech tempo is interconnected with social, physical and psychological markings of speech. This study examines regional variation in articulation rate and its manifestations across speaker age, gender and speaking situations (reading vs. free conversation). The results of an experimental investigation show that articulation rate differs significantly between two regional varieties of American English examined here. A group of Northern speakers (from Wisconsin) spoke significantly faster than a group of Southern speakers (from North Carolina). With regard to age and gender, young adults read faster than older adults in both regions; in free speech, only Northern young adults spoke faster than older adults. Effects of gender were smaller and less consistent; men generally spoke slightly faster than women. As the body of work on the sociophonetics of American English continues to grow in scope and depth, we argue that it is important to include fundamental phonetic information as part of our catalog of regional differences and patterns of change in American English.

  20. Diagnostic dilemma: the enigma of an oral burning sensation

    National Research Council Canada - National Science Library

    Klasser, Gary D; Epstein, Joel B; Villines, Dana

    2011-01-01

    ...) and secondary burning mouth syndrome. The primary form is characterized by a burning sensation in the oral mucosa and perioral areas, typically with bilateral, symmetric distribution and an absence of relevant clinical and laboratory findings...

  1. Deqi Sensations of Transcutaneous Electrical Nerve Stimulation on Auricular Points

    Directory of Open Access Journals (Sweden)

    Xiaoling Wang

    2013-01-01

    Full Text Available Deqi sensation, a psychophysical response characterized by a spectrum of different needling sensations, is essential for Chinese acupuncture clinical efficacy. Previous research works have investigated the component of Deqi response upon acupuncture on acupoints on the trunk and limbs. However, the characteristics of Deqi sensations of transcutaneous electrical nerve stimulation (TENS on auricular points are seldom reported. In this study, we investigated the individual components of Deqi during TENS on auricular concha area and the superior scapha using quantitative measurements in the healthy subjects and depression patients. The most striking characteristics of Deqi sensations upon TENS on auricular points were tingling, numbness, and fullness. The frequencies of pressure, warmness, heaviness, and soreness were relatively lower. The dull pain and coolness are rare. The characteristics of Deqi were similar for the TENS on concha and on the superior scapha.

  2. Deqi sensations of transcutaneous electrical nerve stimulation on auricular points.

    Science.gov (United States)

    Wang, Xiaoling; Fang, Jiliang; Zhao, Qing; Fan, Yangyang; Liu, Jun; Hong, Yang; Wang, Honghong; Ma, Yunyao; Xu, Chunhua; Shi, Shan; Kong, Jian; Rong, Peijing

    2013-01-01

    Deqi sensation, a psychophysical response characterized by a spectrum of different needling sensations, is essential for Chinese acupuncture clinical efficacy. Previous research works have investigated the component of Deqi response upon acupuncture on acupoints on the trunk and limbs. However, the characteristics of Deqi sensations of transcutaneous electrical nerve stimulation (TENS) on auricular points are seldom reported. In this study, we investigated the individual components of Deqi during TENS on auricular concha area and the superior scapha using quantitative measurements in the healthy subjects and depression patients. The most striking characteristics of Deqi sensations upon TENS on auricular points were tingling, numbness, and fullness. The frequencies of pressure, warmness, heaviness, and soreness were relatively lower. The dull pain and coolness are rare. The characteristics of Deqi were similar for the TENS on concha and on the superior scapha.

  3. Moment of Inertia: Psychophysical Study of an Overlooked Sensation.

    Science.gov (United States)

    Science, 1979

    1979-01-01

    This article describes the distribution of mass in a hand-held object as a fundamental but unrecognized contributor to the sensation one receives from the object. Experiments producing fractions for human sensitivity are given. (SA)

  4. Multicenter trial of the proficiency of smart quantitative sensation tests.

    Science.gov (United States)

    Dyck, Peter J; Argyros, Barbara; Russell, James W; Gahnstrom, Linde E; Nalepa, Susan; Albers, James W; Lodermeier, Karen A; Zafft, Andrew J; Dyck, P James B; Klein, Christopher J; Litchy, William J; Davies, Jenny L; Carter, Rickey E; Melton, L Joseph

    2014-05-01

    We assessed proficiency (accuracy and intra- and intertest reproducibility) of smart quantitative sensation tests (smart QSTs) in subjects without and with diabetic sensorimotor polyneuropathy (DSPN). Technologists from 3 medical centers using different but identical QSTs independently assessed 6 modalities of sensation of the foot (or leg) twice in patients without (n = 6) and with (n = 6) DSPN using smart computer assisted QSTs. Low rates of test abnormalities were observed in health and high rates in DSPN. Very high intraclass correlations were obtained between continuous measures of QSTs and neuropathy signs, symptoms, or nerve conductions (NCs). No significant intra- or intertest differences were observed. These results provide proof of concept that smart QSTs provide accurate assessment of sensation loss without intra- or intertest differences useful for multicenter trials. Smart technology makes possible efficient testing of body surface area sensation loss in symmetric length-dependent sensorimotor polyneuropathies. Copyright © 2013 Wiley Periodicals, Inc.

  5. Prognostic value of thumb pain sensation in birth brachial plexopathy

    Directory of Open Access Journals (Sweden)

    Carlos O. Heise

    2012-08-01

    Full Text Available OBJECTIVE: To evaluate the prognostic value of absent thumb pain sensation in newborns and young infants with birth brachial plexopathy. METHODS: We evaluated 131 patients with birth brachial plexopathy with less than two months of age. Pain sensation was evoked by thumb nail bed compression to evaluate sensory fibers of the upper trunk (C6. The patients were followed-up monthly. Patients with less than antigravity elbow flexion at six months of age were considered to have a poor outcome. RESULTS: Thirty patients had absent thumb pain sensation, from which 26 showed a poor outcome. Sensitivity of the test was 65% and specificity was 96%. CONCLUSION: Evaluation of thumb pain sensation should be included in the clinical assessment of infants with birth brachial plexopathy.

  6. Estimation of Thermal Sensation Based on Wrist Skin Temperatures

    Directory of Open Access Journals (Sweden)

    Soo Young Sim

    2016-03-01

    Full Text Available Thermal comfort is an essential environmental factor related to quality of life and work effectiveness. We assessed the feasibility of wrist skin temperature monitoring for estimating subjective thermal sensation. We invented a wrist band that simultaneously monitors skin temperatures from the wrist (i.e., the radial artery and ulnar artery regions, and upper wrist and the fingertip. Skin temperatures from eight healthy subjects were acquired while thermal sensation varied. To develop a thermal sensation estimation model, the mean skin temperature, temperature gradient, time differential of the temperatures, and average power of frequency band were calculated. A thermal sensation estimation model using temperatures of the fingertip and wrist showed the highest accuracy (mean root mean square error [RMSE]: 1.26 ± 0.31. An estimation model based on the three wrist skin temperatures showed a slightly better result to the model that used a single fingertip skin temperature (mean RMSE: 1.39 ± 0.18. When a personalized thermal sensation estimation model based on three wrist skin temperatures was used, the mean RMSE was 1.06 ± 0.29, and the correlation coefficient was 0.89. Thermal sensation estimation technology based on wrist skin temperatures, and combined with wearable devices may facilitate intelligent control of one’s thermal environment.

  7. Impulsivity and sensation seeking in alcohol abusing patients with schizophrenia

    Directory of Open Access Journals (Sweden)

    Alain Dervaux

    2010-09-01

    Full Text Available Objective: Some studies have found that high levels of impulsivity and sensation seeking, particularly disinhibition are associated with substance abuse in patients with schizophrenia, as in the general population. However, no study has assessed impulsivity and sensation seeking specifically in schizophrenia patients with alcohol abuse or dependence. Material and Methods: We compared impulsivity and sensation seeking in a group of schizophrenia patients (DSM-III-R criteria with lifetime alcohol abuse or dependence (n=34 and in a group without lifetime substance abuse or dependence (n=66. The patients were assessed using the Composite International Diagnostic Interview (CIDI for DSM-III-R disorders, the Positive and Negative Syndrome Scale, the Barratt Impulsivity Scale (BIS, the Zuckerman Seeking Sensation Scale (SSS, and the Physical Anhedonia Scale (PAS. Results: The mean scores for impulsivity and sensation seeking were higher in the group with lifetime alcohol abuse or dependence than in the group without substance abuse or dependence (BIS: 63.4 SD: 18,7 vs 51.3 SD: 14.2 respectively, ANOVA: F=11.12, p=0.001; SSS: 17.6 SD: 5.9 vs 13.5 SD: 6.7 respectively, ANOVA: F=7.45, p=0.008. There was no significant differences between the two groups on PAS score. Conclusion: Increased impulsivity or sensation seeking may be a link between schizophrenia and alcohol abuse or dependence.

  8. 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.

  9. CONSIDERATIONS UPON CONTACT STRESS MODELLING IN DENTAL ARTICULATOR PAIRS

    Directory of Open Access Journals (Sweden)

    Carmen Ciornei

    2012-05-01

    Full Text Available A dental articulator is a mechanism which simulates the temporo-mandibular joint. The articulator is essential as it replicates the basic motions of the upper and lower mandibles, both revolve and translational motions. In the present paper the stresses from an articulator TMJ modelled as a bronze sphere into a cylindrical steel cavity are analyzed by two methods, first applying the Hertzian contact theory and then numerically, by means of finite element analysis using the simulation module in CATIA.

  10. 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...

  11. Robotic thyroidectomy and cervical neck dissection for thyroid cancer.

    Science.gov (United States)

    Paek, Se Hyun; Kang, Kyung Ho

    2016-06-01

    A robotic approach for thyroid surgery was developed to overcome the limitations of endoscopic thyroidectomy and provide many technical advantages. This approach facilitates the surgeon's control through a magnified three-dimensional view, decreased tremor, and freedom of motion with articulated instruments. Robotic thyroidectomy is safe and technically feasible in patients with well-differentiated, low-risk thyroid cancer. Furthermore, robotic thyroidectomy may become a good surgical alternative option for patients with more advanced thyroid cancer. Our modified bilateral axillo-breast approach (BABA) for central and lateral cervical neck lymph node (LN) dissection has yielded excellent surgical outcomes as an open procedure. The incorporation of robotics in thyroid cancer surgery will continue to evolve, and the surgical indications for robotic thyroidectomy will continue to expand. Further analyses that include long-term outcomes and randomized comparative trials remain important.

  12. The role of virtual articulator in prosthetic and restorative dentistry.

    Science.gov (United States)

    Koralakunte, Pavankumar Ravi; Aljanakh, Mohammad

    2014-07-01

    Virtual reality is a computer based technology linked with the future of dentistry and dental practice. The virtual articulator is one such application in prosthetic and restorative dentistry based on virtual reality that will significantly reduce the limitations of the mechanical articulator, and by simulation of real patient data, allow analyses with regard to static and dynamic occlusion as well as to jaw relation. It is the purpose of this article to present the concepts and strategies for a future replacement of the mechanical articulator by a virtual one. Also, a brief note on virtual reality haptic system has been highlighted along with newly developed touch enabled virtual articulator.

  13. Bayesian distributed articulated object tracking using multiple collaborative trackers

    Science.gov (United States)

    Qu, Wei; Schonfeld, Dan

    2007-01-01

    In this paper, we propose two novel articulated object tracking approaches. The Decentralized Articulated Object Tracking approach avoids the common practice of using a high-dimensional joint state representation for articulated object tracking. Instead, it introduces a decentralized scheme and models the inter-part interaction within an innovative Bayesian framework. To handle severe self-occlusions, we further extend the first approach by modeling high-level inter-unit interactions and develop the Hierarchical Articulated Object Tracking algorithm within a consistent hierarchical framework. Preliminary experimental results have demonstrated the superior performance of the proposed approaches for real-world videos sequences.

  14. Robotic partial nephrectomy: current technique and outcomes.

    Science.gov (United States)

    Wang, Liang; Lee, Benjamin R

    2013-09-01

    Over the past decade, management of the T1 renal mass has focused on nephron-sparing surgery. Robotic partial nephrectomy has played an increasing role in the technique of preserving renal function by decreasing warm ischemia time, as well as optimizing outcomes of hemorrhage and fistula. Robot-assisted partial nephrectomy is designed to provide a minimally-invasive nephron-sparing surgical option utilizing reconstructive capability, decreasing intracorporeal suturing time, technical feasibility and safety. Ultimately, its benefits are resulting in its dissemination across institutions. Articulated instrumentation and three-dimensional vision facilitate resection, collecting system reconstruction and renorrhaphy, leading to decreased warm ischemia time while preserving oncological outcomes. The aim of the present review was to present our surgical sequence and technique, as well as review the current status of robot-assisted partial nephrectomy.

  15. 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...

  16. Framework for articulating instructional practices and conceptions

    Directory of Open Access Journals (Sweden)

    Melissa Dancy

    2007-05-01

    Full Text Available We present and describe the development of a framework for assessing or categorizing instructional practices and related conceptions in the context of introductory physics instruction. The purpose of the framework is for articulating practices and conceptions of individual instructors or of curricula. It was developed based on the research literature and interviews with physics faculty and contains ideas with widespread acceptance as well as some outside mainstream rhetoric. We provide an example of how this framework can be applied by using it to categorize aspects of three well-known research-based curricula. The results of this categorization highlight areas that are common in research-based curricular designs and other areas that are less embraced but worthy of consideration.

  17. Kinematical Analysis of an Articulated Mechanism

    CERN Document Server

    Fleischfresser, Luciano

    2015-01-01

    The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented Fortran code. The system of rigid parts is made of two slender bars and a disk. A constant 2 rad/s counterclockwise rotation rate is imposed on the disk triggering the planar motion of the longer bar (link) and the rotation of the shorter one (output). Angular relations, velocities and accelerations are analyzed for a 90-degree turn of the disk. The inversion of the linking bar sense of rotation is well captured by the simulation, and the paper and pencil solutions that may lead to wrong conclusions are explained. Equations are derived from first principles and the Fortran code is placed under version control (currently, v.0.8-beta). This computer project is relevant for those in charge of vector dynamics courses and wishing to expose students to project-based learning activities.

  18. 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...

  19. 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.

  20. 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.

  1. [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.

  2. Robotic mitral valve surgery.

    Science.gov (United States)

    Kypson, Alan P; Nifong, L Wiley; Chitwood, W Randolph

    2003-12-01

    A renaissance in cardiac surgery has begun. The early clinical experience with computer-enhanced telemanipulation systems outlines the limitations of this approach despite some procedural success. Technologic advancements, such as the use of nitinol U-clips (Coalescent Surgical Inc., Sunnyvale, CA) instead of sutures requiring manual knot tying, have been shown to decrease operative times significantly. It is expected that with further refinements and development of adjunct technologies, the technique of computer-enhanced endoscopic cardiac surgery will evolve and may prove to be beneficial for many patients. Robotic technology has provided benefits to cardiac surgery. With improved optics and instrumentation, incisions are smaller. The ergometric movements and simulated three-dimensional optics project hand-eye coordination for the surgeon. The placement of the wristlike articulations at the end of the instruments moves the pivoting action to the plane of the mitral annulus. This improves dexterity in tight spaces and allows for ambidextrous suture placement. Sutures can be placed more accurately because of tremor filtration and high-resolution video magnification. Furthermore, the robotic system may have potential as an educational tool. In the near future, surgical vision and training systems might be able to model most surgical procedures through immersive technology. Thus, a "flight simulator" concept emerges where surgeons may be able to practice and perform the operation without a patient. Already, effective curricula for training teams in robotic surgery exist. Nevertheless, certain constraints continue to limit the advancement to a totally endoscopic computer-enhanced mitral valve operation. The current size of the instruments, intrathoracic instrument collisions, and extrathoracic "elbow" conflicts still can limit dexterity. When smaller instruments are developed, these restraints may be resolved. Furthermore, a working port incision is still required for

  3. The Development of a Radiation Hardened Robot for Nuclear Facilities

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil (and others)

    2007-04-15

    We has been developed two remotely controlled robotic systems. One is a underwater vehicle for inspection of the internal structures of PWRs and retrieving foreign stubs in the reactor pressure vessels and reactor coolant pipes. The other robotic system consists of a articulated-type mobile robot capable of recovering the failure of the fuel exchange machine and a mini modular mobile robot for inspection of feeder pipes with ultrasonic array sensors in PHWRs. The underwater robot has been designed by considering radiation effect, underwater condition, and accessibility to the working area. The size of underwater robot is designed to enter the cold legs. A extendable manipulator is mounted on the mobile robot, which can restore nuclear fuel exchange machine. The mini modular mobile robot is composed of dual inch worm mechanisms, which are constructed by two gripper bodies that can fix the robot body on to the pipe and move along the longitudinal and to rotate in a circumferential direction to access all of the outer surfaces of the pipe.

  4. The Oklahoma PN/ADN Articulation Project Report.

    Science.gov (United States)

    Oklahoma State Regents for Higher Education, Oklahoma City.

    In response to a critical nursing shortage in the state of Oklahoma, the Oklahoma Practical Nursing (PN)/Associate Degree Nursing (ADN) Articulation Project Coordinating Committee was formed in spring 1990 to develop a proposal for program articulation. A curriculum matrix was designed and adopted for use by five regional subcommittees which…

  5. Design and wear testing of a temporomandibular joint prosthesis articulation

    NARCIS (Netherlands)

    van Loon, JP; Verkerke, GJ; de Vries, MP; de Bont, LGM

    2000-01-01

    As part of the development of a total temporomandibular joint prosthesis, a prosthesis articulation was designed. The articulation consists of a spherical head (ball) of the mandibular part, rotating against an enveloping ultra-high-molecular-weight polyethylene (UHMWPE) disc with a flat cranial sid

  6. Design and wear testing of a temporomandibular joint prosthesis articulation

    NARCIS (Netherlands)

    van Loon, JP; Verkerke, GJ; de Vries, MP; de Bont, LGM

    As part of the development of a total temporomandibular joint prosthesis, a prosthesis articulation was designed. The articulation consists of a spherical head (ball) of the mandibular part, rotating against an enveloping ultra-high-molecular-weight polyethylene (UHMWPE) disc with a flat cranial

  7. Deqi sensations without cutaneous sensory input: results of an RCT.

    Science.gov (United States)

    Salih, Norbert; Bäumler, Petra I; Simang, Michael; Irnich, Dominik

    2010-12-28

    Deqi is defined in relation to acupuncture needling as a sensory perception of varying character. In a recently published sham laser validation study, we found that subjects in the verum and the sham laser group experienced deqi sensations. Therefore, we aim to further analyze whether the perceptions reported in the two study arms were distinguishable and whether expectancy effects exhibited considerable impact on our results. A detailed re-analysis focusing on deqi sensations was performed from data collected in a previously published placebo-controlled, double-blind, clinical cross-over trial for a sham laser evaluation. Thirty-four healthy volunteers (28 ± 10.7 years; 16 women, 18 men) received two laser acupuncture treatments at three acupuncture points LI4 (hégu), LU7 (liéque), and LR3 (táichong); once by verum laser and once using a sham device containing an inactive laser in randomized order. Outcome measures were frequency, intensity (evaluated by visual analogue scale; VAS), and quality of the subjects' sensations perceived during treatments (assessed with the "acupuncture sensation scale"). Both, verum and the sham laser acupuncture result in similar deqi sensations with regard to frequency (p-value = 0.67), intensity (p-value = 0.71) and quality (p-values between 0.15 - 0.98). In both groups the most frequently used adjectives to describe these perceptions were "spreading", "radiating", "tingling", "tugging", "pulsing", "warm", "dull", and "electric". Sensations reported were consistent with the perception of deqi as previously defined in literature. Subjects' conviction regarding the effectiveness of laser acupuncture or the history of having received acupuncture treatments before did not correlate with the frequency or intensity of sensations reported. Since deqi sensations, described as sensory perceptions, were elicited without any cutaneous sensory input, we assume that they are a product of non-specific effects from the overall treatment

  8. Deqi sensations without cutaneous sensory input: results of an RCT

    Directory of Open Access Journals (Sweden)

    Simang Michael

    2010-12-01

    Full Text Available Abstract Background Deqi is defined in relation to acupuncture needling as a sensory perception of varying character. In a recently published sham laser validation study, we found that subjects in the verum and the sham laser group experienced deqi sensations. Therefore, we aim to further analyze whether the perceptions reported in the two study arms were distinguishable and whether expectancy effects exhibited considerable impact on our results. Methods A detailed re-analysis focusing on deqi sensations was performed from data collected in a previously published placebo-controlled, double-blind, clinical cross-over trial for a sham laser evaluation. Thirty-four healthy volunteers (28 ± 10.7 years; 16 women, 18 men received two laser acupuncture treatments at three acupuncture points LI4 (hégu, LU7 (liéque, and LR3 (táichong; once by verum laser and once using a sham device containing an inactive laser in randomized order. Outcome measures were frequency, intensity (evaluated by visual analogue scale; VAS, and quality of the subjects' sensations perceived during treatments (assessed with the "acupuncture sensation scale". Results Both, verum and the sham laser acupuncture result in similar deqi sensations with regard to frequency (p-value = 0.67, intensity (p-value = 0.71 and quality (p-values between 0.15 - 0.98. In both groups the most frequently used adjectives to describe these perceptions were "spreading", "radiating", "tingling", "tugging", "pulsing", "warm", "dull", and "electric". Sensations reported were consistent with the perception of deqi as previously defined in literature. Subjects' conviction regarding the effectiveness of laser acupuncture or the history of having received acupuncture treatments before did not correlate with the frequency or intensity of sensations reported. Conclusions Since deqi sensations, described as sensory perceptions, were elicited without any cutaneous sensory input, we assume that they are a

  9. The Role of Body Sensations in Understanding One's Own Emotions

    Directory of Open Access Journals (Sweden)

    Balueva O.V.

    2015-08-01

    Full Text Available There are at least three different viewpoints among all theories of emotions that attempt to explain the role of body sensations in understanding one's own emotions. In order to compare the explanatory resources of these viewpoints we conducted a research in which the subjects (n=59 were shown a series of neutral and emotionally significant slides (taken from the IAPS database. During the slideshow we registered the subjects' pulse and galvanic skin response. The subjects were asked to assess the intensity of their emotional reactions and body sensations in response to the emotionally significant slides, and also filled in a questionnaire on emotional intelligence that enabled us to measure their ability to understand their own emotions as well as those of other people. The outcomes of our research show that sensations accompanying emotional experiences are not the result of interoception as they do not correspond with objective indicators of the changes in physiological arousal, whereas they do correspond in many ways with the subjects' emotional appraisal of the stimuli and selfassessment of sensations. These outcomes also revealed that subjective evaluations of body sensations correlate with emotional valence, while heart rate (the objective indicator of arousal correlates with modality of the emotion

  10. The Subjective Sensation of Synchrony: An Experimental Study

    KAUST Repository

    Llobera, Joan

    2016-02-12

    People performing actions together have a natural tendency to synchronize their behavior. Consistently, people doing a task together build internal representations not only of their actions and goals, but also of the other people performing the task. However, little is known about which are the behavioral mechanisms and the psychological factors affecting the subjective sensation of synchrony, or “connecting” with someone else. In this work, we sought to find which factors induce the subjective sensation of synchrony, combining motion capture data and psychological measures. Our results show that the subjective sensation of synchrony is affected by performance quality together with task category, and time. Psychological factors such as empathy and negative subjective affects also correlate with the subjective sensation of synchrony. However, when people estimate synchrony as seen from a third person perspective, their psychological factors do not affect the accuracy of the estimation. We suggest that to feel this sensation it is necessary to, first, have a good joint performance and, second, to assume the existence of an attention monitoring mechanism that reports that the attention of both participants (self and other) is focused on the task.

  11. Self-Produced Tickle Sensation by Manipulating Visual Feedback

    Directory of Open Access Journals (Sweden)

    Hiroyuki Iizuka

    2011-10-01

    Full Text Available The aim of the present paper was to clarify how the distinction of self- (sense of agency, SOA and other-produced behavior can be synthesized and recognized in multisensory integration as our cognitive processes. To address this issue, we used tickling paradigm that it is hard for us to tickle ourselves. Previous studies show that tickle sensation by their own motion increases if more delay is given between self-motion of tickling and tactile stimulation (Blakemore et al. 1998, 1999. We introduced visual feedbacks to the tickling experiments. In our hypothesis, integration of vision, proprioception, and motor commands forms the SOA and disintegration causes the breakdown the SOA, which causes the feeling of others, producing tickling sensation even by tickling oneself. We used video-see-through HMD to suddenly delay the real-time images of their hand tickling motions. The tickle sensation was measured by subjective response in the following conditions; 1 tickling oneself without any visual modulation, 2 tickled by others, 3 tickling oneself with visual feedback manipulation. The statistical analysis of ranked evaluation of tickle sensations showed that the delay of visual feedback causes the increase of tickle sensation. The SOA was discussed with Blakemore's and our results.

  12. Developing a sensation information message for femoral arteriography.

    Science.gov (United States)

    Clark, C R; Gregor, F M

    1988-03-01

    Sensation information is proposed as a way of decreasing the patient's distress during a threatening health care event. A first step in developing a sensation information message is to determine the content of the message. This study, using a systematic theory-based methodology, was conducted to describe and validate the common physical sensations experienced by patients undergoing the diagnostic procedure of femoral arteriography. (A conceptual framework based on how an individual perceives or senses a situation was used.) A three-stage survey design was used including: (1) tool development following observation of the procedure and pilot-testing of the interview schedule, (2) interview of patients who had undergone femoral arteriography about the sensations experienced during the procedure, and (3) validation of the responses. Twenty-one steps in the femoral arteriography procedure of which patients were aware were identified. Nine 'feeling' sensations commonly experienced during the procedure and the sights and sounds associated with the procedure were determined. The sequencing and duration of procedure steps were observed and the environment in which the procedure was performed was described.

  13. Motion sickness history, food neophobia, and sensation seeking.

    Science.gov (United States)

    Alley, Thomas R; Willet, Kathleen A; Muth, Eric R

    2006-06-01

    Motion sickness is believed to be caused by conflicting sensory signals, a situation that mimics the effects of ingesting certain toxins. Thus, one might suspect that individuals who have experienced a relatively high frequency of motion sickness may be particularly vigilant about avoiding anything that produces nausea, induding potentially nauseating toxins. Consequently, they may be more resistant to trying new foods, i.e., be more food neophobic, since unfamiliar foods can have unexpected adverse effects due to toxins or allergens. Likewise, many highly stimulating experiences can trigger motion sickness, so individuals who are more susceptible may be more prone to avoid such experiences, i.e., be less sensation seeking. Finally, it was expected that food neophobia would be more frequent in individuals low on sensation seeking tendencies. Self-reported motion sickness history in 308 adults (M= 18.8 yr.; SD = 1.6) was correlated with scores on the Arnett Inventory of Sensation Seeking and the Food Neophobia Scale. As predicted, greater history of motion sickness was associated with lower Sensation Seeking scores. Food Neophobia was not correlated with motion sickness history but, as expected, was negatively correlated (r = -.42) with scores on Sensation Seeking. Further research is recommended that measures actual sensitivity to motion sickness.

  14. The use of articulators in UK dental schools.

    Science.gov (United States)

    Hindle, J R; Craddock, H L

    2006-11-01

    The increasing complexity of many restorative procedures often involves articulation of study and working casts to ensure accurate fabrication of restorations. Correct selection and use of articulators can be crucial to successful restoration. The aim of this paper is to determine which articulators are recommended for various restorative procedures in UK dental schools, for use by undergraduate students. A questionnaire-based study of all UK dental schools was carried out, with a 100% response rate. Recommended articulator application for specified procedures was established from the literature and questionnaire results were compared with this. The results indicated that dental schools in the UK generally teach appropriate articulator use for most procedures. However, there are some limited areas of what may be argued to be inappropriate recommendation in some establishments.

  15. Parkinson Disease Detection from Speech Articulation Neuromechanics

    Directory of Open Access Journals (Sweden)

    Pedro Gómez-Vilda

    2017-08-01

    Full Text Available Aim: The research described is intended to give a description of articulation dynamics as a correlate of the kinematic behavior of the jaw-tongue biomechanical system, encoded as a probability distribution of an absolute joint velocity. This distribution may be used in detecting and grading speech from patients affected by neurodegenerative illnesses, as Parkinson Disease.Hypothesis: The work hypothesis is that the probability density function of the absolute joint velocity includes information on the stability of phonation when applied to sustained vowels, as well as on fluency if applied to connected speech.Methods: A dataset of sustained vowels recorded from Parkinson Disease patients is contrasted with similar recordings from normative subjects. The probability distribution of the absolute kinematic velocity of the jaw-tongue system is extracted from each utterance. A Random Least Squares Feed-Forward Network (RLSFN has been used as a binary classifier working on the pathological and normative datasets in a leave-one-out strategy. Monte Carlo simulations have been conducted to estimate the influence of the stochastic nature of the classifier. Two datasets for each gender were tested (males and females including 26 normative and 53 pathological subjects in the male set, and 25 normative and 38 pathological in the female set.Results: Male and female data subsets were tested in single runs, yielding equal error rates under 0.6% (Accuracy over 99.4%. Due to the stochastic nature of each experiment, Monte Carlo runs were conducted to test the reliability of the methodology. The average detection results after 200 Montecarlo runs of a 200 hyperplane hidden layer RLSFN are given in terms of Sensitivity (males: 0.9946, females: 0.9942, Specificity (males: 0.9944, females: 0.9941 and Accuracy (males: 0.9945, females: 0.9942. The area under the ROC curve is 0.9947 (males and 0.9945 (females. The equal error rate is 0.0054 (males and 0.0057 (females

  16. 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.

  17. 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.

  18. BIOENERGETIC DIFFERENCES DURING WALKING AND RUNNING IN TRANSFEMORAL AMPUTEE RUNNERS USING ARTICULATING AND NON-ARTICULATING KNEE PROSTHESES

    Science.gov (United States)

    Highsmith, M. Jason; Kahle, Jason T.; Miro, Rebecca M.; Mengelkoch, Larry J.

    2016-01-01

    Transfemoral amputation (TFA) patients require considerably more energy to walk and run than non-amputees. The purpose of this study was to examine potential bioenergetic differences (oxygen uptake (VO2), heart rate (HR), and ratings of perceived exertion (RPE)) for TFA patients utilizing a conventional running prosthesis with an articulating knee mechanism versus a running prosthesis with a non-articulating knee joint. Four trained TFA runners (n = 4) were accommodated to and tested with both conditions. VO2 and HR were significantly lower (p ≤ 0.05) in five of eight fixed walking and running speeds for the prosthesis with an articulating knee mechanism. TFA demonstrated a trend for lower RPE at six of eight walking speeds using the prosthesis with the articulated knee condition. A trend was observed for self-selected walking speed, self-selected running speed, and maximal speed to be faster for TFA subjects using the prosthesis with the articulated knee condition. Finally, all four TFA participants subjectively preferred running with the prosthesis with the articulated knee condition. These findings suggest that, for trained TFA runners, a running prosthesis with an articulating knee prosthesis reduces ambulatory energy costs and enhances subjective perceptive measures compared to using a non-articulating knee prosthesis. PMID:28066524

  19. Vocal tract articulation in zebra finches.

    Directory of Open Access Journals (Sweden)

    Verena R Ohms

    Full Text Available BACKGROUND: Birdsong and human vocal communication are both complex behaviours which show striking similarities mainly thought to be present in the area of development and learning. Recent studies, however, suggest that there are also parallels in vocal production mechanisms. While it has been long thought that vocal tract filtering, as it occurs in human speech, only plays a minor role in birdsong there is an increasing number of studies indicating the presence of sound filtering mechanisms in bird vocalizations as well. METHODOLOGY/PRINCIPAL FINDINGS: Correlating high-speed X-ray cinematographic imaging of singing zebra finches (Taeniopygia guttata to song structures we identified beak gape and the expansion of the oropharyngeal-esophageal cavity (OEC as potential articulators. We subsequently manipulated both structures in an experiment in which we played sound through the vocal tract of dead birds. Comparing acoustic input with acoustic output showed that OEC expansion causes an energy shift towards lower frequencies and an amplitude increase whereas a wide beak gape emphasizes frequencies around 5 kilohertz and above. CONCLUSION: These findings confirm that birds can modulate their song by using vocal tract filtering and demonstrate how OEC and beak gape contribute to this modulation.

  20. Nasal reconstruction with articulated irradiated rib cartilage

    Energy Technology Data Exchange (ETDEWEB)

    Murakami, C.S.; Cook, T.A.; Guida, R.A. (Univ. of Washington School of Medicine, Seattle (USA))

    1991-03-01

    Nasal structural reconstruction is a formidable task in cases where there is loss of support to both the nasal dorsum and tip. A multitude of surgical approaches and materials have been used for the correction of the saddle-nose deformity with varying degrees of success. Articulated irradiated rib cartilage inserted through an external rhinoplasty approach was used to reconstruct nasal deformities in 18 patients over a 6-year period. Simultaneous use of a midline forehead flap to reconstruct the overlying soft tissue was required in four cases. Follow-up ranged from 1 to 6 years (mean, 2.8 years). Results were rewarding in most cases with marked improvement in nasal support and airway. Revision and/or replacement secondary to trauma or warping of the graft was required in four cases. None of the patients exhibited infection, extrusion, or noticeable resorption. A description of the surgical technique, review of all the cases, and recommendation for continued use of this graft material are discussed.

  1. Validation of the OMNI Scale of Thermal Sensations.

    Science.gov (United States)

    Goss, Fredric L; Robertson, Robert J; Gallagher, Michael; Hostler, David; Morley, Julia; Suyama, Joe; Haile, Luke

    2013-06-01

    Concurrent and construct validation of the OMNI Scale of Thermal Sensations was examined in a sample of 16 adult men and 5 adult women. Concurrent validity was established by regressing OMNI ratings of thermal sensation against core and skin temperatures obtained during treadmill walking while wearing firefighter thermal-protective clothing in temperatures between 33 and 35 degrees C. Construct validity was established by regressing the OMNI scale against a construct-specific visual analogue scale. OMNI scale responses accounted for statistically significant variance in both skin temperature and core temperature (48% and 51%, respectively) and visual analogue scale responses (84%). Concurrent and construct validity were established for the OMNI Scale of Thermal Sensations in healthy adults performing treadmill walking while wearing fire fighter thermal protective clothing.

  2. Thermal sensation and thermophysiological responses with metabolic step-changes

    DEFF Research Database (Denmark)

    Goto, Tomonobu; Toftum, Jørn; deDear, Richard;

    2006-01-01

    This study investigated the effect on thermal perception and thermophysiological variables of controlled metabolic excursions of various intensities and durations. Twenty-four subjects alternately were seated on a chair or exercised by walking on a treadmill at a temperature predicted to be neutral...... at sedentary activity. In a second experimental series, subjects alternated between rest and exercise as well as between exercise at different intensities at two temperature levels. Measurements comprised skin and oesophageal temperatures, heart rate and subjective responses. Thermal sensation started to rise....... The sensitivity of thermal sensation to changes in core temperature was higher for activity down-steps than for up-steps. A model was proposed that estimates transient thermal sensation after metabolic step-changes. Based on predictions by the model, weighting factors were suggested to estimate a representative...

  3. 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.

  4. 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.

  5. 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

  6. Personality and sensation seeking in high-risk sports

    Directory of Open Access Journals (Sweden)

    Polona Klinar

    2017-03-01

    Full Text Available Background: Personality represents a relatively consistent and unique sum of psychological, cognitive and physical characteristics of an individual. Sensation seeking is defined as an action, characterized by the search for different, new, complex and intensive emotions and experiences and preparedness to take physical, social, legal and financial risks in order to achieve these experiences.Objective: We were looking for differences in personality and sensation seeking between high-risk sports athletes and recreational athletes and the correlation between one's purpose to participate in high-risk sports and actual participation.Method: The data was acquired using three different questionnaires: Sensation Seeking Scale (forms SSS - V and SSS - VI and the Big Five Questionnaire. The sample consisted of 76 high-risk sports athletes and 51 recreational athletes. Data was analyzed using the SPSS statistical program.Results: The results were unexpected because we noticed differences between the two groups in which recreational athletes received higher results, especially in openness. Mostly results from such research show the converse - athletes of high-risk sports are more open. We did not find any difference between the two groups in sensation seeking. We found some correlations between personality traits and factors of Sensation Seeking Scale (SSS - V and SSS - VI. Openness and the Thrill and adventure seeking factor correlated in both versions of SSS.Conclusions: We conclude that high-risk sports athletes differ from recreational athletes, especially in openness. Also, we can confirm that both used versions of SSS are equally effective for analyzing sensation seeking.

  7. 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.

  8. Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Cordier, J.J.; Gargiulo, L.; Grisolia, C.; Samaille, F. [Association Euratom-CEA Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Friconneau, J.P.; Perrot, Y. [CEA Fontenay-aux-Roses, LIST Robotics and Interactive Systems Unit, 92 (France); Palmer, J.D. [Max-Planck-Institut fuer Plasmaphysik Boltzmannstr.2, Garching (Germany)

    2003-07-01

    The aim of this program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings. This device is dedicated to close inspection of the Plasma Facing Components (PFC). An articulated demonstrator called articulated inspection arm (AIA) has been manufactured. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in research results for ITER remote Handling equipment. The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper.

  9. 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.

  10. 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.

  11. ARTICULATION DISORDERS IN SERBIAN LANGUAGE IN CHILDREN WITH SPEECH PATHOLOGY.

    Science.gov (United States)

    Dmitrić, Tanja; Veselinović, Mila; Mitrović, Slobodan M

    2015-01-01

    Articulation is the result of speech organs and it means clean, clear and distinct pronunciation of voices in words. A prospective study included 24 children between 5 and 15 years of age, of both sexes. All children were monolingual, Serbian being their native language. The quality of articulation was tested with Triage articulation test. Neither omission nor distortion of plosives was observed in any of them, whereas substitution of plosives occurred in 12% of patients. Omission of affricates was not observed in any of the subjects, but substitution and distortion occurred in 29%, and 76% of subjects, respectively. Omission of fricatives was found in 29% subjects, substitution in 52%, and distortion in 82% of subjects. Omission and distortion of nasals was not recorded in any of the subjects, and substitution occurred in 6% of children. Omission of laterals was observed in 6%, substitution in 46% and distortion in 52% of subjects with articulation disorders. Discussion and Articulation disorders were observed not only in children diagnosed with dyslalia but in those with dysphasia and stuttering as well. Children with speech disorders articulate vowels best, then nasals and plosives. Articulation of fricatives and laterals was found to be most severely deviated, including all three disorders, i.e. substitution, omission and distortion. Spasms of speech muscles and vegetative reactions were also observed in this study, but only in children with stuttering.

  12. 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

  13. 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...

  14. Emerging robotic platforms for minimally invasive surgery.

    Science.gov (United States)

    Vitiello, Valentina; Lee, Su-Lin; Cundy, Thomas P; Yang, Guang-Zhong

    2013-01-01

    Recent technological advances in surgery have resulted in the development of a range of new techniques that have reduced patient trauma, shortened hospitalization, and improved diagnostic accuracy and therapeutic outcome. Despite the many appreciated benefits of minimally invasive surgery (MIS) compared to traditional approaches, there are still significant drawbacks associated with conventional MIS including poor instrument control and ergonomics caused by rigid instrumentation and its associated fulcrum effect. The use of robot assistance has helped to realize the full potential of MIS with improved consistency, safety and accuracy. The development of articulated, precision tools to enhance the surgeon's dexterity has evolved in parallel with advances in imaging and human-robot interaction. This has improved hand-eye coordination and manual precision down to micron scales, with the capability of navigating through complex anatomical pathways. In this review paper, clinical requirements and technical challenges related to the design of robotic platforms for flexible access surgery are discussed. Allied technical approaches and engineering challenges related to instrument design, intraoperative guidance, and intelligent human-robot interaction are reviewed. We also highlight emerging designs and research opportunities in the field by assessing the current limitations and open technical challenges for the wider clinical uptake of robotic platforms in MIS.

  15. [Enlightenment and thinking on deqi (arrival of needling sensation) by abdominal acupuncture].

    Science.gov (United States)

    Wang, Yong-Zhou

    2011-02-01

    Enlightened by clinical practice of new acupuncture techniques such as abdominal acupuncture, different recognitions on deqi (arrival of needling sensation), namely qi sensation under the tip of the needles and qi sensation at the affected region were analyzed in this article. The cause and effect relation of arrival of the qi sensation and effectiveness was unscrambled. Varying from the commonly accepted concept of qi sensation, a new concept of latent needling sensation which took the clinical effectiveness as the standard is proposed as a result to provide theoretical preparations for the clinical practice of painlessness acupuncture.

  16. Robotic Powered Transfer Mechanism modeling on Human Muscle Structure

    Science.gov (United States)

    Saito, Yukio

    It is considered in engineering that one power source can operate one joint. However, support movement mechanism of living organism is multi joint movement mechanism. Considerably different from mechanical movement mechanism, two pairs of uni-articular muscles and a pair of bi-articular muscles are involved in it. In leg, movements observed in short run including leg idling, heel contact and toeing are operated by bi-articular muscles of the thigh showing strong legs to support body weight. Pursuit of versatility in welfare robot brings its comparison with conventional machinery or industrial robot to the fore. Request for safety and technology allowing elderly people to operate the robot is getting stronger in the society. The robot must be safe when it is used together with other welfare equipment and simpler system avoiding difficult operation has to be constructed. Appearance of recent care and assistance robot is getting similar to human arm in comparison with industrial robot. Being easily able to imagine from industrial robot, mid-heavyweight articulated robot to support 60-70kgf combined with large output motor and reduction gears is next to impossible to be installed in the bath room. This research indicated that upper limb arm and lower limb thigh of human and animals are holding coalitional muscles and movement of uni-artcular muscle and bi-articular muscle conjure the image of new actuators.

  17. 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...

  18. Personality Influences Career Choice: Sensation Seeking in Professional Musicians

    Science.gov (United States)

    Vuust, Peter; Gebauer, Line; Hansen, Niels Chr.; Jorgensen, Stine Ramsgaard; Moller, Arne; Linnet, Jakob

    2010-01-01

    Despite the obvious importance of deciding which career to pursue, little is known about the influence of personality on career choice. Here we investigated the relation between sensation seeking, a supposedly innate personality trait, and career choice in classical and "rhythmic" students at the academies of music in Denmark. We…

  19. Sensation Seeking and Targeting of Televised Anti-Drug PSAs.

    Science.gov (United States)

    Donohew, Lewis; And Others

    A study was conducted to determine how to reach out in an effective manner via televised public service announcements (PSAs) to particular at-risk audiences to motivate participation in drug abuse prevention programs. The subjects (207 young adults in Fayette County, Kentucky) responded to the M. Zuckerman sensation-seeking questionnaire. They…

  20. Functional brain imaging of gastrointestinal sensation in health and disease

    Institute of Scientific and Technical Information of China (English)

    Lukas Van Oudenhove; Steven J Coen; Qasim Aziz

    2007-01-01

    It has since long been known, from everyday experience as well as from animal and human studies, that psychological processes-both affective and cognitiveexert an influence on gastrointestinal sensorimotor function. More specifically, a link between psychological factors and visceral hypersensitivity has been suggested,mainly based on research in functional gastrointestinal disorder patients. However, until recently, the exact nature of this putative relationship remained unclear,mainly due to a lack of non-invasive methods to study the (neurobiological) mechanisms underlying this relationship in non-sleeping humans. As functional brain imaging, introduced in visceral sensory neuroscience some 10 years ago, does provide a method for in vivo study of brain-gut interactions, insight into the neurobiological mechanisms underlying visceral sensation in general and the influence of psychological factors more particularly,has rapidly grown. In this article, an overview of brain imaging evidence on gastrointestinal sensation will be given, with special emphasis on the brain mechanisms underlying the interaction between affective & cognitive processes and visceral sensation. First, the reciprocal neural pathways between the brain and the gut (braingut axis) will be briefly outlined, including brain imaging evidence in healthy volunteers. Second, functional brain imaging studies assessing the influence of psychological factors on brain processing of visceral sensation in healthy humans will be discussed in more detail.Finally, brain imaging work investigating differences in brain responses to visceral distension between healthy volunteers and functional gastrointestinal disorder patients will be highlighted.

  1. Medial Orbitofrontal Cortex Is Associated with Fatigue Sensation

    Directory of Open Access Journals (Sweden)

    Seiki Tajima

    2010-01-01

    Full Text Available Fatigue is an indispensable bioalarm to avoid exhaustive state caused by overwork or stresses. It is necessary to elucidate the neural mechanism of fatigue sensation for managing fatigue properly. We performed H2O  15 positron emission tomography scans to indicate neural activations while subjects were performing 35-min fatigue-inducing task trials twice. During the positron emission tomography experiment, subjects performed advanced trail-making tests, touching the target circles in sequence located on the display of a touch-panel screen. In order to identify the brain regions associated with fatigue sensation, correlation analysis was performed using statistical parametric mapping method. The brain region exhibiting a positive correlation in activity with subjective sensation of fatigue, measured immediately after each positron emission tomography scan, was located in medial orbitofrontal cortex (Brodmann's area 10/11. Hence, the medial orbitofrontal cortex is a brain region associated with mental fatigue sensation. Our findings provide a new perspective on the neural basis of fatigue.

  2. Personality Influences Career Choice: Sensation Seeking in Professional Musicians

    Science.gov (United States)

    Vuust, Peter; Gebauer, Line; Hansen, Niels Chr.; Jorgensen, Stine Ramsgaard; Moller, Arne; Linnet, Jakob

    2010-01-01

    Despite the obvious importance of deciding which career to pursue, little is known about the influence of personality on career choice. Here we investigated the relation between sensation seeking, a supposedly innate personality trait, and career choice in classical and "rhythmic" students at the academies of music in Denmark. We…

  3. Thermal sensation and thermophysiological responses to metabolic step-changes.

    Science.gov (United States)

    Goto, T; Toftum, J; de Dear, R; Fanger, P O

    2006-05-01

    This study investigated the effect on thermal perception and thermophysiological variables of controlled metabolic excursions of various intensities and durations. Twenty-four subjects were alternately seated on a chair or exercised by walking on a treadmill at a temperature predicted to be neutral at sedentary activity. In a second experimental series, subjects alternated between rest and exercise as well as between exercise at different intensities at two temperature levels. Measurements comprised skin and oesophageal temperatures, heart rate and subjective responses. Thermal sensation started to rise or decline immediately (within 1 min) after a change of activity, which means that even moderate activity changes of short duration affect thermal perceptions of humans. After approximately 15-20 min under constant activity, subjective thermal responses approximated the steady-state response. The sensitivity of thermal sensation to changes in core temperature was higher for activity down-steps than for up-steps. A model was proposed that estimates transient thermal sensation after metabolic step-changes. Based on predictions by the model, weighting factors were suggested to estimate a representative average metabolic rate with varying activity levels, e.g. for the prediction of thermal sensation by steady-state comfort models. The activity during the most recent 5 min should be weighted 65%, during the prior 10-5 min 25% and during the prior 20-10 min 10%.

  4. Personality Influences Career Choice: Sensation Seeking in Professional Musicians

    Science.gov (United States)

    Vuust, Peter; Gebauer, Line; Hansen, Niels Chr.; Jorgensen, Stine Ramsgaard; Moller, Arne; Linnet, Jakob

    2010-01-01

    Despite the obvious importance of deciding which career to pursue, little is known about the influence of personality on career choice. Here we investigated the relation between sensation seeking, a supposedly innate personality trait, and career choice in classical and "rhythmic" students at the academies of music in Denmark. We compared data…

  5. Sensation Seeking and Internet Dependence of Taiwanese High School Adolescents.

    Science.gov (United States)

    Lin, Sunny S. J.; Tsai, Chin-Chung

    This paper presents the second year follow-up research on Internet addiction among Taiwanese high school students from surveys of 753 students. A psychological profile of users was determined in order to differentiate motivation of Internet dependence and non-dependence. Data was analyzed to establish whether sensation seeking was a part of…

  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. 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…

  9. 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…

  10. 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...

  11. 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...

  12. More than DeQi: Spatial Patterns of Acupuncture-Induced Bodily Sensations.

    Science.gov (United States)

    Jung, Won-Mo; Shim, Woosun; Lee, Taehyung; Park, Hi-Joon; Ryu, Yeonhee; Beissner, Florian; Chae, Younbyoung

    2016-01-01

    Acupuncture uses needles to stimulate certain parts of the body, inducing a specific sensation, termed DeQi, which regard as essential for acupuncture's therapeutic effect. Here, we used the newly developed tool, bodily sensation mapping, to investigate the spatial configuration of acupuncture-induced sensations throughout the body. Twenty-five participants randomly received acupuncture stimulation or tactile stimulation using a von Frey filament at four different acupoints (HT7, PC6, ST36, and SP10) on the left side of the body. Subjects evaluated the characteristics of DeQi sensations and marked the areas of induced sensations on a body outline. We compared the psychophysical responses of DeQi sensations and visualized the spatial patterns of these sensations using statistical parametric mapping. We found greater intensity of DeQi sensations following acupuncture stimulation compared with tactile stimulation, with relatively small differences among the four acupoints. The sensation maps exhibited similar spatial patterns for acupuncture and tactile stimulation in the areas close to the stimulated sites. However, acupuncture was associated with additional sensations in areas remote from the stimulated sites. This study demonstrates that acupuncture stimulation produces greater DeQi sensations than tactile stimulation and results in the spreading of sensations to areas remote from the stimulus sites. Investigating the spatial patterns of acupuncture-induced sensations may be crucial for understanding the underlying mechanisms of acupuncture.

  13. An exploratory survey of deqi sensation from the views and experiences of chinese patients and acupuncturists.

    Science.gov (United States)

    Yuan, Hong-Wen; Ma, Liang-Xiao; Zhang, Peng; Lin, Chi; Qi, Dan-Dan; Li, Jing; Xin, Si-Yuan; Hu, Ni-Juan; Li, Chun-Hua; Liu, Yu-Qi; Hao, Jie; Xie, Jie-Ping; Cui, Hai; Zhu, Jiang

    2013-01-01

    Deqi sensation is believed to be important in clinical efficacy according to TCM theory. The measuring method of Deqi sensation has significant implications for the result of research trials. This study makes an investigation on acupuncture-experienced patients and expert acupuncturists in China and aims to find out the patient's needling sensations and acupuncturist's sensations which can be acceptable as descriptors of Deqi sensation, so as to provide foundation for more systematic and sensitive quantitative evaluation method of Deqi sensation. Results of this survey indicated that the Deqi sensation noted by both patient and acupuncturist is equally important to the treatment efficacy. It is found that there are some differences between the patients' real-life experience and the acupuncturists' expectations on patients' Deqi sensation. The "dull pain," "aching," "sore," "numb," "distended," "heavy," "electric," "throbbing," "warmness," "coolness," "spreading," and "radiating" can be considered as the main manifestations of Deqi sensations. The acupuncturists believed that Deqi sensations were mainly "pulling," "tight," and "throbbing." We suggest developing a questionnaire measuring the Deqi sensations which includes both the sensations of the patient and acupuncturist, and this would be very important and necessary for a better understanding of the relationship between Deqi sensation and acupuncture effects in future studies.

  14. More than DeQi: Spatial patterns of acupuncture-induced bodily sensations

    Directory of Open Access Journals (Sweden)

    Won-Mo Jung

    2016-10-01

    Full Text Available Acupuncture uses needles to stimulate certain parts of the body, inducing a specific sensation, termed DeQi, which many regard as essential for acupuncture's therapeutic effect. Here, we used the newly developed tool, bodily sensation mapping, to investigate the spatial configuration of acupuncture-induced sensations throughout the body. Twenty-five participants randomly received acupuncture stimulation or tactile stimulation using a von Frey filament at four different acuoints (HT7, PC6, ST36, and SP10 on the left side of the body. Subjects evaluated the characteristics of DeQi sensations and marked the areas of induced sensations on a body outline. We compared the psychophysical responses of DeQi sensations and visualized the spatial patterns of these sensations using statistical parametric mapping. We found greater intensity of DeQi sensations following acupuncture stimulation compared with tactile stimulation, with relatively small differences among the four acupoints. The sensation maps exhibited similar spatial patterns for acupuncture and tactile stimulation in the areas close to the stimulated sites. However, acupuncture was associated with additional sensations in areas remote from the stimulated sites. This study demonstrates that acupuncture stimulation produces greater DeQi sensations than tactile stimulation and results in the spreading of sensations to areas remote from the stimulus sites. Investigating the spatial patterns of acupuncture-induced sensations may be crucial for understanding the underlying mechanisms of acupuncture.

  15. Articulating a Hermeneutic Pedagogy: The Philosophy of Interpretation.

    Science.gov (United States)

    Sotirou, Peter

    1993-01-01

    Articulates the salient features of a hermeneutic pedagogy as utilized in a composition classroom. Foregrounds the hermeneutical conclusions of Hans-Georg Gadamer as they relate to the teaching of writing. (HB)

  16. King County Metro Transit Hybrid Articulated Buses: Final Evaluation Results

    Energy Technology Data Exchange (ETDEWEB)

    Chandler, K.; Walkowicz, K.

    2006-12-01

    Final technical report compares and evaluates new diesel and diesel hybrid-electric articulated buses operated as part of the King County Metro Transit (KC Metro) fleet in Seattle, Washington. The evaluation lasted 12 months.

  17. Functional occlusion: II. The role of articulators in orthodontics.

    Science.gov (United States)

    Clark, J R; Hutchinson, I; Sandy, J R

    2001-06-01

    Opinion is divided on whether there is a place for the use of semi-adjustable dental articulators in orthodontics. In this review we explore the validity and reproducibility of the techniques involved in mounting study models on a semi-adjustable dental articulator. We also look at the role of articulated study models in orthodontic diagnosis and treatment planning, in the finishing stages of orthodontics and in planning for orthognathic surgery. We report that each of the many stages involved in mounting study models on a semi-adjustable articulator is a potential source of error and that only if the technique is carried out with a high degree of accuracy is it worth the additional chairside time.

  18. Development of a long reach articulated manipulator for ITER in vessel inspection under vacuum and temperature

    Energy Technology Data Exchange (ETDEWEB)

    Perrot, Y. E-mail: yann.perrot@cea.fr; Cordier, J.J.; Friconneau, J.P.; Maisonnier, D.; Martin, E.; Palmer, J.D

    2003-09-01

    This project takes place in the EFDA Remote Handling (RH) activities for the fusion reactor International Thermonuclear Experimental Reactor (ITER). The aim of the R and D program is to demonstrate the feasibility of in-vessel RH intervention by a long reach, limited payload manipulator which penetrates the first wall using the six IVVS penetrations. Potential activities for this device include close inspection of the plasma facing surfaces and leak detection. The work includes the design, manufacture and testing of a demonstrator articulated manipulator called the In-Vessel Penetrator (IVP). The first part of this work concerned the analysis of the requirements and resulted in the development of the conceptual design of the overall manipulator, comprising a 5 module, 11 d.o.f robot based on a parallelogram structure. A scale one mock up of a representative segment was manufactured and tested. In parallel, a feasibility study of the IVP operation was made and provided recommendations to modify the design for intervention under vacuum and temperature. Some technologies were selected and analysed to determine their suitability to the IVP application and items identified for further validation. This paper presents the whole robot concept, the results of the test campaign on the prototype demonstrator and the vacuum and temperature technologies study.

  19. Finding Strong Bridges and Strong Articulation Points in Linear Time

    Science.gov (United States)

    Italiano, Giuseppe F.; Laura, Luigi; Santaroni, Federico

    Given a directed graph G, an edge is a strong bridge if its removal increases the number of strongly connected components of G. Similarly, we say that a vertex is a strong articulation point if its removal increases the number of strongly connected components of G. In this paper, we present linear-time algorithms for computing all the strong bridges and all the strong articulation points of directed graphs, solving an open problem posed in [2].

  20. EXPERIMENTAL EVALUATION OF ARTICULATED WHEELED VEHICLES POSITION STABILITY

    Directory of Open Access Journals (Sweden)

    Ye. Dubinin

    2015-07-01

    Full Text Available With introducing a mobile measurement system with linear acceleration sensors there was experimentally determined the parameter of position stability of the articulated wheeled vehicle on the example of HTA-200 «Slobozhanets». It was determined that the position stability was provided within the entire range of operating speeds and accelerations. The obtained results can be used to enhance the traffic safety of articulated vehicles.

  1. Kinematics and Path Following Control of an Articulated Drum Roller

    Science.gov (United States)

    BIAN, Yongming; YANG, Meng; FANG, Xiaojun; WANG, Xiahui

    2017-07-01

    Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work efficiency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state-feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What's more, to evaluate the performance of the proposed method, simulation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial displacement error (-1.5 m), heading error (-0.11 rad) and steering angle (-0.19 rad). Finally, simulation and experimental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articulated drum roller can lock into a desired path with the proposed method in uneven fields.

  2. Virtual articulator for the analysis of dental occlusion: an update.

    Science.gov (United States)

    Maestre-Ferrín, Laura; Romero-Millán, Javier; Peñarrocha-Oltra, David; Peñarrocha-Diago, María

    2012-01-01

    The future of dental practice is closely linked to the utilization of computer-based technology, specifically virtual reality, which allows the dental surgeon to simulate true life situations in patients. The virtual articulator has been designed for the exhaustive analysis of static and dynamic occlusion, with the purpose of substituting mechanical articulators and avoiding their errors. These tools will help both odontologists and dental prosthetists to provide the best individualized treatment for each patient. The present review analyzes the studies published in the literature on the design, functioning and applications of virtual articulators. A Medline-PubMed search was made of dental journals, with the identification of 137 articles, of which 16 were finally selected. The virtual articulator can simulate the specific masticatory movement of the patient. During mandibular animation, the program calculates the sites where the opposing teeth come into contact. The studies made to assess the reliability of the virtual articulator show good correspondence in visualization of the number and position of the dynamic contacts. The virtual articulator is a precise tool for the full analysis of occlusion in a real patient.

  3. Robotic hepatobiliary surgery: update on the current status.

    Science.gov (United States)

    Carr, A D; Ali, M R; Khatri, V P

    2013-10-01

    An update on the current status of robotic hepatobiliary surgery based on a review of the available literature. A literature search was performed using the PubMed database with search phrases "robotic hepatectomy", "robotic liver resection", "robotic liver surgery", "robotic hepatobiliary surgery", and "robotic biliary reconstruction". We selected articles with high volume case series or case controlled series. As a result of our literature search we will focus on the 9 major articles on robotic liver resection (RLR) with 235 patients undergoing RLR for a total of 244 liver resections. In addition a brief update on robotic biliary reconstruction will also be presented based on the above articles and recent review articles. Indications for robotic liver resection included both benign (N.=72, 29.5%) and malignant disease (N.=172, 70.5%). The most common indication was colorectal liver metastasis (N.=87, 50.6%) and hepatocellular carcinoma (N.=57, 33%). The most common type of resection was subsegmental (N.=55, 22.5%), with a significant number of major hepatectomies (N.=80, 32.8%). Overall conversion rate was 7.8%, with majority converted to open (N.=18) and one converted to hand assisted. The overall complication rate was 11.8% (N.=29). No perioperative mortality was reported. Preliminary results show that robotic assisted laparoscopic hepatobiliary surgery has materialized as a new technique that combines the advantages of laparoscopy with the dissection, suturing and articulation of robotics. This more closely approximates open surgery. The preliminary data demonstrates that RLR can be applied in major hepatobiliary centers safely. Future comparative studies are needed to determine if this is of significant benefit over current open techniques.

  4. Concept and Functional Structure of a Service Robot

    Directory of Open Access Journals (Sweden)

    Luis A. Pineda

    2015-02-01

    Full Text Available In this paper, we present a concept of service robot and a framework for its functional specification and implementation. The present discussion is grounded in Newell's system levels hierarchy which suggests organizing robotics research in three different layers, corresponding to Marr's computational, algorithmic and implementation levels, as follows: (1 the service robot proper, which is the subject of the present paper, (2 perception and action algorithms, and (3 the systems programming level. The concept of a service robot is articulated in practice through the introduction of a conceptual model for particular service robots; this consists of the specification of a set of basic robotic behaviours and a number of mechanisms for assembling such behaviours during the execution of complex tasks. The model involves an explicit representation of the task structure, allowing for deliberative reasoning and task management. The model also permits distinguishing between a robot's competence and performance, along the lines of Chomsky's corresponding distinction. We illustrate how this model can be realized in practice with two composition modes that we call static and dynamic; these are illustrated with the Restaurant Test and the General Purpose Service Robot Test of the RoboCup@Home competition, respectively. The present framework and methodology has been implemented in the robot Golem-II+, which is also described. The paper is concluded with an overall reflection upon the present concept of a service robot and its associated functional specifications, and the potential impact of such a conceptual model in the study, development and application of service robots in general.

  5. 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.

  6. 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)

  7. 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...

  8. 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

  9. 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...

  10. Evaluation of Two Facebow/Semi-adjustable Articulator Systems for Orienting Maxillary Cast on Articulators: A Pilot Study

    National Research Council Canada - National Science Library

    Anusha, C V; Singh, Amith A; Sam, George; Sangwan, Babita; Shilpa, M; Kamath, Akshata G

    2016-01-01

    The present study was aimed to assess the transferability of occlusal plane (OP) orientation from the patient to the articulators with the help of two different facebow systems and evaluated with a gold standard...

  11. 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.

  12. Biped walking robot based on a 2-UPU+2-UU parallel mechanism

    Science.gov (United States)

    Miao, Zhihuai; Yao, Yan'an; Kong, Xianwen

    2014-03-01

    Existing biped robots mainly fall into two categories: robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU+2-UU parallel mechanism. The biped walking robot is composed of two identical platforms(feet) and four limbs, including two UPU(universal-prismatic-universal serial chain) limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

  13. Human roughness perception and possible factors effecting roughness sensation.

    Science.gov (United States)

    Aktar, Tugba; Chen, Jianshe; Ettelaie, Rammile; Holmes, Melvin; Henson, Brian

    2017-06-01

    Surface texture sensation is significant for business success, in particular for solid surfaces for most of the materials; including foods. Mechanisms of roughness perception are still unknown, especially under different conditions such as lubricants with varying viscosities, different temperatures, or under different force loads during the observation of the surface. This work aims to determine the effect of those unknown factors, with applied sensory tests on 62 healthy participants. Roughness sensation of fingertip was tested under different lubricants including water and diluted syrup solutions at room temperature (25C) and body temperature (37C) by using simple pair-wise comparison to observe the just noticeable difference threshold and perception levels. Additionally, in this research applied force load during roughness observation was tested with pair-wise ranking method to illustrate its possible effect on human sensation. Obtained results showed that human's capability of roughness discrimination reduces with increased viscosity of the lubricant, where the influence of the temperature was not found to be significant. Moreover, the increase in the applied force load showed an increase in the sensitivity of roughness discrimination. Observed effects of the applied factors were also used for estimating the oral sensation of texture during eating. These findings are significant for our fundamental understanding to texture perception, and for the development of new food products with controlled textural features. Texture discrimination ability, more specifically roughness discrimination capability, is a significant factor for preference and appreciation for a wide range of materials, including food, furniture, or fabric. To explore the mechanism of sensation capability through tactile senses, it is necessary to identify the relevant factors and define characteristics that dominate the process involved. The results that will be obtained under these principles

  14. Sensationalism in front page photographs : Content analysis of Dutch popular and quality newspapers

    NARCIS (Netherlands)

    Schaap, Gabi; Pleijter, Alexander

    2012-01-01

    GABI SCHAAP & ALEXANDER PLEIJTER Sensationalism in front page photographs: Content analysis of Dutch popular and quality newspapers Sensation in the news has been a longtime cause for social and scientific debate. Sensational news is thought to substitute 'serious' information needed for serious cit

  15. The Relationship between Sensation-Seeking and Eysenck's Dimensions of Personality.

    Science.gov (United States)

    Eysenck, Sybil; Zuckerman, Marvin

    1978-01-01

    The Eysenck Personality Questionnaire (EPQ) and the Sensation-Seeking Scale were administered to 219 American undergraduates and 879 English twins. Sensation-seeking was positively correlated to EPQ-measured traits of extraversion and psychoticism. There was no relationship between sensation-seeking and the trait dimension of neuroticism.…

  16. Sensationalism in front page photographs : Content analysis of Dutch popular and quality newspapers

    NARCIS (Netherlands)

    Schaap, Gabi; Pleijter, Alexander

    2012-01-01

    GABI SCHAAP & ALEXANDER PLEIJTER Sensationalism in front page photographs: Content analysis of Dutch popular and quality newspapers Sensation in the news has been a longtime cause for social and scientific debate. Sensational news is thought to substitute 'serious' information needed for serious cit

  17. Sensationalism in front page photographs : Content analysis of Dutch popular and quality newspapers

    NARCIS (Netherlands)

    Schaap, Gabi; Pleijter, Alexander

    2012-01-01

    GABI SCHAAP & ALEXANDER PLEIJTER Sensationalism in front page photographs: Content analysis of Dutch popular and quality newspapers Sensation in the news has been a longtime cause for social and scientific debate. Sensational news is thought to substitute 'serious' information needed for serious

  18. Sensation Seeking and Internet Activities, Music Preference, and Personal Relationships among College Students.

    Science.gov (United States)

    Weisskirch, Robert S.; Murphy, Laurel C.

    Individuals vary in their need for excitement, involving a personality trait known as sensation seeking (SS). Previous research has found that a preference for rock music and participation in more self-disclosing behaviors are characteristic of high sensation seekers. This study examines if college student sensation seeking relates to the…

  19. Exhaustive geographic search with mobile robots along space-filling curves

    Energy Technology Data Exchange (ETDEWEB)

    Spires, S.V.; Goldsmith, S.Y.

    1998-03-01

    Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have the robots traverse a space-filling curve. For many geographic search applications, this method is energy-frugal, highly robust, and provides guaranteed coverage in a finite time that decreases as the reciprocal of the number of robots sharing the search task. Furthermore, it minimizes the amount of robot-to-robot communication needed for the robots to organize their movements. This report presents some preliminary results from applying the Hilbert space-filling curve to geographic search by mobile robots.

  20. 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.

  1. Covariant formulation for the optimal control of jointed arm robots: an alternative to Pontryagin's principle

    CERN Document Server

    Quintero, J A Rojas; Gazeau, J P; Seguin, P

    2013-01-01

    We elaborate algorithms able to efficiently command the actuators of an articulated robot. Our time discretization method is based on cubic and quintic Hermite Finite Elements. The suggested control optimization consists in minimizing directly the selected criterium by a conjugate gradient type algorithm. A generic example illustrates the super convergence of the Hermite's technique.

  2. Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

    Science.gov (United States)

    Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

    2013-08-01

    Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations.

  3. 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...

  4. Varied definitions of risk related to sensation seeking trait

    Energy Technology Data Exchange (ETDEWEB)

    Daastoel, P.Oe.U.; Drottz-Sjoeberg, B.M. [Norwegian Univ. of Science and Technology, Trondheim (Norway). Dept. of Psychology

    1999-12-01

    This pilot study is based on the assumption and the knowledge that previous results show that the normal use of the word risk varies across subjects. The risk definitions the subjects use have also been shown to be related to various educational interests. A related field of research has developed measures for Sensation Seeking personality trait, with four facets. Three independent groups of first year psychology students reported their normal definition of the word risk using one of three measurement formats. The results showed, e.g. that the typical open-ended response to the personal definition of risk was danger. Subjects who defined risk as the combination of probability and consequences tended to score higher on the total Sensation Seeking Scale, as compared to those defining risk as the probability of an event.

  5. Body Image And Sensation Seeking In Gym-Goers

    Directory of Open Access Journals (Sweden)

    Schlegel Petr

    2015-05-01

    Full Text Available This research aimed to explore a relation between Body image (PSPP and Sensation Seeking (SSS-V and to determine gym-goers based on these entities. The research file (N = 182 consisted of gym-goers aged between 24 – 45. The comparison of the tests showed a weak relation (0.25 between PSPP and SST tests and also among the individual subscales. The comparison of men and women did not come up with any significant differences. In terms of Body image, the file showed above-average results, in the case of Sensation Seeking, its score was average. The outcome of our findings is that there is no marked relation between PSPP and SST and the same goes for men and women.

  6. In vivo human-skin electrical conduction and pain sensations

    Energy Technology Data Exchange (ETDEWEB)

    Voegelin, M. R. [Florence, Univ. (Italy). Div. di Fisica Medica. Dipt. di Fisiopatologia; Paoli, G.; Zoppi, M. [Florence, Univ. (Italy). Istituto della I Clinica Medica

    1997-06-01

    In vivo human skin is stimulated by direct current the intensity of which ranges from 1 {mu}A to 1 mA. They have detected the voltage/current plot and the temporal trend of potential difference between two electrodes placed in a suitable cutaneous region of stimulation, in a group of healthy subjects. They have elaborated a non-linear functional equivalent model to describe the system behaviour. The electrical stimulation can induce painful sensation, over a critical value of the current intensity, and they believe that this sensation is due to thermal dissipation into the inner layers of the skin. In fact, subjects begin to feel pain when the electric power dissipated in the stimulated region for unit time is within the range of 235-260 mcal/cm{sup 2}{center_dot}s, that corresponds to the thermal threshold required to evoke pain.

  7. Upper extremity hemodynamics and sensation with backpack loads.

    Science.gov (United States)

    Kim, Sae Hoon; Neuschwander, Timothy B; Macias, Brandon R; Bachman, Larry; Hargens, Alan R

    2014-05-01

    Heavy backpacks are often used in extreme environments, for example by military during combat, therefore completion of tasks quickly and efficiently is of operational relevance. The purpose of this study was to quantify hemodynamic parameters (brachial artery Doppler and microvascular flow by photoplethysmography; tissue oxygenation by near-infrared spectroscopy; arterial oxygen saturation by pulse oximeter) and sensation in upper extremities and hands (Semmes-Weinstein monofilament test and 2-point discrimination test) while wearing a loaded backpack (12 kg) in healthy adults for 10 min. All values were compared to baseline before wearing a backpack. Moderate weight loaded backpack loads significantly decreased upper extremity sensation as well as all macrovascular and microvascular hemodynamic values. Decreased macrovascular and microvascular hemodynamics may produce neurological dysfunction and consequently, probably affect fine motor control of the hands.

  8. 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.

  9. Yes, there is deqi sensation in laser acupuncture.

    Science.gov (United States)

    Litscher, Gerhard

    2013-01-01

    Deqi, a composite of unique sensations, is essential for clinical efficacy according to Traditional Chinese Medicine. It is described as a sensory perception of varying character and is mostly ascribed to metal needle acupuncture. However, it can also be elicited by different kinds of laser acupuncture stimulation. This short paper summarizes the current scientific status of deqi in laser stimulation. Different kinds of laser acupuncture are described in a comprehensive form, and the most interesting studies concerning deqi and laser acupuncture are presented.

  10. Impulsivity, sensation seeking and reproductive behaviour : a life history perspective.

    OpenAIRE

    Copping, L.; Campbell, A; Muncer, S.

    2013-01-01

    Impulsivity has often been invoked as a proximate driver of different life-history strategies. However, conceptualisations of “impulsivity” are inconsistent and ambiguities exist regarding which facets of impulsivity are actually involved in the canalisation of reproductive strategies. Two variables commonly used to represent impulsivity were examined in relation to reproductive behaviour. Results demonstrated that sensation seeking was significantly related to strategy-based behaviour, but i...

  11. Illusory sensation of movement induced by repetitive transcranial magnetic stimulation

    OpenAIRE

    Mark Schram Christensen; Jesper Lundbye-Jensen; Michael James Grey; Alexandra Damgaard Vejlby; Bo Belhage; Jens Bo Nielsen

    2010-01-01

    Human movement sense relies on both somatosensory feedback and on knowledge of the motor commands used to produce the movement. We have induced a movement illusion using repetitive transcranial magnetic stimulation over primary motor cortex and dorsal premotor cortex in the absence of limb movement and its associated somatosensory feedback. Afferent and efferent neural signalling was abolished in the arm with ischemic nerve block, and in the leg with spinal nerve block. Movement sensation was...

  12. 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...

  13. 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...

  14. Relationships among circadian typology, psychological symptoms, and sensation seeking.

    Science.gov (United States)

    Prat, Gemma; Adan, Ana

    2013-08-01

    Recently, attention has been focused on the relationship among circadian typology, psychiatric symptoms, and personality traits. This study analyzes the influence of circadian typology on psychological distress, and the sensation-seeking personality trait. Five hundred seventeen college students (173 males), aged 17 to 30, answered the Composite Scale of Morningness (CSM), the General Health Questionnaire 28-item version (GHQ-28), and the Sensation Seeking Scale-V (SSS-V). The evening-type subjects in our sample scored higher than the neither- and morning- type in the GHQ-28 total score, as well as in the four subscales that composed it (Psychosomatic Symptoms, Anxiety and Insomnia, Social Dysfunction, and Severe Depression) (p0.206; p<0.036). All these data point to a relationship between evening-type subjects and the level of psychological distress and the sensation-seeking personality trait. They also suggest that eveningness could be related to developing psychological distress and personality traits that could, in turn, be related to developing other problems, such as drug consumption.

  15. Illusory sensation of movement induced by repetitive transcranial magnetic stimulation.

    Directory of Open Access Journals (Sweden)

    Mark Schram Christensen

    Full Text Available Human movement sense relies on both somatosensory feedback and on knowledge of the motor commands used to produce the movement. We have induced a movement illusion using repetitive transcranial magnetic stimulation over primary motor cortex and dorsal premotor cortex in the absence of limb movement and its associated somatosensory feedback. Afferent and efferent neural signalling was abolished in the arm with ischemic nerve block, and in the leg with spinal nerve block. Movement sensation was assessed following trains of high-frequency repetitive transcranial magnetic stimulation applied over primary motor cortex, dorsal premotor cortex, and a control area (posterior parietal cortex. Magnetic stimulation over primary motor cortex and dorsal premotor cortex produced a movement sensation that was significantly greater than stimulation over the control region. Movement sensation after dorsal premotor cortex stimulation was less affected by sensory and motor deprivation than was primary motor cortex stimulation. We propose that repetitive transcranial magnetic stimulation over dorsal premotor cortex produces a corollary discharge that is perceived as movement.

  16. Referred sensations elicited by video-mediated mirroring of hands.

    Directory of Open Access Journals (Sweden)

    Simon Hoermann

    Full Text Available Humans readily perceive ownership of a limb even when it is artificially induced as in the case of using a mirror reflection. However, mirror reflections are very constrained perceptions which do not allow transformations and varied contexts as often occurs in real life. The extent to which perceived limb ownership occurs with video-mediated manipulations is not known, particularly given the perception would no longer be a precise copy (reflection of a person's own limb. The present study directly compared referred sensations of the limbs with the use of a mirror reflection to those obtained with a new video-mediated setup to assess perceived ownership. Manipulations that could not be performed with a standard mirror reflection, such as reversal of the spatial positions of the limbs, were also investigated to examine how far the perceived ownership effects could be pushed. Across a series of experiments, data on the quality, intensity and location of referred sensations were collected and analyzed together with measures of hand ownership and participants' experience of the two setups. Results reveal that participants felt referred sensations in both the optical and the video-mediated setup, and that video-mediated manipulations of hand-position reversals produced equal to stronger effects of ownership compared with the mirror reflection. These findings open up new possibilities for scientific experimentation and therapy that are discussed in the paper.

  17. Cortical processing of human somatic and visceral sensation.

    Science.gov (United States)

    Aziz, Q; Thompson, D G; Ng, V W; Hamdy, S; Sarkar, S; Brammer, M J; Bullmore, E T; Hobson, A; Tracey, I; Gregory, L; Simmons, A; Williams, S C

    2000-04-01

    Somatic sensation can be localized precisely, whereas localization of visceral sensation is vague, possibly reflecting differences in the pattern of somatic and visceral input to the cerebral cortex. We used functional magnetic resonance imaging to study the cortical processing of sensation arising from the proximal (somatic) and distal (visceral) esophagus in six healthy male subjects. Esophageal stimulation was performed by phasic distension of a 2 cm balloon at 0.5 Hz. For each esophageal region, five separate 30 sec periods of nonpainful distension were alternated with five periods of similar duration without distension. Gradient echoplanar images depicting bold contrast were acquired using a 1.5 T GE scanner. Distension of the proximal esophagus was localized precisely to the upper chest and was represented in the trunk region of the left primary somatosensory cortex. In contrast, distension of the distal esophagus was perceived diffusely over the lower chest and was represented bilaterally at the junction of the primary and secondary somatosensory cortices. Different activation patterns were also observed in the anterior cingulate gyrus with the proximal esophagus being represented in the right midanterior cingulate cortex (BA 24) and the distal esophagus in the perigenual area (BA32). Differences in the activation of the dorsolateral prefrontal cortex and cerebellum were also observed for the two esophageal regions. These findings suggest that cortical specialization in the sensory-discriminative, affective, and cognitive areas of the cortex accounts for the perceptual differences observed between the two sensory modalities.

  18. A newer technique to program a semi adjustable articulator

    Directory of Open Access Journals (Sweden)

    R Venkateshwaran

    2014-01-01

    Full Text Available Introduction: The difficulty in reproducing accurate angle of condylar guidance in semi-adjustable articulators. Purpose: The purpose of this study was to determine the correlation between the angle of horizontal condylar inclination obtained on a semi-adjustable articulator and the corresponding angle traced on a temporomandibular joint (TMJ radiograph in completely edentulous subject. Materials and Methods: The horizontal condylar inclination angle was obtained in a semi-adjustable articulator by means of height tracer (extra oral tracing device and interocclusal records to program the articulator in 21 subjects. TMJ radiograph were recorded by the same operator with same orthopantomogram (OPG machine (planmeca. Tracings of inclines of articular eminence on the radiograph were compared with the angle obtained on a semi-adjustable articulator. Each measurement was made using manual methods of measuring angle. The results were subjected to the Pearson correlation statistical analysis (α =0.01. Results: The outline of the articular eminence in a TMJ tomogram radiographic image was identified and traced. A significant correlation was found between the horizontal condylar inclination on a semi-adjustable and the corresponding TMJ tomogram radiographic image for both right (R = 0.789; P = 0.001 and left (i = 0.747; P = 0.004 sides. Conclusion: The articular eminence traced on a TMJ tomogram image represents the horizontal condylar inclination with a mean difference of 5° in 21 subjects evaluated.

  19. Attenuation of Self-Generated Tactile Sensations is Predictive, not Postdictive.

    Directory of Open Access Journals (Sweden)

    2006-01-01

    Full Text Available When one finger touches the other, the resulting tactile sensation is perceived as weaker than the same stimulus externally imposed. This attenuation of sensation could result from a predictive process that subtracts the expected sensory consequences of the action, or from a postdictive process that alters the perception of sensations that are judged after the event to be self-generated. In this study we observe attenuation even when the fingers unexpectedly fail to make contact, supporting a predictive process. This predictive attenuation of self-generated sensation may have evolved to enhance the perception of sensations with an external cause.

  20. Attenuation of self-generated tactile sensations is predictive, not postdictive.

    Directory of Open Access Journals (Sweden)

    Paul M Bays

    2006-02-01

    Full Text Available When one finger touches the other, the resulting tactile sensation is perceived as weaker than the same stimulus externally imposed. This attenuation of sensation could result from a predictive process that subtracts the expected sensory consequences of the action, or from a postdictive process that alters the perception of sensations that are judged after the event to be self-generated. In this study we observe attenuation even when the fingers unexpectedly fail to make contact, supporting a predictive process. This predictive attenuation of self-generated sensation may have evolved to enhance the perception of sensations with an external cause.

  1. Concept and Functional Structure of a Service Robot

    Directory of Open Access Journals (Sweden)

    Luis A. Pineda

    2015-02-01

    Full Text Available In this paper, we present a concept of service robot and a framework for its functional specification and implementation. The present discussion is grounded in Newell’s system levels hierarchy which suggests organizing robotics research in three different layers, corresponding to Marr’s computational, algorithmic and implementation levels, as follows: (1 the service robot proper, which is the subject of the present paper, (2 perception and action algorithms, and (3 the systems programming level. The concept of a service robot is articulated in practice through the introduction of a conceptual model for particular service robots; this consists of the specification of a set of basic robotic behaviours and a number of mechanisms for assembling such behaviours during the execution of complex tasks. The model involves an explicit representation of the task structure, allowing for deliberative reasoning and task management. The model also permits distinguishing between a robot’s competence and performance, along the lines of Chomsky’s corresponding distinction. We illustrate how this model can be realized in practice with two composition modes that we call static and dynamic; these are illustrated with the Restaurant Test and the General Purpose Service Robot Test of the RoboCup@Home competition, respectively. The present framework and methodology has been implemented in the robot Golem-II+, which is also described. The paper is concluded with an overall reflection upon the present concept of a service robot and its associated functional specifications, and the potential impact of such a conceptual model in the study, development and application of service robots in general.

  2. 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

  3. Frontal lobe activation mediates the relation between sensation seeking and cortisol increases.

    Science.gov (United States)

    Freeman, Hani D; Beer, Jennifer S

    2010-10-01

    Low sensation seekers are theorized to avoid risk more often because risk is emotionally more costly for them (in comparison to high sensation seekers). Therefore, individual differences in sensation seeking should predict differences in risk task-induced cortisol changes. Furthermore, the neural mediation that accounts for the relation between sensation seeking and cortisol changes has not been studied. The current study tested whether individual differences in sensation seeking predicted cortisol changes in relation to a risk task and whether this relation was mediated by frontal lobe activation. Participants (N=17) who varied in sensation seeking completed an fMRI study in which they rated the likelihood they would take various risks. Cortisol was measured from saliva samples collected prior to and after the fMRI procedure. The findings show that low sensation seekers showed the greatest rise in cortisol after the risk procedure, and this relation was partially mediated by increased orbitofrontal cortex activity.

  4. 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.

  5. 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 ...

  6. 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…

  7. Planar articulated mechanism design by graph theoretical enumeration

    DEFF Research Database (Denmark)

    Kawamoto, A; Bendsøe, Martin P.; Sigmund, Ole

    2004-01-01

    This paper deals with design of articulated mechanisms using a truss-based ground-structure representation. By applying a graph theoretical enumeration approach we can perform an exhaustive analysis of all possible topologies for a test example for which we seek a symmetric mechanism. This guaran......This paper deals with design of articulated mechanisms using a truss-based ground-structure representation. By applying a graph theoretical enumeration approach we can perform an exhaustive analysis of all possible topologies for a test example for which we seek a symmetric mechanism....... This guarantees that one can identify the global optimum solution. The result underlines the importance of mechanism topology and gives insight into the issues specific to articulated mechanism designs compared to compliant mechanism designs....

  8. VARIATIONAL MONTE-CARLO APPROACH FOR ARTICULATED OBJECT TRACKING

    Directory of Open Access Journals (Sweden)

    Kartik Dwivedi

    2013-12-01

    Full Text Available In this paper, we describe a novel variational Monte Carlo approach for modeling and tracking body parts of articulated objects. An articulated object (human target is represented as a dynamic Markov network of the different constituent parts. The proposed approach combines local information of individual body parts and other spatial constraints influenced by neighboring parts. The movement of the relative parts of the articulated body is modeled with local information of displacements from the Markov network and the global information from other neighboring parts. We explore the effect of certain model parameters (including the number of parts tracked; number of Monte-Carlo cycles, etc. on system accuracy and show that ourvariational Monte Carlo approach achieves better efficiency and effectiveness compared to other methods on a number of real-time video datasets containing single targets.

  9. Swisstrolley 3 - An articulated trolley bus; SWISSTROLLEY 3. Gelenktrolleybus

    Energy Technology Data Exchange (ETDEWEB)

    Gisler, H.-J.

    2006-07-01

    This illustrated final report for the Swiss Federal Office of Energy (SFOE) takes a look at the Swisstrolley 3 low-floor, articulated trolley bus developed in Switzerland by the Hess AG company. Various features of the variants of the trolley bus, including single vehicle, single and double-articulated buses and bus trailers, are discussed. The reductions achieved in energy consumption, weight and noise are discussed. Typical values for power consumption are presented in graphical form. Economic viability and passenger-friendliness are examined, as are possibilities for further improvement.

  10. Optimization of Front Axle Suspension System of Articulated Dump Truck

    DEFF Research Database (Denmark)

    Langer, Thomas Heegaard; Christensen, Brian B.; Mouritsen, Ole Ø.

    2010-01-01

    ongoing research collaboration between Hydrema Produktion A/S, Aalborg University and the University of Agder on comfort improvement. The main goal of the research project is to improve ride comfort of articulated construction machinery by use of multibody simulation models. In this paper the application...... that has been subjected to comfort improvement is a two axle articulated dump truck. The comfort has been in terms of whole body vibration exposure and the overall improvement has been made possible by adding front axle suspension. However, a hydraulic stabilizing system between the tractor and trailer...

  11. The Landscape of Mass Mediated Articulations of Biotechnology

    DEFF Research Database (Denmark)

    Horst, Maja

    The objective of this paper is to explore the associations made in mass mediatedarticulations of biotechnology. It serves as the basis for further analyses of massmediated controversies and the purpose is to establish a map of the landscape ofmass mediated articulation of biotechnology. Which kinds...... of genetic researchand technology are articulated in what way? What can be associated to what inthe mass mediation and when is it portrayed as controversial? In short this is astudy of associations in the news production that serves as a way of establishingan empirical archive for further work. It is based...

  12. Humanlike Articulate Robotic Headform to Replace Human Volunteers in Respirator Fit Testing

    Science.gov (United States)

    2012-12-01

    reservoir or scrubbed CO2 in a rebreather.[8] The 1848 US patent[9] for Haslett’s Lung Protector describes the first air purifying respirator...N95 filtering facepiece particulate respirator and a surgical mask during human breathing: two pathways for particle penetration. J. Occup. Environ...Assoc. J, 1983. 44: 720–726. 39. Tuomi, T., Face seal leakage of half-masks and surgical masks. Am. Ind. Hyg. Assoc. J., 1985. 46(6): 308–312. 40

  13. NOVEL APPROACH FOR ROBOT PATH PLANNING BASED ON NUMERICAL ARTIFICIAL POTENTIAL FIELD AND GENETIC ALGORITHM

    Institute of Scientific and Technical Information of China (English)

    WANG Weizhong; ZHAO Jie; GAO Yongsheng; CAI Hegao

    2006-01-01

    A novel approach for collision-free path planning of a multiple degree-of-freedom (DOF)articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point (VNP), a numerical artificial potential field is constructed in Cartesian space, which provides the heuristic information, effective distance to the goal and the motion direction for the motion of the robot joints. Secondly, a genetic algorithm, combined with the heuristic rules, is used in joint space to determine a series of contiguous configurations piecewise fiom initial configuration until the goal configuration is attained. A simulation shows that the method can not only handle issues on path planning of the articulated robots in environment with complex obstacles, but also improve the efficiency and quality of path planning.

  14. 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...

  15. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

    In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

  16. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

    The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to

  17. The Effect of Foot Structure on Locomotion of a Small Biped Robot

    Directory of Open Access Journals (Sweden)

    Nguyen Tinh

    2017-01-01

    Full Text Available This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.

  18. The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

    Science.gov (United States)

    Chen, Alexander Y.

    1990-01-01

    Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

  19. A Robotic Voice Simulator and the Interactive Training for Hearing-Impaired People

    Directory of Open Access Journals (Sweden)

    Hideyuki Sawada

    2008-01-01

    Full Text Available A talking and singing robot which adaptively learns the vocalization skill by means of an auditory feedback learning algorithm is being developed. The robot consists of motor-controlled vocal organs such as vocal cords, a vocal tract and a nasal cavity to generate a natural voice imitating a human vocalization. In this study, the robot is applied to the training system of speech articulation for the hearing-impaired, because the robot is able to reproduce their vocalization and to teach them how it is to be improved to generate clear speech. The paper briefly introduces the mechanical construction of the robot and how it autonomously acquires the vocalization skill in the auditory feedback learning by listening to human speech. Then the training system is described, together with the evaluation of the speech training by auditory impaired people.

  20. Passivity-based control of robotic manipulators for safe cooperation with humans

    Science.gov (United States)

    Zanchettin, Andrea Maria; Lacevic, Bakir; Rocco, Paolo

    2015-02-01

    This paper presents a novel approach to the control of articulated robots in unstructured environments. The proposed control ensures several properties. First, the controller guarantees the achievement of a goal position without getting stuck in local minima. Then, the controller makes the closed-loop system passive, which renders the approach attractive for applications where the robot needs to safely interact with humans. Finally, the control law is explicitly shaped by the safety measure - the danger field. The proposed control law has been implemented and validated in a realistic experimental scenario, demonstrating the effectiveness in driving the robot to a given configuration in a cluttered environment, without any offline planning phase. Furthermore, the passivity of the system enables the robot to easily accommodate external forces on the tool, when a physical contact between the robot and the environment is established.

  1. Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Chun, W.H.

    1990-01-01

    The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment, behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.

  2. Modelling and Control of 5 dof Robotic Arm

    Directory of Open Access Journals (Sweden)

    Nurettin Gökhan Adar

    2013-01-01

    Full Text Available In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.

  3. An Exploratory Survey of Deqi Sensation from the Views and Experiences of Chinese Patients and Acupuncturists

    Directory of Open Access Journals (Sweden)

    Hong-Wen Yuan

    2013-01-01

    Full Text Available Deqi sensation is believed to be important in clinical efficacy according to TCM theory. The measuring method of Deqi sensation has significant implications for the result of research trials. This study makes an investigation on acupuncture-experienced patients and expert acupuncturists in China and aims to find out the patient’s needling sensations and acupuncturist’s sensations which can be acceptable as descriptors of Deqi sensation, so as to provide foundation for more systematic and sensitive quantitative evaluation method of Deqi sensation. Results of this survey indicated that the Deqi sensation noted by both patient and acupuncturist is equally important to the treatment efficacy. It is found that there are some differences between the patients’ real-life experience and the acupuncturists’ expectations on patients’ Deqi sensation. The “dull pain,” “aching,” “sore,” “numb,” “distended,” “heavy,” “electric,” “throbbing,” “warmness,” “coolness,” “spreading,” and “radiating” can be considered as the main manifestations of Deqi sensations. The acupuncturists believed that Deqi sensations were mainly “pulling,” “tight,” and “throbbing.” We suggest developing a questionnaire measuring the Deqi sensations which includes both the sensations of the patient and acupuncturist, and this would be very important and necessary for a better understanding of the relationship between Deqi sensation and acupuncture effects in future studies.

  4. Learned Fear of Gastrointestinal Sensations in Healthy Adults.

    Science.gov (United States)

    Ceunen, Erik; Zaman, Jonas; Weltens, Nathalie; Sarafanova, Ekaterina; Arijs, Vicky; Vlaeyen, Johan W S; Van Oudenhove, Lukas; Van Diest, Ilse

    2016-11-01

    Gastrointestinal symptom-specific fear and anxiety are important determinants of gastrointestinal symptom perception. We studied learning of fear toward innocuous gastrointestinal sensations as a putative mechanism in the development of gastrointestinal symptom-specific fear and anxiety. Fifty-two healthy subjects (26 women) received 2 types of esophageal balloon distention at a perceptible but nonpainful intensity (conditioned stimulus [CS], the innocuous sensation) and at a painful intensity (unconditioned stimulus [US]). Subjects were assigned randomly to 1 of 2 groups. During the learning phase, the innocuous CS preceded the painful US in the experimental group (n = 26). In the control group (n = 26), on the contrary, the US never followed the CS directly. During a subsequent extinction phase, both groups received only CS distention-the painful US was no longer administered. Indexes of fear learning toward the innocuous CS distention included the skin conductance response, fear-potentiated startle (measured by the eye-blink electromyogram), and self-reported expectancy of the US. During the learning phase, only the experimental group learned to fear the innocuous gastrointestinal CS, based on the increase in US expectancy (compared with the control group, P = .04), increased skin conductance response (compared with the control group, P = .03), and potentiated startle reflex (compared with the control group, P = .001) in response to the CS. The differences between the experimental and control groups in US expectancy and skin conductance, but not fear-potentiated startle, disappeared during the extinction phase. Fear toward innocuous gastrointestinal sensations can be established through associative learning in healthy human beings. This may be an important mechanism in the development of fear of gastrointestinal symptoms, implicated in the pathophysiology of functional gastrointestinal disorders. Copyright © 2016 AGA Institute. Published by Elsevier Inc

  5. Effects of expiratory resistive loading on the sensation of dyspnea.

    Science.gov (United States)

    Chonan, T; Altose, M D; Cherniack, N S

    1990-07-01

    To determine whether an increase in expiratory motor output accentuates the sensation of dyspnea (difficulty in breathing), the following experiments were undertaken. Ten normal subjects, in a series of 2-min trials, breathed freely (level I) or maintained a target tidal volume equal to (level II) or twice the control (level III) at a breathing frequency of 15/min (similar to the control frequency) with an inspiratory load, an expiratory load, and without loads under hyperoxic normocapnia. In tests at levels II and III, end-expiratory lung volume was maintained at functional residual capacity. A linear resistance of 25 cmH2O.1(-1).s was used for both inspiratory and expiratory loading; peak mouth pressure (Pm) was measured, and the intensity of dyspnea (psi) was assessed with a visual analog scale. The sensation of dyspnea increased significantly with the magnitude of expiratory Pm during expiratory loading (level II: Pm = 9.4 +/- 1.5 (SE) cmH2O, psi = 1.26 +/- 0.35; level III: Pm = 20.3 +/- 2.8 cmH2O, psi = 2.22 +/- 0.48) and with inspiratory Pm during inspiratory loading (level II: Pm = 9.7 +/- 1.2 cmH2O, psi = 1.35 +/- 0.38; level III: Pm = 23.9 +/- 3.0 cmH2O, psi = 2.69 +/- 0.60). However, at each level of breathing, neither the intensity of dyspnea nor the magnitude of peak Pm during loading was different between inspiratory and expiratory loading. The augmentation of dyspnea during expiratory loading was not explained simply by increases in inspiratory activity. The results indicate that heightened expiratory as well as inspiratory motor output causes comparable increases in the sensation of difficulty in breathing.

  6. College Level One: Articulation, Equity, and Literacy Issues. Workshop Report.

    Science.gov (United States)

    Bisgaard, Soren; Brillhart, Lia V.; Burgess, Ann B.; Cramer, Jane Harris; Denton, Denice D.; Downer, Janice D.; Dunwoody, Sharon L.; Ellis, Arthur B.; Hewson, Peter W.; Secada, Walter G.; Tobias, Sheila

    This document reports on a workshop entitled "Articulation, Equity, and Literacy Issues" hosted by the College Level One (CL-1) project of the National Institute for Science Education (NISE). CL-1 identifies important issues in undergraduate education and determines the best strategies for addressing them. Workshop discussions examine…

  7. Articulating the International Curriculum. Part II, Continuity through Outcomes.

    Science.gov (United States)

    Bartlett, Kevin

    1997-01-01

    The three programs now offered by the International Baccalaureate Organization for children 5 to 18 could benefit from greater articulation. The programs share common goals aimed at developing in students sense of responsibility, spirit of open-mindedness, critical thinking ability, multilanguage proficiency, and active interest in other cultures.…

  8. Larval Myogenesis in the Articulate Brachiopod Argyrotheca cordata (Risso, 1826)

    DEFF Research Database (Denmark)

    Altenburger, Andreas; Wanninger, Andreas Wilhelm Georg

    2008-01-01

    and micromorphological data to this debate, we investigated muscle formation in larvae of the brooding articulate brachiopod Argyrotheca cordata using immunocytochemistry combined with confocal laser scanning microscopy. Full grown larvae are three-lobed and show two pairs of bristle bundles. During larval development...

  9. GPU Accelerated Likelihoods for Stereo-Based Articulated Tracking

    DEFF Research Database (Denmark)

    Friborg, Rune Møllegaard; Hauberg, Søren; Erleben, Kenny

    For many years articulated tracking has been an active research topic in the computer vision community. While working solutions have been suggested, computational time is still problematic. We present a GPU implementation of a ray-casting based likelihood model that is orders of magnitude faster...

  10. Gaussian-like Spatial Priors for Articulated Tracking

    DEFF Research Database (Denmark)

    Hauberg, Søren; Sommer, Stefan Horst; Pedersen, Kim Steenstrup

    2010-01-01

    We present an analysis of the spatial covariance structure of an articulated     motion prior in which joint angles have a known covariance structure. From this,     a well-known, but often ignored, deficiency of the kinematic skeleton     representation becomes clear: spatial variance not only...

  11. Data-driven importance distributions for articulated tracking

    DEFF Research Database (Denmark)

    Hauberg, Søren; Pedersen, Kim Steenstrup

    2011-01-01

    We present two data-driven importance distributions for particle filterbased articulated tracking; one based on background subtraction, another on depth information. In order to keep the algorithms efficient, we represent human poses in terms of spatial joint positions. To ensure constant bone...

  12. Stick it! Articulated tracking using spatial rigid object priors

    DEFF Research Database (Denmark)

    Hauberg, Søren; Pedersen, Kim Steenstrup

    2010-01-01

    Articulated tracking of humans is a well-studied field, but most work has treated the humans as being independent of the environment. Recently, Kjellstrom et al. showed how knowledge of interaction with a known rigid object provides constraints that lower the degrees of freedom in the model. While...

  13. GPU accelerated likelihoods for stereo-based articulated tracking

    DEFF Research Database (Denmark)

    Friborg, Rune Møllegaard; Hauberg, Søren; Erleben, Kenny

    2010-01-01

    For many years articulated tracking has been an active research topic in the computer vision community. While working solutions have been suggested, computational time is still problematic. We present a GPU implementation of a ray-casting based likelihood model that is orders of magnitude faster...

  14. Articulating social science in the wild of global natures?

    DEFF Research Database (Denmark)

    Blok, Anders

    2014-01-01

    Building on multisited ethnographic case studies, this paper seeks to contrastively compare the demonstration and articulation formats of two social science expert cultures—economics and anthropology—enrolled ‘in the wild’ of transnational environmental politics. How, the paper asks, do different...

  15. Closed-loop analysis of an articulated railcar train

    Energy Technology Data Exchange (ETDEWEB)

    Heinzl, P.; Ploechl, M.; Mack, W.; Lugner, P. [Technische Univ., Vienna (Austria). Inst. fuer Mechanik

    2000-07-01

    An articulated railcar train is modelled by a plane three-body linkage mechanism guided at two points along a given trajectory with a prescribed velocity of the front point. The closed-loop system is analyzed using a symbolic-numerical method leading to ordinary differential equations in minimal coordinates. (orig.)

  16. Frida Kahlo: Visual Articulations of Suffering and Loss.

    Science.gov (United States)

    Nixon, Lois LaCivita

    1996-01-01

    Illustrates the value of interdisciplinary approaches to patient care by exploring visual articulations of suffering as rendered by one artist. Makes general observations about the nature of humanities courses offered to medical students and depicts a visual portrayal of an illness story representing personal perspectives about patient suffering…

  17. Stuart Hall and the Theory and Practice of Articulation

    Science.gov (United States)

    Clarke, John

    2015-01-01

    In this article, I argue that the idea of articulation links three different dimensions of Stuart Hall's work: it is central to the work of cultural politics, to the work of hegemony and to his practice of embodied pedagogy. I claim that his approach to pedagogy entails the art of listening combined with the practice of theorising in the service…

  18. Air Conditioning and Refrigeration Program Articulation, 1981-1982.

    Science.gov (United States)

    Dallas County Community Coll. District, TX.

    Based on a survey of high school programs and courses in the Dallas County Community College District (DCCCD), this articulated program is designed to prepare students for entry-level employment in the air conditioning and refrigeration industry, including residential and commercial air conditioning and commercial refrigeration. The skills and…

  19. Frida Kahlo: Visual Articulations of Suffering and Loss.

    Science.gov (United States)

    Nixon, Lois LaCivita

    1996-01-01

    Illustrates the value of interdisciplinary approaches to patient care by exploring visual articulations of suffering as rendered by one artist. Makes general observations about the nature of humanities courses offered to medical students and depicts a visual portrayal of an illness story representing personal perspectives about patient suffering…

  20. Articulation for Elementary School Foreign Language Programs: Challenges and Opportunities.

    Science.gov (United States)

    Pesola, Carol Ann

    While foreign language instruction for elementary school children is gaining attention, poor articulation is a problem that has become more complex because of the variety of foreign language program models being developed. Five main types are in use: total immersion, partial immersion, foreign languages in the elementary school (FLES),…

  1. [Malignant otitis externa with disfunction of the temporomandibular articulation].

    Science.gov (United States)

    Rojas Casanova, P; Pila Pérez, R; Dieguez Tejada, R; Pila Peláez, M

    1993-01-01

    Here we present a case of a female patient 70 years old stricken with diabetes mellitud 40 years of evolution with manifestations of malignant external otitis accompanied by disfunction of the temporomandibular articulation. Here we will show the clinical characteristics and the diagnosis in our patient likewise its treatment. We will expound the most important aspects of the entity at this present time.

  2. Stuart Hall and the Theory and Practice of Articulation

    Science.gov (United States)

    Clarke, John

    2015-01-01

    In this article, I argue that the idea of articulation links three different dimensions of Stuart Hall's work: it is central to the work of cultural politics, to the work of hegemony and to his practice of embodied pedagogy. I claim that his approach to pedagogy entails the art of listening combined with the practice of theorising in the service…

  3. Syllable reduction and articulation rates in Danish, Norwegian and Swedish

    NARCIS (Netherlands)

    Hilton, N.H.; Schüppert, Anja; Gooskens, C.S.

    2011-01-01

    This investigation compares articulation rates of phonological and phonetic syllables in Norwegian, Swedish and Danish to investigate differences in degrees of syllable deletion (reduction) among these three languages. For the investigation two sets of data are used: one consisting of recorded speec

  4. College Student Access: How Articulation Agreements Support Rural Students

    Science.gov (United States)

    Jaeger, Audrey J.; Dunstan, Stephany Brett; Dixon, Karrie Gibson

    2015-01-01

    Students from rural areas face additional burdens, such as affordability, academic preparation, and lack of college-going resources that make seeking, enrolling, and attending college more difficult. Community colleges offer hope to achieve a college degree for many rural students, and well-developed articulation agreements can be one way of…

  5. Articulated Multimedia Physics, Lesson 3, The Arithmetic of Scientific Notation.

    Science.gov (United States)

    New York Inst. of Tech., Old Westbury.

    As the third lesson of the Articulated Multimedia Physics Course, instructional materials are presented in this study guide. An introductory description is given for scientific notation methods. The subject content is provided in scrambled form, and the use of matrix transparencies is required for students to control their learning process.…

  6. Modern psychophysics and the assessment of human oral sensation.

    Science.gov (United States)

    Snyder, Derek J; Prescott, John; Bartoshuk, Linda M

    2006-01-01

    Psychophysical measures attempt to capture and compare subjective experiences objectively. In the chemical senses, these techniques have been instrumental in describing relationships between oral sensation and health risk, but they are often used incorrectly to make group comparisons. This chapter reviews contemporary methods of oral sensory assessment, with particular emphasis on suprathreshold scaling. We believe that these scales presently offer the most realistic picture of oral sensory function, but only when they are used correctly. Using converging methods from psychophysics, anatomy, and genetics, we demonstrate valid uses of modern chemosensory testing in clinical diagnosis and intervention.

  7. Yes, There Is Deqi Sensation in Laser Acupuncture

    Directory of Open Access Journals (Sweden)

    Gerhard Litscher

    2013-01-01

    Full Text Available Deqi, a composite of unique sensations, is essential for clinical efficacy according to Traditional Chinese Medicine. It is described as a sensory perception of varying character and is mostly ascribed to metal needle acupuncture. However, it can also be elicited by different kinds of laser acupuncture stimulation. This short paper summarizes the current scientific status of deqi in laser stimulation. Different kinds of laser acupuncture are described in a comprehensive form, and the most interesting studies concerning deqi and laser acupuncture are presented.

  8. Preliminary Study on SED Distribution of Tactile Sensation in Fingertip

    Directory of Open Access Journals (Sweden)

    Chen Huiling

    2016-01-01

    Full Text Available For investigating the effects of stimuli on the deformations within the soft tissues of fingertips and the dependence of the tactile sensation on the deformations under pressure, in this paper, a finite element model is developed, to simulate the procedure of a fingertip touching a sharp wedge. Characteristics of the strain energy density (SED distribution within the soft issues are analyzed. Simulation results show that the soft tissues of fingertips are very sensitive to stimuli, and the spatial distribution characteristics of strain energy density within soft tissues can best explain the evoked charging rate of mechanoreceptors.

  9. [Surgical robotics, short state of the art and prospects].

    Science.gov (United States)

    Gravez, P

    2003-11-01

    State-of-the-art robotized systems developed for surgery are either remotely controlled manipulators that duplicate gestures made by the surgeon (endoscopic surgery applications), or automated robots that execute trajectories defined relatively to pre-operative medical imaging (neurosurgery and orthopaedic surgery). This generation of systems primarily applies existing robotics technologies (the remote handling systems and the so-called "industrial robots") to current surgical practices. It has contributed to validate the huge potential of surgical robotics, but it suffers from several drawbacks, mainly high costs, excessive dimensions and some lack of user-friendliness. Nevertheless, technological progress let us anticipate the appearance in the near future of miniaturised surgical robots able to assist the gesture of the surgeon and to enhance his perception of the operation at hand. Due to many in-the-body articulated links, these systems will have the capability to perform complex minimally invasive gestures without obstructing the operating theatre. They will also combine the facility of manual piloting with the accuracy and increased safety of computer control, guiding the gestures of the human without offending to his freedom of action. Lastly, they will allow the surgeon to feel the mechanical properties of the tissues he is operating through a genuine "remote palpation" function. Most probably, such technological evolutions will lead the way to redesigned surgical procedures taking place inside new operating rooms featuring a better integration of all equipments and favouring cooperative work from multidisciplinary and sometimes geographically distributed medical staff.

  10. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J.

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  11. Vocal tract articulation revisited: the case of the monk parakeet.

    Science.gov (United States)

    Ohms, Verena R; Beckers, Gabriël J L; ten Cate, Carel; Suthers, Roderick A

    2012-01-01

    Birdsong and human speech share many features with respect to vocal learning and development. However, the vocal production mechanisms have long been considered to be distinct. The vocal organ of songbirds is more complex than the human larynx, leading to the hypothesis that vocal variation in birdsong originates mainly at the sound source, while in humans it is primarily due to vocal tract filtering. However, several recent studies have indicated the importance of vocal tract articulators such as the beak and oropharyngeal-esophageal cavity. In contrast to most other bird groups, parrots have a prominent tongue, raising the possibility that tongue movements may also be of significant importance in vocal production in parrots, but evidence is rare and observations often anecdotal. In the current study we used X-ray cinematographic imaging of naturally vocalizing monk parakeets (Myiopsitta monachus) to assess which articulators are possibly involved in vocal tract filtering in this species. We observed prominent tongue height changes, beak opening movements and tracheal length changes, which suggests that all of these components play an important role in modulating vocal tract resonance. Moreover, the observation of tracheal shortening as a vocal articulator in live birds has to our knowledge not been described before. We also found strong positive correlations between beak opening and amplitude as well as changes in tongue height and amplitude in several types of vocalization. Our results suggest considerable differences between parrot and songbird vocal production while at the same time the parrot's vocal articulation might more closely resemble human speech production in the sense that both make extensive use of the tongue as a vocal articulator.

  12. Humanoid Robot

    Science.gov (United States)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); hide

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  13. Robotics for Human Exploration

    Science.gov (United States)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

    Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

  14. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

    Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

  15. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  16. Influence of sustained hypoxia on the sensation of dyspnea.

    Science.gov (United States)

    Chonan, T; Okabe, S; Hida, W; Satoh, M; Kikuchi, Y; Takishima, T; Shirato, K

    1998-08-01

    We assessed the effect of sustained isocapnic hypoxia (PCO2 = 40 Torr, SaO2 = 80%) on the sensation of dyspnea in 16 normal healthy males. Subjects rated the sensation of dyspnea (c) on 15 cm visual analog scales during 20 min of sustained hypoxia. Following this hypoxic period, 8 subjects undertook mild exercise (10-50 W on a bicycle ergometer for 3 min) under the continuation of hypoxia. During sustained hypoxia, psi increased initially with ventilation from 0.6 +/- 0.2 (n = 16, mean +/- SE) to 2.9 +/- 0.6 at peak ventilation, but it decreased with ventilatory depression to 1.6 +/- 0.4. Dyspnea intensity during hypoxic exercise was significantly smaller than that at peak ventilation in the resting hypoxic period (2.3 +/- 0.7 vs. 3.9 +/- 1.0), although the ventilation was greater during exercise (24.0 +/- 3.0 vs. 19.7 +/- 1.4 l/min). These results indicate that sustained hypoxia has a biphasic, i.e., initial stimulatory and delayed depressant, effect on dyspnea and on ventilation. It is suggested that the dyspnea sensing mechanism is suppressed during mild exercise under sustained hypoxia.

  17. PTSD and Sensation Seeking Tendency to Risk Behavior as Protective or Risk Factor

    Science.gov (United States)

    2011-04-01

    questioned soldiers serving in Cambodia concerning their professional motives and found that sensation seeking was not one of the central reasons for...be positively correlated with high sensation seeking scores (see Haapasalo [30] for delinquency and Roth & Herzberg [31] or Wagner [32] for substance...differences in sensation seeking based on theory . Pers Individ Dif. 2007; 43: 1839-1850. [4] Wang S, Mason J, Charney D, Yehuda R, Riney S

  18. More than DeQi: Spatial Patterns of Acupuncture-Induced Bodily Sensations

    OpenAIRE

    Won-Mo Jung; Woosun Shim; Taehyung Lee; Hi-Joon Park; Yeon-Hee Ryu; Florian Beissner; Younbyoung Chae

    2016-01-01

    Acupuncture uses needles to stimulate certain parts of the body, inducing a specific sensation, termed DeQi, which many regard as essential for acupuncture's therapeutic effect. Here, we used the newly developed tool, bodily sensation mapping, to investigate the spatial configuration of acupuncture-induced sensations throughout the body. Twenty-five participants randomly received acupuncture stimulation or tactile stimulation using a von Frey filament at four different acuoints (HT7, PC6, ST3...

  19. [Changes in specific sensation in pilots exposed to systematic general vibration].

    Science.gov (United States)

    Podshivalov, A A; Krylov, Iu V; Zaritskiĭ, V V

    1995-01-01

    Helicopter pilots exposed to excessive general vibration demonstrate changes of specific sensation (vibrotactile, vestibular, auditory), that could be signs of occupational disorder. Those changes are increased thresholds of vibrotactile sensation, lower vestibulovegetative stability, changed vestibulospinal reflexes, more common occurrence of consistent deafness for voice frequencies in comparison with jet aircraft pilots. Experimental vibration (50-1,800 (m/s2) 2 hour) caused no changes of the vibrotactile and auditory sensation, and the modified vestibular function could prove the increased vestibular reactivity.

  20. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  1. Robotics_MobileRobot Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota...

  2. [Networked robotics: its present status and future prospect].

    Science.gov (United States)

    Tachi, S

    1999-04-01

    One of the most promising technologies today is the integration of virtual reality and robotics on a network. This is called network robotics in general and R-cubed (real-time remote robotics) in particular. R-cubed is a Japanese national R&D scheme to realize augmented telexistence (tele-existence) through various kinds of networks including the Internet. Telexistence is a concept named for the technology that enables people to have a real-time sensation of being present at a location other than the place where they actually exist, and to interact with a remote and/or virtual environment. They can thus "telexist" in a real environment that the robot is present or in a virtual environment that a computer has generated. It is also possible to telexist in a mixed environment of real and virtual which can be called augmented telexistence. The concept of telexistence, i.e., virtual existence in a remote or computer-generated environment, has developed into the national R-cubed R&D scheme to create an advanced and comfortable life for the network society of the 21st century. Based on the national R&D scheme of R-Cubed, the Humanoid Robotics Project (HRP) was launched in April 1998. This is an effort to integrate telerobotics, network technology, and virtual reality into networked telexistence, and significant results are expected.

  3. Acupuncture needling sensation: the neural correlates of deqi using fMRI.

    Science.gov (United States)

    Asghar, Aziz U R; Green, Gary; Lythgoe, Mark F; Lewith, George; MacPherson, Hugh

    2010-02-22

    The needling sensation of deqi is considered by most acupuncturists to be an important component of acupuncture, yet neuroimaging research that investigates this needle sensation has been limited. In this study we have investigated the effect of deqi and acute pain needling sensations upon brain fMRI blood oxygen level-dependent (BOLD) signals. Seventeen right-handed participants who received acupuncture at the right LI-4 (Hegu) acupoint were imaged in a 3T MRI scanner. fMRI datasets were classified, on the basis of psychophysical participants' reports of needling scores, into those that were associated with predominantly deqi sensations versus those with predominantly acute pain sensations. Brain areas showing changes in BOLD signal increases (activations) and decreases (deactivations) were identified. Differences were demonstrated in the pattern of activations and deactivations between groupings of scans associated with deqi versus pain sensations. For the deqi grouping, significant deactivations occurred, whereas significant activations did not. In contrast, the predominantly acute pain grouping was associated with a mixture of activations and deactivations. For the comparison between the predominately deqi sensation grouping and the acute pain sensation grouping (deqi>pain contrast), only negative Z value voxels resulted (mainly from deactivations in the deqi grouping and activations in the pain grouping) in the limbic/sub-cortical structures and the cerebellum regions of interest. Our results show the importance of collecting and accounting for needle sensation data in neuroimaging studies of acupuncture. 2009 Elsevier B.V. All rights reserved.

  4. Placebo-induced somatic sensations: a multi-modal study of three different placebo interventions.

    Science.gov (United States)

    Beissner, Florian; Brünner, Franziska; Fink, Maria; Meissner, Karin; Kaptchuk, Ted J; Napadow, Vitaly

    2015-01-01

    Somatic sensations induced by placebos are a frequent phenomenon whose etiology and clinical relevance remains unknown. In this study, we have evaluated the quantitative, qualitative, spatial, and temporal characteristics of placebo-induced somatic sensations in response to three different placebo interventions: (1) placebo irritant solution, (2) placebo laser stimulation, and (3) imagined laser stimulation. The quality and intensity of evoked sensations were assessed using the McGill pain questionnaire and visual analogue scales (VAS), while subjects' sensation drawings processed by a geographic information system (GIS) were used to measure their spatial characteristics. We found that all three interventions are capable of producing robust sensations most frequently described as "tingling" and "warm" that can reach consider-able spatial extent (≤ 205 mm²) and intensity (≤ 80/100 VAS). Sensations from placebo stimulation were often referred to areas remote from the stimulation site and exhibit considerable similarity with referred pain. Interestingly, there was considerable similarity of qualitative features as well as spatial patterns across subjects and placebos. However, placebo laser stimulation elicited significantly stronger and more widespread sensations than placebo irritant solution. Finally, novelty seeking, a character trait assessed by the Temperament and Character Inventory and associated with basal dopaminergic activity, was less pronounced in subjects susceptible to report placebo-induced sensations. Our study has shown that placebo-induced sensations are frequent and can reach considerable intensity and extent. As multiple somatosensory subsystems are involved despite the lack of peripheral stimulus, we propose a central etiology for this phenomenon.

  5. Variants in the dopamine-4-receptor gene promoter are not associated with sensation seeking in skiers.

    Science.gov (United States)

    Thomson, Cynthia J; Rajala, Amelia K; Carlson, Scott R; Rupert, Jim L

    2014-01-01

    Sensation seeking is a personality trait that has been associated with disinhibited behaviours including substance use and gambling, but also with high-risk sport practices including skydiving, paragliding, and downhill skiing. Twin studies have shown that sensation seeking is moderately heritable, and candidate genes encoding components involved in dopaminergic transmission have been investigated as contributing to this type of behaviour. To determine whether variants in the regulatory regions of the dopamine-4-receptor gene (DRD4) influenced sport-specific sensation seeking, we analyzed five polymorphisms (-1106T/C, -906T/C, -809G/A, -291C/T, 120-bp duplication) in the promoter region of the gene in a cohort of skiers and snowboarders (n = 599) that represented a broad range of sensation seeking behaviours. We grouped subjects by genotype at each of the five loci and compared impulsive sensation seeking and domain-specific (skiing) sensation seeking between groups. There were no significant associations between genotype(s) and general or domain-specific sensation seeking in the skiers and snowboarders, suggesting that while DRD4 has previously been implicated in sensation seeking, the promoter variants investigated in this study do not contribute to sensation seeking in this athlete population.

  6. Variants in the dopamine-4-receptor gene promoter are not associated with sensation seeking in skiers.

    Directory of Open Access Journals (Sweden)

    Cynthia J Thomson

    Full Text Available Sensation seeking is a personality trait that has been associated with disinhibited behaviours including substance use and gambling, but also with high-risk sport practices including skydiving, paragliding, and downhill skiing. Twin studies have shown that sensation seeking is moderately heritable, and candidate genes encoding components involved in dopaminergic transmission have been investigated as contributing to this type of behaviour. To determine whether variants in the regulatory regions of the dopamine-4-receptor gene (DRD4 influenced sport-specific sensation seeking, we analyzed five polymorphisms (-1106T/C, -906T/C, -809G/A, -291C/T, 120-bp duplication in the promoter region of the gene in a cohort of skiers and snowboarders (n = 599 that represented a broad range of sensation seeking behaviours. We grouped subjects by genotype at each of the five loci and compared impulsive sensation seeking and domain-specific (skiing sensation seeking between groups. There were no significant associations between genotype(s and general or domain-specific sensation seeking in the skiers and snowboarders, suggesting that while DRD4 has previously been implicated in sensation seeking, the promoter variants investigated in this study do not contribute to sensation seeking in this athlete population.

  7. Investigation into the correlation between sensation and leg movement in restless legs syndrome.

    Science.gov (United States)

    Birinyi, Paul V; Allen, Richard P; Lesage, Susan; Dean, Terry; Earley, Christopher J

    2005-09-01

    We evaluated rest effects on restless legs syndrome (RLS) sensory and motor symptoms. During two 60-minute Suggested Immobilization Tests (SIT) subject's signals of RLS leg sensations and periodic leg movements while awake (PLMW) were recorded. Sensations, PLMW, sensations preceding or after PLMW, sensations occurring without following PLMW, and PLMW occurring without preceding sensation were determined. The RLS patients were divided into equal-sized high and low PLMW groups for further analysis. Data from 46 subjects (28 RLS and 18 controls) revealed sensations increased linearly with rest in RLS patients and controls. Movement rate increased linearly with rest for controls but increased rapidly for the first 45 minutes for all RLS patients. PLMW/hour increased with further rest for low but not high PLMW patients. Sensations followed by PLMW and PLMW without preceding sensations followed similar patterns. Sensations without subsequent PLMW increased dramatically in the last 15 minutes of the SITs. Whereas both sensory and motor signs of RLS increase with rest, there is minimal increase for controls. Patients with higher but not lower PLMW rates reached a ceiling for PLMW after 35 to 40 minutes. The temporal dissociation between sensory and motor events supports viewing these motor and sensory events as separate but loosely linked manifestations of RLS. (c) 2005 Movement Disorder Society.

  8. Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Kun, E-mail: wangkun@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Lappeenranta University of Technology, Lappeenranta (Finland); University of Science and Technology of China, Hefei (China); Song, Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science and Technology of China, Hefei (China); Wu, Huapeng [Lappeenranta University of Technology, Lappeenranta (Finland); Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2017-06-15

    Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.

  9. Mechanism and Design Analysis of Articulated Ankle Foot Orthoses for Drop-Foot

    Directory of Open Access Journals (Sweden)

    Morshed Alam

    2014-01-01

    Full Text Available Robotic technologies are being employed increasingly in the treatment of lower limb disabilities. Individuals suffering from stroke and other neurological disorders often experience inadequate dorsiflexion during swing phase of the gait cycle due to dorsiflexor muscle weakness. This type of pathological gait, mostly known as drop-foot gait, has two major complications, foot-slap during loading response and toe-drag during swing. Ankle foot orthotic (AFO devices are mostly prescribed to resolve these complications. Existing AFOs are designed with or without articulated joint with various motion control elements like springs, dampers, four-bar mechanism, series elastic actuator, and so forth. This paper examines various AFO designs for drop-foot, discusses the mechanism, and identifies limitations and remaining design challenges. Along with two commercially available AFOs some designs possess promising prospective to be used as daily-wear device. However, the design and mechanism of AFO must ensure compactness, light weight, low noise, and high efficiency. These entailments present significant engineering challenges to develop a new design with wide consumer adoption.

  10. The effect of skeletal pattern on determining articulator settings for prosthodontic rehabilitation: an in vivo study.

    LENUS (Irish Health Repository)

    Canning, Tom

    2011-01-01

    During extensive prosthodontic treatment, the use of an accurately adjusted articulator is recommended to simulate mandibular movements. This clinical study was undertaken to assess any possible effect of the underlying skeletal pattern on programming articulator settings.

  11. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

    Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK.......Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK....

  12. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

    Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics......Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics...

  13. Robotic prostatectomy surgery.

    Science.gov (United States)

    Starnes, Danielle N; Sims, Terran Warren

    2006-04-01

    Despite the minimally invasive nature of the robotic prostatectomy procedure, there are still many cultural, environmental, and social issues that must be addressed. The following case study emphasizes that patient education is key to successful outcomes following robotic prostatectomy.

  14. Lightweight Robotic Excavation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Lightweight robotic excavators address the need for machines that dig, collect, transport and dump lunar soil. Robust and productive small robots enable mining rich...

  15. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

    The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

  16. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

    Robots which are immune to the CMS cavern environment, wirelessly controlled: -One actuated by smart materials (Ionic Polymer-Metal Composites and Macro Fiber Composites) -One regular brushed DC rover -One servo-driven rover -Stair-climbing robot

  17. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available Despite advances in recent years, autonomous multi-robot systems remain classed as complex systems, because control and coordination of these systems remain a challenging task. Autonomous mobile robot houses heterogeneous sets of connected modular...

  18. Robotic Surveying

    Energy Technology Data Exchange (ETDEWEB)

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    ZAPATA ENGINEERING challenged our engineers and scientists, which included robotics expertise from Carnegie Mellon University, to design a solution to meet our client's requirements for rapid digital geophysical and radiological data collection of a munitions test range with no down-range personnel. A prime concern of the project was to minimize exposure of personnel to unexploded ordnance and radiation. The field season was limited by extreme heat, cold and snow. Geographical Information System (GIS) tools were used throughout this project to accurately define the limits of mapped areas, build a common mapping platform from various client products, track production progress, allocate resources and relate subsurface geophysical information to geographical features for use in rapidly reacquiring targets for investigation. We were hopeful that our platform could meet the proposed 35 acres per day, towing both a geophysical package and a radiological monitoring trailer. We held our breath and crossed our fingers as the autonomous Speedrower began to crawl across the playa lakebed. We met our proposed production rate, and we averaged just less than 50 acres per 12-hour day using the autonomous platform with a path tracking error of less than +/- 4 inches. Our project team mapped over 1,800 acres in an 8-week (4 days per week) timeframe. The expertise of our partner, Carnegie Mellon University, was recently demonstrated when their two autonomous vehicle entries finished second and third at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. 'The Grand Challenge program was established to help foster the development of autonomous vehicle technology that will some day help save the lives of Americans who are protecting our country on the battlefield', said DARPA Grand Challenge Program Manager, Ron Kurjanowicz. Our autonomous remote-controlled vehicle (ARCV) was a modified New Holland 2550 Speedrower retrofitted to allow the machine

  19. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C.; Posey, L.D. [Sandia National Labs., Albuquerque, NM (United States)

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  20. Ground Vehicle Robotics

    Science.gov (United States)

    2013-08-20

    Ground Vehicle Robotics Jim Parker Associate Director, Ground Vehicle Robotics UNCLASSIFIED: Distribution Statement A. Approved for public...DATE 20 AUG 2013 2. REPORT TYPE Briefing Charts 3. DATES COVERED 09-05-2013 to 15-08-2013 4. TITLE AND SUBTITLE Ground Vehicle Robotics 5a...Willing to take Risk on technology -User Evaluated -Contested Environments -Operational Data Applied Robotics for Installation & Base Ops -Low Risk

  1. Robotics Research for Cybersecurity

    Science.gov (United States)

    2012-01-24

    Wei-Min Shen 1/24/12 Page 1 of 3 Robotics Research for Cybersecurity Wei-Min Shen Polymorphic Robotics Laboratory USC/ISI, 4676 Admiralty Way...Marina del Rey, CA 90292 Phone: 310-448-8710, Fax: 310-822-0751 Email: shen@isi.edu, Web: http://www.isi.edu/ robots / Executive Summary This...project is to conduct a comprehensive study of robotics research in the context of cybersecurity. Specifically, 1) Create a realistic cybersecurity test

  2. Tool Changer For Robot

    Science.gov (United States)

    Voellmer, George M.

    1992-01-01

    Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

  3. Toward Integrated Soccer Robots

    OpenAIRE

    Shen, Wei-Min; Adibi, Jafar; Adobbati, Rogelio; Cho, Bonghan; Erdem, Ali; Moradi, Hadi; Salemi, Behnam; Tejada, Sheila

    1998-01-01

    Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each ot...

  4. Evolution of robotic arms

    OpenAIRE

    Moran, Michael E.

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond th...

  5. The robot programming network

    OpenAIRE

    Cervera Mateu, Enric; Martinet, Philippe; Marín Prades, Raúl; Moughlbay, Amine A.; Pascual del Pobil Ferré, Ángel; Alemany, Jaime; Esteller Curto, Roger; Casañ Núñez, Gustavo Adolfo

    2016-01-01

    The Robot Programming Network (RPN) is an initiative for creating a network of robotics education laboratories with remote programming capabilities. It consists of both online open course materials and online servers that are ready to execute and test the programs written by remote students. Online materials include introductory course modules on robot programming, mobile robotics and humanoids, aimed to learn from basic concepts in science, technology, engineering, and math...

  6. Probabilistic Algorithms in Robotics

    OpenAIRE

    Thrun, Sebastian

    2000-01-01

    This article describes a methodology for programming robots known as probabilistic robotics. The probabilistic paradigm pays tribute to the inherent uncertainty in robot perception, relying on explicit representations of uncertainty when determining what to do. This article surveys some of the progress in the field, using in-depth examples to illustrate some of the nuts and bolts of the basic approach. My central conjecture is that the probabilistic approach to robotics scales better to compl...

  7. 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.

  8. Multisensor Demining Robot

    OpenAIRE

    2005-01-01

    The paper describes an advanced multisensor demining robot. The robot transport system is based on a simple structure using pneumatic drive elements. The robot has robust design and can carry demining equipment up to 100 kg over rough terrains. Due to the adaptive possibilities of pedipulators to obstacles, the robot can adjust the working position of the demining sensors while searching for mines. The detection block consists of a metal detector, an infrared detector, and a chemical explosiv...

  9. Note sur les articulations de la linéarité phrastique

    OpenAIRE

    Rostislav Kocourek

    2012-01-01

    The term structuring is here used as an equivalent of various meanings of terms sentence perspective or sentence articulation found in terms Functional Sentence Perspective (FSP), or Actual Sentence Articulation, or in phrases used in the present paper as l’articulation ordinaire or l’articulation poétique.The introductory sections of the paper deal with the typological and diachronic aspects of word order, and with the proposal to use permutation as a promising procedure preparing to obtain ...

  10. MyReDiary: Co-Designing for Collaborative Articulation in Physical Rehabilitation

    DEFF Research Database (Denmark)

    Bagalkot, Naveen L.; Sokoler, Tomas

    2011-01-01

    In this paper we present our exploration of co-designing for supporting a collaborative articulation of rehabilitation process. Based on our reading of key CSCW literature, we describe three facets of a collaboratively articulated rehab process: Interdependence, Distributed Process, and Interoper......In this paper we present our exploration of co-designing for supporting a collaborative articulation of rehabilitation process. Based on our reading of key CSCW literature, we describe three facets of a collaboratively articulated rehab process: Interdependence, Distributed Process...

  11. Gender recognition from unconstrained and articulated human body.

    Science.gov (United States)

    Wu, Qin; Guo, Guodong

    2014-01-01

    Gender recognition has many useful applications, ranging from business intelligence to image search and social activity analysis. Traditional research on gender recognition focuses on face images in a constrained environment. This paper proposes a method for gender recognition in articulated human body images acquired from an unconstrained environment in the real world. A systematic study of some critical issues in body-based gender recognition, such as which body parts are informative, how many body parts are needed to combine together, and what representations are good for articulated body-based gender recognition, is also presented. This paper also pursues data fusion schemes and efficient feature dimensionality reduction based on the partial least squares estimation. Extensive experiments are performed on two unconstrained databases which have not been explored before for gender recognition.

  12. Attitude Dynamics and Control of Solar Sails with Articulated Vanes

    Science.gov (United States)

    Mettler, Edward; Acikmese, A. Behcet; Ploen, Scott R.

    2005-01-01

    In this paper we develop a robust nonlinear algorithm for the attitude control of a solar sailcraft with M single degree-of-freedom articulated control vanes. A general attitude controller that tracks an admissible trajectory while rejecting disturbances such as torques due to center-of-mass to center-of-pressure offsets is applied to this problem. We then describe a methodology based on nonlinear programming to allocate the required control torques among the control vanes. A simplified allocation strategy is then applied to a solar sail with four articulated control vanes, and simulation results are given. The performance of the control algorithm and possible limitations of vane-only control are then discussed.

  13. Design and Construction of Passively Articulated Ornithopter Wings

    Science.gov (United States)

    Mastro, Alexander Timothy

    Birds, bats, and insects are able to fly efficiently and execute impressive in-flight, landing, and takeoff maneuvers with apparent ease through actuation of their highly articulated wings. This contrasts the approach used to enable the flight of comparatively simple man-made rotary and fixed wing aircraft. The complex aerodynamics underlying flapping-based flight pose an everpresent challenge to scientists hoping to reveal the secrets of animal flight. Despite this, interest in engineering aircraft on the bird and insect scale is higher than ever. Herein, I present my attempt to design and construct bioinspired passively articulated ornithopter wings. Two different hinge-based joint design concepts are investigated across several design iterations. The advantages and disadvantages of each implementation are discussed. Finally, the necessary instrumentation to analyze the performance of the wings is designed and fabricated, followed by testing of the wings.

  14. Facilitated Articulation of Implicit Knowledge in Textile Design

    DEFF Research Database (Denmark)

    Bang, Anne Louise

    2009-01-01

    This is a report from an ongoing research project and as such it is work in progress. The paper proposes an exploratory approach in order to enable end-users to contribute with their experiences of emotional values of fabrics in use. It is suggested that the textile designer with her repertoire...... of (experiential, implicit and tacit) textile design knowledge should facilitate the articulation process. The paper specifically draws on a series of workshops conducted within the collaborating company inviting all employees to participate. The series of workshops were based on a game-like setting and introduced...... an emergent framework for accessing implicit knowledge in textile design. The framework is based on the distance to the fabric. Present at each workshop were materials, chairs and images as initiators for articulation. In each workshop rules for playing and gaming materials were introduced by the author...

  15. Gender Recognition from Unconstrained and Articulated Human Body

    OpenAIRE

    Qin Wu; Guodong Guo

    2014-01-01

    Gender recognition has many useful applications, ranging from business intelligence to image search and social activity analysis. Traditional research on gender recognition focuses on face images in a constrained environment. This paper proposes a method for gender recognition in articulated human body images acquired from an unconstrained environment in the real world. A systematic study of some critical issues in body-based gender recognition, such as which body parts are informative, ho...

  16. Method for optimization of statically determined articulated structures

    OpenAIRE

    Parras Galán, L.; Montes Tubío, M.; García Guzmán, A.; Entrenas Angulo, J.A.; de Dios Palomares, R.

    1985-01-01

    An algorithm of mathematical programmation for the optimum disign of iso-static articulate structures has been developed. The characteristics of the proposed algorithm are: a) It not requires that the objective function or the restriction equations be derivable. b) They use unidimensional methods of unidimensional optimization to pass over from a given solution to a better one. c) To introduce contingent procedures to obtain Information which leads to a better solution. Those characteristics ...

  17. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

    If you are an engineer, a researcher, or a hobbyist, and you are interested in robotics and want to build your own robot, this book is for you. Readers are assumed to be new to robotics but should have experience with Python.

  18. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also lead to

  19. Robotic hand and fingers

    Energy Technology Data Exchange (ETDEWEB)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

    Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

  20. Networking a mobile robot

    Science.gov (United States)

    McKee, Gerard T.

    1994-10-01

    Conventional mobile robotic systems are `stand alone'. Program development involves loading programs into the mobile, via an umbilical. Autonomous operation, in this context, means `isolation': the user cannot interact with the program as the robot is moving around. Recent research in `swarm robotics' has exploited wireless networks as a means of providing inter- robot communication, but the population is still isolated from the human user. In this paper we report on research we are conducting into the provision of mobile robots as resources on a local area computer network, and thus breaking the isolation barrier. We are making use of new multimedia workstation and wireless networking technology to link the robots to the network in order to provide a new type of resource for the user. We model the robot as a set of resources and propose a client-server architecture as the basis for providing user access to the robots. We describe the types of resources each robot can provide and we outline the potential for cooperative robotics, human-robot cooperation, and teleoperation and autonomous robot behavior within this context.

  1. Language grounding in robots

    CERN Document Server

    2012-01-01

    Covers all aspects of language interaction with robots, from embodiment, action and perception to conceptualization and grammar in a single volume Discusses several significant innovations, such as robotic embodiment, evolutionary derivation of neural controllers, embodied cognitive semantics and fluid construction grammar Presents the new humanoid robot platform, Myon, used by an increasing number of research laboratories

  2. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

    Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

  3. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

    Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

  4. Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

    CERN Document Server

    Moreira, António; Lima, Pedro; Montano, Luis; Muñoz-Martinez, Victor

    2016-01-01

    This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other...

  5. The neural mechanisms of re-experiencing mental fatigue sensation: a magnetoencephalography study.

    Science.gov (United States)

    Ishii, Akira; Karasuyama, Takuma; Kikuchi, Taiki; Tanaka, Masaaki; Yamano, Emi; Watanabe, Yasuyoshi

    2015-01-01

    There have been several studies which have tried to clarify the neural mechanisms of fatigue sensation; however fatigue sensation has multiple aspects. We hypothesized that past experience related to fatigue sensation is an important factor which contributes to future formation of fatigue sensation through the transfer to memories that are located within specific brain structures. Therefore, we aimed to investigate the neural mechanisms of fatigue sensation related to memory. In the present study, we investigated the neural activity caused by re-experiencing the fatigue sensation that had been experienced during a fatigue-inducing session. Thirteen healthy volunteers participated in fatigue and non-fatigue experiments in a crossover fashion. In the fatigue experiment, they performed a 2-back test session for 40 min to induce fatigue sensation, a rest session for 15 min to recover from fatigue, and a magnetoencephalography (MEG) session in which they were asked to re-experience the state of their body with fatigue that they had experienced in the 2-back test session. In the non-fatigue experiment, the participants performed a free session for 15 min, a rest session for 15 min, and an MEG session in which they were asked to re-experience the state of their body without fatigue that they had experienced in the free session. Spatial filtering analyses of oscillatory brain activity showed that the delta band power in the left Brodmann's area (BA) 39, alpha band power in the right pulvinar nucleus and the left BA 40, and beta band power in the left BA 40 were lower when they re-experienced the fatigue sensation than when they re-experienced the fatigue-free sensation, indicating that these brain regions are related to re-experiencing the fatigue sensation. Our findings may help clarify the neural mechanisms underlying fatigue sensation.

  6. Functional Organization of Human Sensorimotor Cortex for Speech Articulation

    Science.gov (United States)

    Bouchard, Kristofer E.; Mesgarani, Nima; Johnson, Keith; Chang, Edward F.

    2013-01-01

    Speaking is one of the most complex actions we perform, yet nearly all of us learn to do it effortlessly. Production of fluent speech requires the precise, coordinated movement of multiple articulators (e.g., lips, jaw, tongue, larynx) over rapid time scales. Here, we used high-resolution, multi-electrode cortical recordings during the production of consonant-vowel syllables to determine the organization of speech sensorimotor cortex in humans. We found speech articulator representations that were somatotopically arranged on ventral pre- and post-central gyri and partially overlapping at individual electrodes. These representations were temporally coordinated as sequences during syllable production. Spatial patterns of cortical activity revealed an emergent, population-level representation, which was organized by phonetic features. Over tens of milliseconds, the spatial patterns transitioned between distinct representations for different consonants and vowels. These results reveal the dynamic organization of speech sensorimotor cortex during the generation of multi-articulator movements underlying our ability to speak. PMID:23426266

  7. Oral approach-avoidance: affective consequences of muscular articulation dynamics.

    Science.gov (United States)

    Topolinski, Sascha; Maschmann, Ira Theresa; Pecher, Diane; Winkielman, Piotr

    2014-06-01

    Can mouth movements shape attitudes? When people articulate different consonants (e.g., B or K) they press the tongue and the lips against various spots in the mouth. This allows for construction of words that feature systematic wanderings of consonantal stricture spots either from the front to the rear (inward; e.g., BENOKA) or from the rear to the front (outward; e.g., KENOBA) of the mouth. These wanderings of muscular strictures resemble the oral kinematics during either deglution (swallowing-like, inward movement) or expectoration (spitting-like, outward movement). Thus, we predicted that the articulation of inward and outward words induces motivational states associated with deglutition and expectoration--namely, approach and avoidance--which was tested in 9 experiments (total N = 822). Inward words were preferred over outward words, being labeled as nonsense words (Experiments 1, 4, 5, 6, and 9), company names (Experiment 2), or person names (Experiments 3, 7, and 8), with control words falling in between (Experiment 5). As a social-behavioral consequence, ostensible chat partners were more often chosen to interact with when having inward compared to outward names (Experiment 7). The effect was found in German-speaking (Experiments 1-5) and English-speaking (Experiment 6) samples, and it occurred even under silent reading (all experiments) and for negatively labeled targets (names of villains; Experiment 8). Showing articulation simulations as being the causal undercurrent, this effect was absent in aphasia patients who lacked covert subvocalizations (Experiment 9).

  8. Recognizing articulated objects using a region-based invariant transform.

    Science.gov (United States)

    Weiss, Isaac; Ray, Manjit

    2005-10-01

    In this paper, we present a new method for representing and recognizing objects, based on invariants of the object's regions. We apply the method to articulated objects in low-resolution, noisy range images. Articulated objects such as a back-hoe can have many degrees of freedom, in addition to the unknown variables of viewpoint. Recognizing such an object in an image can involve a search in a high-dimensional space that involves all these unknown variables. Here, we use invariance to reduce this search space to a manageable size. The low resolution of our range images makes it hard to use common features such as edges to find invariants. We have thus developed a new "featureless" method that does not depend on feature detection. Instead of local features, we deal with whole regions of the object. We define a "transform" that converts the image into an invariant representation on a grid, based on invariant descriptors of entire regions centered around the grid points. We use these region-based invariants for indexing and recognition. While the focus here is on articulation, the method can be easily applied to other problems such as the occlusion of fixed objects.

  9. Dealing with Phrase Level Co-Articulation (PLC) in speech recognition: a first approach

    NARCIS (Netherlands)

    Ordelman, Roeland J.F.; van Hessen, Adrianus J.; van Leeuwen, David A.; Robinson, Tony; Renals, Steve

    1999-01-01

    Whereas nowadays within-word co-articulation effects are usually sufficiently dealt with in automatic speech recognition, this is not always the case with phrase level co-articulation effects (PLC). This paper describes a first approach in dealing with phrase level co-articulation by applying these

  10. [Conceptual parameters of the facial arc and articulators adapted for black Africans].

    Science.gov (United States)

    N'Dindin, A C; Djeredou, K B; N'Dindin-Guinan, B; Assi, K D

    2005-12-01

    Articulators and facial arc always used in dentistry are not adapted to African black people. Their use provokes many errors in the setting of models on articulators. In this work, authors propose facial arc and articulator parameters conceptions that are suited to black Africans.

  11. Sensorization of Robotic Hand Using Optical Three-Axis Tactile Sensor: Evaluation with Grasping and Twisting Motions

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2010-01-01

    Full Text Available Problem statement: Sensitization of robot hand is still remaining as crucial issue since most of robot hand systems nowadays are only capable to grasp a predefined specific object. It is still difficult for robot hand system to realize human-like tactile sensation. Some common problems in robot hand system are low accuracy sensing device, sensors are not robust enough for long time work and heavy duties, inconsistence tactile sensing detection and difficulties in control of sensing fusion with robot trajectory. These problems are apparently drawback the progress to commercializing robot hands as real consumer products. Approach: This study presented the application of optical three-axis tactile sensor to robot hand to improve sensitization quality in robotic hand system. The proposed tactile sensor system was designed with compliance modules to communicate with robot hand control system. The sensing principle used in this tactile sensor comparatively provides better sensing accuracy to detect contact phenomena from acquisition of three axial directions of forces. Methodology of force and slippage detection in the tactile sensor system was presented. Accordingly, the optimization of robot hand control algorithm to comply with the tactile sensor system was presented and verified in experiment of grasping and twisting. Results: The tactile sensor presented in this study is capable of detecting normal and shear force simultaneously. The proposed methodology was verified in experiment with paper cup and water, in which the result shows the robot control system managed to respond to the proposed object stiffness distinction parameters and effectively respond to sudden change of object weight during grasping. An experiment of grasping and twisting motions was conducted using a bottle cap. In order to perform simultaneous grasping and twisting tasks, optimization of the control algorithm was conducted with additional parameters to satisfy the desired

  12. Acetylated tubulin is essential for touch sensation in mice.

    Science.gov (United States)

    Morley, Shane J; Qi, Yanmei; Iovino, Loredana; Andolfi, Laura; Guo, Da; Kalebic, Nereo; Castaldi, Laura; Tischer, Christian; Portulano, Carla; Bolasco, Giulia; Shirlekar, Kalyanee; Fusco, Claudia M; Asaro, Antonino; Fermani, Federica; Sundukova, Mayya; Matti, Ulf; Reymond, Luc; De Ninno, Adele; Businaro, Luca; Johnsson, Kai; Lazzarino, Marco; Ries, Jonas; Schwab, Yannick; Hu, Jing; Heppenstall, Paul A

    2016-12-13

    At its most fundamental level, touch sensation requires the translation of mechanical energy into mechanosensitive ion channel opening, thereby generating electro-chemical signals. Our understanding of this process, especially how the cytoskeleton influences it, remains unknown. Here we demonstrate that mice lacking the α-tubulin acetyltransferase Atat1 in sensory neurons display profound deficits in their ability to detect mechanical stimuli. We show that all cutaneous afferent subtypes, including nociceptors have strongly reduced mechanosensitivity upon Atat1 deletion, and that consequently, mice are largely insensitive to mechanical touch and pain. We establish that this broad loss of mechanosensitivity is dependent upon the acetyltransferase activity of Atat1, which when absent leads to a decrease in cellular elasticity. By mimicking α-tubulin acetylation genetically, we show both cellular rigidity and mechanosensitivity can be restored in Atat1 deficient sensory neurons. Hence, our results indicate that by influencing cellular stiffness, α-tubulin acetylation sets the force required for touch.

  13. A novel behavioral assay for measuring cold sensation in mice.

    Directory of Open Access Journals (Sweden)

    Daniel S Brenner

    Full Text Available Behavioral models of cold responses are important tools for exploring the molecular mechanisms of cold sensation. To complement the currently cold behavioral assays and allow further studies of these mechanisms, we have developed a new technique to measure the cold response threshold, the cold plantar assay. In this assay, animals are acclimated on a glass plate and a cold stimulus is applied to the hindpaw through the glass using a pellet of compressed dry ice. The latency to withdrawal from the cooled glass is used as a measure of the cold response threshold of the rodents, and the dry ice pellet provides a ramping cold stimulus on the glass that allows the correlation of withdrawal latency values to rough estimates of the cold response threshold temperature. The assay is highly sensitive to manipulations including morphine-induced analgesia, Complete Freund's Adjuvant-induced inflammatory allodynia, and Spinal Nerve Ligation-induced neuropathic allodynia.

  14. Laser-induced thermoelastic effects can evoke tactile sensations

    Science.gov (United States)

    Jun, Jae-Hoon; Park, Jong-Rak; Kim, Sung-Phil; Min Bae, Young; Park, Jang-Yeon; Kim, Hyung-Sik; Choi, Seungmoon; Jung, Sung Jun; Hwa Park, Seung; Yeom, Dong-Il; Jung, Gu-In; Kim, Ji-Sun; Chung, Soon-Cheol

    2015-06-01

    Humans process a plethora of sensory information that is provided by various entities in the surrounding environment. Among the five major senses, technology for touch, haptics, is relatively young and has relatively limited applications largely due to its need for physical contact. In this article, we suggest a new way for non-contact haptic stimulation that uses laser, which has potential advantages such as mid-air stimulation, high spatial precision, and long working distance. We demonstrate such tactile stimulation can be enabled by laser-induced thermoelastic effects by means of physical and perceptual studies, as well as simulations. In the physical study, the mechanical effect of laser on a human skin sample is detected using low-power radiation in accordance with safety guidelines. Limited increases (reports of the non-nociceptive sensation of laser stimuli.

  15. "The sixth sense": towards a history of muscular sensation.

    Science.gov (United States)

    Smith, Roger

    2011-01-01

    This paper outlines the history of knowledge about the muscular sense and provides a bibliographic resource for further research. A range of different topics, questions and approaches have interrelated throughout this history, and the discussion clarifies this rather than presenting detailed research in any one area. Part I relates the origin of belief in a muscular sense to empiricist accounts of the contribution of the senses to knowledge from Locke, via the iddologues and other authors, to the second half of the nineteenth century. Analysis paid much attention to touch, first in the context of the theory of vision and then in its own right, which led to naming a distinct muscular sense. From 1800 to the present, there was much debate, the main lines of which this paper introduces, about the nature and function of what turned out to be a complex sense. A number of influential psycho-physiologists, notably Alexander Bain and Herbert Spencer, thought this sense the most primitive and primary of all, the origin of knowledge of world, causation and self as an active subject. Part II relates accounts of the muscular sense to the development of nervous physiology and of psychology. In the decades before 1900, the developing separation of philosophy, psychology and physiology as specialised disciplines divided up questions which earlier writers had discussed under the umbrella heading of muscular sensation. The term'kinaesthesia' came in 1880 and 'proprio-ception' in 1906. There was, all the same, a lasting interest in the argument that touch and muscular sensation are intrinsic to the existence of embodied being in the way the other senses are not. In the wider culture--the arts, sport, the psychophysiology of labour and so on--there were many ways in which people expressed appreciation of the importance of what the anatomist Charles Bell had called 'the sixth sense'.

  16. Walking control of small size humanoid robot: HAJIME ROBOT 18

    Science.gov (United States)

    Sakamoto, Hajime; Nakatsu, Ryohei

    2007-12-01

    HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking. This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and in RoboCup 2006 Japan Open.

  17. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

    Despite the extensive use of robotics in the adult population, the use of robotics in pediatrics has not been well accepted. There is still a lack of awareness from pediatric surgeons on how to use the robotic equipment, its advantages and indications. Benefit is still controversial. Dexterity and better visualization of the surgical field are one of the strong values. Conversely, cost and a lack of small instruments prevent the use of robotics in the smaller patients. The aim of this manuscript is to present the controversies about the use of robotics in pediatric surgery.

  18. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

    The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to overconstrained.  The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

  19. Teleoperated Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Stefan GRUSHKO

    2016-12-01

    Full Text Available Article describes technical solution of teleoperated humanoid robotic system. To acquire position data of operator’s body Kinect sensor is used. In article are described mathematical equations used to transform data from Kinect sensor to positions of each servomotor of the robot. Article also describes software and electric structure for both components of the system: robot and operator’s PC. All software solutions are developed using C#. For dynamic simulation of the system a detailed model of the robot has been created in V-Rep, simulation receives same data as real robot.

  20. Robots and Art

    DEFF Research Database (Denmark)

    2015-01-01

    We describe the design of an undergraduate course in art and robotics that aims to integrate basic concepts of computer science, robotics and art installation for undergraduate students within the problem-based learning model. Our methodology aims to bridge the gap that separates humanities from...... computer science and engineering education to prepare students to address real world problems in robotics, including human-robotic interaction and HCI. Given the proliferation of interactive, systems-based art works and the continued interest in human-centered factors in robotics research (such...

  1. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    Abstract Robots will soon take part in everyone’s daily life. In industrial production this has been the case for many years, but up to now the use of mobile robots has been limited to a few and isolated applications like lawn mowing, surveillance, agricultural production and military applications....... The research is now progressing towards autonomous robots which will be able to assist us in our daily life. One of the enabling technologies is navigation, and navigation is the subject of this thesis. Navigation of an autonomous robot is concerned with the ability of the robot to direct itself from...

  2. Beer Drinking Games: Categories, Level of Risk, and their Correlation with Sensation Seeking

    Science.gov (United States)

    1994-07-01

    approach to the diagnostic construct of " sociopathy " in the SSS (Zuckerman, 1979, p. 103)". The discussion of the biological basis for sensation seeking...34 sociopathy " in the Sensation Seeking Scale (Zuckerman, 1979). Among the drinking game players in the study, there was also a statistically significant

  3. Changes in laryngeal sensation evaluated with a new method before and after radiotherapy.

    Science.gov (United States)

    Ozawa, Kikuko; Fujimoto, Yasushi; Nakashima, Tsutomu

    2010-05-01

    Radiotherapy of the laryngopharynx sometimes leads to functional disabilities including swallowing dysfunction. One of the reasons for these disabilities is a deterioration of laryngeal sensation. Laryngeal sensation is an important factor in swallowing, but quantitative evaluation of laryngeal sensation has been difficult. In this study, we evaluated changes in laryngeal sensation before and after radiotherapy for laryngeal and hypopharyngeal cancer, using a flexible laryngoscope and probes. This study was conducted in 12 patients, 8 with laryngeal cancer and 4 with hypopharyngeal cancer, who received radiotherapy alone or chemoradiotherapy at our medical centre. Measurements were performed using a 3.3-mm-diameter flexible laryngoscope with a probe port and four types of probes with 0.06-, 0.13-, 0.20-, and 0.30-mm nylon filaments attached to a wire tip. Sensation was evaluated at the tip of the epiglottis and the arytenoid region. Measurements were performed before radiotherapy, 1, 3 months, and 1 year after completion of radiotherapy. Sensation of the epiglottis and arytenoid deteriorated significantly 1 and 3 months after radiotherapy compared with before radiotherapy. Laryngeal sensation recovered in most cases within 1 year after radiotherapy. The present study clearly demonstrates the deterioration of laryngeal sensation with radiotherapy.

  4. The Association of Sensation Seeking and Impulsivity to Driving while under the Influence of Alcohol

    Science.gov (United States)

    Curran, Matthew F.; Fuertes, Jairo N.; Alfonso, Vincent C.; Hennessy, James J.

    2010-01-01

    This study examined the association between sensation seeking, impulsivity, and drunk driving. Results showed significant differences in sensation seeking and impulsivity among 160 individuals convicted of impaired or intoxicated driving and individuals who had never been arrested for driving while under the influence/driving while intoxicated…

  5. The Effects of Sensation Seeking, Physical Attractiveness of Stimuli, and Exposure Frequency on Liking

    Science.gov (United States)

    Horai, Joann

    1976-01-01

    Males (N=54) and 46 females who scored high or low on a sensation seeking scale were exposed to slides of physically attractive or unattractive person stimuli. High sensation seekers both liked and expected to recognize the physically attractive persons in the future more than the physically unattractive persons. (Author)

  6. Language intensity as a sensationalistic news feature: the influence of style on sensationalism perceptions and effects

    NARCIS (Netherlands)

    Burgers, C.; de Graaf, A.

    2013-01-01

    This article extends the definition of sensationalism to print media by arguing that language intensifiers may be an aspect of sensationalism. In addition, this paper investigates if an indirect effect can be established by which sensationalistic message features influence news reception through the

  7. Relation between anal electrosensitivity and rectal filling sensation and the influence of age

    NARCIS (Netherlands)

    Broens, PMA; Penninckx, FM

    PURPOSE: The aim of this study was to assess the effect of age and sex on the rectal filling sensation and anal electrosensitivity and to explore the relation between anal electrosensitivity and the parameters of the rectal filling sensation. METHODS: Anal mucosal electrosensitivity and anorectal

  8. Relation between anal electrosensitivity and rectal filling sensation and the influence of age

    NARCIS (Netherlands)

    Broens, PMA; Penninckx, FM

    2005-01-01

    PURPOSE: The aim of this study was to assess the effect of age and sex on the rectal filling sensation and anal electrosensitivity and to explore the relation between anal electrosensitivity and the parameters of the rectal filling sensation. METHODS: Anal mucosal electrosensitivity and anorectal ma

  9. Patterns of Drug Abuse: Relationships with Ethnicity, Sensation Seeking, and Anxiety

    Science.gov (United States)

    Kaestner, Elisabeth; And Others

    1977-01-01

    The Sensation-Seeking Scale and The State-Trait Anxiety Inventory were administered to 30 white, 30 black, and 30 Hispanic male narcotic drug abusers. White subjects scored significantly higher on the five Sensation-Seeking subscales. No significant differences were obtained between ethnic groups on state or trait anxiety. (Author)

  10. The Association of Sensation Seeking and Impulsivity to Driving while under the Influence of Alcohol

    Science.gov (United States)

    Curran, Matthew F.; Fuertes, Jairo N.; Alfonso, Vincent C.; Hennessy, James J.

    2010-01-01

    This study examined the association between sensation seeking, impulsivity, and drunk driving. Results showed significant differences in sensation seeking and impulsivity among 160 individuals convicted of impaired or intoxicated driving and individuals who had never been arrested for driving while under the influence/driving while intoxicated…

  11. Mass Media Strategies Targeting High Sensation Seekers: What Works and Why

    Science.gov (United States)

    Stephenson, Michael T.

    2003-01-01

    Objectives: To examine strategies for using the mass media effectively in drug prevention campaigns targeting high sensation seekers. Methods: Both experimental lab and field studies were used to develop a comprehensive audience segmentation strategy targeting high sensation seekers. Results: A 4-pronged targeting strategy employed in an…

  12. Recent advances in robotic surgery for rectal cancer.

    Science.gov (United States)

    Ishihara, Soichiro; Otani, Kensuke; Yasuda, Koji; Nishikawa, Takeshi; Tanaka, Junichiro; Tanaka, Toshiaki; Kiyomatsu, Tomomichi; Hata, Keisuke; Kawai, Kazushige; Nozawa, Hiroaki; Kazama, Shinsuke; Yamaguchi, Hironori; Sunami, Eiji; Kitayama, Joji; Watanabe, Toshiaki

    2015-08-01

    Robotic technology, which has recently been introduced to the field of surgery, is expected to be useful, particularly in treating rectal cancer where precise manipulation is necessary in the confined pelvic cavity. Robotic surgery overcomes the technical drawbacks inherent to laparoscopic surgery for rectal cancer through the use of multi-articulated flexible tools, three-dimensional stable camera platforms, tremor filtering and motion scaling functions, and greater ergonomic and intuitive device manipulation. Assessments of the feasibility and safety of robotic surgery for rectal cancer have reported similar operation times, blood loss during surgery, rates of postoperative morbidity, and circumferential resection margin involvement when compared with laparoscopic surgery. Furthermore, rates of conversion to open surgery are reportedly lower with increased urinary and male sexual functions in the early postoperative period compared with laparoscopic surgery, demonstrating the technical advantages of robotic surgery for rectal cancer. However, long-term outcomes and the cost-effectiveness of robotic surgery for rectal cancer have not been fully evaluated yet; therefore, large-scale clinical studies are required to evaluate the efficacy of this new technology.

  13. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

    The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

  14. [New artificial blood: sensation without any sensation (comments to the article in the journal New Scientist of 13 March, 2004)].

    Science.gov (United States)

    Ivanitskiĭ, G R; Maevskiĭ, E I

    2004-01-01

    In the article of Sylvia P. Westphal "New artificial blood shows promise" the sensational, at first sight, contention is adduced that numerous researchers engaged in the development of artificial blood substituents have many years followed the false pathway and did not understand the mechanisms of action of gas-transporting blood substituents, and now this understanding is available. In the paper being commented, the author gives three criteria that gas-transporting blood substituents must meet. The statement that the developers of gas-transporting blood substituents were unaware of these criteria is, in our opinion, questionable. We have known and have taken them into account development of the Russian gas-transporting blood substituent perftoran.

  15. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

    Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... of a distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction development. This is done by providing an educational tool that enables problem representation...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...

  16. An Adaptive Robot Game

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Svenstrup, Mikael; Dalgaard, Lars

    2010-01-01

    The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...... to the behavior of the interacting person. This paper presents a simple ball game between a single player and a mobile robot platform. The algorithm has been validated using simulation and real world experiments....

  17. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  18. Cloud Robotics Model

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2015-01-01

    Full Text Available Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen active research projects around the world. The presentation summarizes the main idea, the definition, the cloud model composed of essential characteristics, service models and deployment models, planning task execution and beyond. Finally some cloud robotics projects are discussed.

  19. The contribution of mechanoreceptive sensation on stability and adaptation in the young and elderly.

    Science.gov (United States)

    Patel, Mitesh; Magnusson, Mans; Kristinsdottir, Ella; Fransson, Per-Anders

    2009-01-01

    The aim was to determine the contributions of foot mechanoreceptive sensation, vision and their interaction on postural stability during quiet stance, balance perturbations and adaptive adjustments. Postural stability was measured as anteroposterior torque variance in Young (n = 25, average age = 25.1 years) and Elderly subjects (n = 16, average age = 71.5 years) during repeated calf vibrations while standing with eyes open and closed. Sensation, recorded using vibration perception and tactile sensitivity, was poorer in elderly than young subjects. Sensation was of low importance for stability during quiet stance and the first 50 s of repeated vibrations, but was associated with stability during the last three 50 s periods of balance perturbations, suggesting that the mechanoreceptive sensation affected how well postural control could adapt to repeated balance perturbations. The findings suggest that clinicians should investigate whether patients with balance problems and poor adaptation have mechanoreceptive sensation deficits.

  20. Person × Environment Interactions on Adolescent Delinquency: Sensation Seeking, Peer Deviance and Parental Monitoring.

    Science.gov (United States)

    Mann, Frank D; Kretsch, Natalie; Tackett, Jennifer L; Harden, K Paige; Tucker-Drob, Elliot M

    2015-04-01

    Sensation seeking is a personality trait that is robustly correlated with delinquent behavior in adolescence. The current study tested specific contextual factors hypothesized to facilitate, exacerbate or attenuate this risk factor for adolescent delinquency. Individual differences in sensation seeking, peer deviance, parental monitoring and self-reported delinquent behavior were assessed in a sample of 470 adolescents. Peer deviance partially mediated the effects of sensation seeking and parental monitoring on adolescent delinquency. We also found evidence for a three-way interaction between sensation seeking, peer deviance and parental monitoring, such that the highest rates of delinquency occurred from the concurrence of high sensation seeking, high peer deviance, and low levels of parental monitoring. Results highlight the importance of considering peer- and family-level processes when evaluating personality risk and problematic adolescent behavior.

  1. INDUSTRIAL ROBOT REPEATABILITY TESTING WITH HIGH SPEED CAMERA PHANTOM V2511

    Directory of Open Access Journals (Sweden)

    Jerzy Józwik

    2016-12-01

    Full Text Available Apart from accuracy, one of the parameters describing industrial robots is positioning accuracy. The parameter in question, which is the subject of this paper, is often the decisive factor determining whether to apply a given robot to perform certain tasks or not. Articulated robots are predominantly used in such processes as: spot weld-ing, transport of materials and other welding applications, where high positioning repeatability is required. It is therefore essential to recognise the parameter in question and to control it throughout the operation of the robot. This paper presents methodology for robot positioning accuracy measurements based on vision technique. The measurements were conducted with Phantom v2511 high-speed camera and TEMA Motion software, for motion analysis. The object of the measurements was a 6-axis Yaskawa Motoman HP20F industrial robot. The results of measurements obtained in tests provided data for the calculation of positioning accuracy of the robot, which was then juxtaposed against robot specifications. Also analysed was the impact of the direction of displacement on the value of attained pose errors. Test results are given in a graphic form.

  2. Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment

    Science.gov (United States)

    Chen, ChuXin; Trivedi, Mohan M.

    1992-03-01

    This research is focused on enhancing the overall productivity of an integrated human-robot system. A simulation, animation, visualization, and interactive control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for multisensor simulation, kinematics and locomotion animation, dynamic motion and manipulation animation, transformation between real and virtual modes within the same graphics system, ease in exchanging software modules and hardware devices between real and virtual world operations, and interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation, and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

  3. Codevelopmental learning between human and humanoid robot using a dynamic neural-network model.

    Science.gov (United States)

    Tani, Jun; Nishimoto, Ryu; Namikawa, Jun; Ito, Masato

    2008-02-01

    This paper examines characteristics of interactive learning between human tutors and a robot having a dynamic neural-network model, which is inspired by human parietal cortex functions. A humanoid robot, with a recurrent neural network that has a hierarchical structure, learns to manipulate objects. Robots learn tasks in repeated self-trials with the assistance of human interaction, which provides physical guidance until the tasks are mastered and learning is consolidated within the neural networks. Experimental results and the analyses showed the following: 1) codevelopmental shaping of task behaviors stems from interactions between the robot and a tutor; 2) dynamic structures for articulating and sequencing of behavior primitives are self-organized in the hierarchically organized network; and 3) such structures can afford both generalization and context dependency in generating skilled behaviors.

  4. Principles of designing mobile robots for nuclear applications: Some Soviet development projects

    Energy Technology Data Exchange (ETDEWEB)

    Adamov, E.O.; Ivanov, V.G.; Meieran, H.B.

    1990-01-01

    The I.V. Kurchatov Institute of Atomic Energy and the Research and Design Institute of Power Engineering, both designers of nuclear power plant systems and located in Moscow, USSR, have collectively recognized the positive merits of utilizing mobile robots in the nuclear industry. They have given authority to their subsidiary agency CENOTECH to mount an active campaign to program the development of new generations of mobile robots that will support routine and emergency situation operations in the nuclear industry. CENOTECH's rationale for design and performance requirements of mobile robot units to be utilized in the nuclear industry is presented in this paper. A description of design, performance requirements, and operational characteristics of four mobile robots that have been developed at CENOTECH within the past 3 yr is also presented: the 2-tracked KURSOR ; the 4 hybrid-wheeled TELER; the 12-wheeled BUGGY with articulated platforms; and the 2-tracked SADKO.

  5. Systematic Review and Meta-Analysis on Incidence of Altered Sensation of Mandibular Implant Surgery

    Science.gov (United States)

    Lin, Chia-Shu; Wu, Shih-Yun; Huang, Hsin-Yi; Lai, Yu-Lin

    2016-01-01

    Altered sensation (including paresthesia, dysesthesia and hypoesthesia) after mandibular implant surgery may indicate transient or permanent injury of the inferior alveolar nerve and the mental branch, and considerably lower patients’ satisfaction about the therapy. Previous studies have shown a great degree of variability on the incidence of altered sensation. We here reported the incidence of altered sensation after mandibular implant surgery based on a meta-analysis of 26 articles published between 1990.1.1 and 2016.1.1. Study quality and risk of bias was assessed and the studies with a lower score were excluded in the meta-analysis. Data synthesis was performed using the logistic-normal random-effect model. The meta-analyses revealed that the short-term (10 days after implant placement) and long-term (1 year after implant placement) incidence was 13% (95% CI, 6%-25%) and 3% (95% CI, 1%-7%), respectively. (2) For the patients who initially reported altered sensation, 80% (95% CI, 52%-94%) of them would return to normal sensation within 6 months after surgery, and 91% (95% CI, 78%-96%) of them would return to normal sensation one year after surgery. We concluded that dentist-patient communication about the risk of altered sensation is critical to treatment planning, since the short-term incidence of altered sensation is substantial (13%). When a patient reports altered sensation, regular assessment for 6 months would help tracing the changes of symptoms. In terms of long-term follow-up (1 year after surgery), the incidence is much lower (3%) and most patients (91%) would return to normal sensation. PMID:27100832

  6. DISORDERS OF THE SOUND ARTICULATION IN PRETERM CHILDREN

    Directory of Open Access Journals (Sweden)

    Vesela MILANKOV

    2009-11-01

    Full Text Available Speech and language development is a good indicator of child’s cognitive development. The risk factors influencing development and functioning of prematurely born children are multiple. In addition to articulation disorder, there are motoric, conginitive and social aspects of delayed development. Premature babies are born before they physically ready to leave the womb. However, most babies born after about 26 weeks of gestational age have chances for survival, but they are at a greater risk of medical complications, since the earlier children are born, the less developed their organs are. Aim: To demonstrate basic parameters, establish differences, determine characteristics of disorder of sound articulation in fullterm and preterm children. Methodology: Research was conducted at the Clinics of Child’s Habilitation and Rehabilitation in Novi Sad. The prospective research study was carried out comprising 61 children with mean age of 4 years. The study inclusion criteria were gestational age and birth weight. Regarding these parameters, the children without major neurlologic or system disabilities were included, and they were Serbian speaking. The sample comprised 31 children with GS≥38 weeks and body weight of ≥3000 g, while the preterm group comprised 30 children with GS≤32 weeks and body weight of ≤1500 g. Results of the study indicate to a difference between fullterm children and preterm children with regard to articulation disorders, of which the statistically significant was a sound distortion. The overall sample showed that the substitution with distortion was most frequent disorder, while the interdental sigmatism was the most represented one. Conclusion: The obtained results lead to conclusion that preterm children, being a high-risk group, need to be followed up by age two, and provided timely proffesional help at pre-school age, since numerous adverse factors affect their overall development.

  7. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

  8. Analysis and Implementation of Multiple Bionic Motion Patterns for Caterpillar Robot Driven by Sinusoidal Oscillator

    Directory of Open Access Journals (Sweden)

    Yanhe Zhu

    2014-05-01

    Full Text Available Articulated caterpillar robot has various locomotion patterns—which make it adaptable to different tasks. Generally, the researchers have realized undulatory (transverse wave and simple rolling locomotion. But many motion patterns are still unexplored. In this paper, peristaltic locomotion and various additional rolling patterns are achieved by employing sinusoidal oscillator with fixed phase difference as the joint controller. The usefulness of the proposed method is verified using simulation and experiment. The design parameters for different locomotion patterns have been calculated that they can be replicated in similar robots immediately.

  9. Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualism

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual machines

  10. Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

  11. Effectiveness of an Articulated Knee Hyperextension Orthosis in Genu Recurvatum

    Directory of Open Access Journals (Sweden)

    Rahul ASRM

    2014-08-01

    Full Text Available Genu Recurvatum is a deformity of knee joint that tends to push it backwards by excessive extension in tibio-femoral joints. This poses a significant challenge because of technical difficulties and a high incidence of recurrence. This report describes a 63 years old male diagnosed as post-polio residual paralysis who showed excessive genu recurvatum of his left knee during long standing and walking. An Articulated Knee Hyperextension Orthosis (KAFO was tried to check its effectiveness in terms of gait and energy expenditure.

  12. Articulated pipes conveying fluid pulsating with high frequency

    DEFF Research Database (Denmark)

    Jensen, Jakob Søndergaard

    1999-01-01

    Stability and nonlinear dynamics of two articulated pipes conveying fluid with a high-frequency pulsating component is investigated. The non-autonomous model equations are converted into autonomous equations by approximating the fast excitation terms with slowly varying terms. The downward hanging...... pipe position will lose stability if the mean flow speed exceeds a certain critical value. Adding a pulsating component to the fluid flow is shown to stabilize the hanging position for high values of the ratio between fluid and pipe-mass, and to marginally destabilize this position for low ratios...

  13. [Prosthetic treatment of mandibular pseudarthrosis using an articulated prosthesis].

    Science.gov (United States)

    Sidibe, C A; Razouk, O; Dichamp, J; Bertrand, J C; Vaillant, J M

    1994-01-01

    Two cases with complete loss of the tooth-bearing portion of the mandible were repaired with a prosthesis. This type of defect can involve the loss of a large number of teeth and aggression to the remaining teeth must be limited as much as possible. A two-part "articulated" prosthesis with two rings appears to be the best adapted system. This method takes into account the requirements of for additional conventional prostheses and thus makes it possible to save the remaining teeth.

  14. The physics of articulated toys - a jumping and rotating kangaroo

    CERN Document Server

    Güémez, J

    2014-01-01

    We describe the physics of an articulated toy with an internal source of energy provided by a spiral spring. The toy is a funny low cost kangaroo which jumps and rotates. The study consists of a mechanical and a thermodynamical analysis which makes use of the Newton and center of mass equations, the rotational equations and the first law of thermodynamics. This amazing toy provides a nice demonstrative example how new physics insights can be brought about when links with thermodynamics are established in the study of mechanical systems.

  15. Natural metrics and least-committed priors for articulated tracking

    DEFF Research Database (Denmark)

    Hauberg, Søren; Sommer, Stefan Horst; Pedersen, Kim Steenstrup

    2012-01-01

    angle space. However, the metric of the joint angle space is rather unintuitive as it ignores both bone lengths and how bones are connected. As Brownian motion is strongly linked with the underlying metric, this has severe impact on the predictive models. We introduce the spatial kinematic manifold...... on the manifold that respects the natural metric. This model is expressed in terms of a stochastic differential equation, which we solve using a novel numerical scheme. Empirically, we validate the new model in a particle filter based articulated tracking system. Here, we not only outperform the standard Brownian...

  16. Gender Recognition from Unconstrained and Articulated Human Body

    Directory of Open Access Journals (Sweden)

    Qin Wu

    2014-01-01

    human body images acquired from an unconstrained environment in the real world. A systematic study of some critical issues in body-based gender recognition, such as which body parts are informative, how many body parts are needed to combine together, and what representations are good for articulated body-based gender recognition, is also presented. This paper also pursues data fusion schemes and efficient feature dimensionality reduction based on the partial least squares estimation. Extensive experiments are performed on two unconstrained databases which have not been explored before for gender recognition.

  17. A blind algorithm for recovering articulator positions from acoustics

    Energy Technology Data Exchange (ETDEWEB)

    Hogden, John E [Los Alamos National Laboratory

    2009-01-01

    MIMICRI is a signal-processing algorithm that has been shown to blindly infer and invert memoryless nonlinear functions of unobservable bandlimited signals, such as the mapping from the unobservable positions of the speech articulators to observable speech sounds. We review results of using MIMICRI on toy problems and on human speech data. We note that MIMICRI requires that the user specify two parameters: the dimensionality and pass-band of the unobservable signals. We show how to use cross-validation to help estimate the passband. An unexpected consequence of this work is that it helps separate signals with overlapping frequency bands.

  18. Motion estimation of elastic articulated objects from image contours

    Institute of Scientific and Technical Information of China (English)

    PAN Hai-lang; DAI Yue-wei; SHI Lei

    2008-01-01

    A new method of elastic articulated objects (human bodies) modeling was presented based on a new conic curve. The model includes 3D object deform able curves which can represent the deformation of human occluding contours. The deformation of human occluding contour can be represented by adjusting only four de-formation parameters for each limb. Then, the 3D deformation parameters are determined by corresponding 2Dcontours from a sequence of stereo images. The algorithm presented in this paper includes deform able conic curve parameters determination and the plane, 3D conic curve lying on, parameter determination.

  19. Cognitive Robotics, Embodied Cognition and Human-Robot Interaction

    Science.gov (United States)

    2010-11-03

    Cognitive Robotics , Embodied Cognition and Human-Robot Interaction Greg Trafton, Ph.D Naval Research Laboratory Wednesday, November 3, 2010 Report...2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Cognitive Robotics , Embodied Cognition and Human-Robot Interaction 5a. CONTRACT...that cognition is for action (embodied cognition) • We are building embodied models for cognitive robotics and human-robot interaction • Online

  20. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  1. Humanlike robots: the upcoming revolution in robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-08-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  2. Arc-welding robot. 2; Yosetsu robot

    Energy Technology Data Exchange (ETDEWEB)

    Nishikawa, S. [Yaskawa Electric Corp., Kitakyushu (Japan)

    1995-02-01

    This is an introductory lecture on the selection and handling of arc-welding robot and was explained easily in Q and A style. This is the second of its series and extraction examples of Q and A are Q: type of stations for setting works, A: fixed, slide, inversion, rotary types and their combination, Q: station type for constructing a highly universal system for a wide variety of works, A: a highly universal robot was realized owing to external shaft control function. Recently, one robot can control a maximum of 21 shafts to cope with a variety of works, Q: off-line teaching for arc-welding robot, A: yes. It is available but does not spread as much as for spot since arc welding requires a high tracing accuracy. 12 figs.

  3. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  4. Neural encoding of acupuncture needling sensations: evidence from a FMRI study.

    Science.gov (United States)

    Wang, Xiaoling; Chan, Suk-Tak; Fang, Jiliang; Nixon, Erika E; Liu, Jing; Kwong, Kenneth K; Rosen, Bruce R; Hui, Kathleen K S

    2013-01-01

    Deqi response, a psychophysical response characterized by a spectrum of different needling sensations, is essential for Chinese acupuncture clinical efficacy. Previous neuroimaging research works have investigated the neural correlates of an overall deqi response by summating the scores of different needling sensations. However, the roles of individual sensations in brain activity and how they interact with each other remain to be clarified. In this study, we applied fMRI to investigate the neural correlates of individual components of deqi during acupuncture on the right LV3 (Taichong) acupoint. We selected a subset of deqi responses, namely, pressure, heaviness, fullness, numbness, and tingling. Using the individual components of deqi of different subjects as covariates in the analysis of percentage change of bold signal, pressure was found to be a striking sensation, contributing to most of negative activation of a limbic-paralimbic-neocortical network (LPNN). The similar or opposite neural activity in the heavily overlapping regions is found to be responding to different needling sensations, including bilateral LPNN, right orbitofrontal cortex, and bilateral posterior parietal cortex. These findings provide the neuroimaging evidence of how the individual needle sensations interact in the brain, showing that the modulatory effects of different needling sensations contribute to acupuncture modulations of LPNN network.

  5. Neural Encoding of Acupuncture Needling Sensations: Evidence from a fMRI Study

    Directory of Open Access Journals (Sweden)

    Xiaoling Wang

    2013-01-01

    Full Text Available Deqi response, a psychophysical response characterized by a spectrum of different needling sensations, is essential for Chinese acupuncture clinical efficacy. Previous neuroimaging research works have investigated the neural correlates of an overall deqi response by summating the scores of different needling sensations. However, the roles of individual sensations in brain activity and how they interact with each other remain to be clarified. In this study, we applied fMRI to investigate the neural correlates of individual components of deqi during acupuncture on the right LV3 (Taichong acupoint. We selected a subset of deqi responses, namely, pressure, heaviness, fullness, numbness, and tingling. Using the individual components of deqi of different subjects as covariates in the analysis of percentage change of bold signal, pressure was found to be a striking sensation, contributing to most of negative activation of a limbic-paralimbic-neocortical network (LPNN. The similar or opposite neural activity in the heavily overlapping regions is found to be responding to different needling sensations, including bilateral LPNN, right orbitofrontal cortex, and bilateral posterior parietal cortex. These findings provide the neuroimaging evidence of how the individual needle sensations interact in the brain, showing that the modulatory effects of different needling sensations contribute to acupuncture modulations of LPNN network.

  6. Altered sensation caused by peri-implantitis: a case report.

    Science.gov (United States)

    Kim, Jong-Eun; Shim, Ji-Suk; Huh, Jung-Bo; Rim, Jae-Suk; Lee, Jeong-Yol; Shin, Sang-Wan

    2013-07-01

    Frequently reported is a case wherein a lesion caused by periodontitis or periapical lesion in a natural tooth enlarged, invaded the inferior alveolar nerve canal, and induced paresthesia. Cases wherein paresthesia occurred because of peri-implantitis have been rarely reported. The patient in this case report had experienced transient paresthesia after implant placement and recovered normal sensation 3 months later. Thirteen years later, this patient visited the authors' hospital with paresthesia in the same region because the peri-implantitis progressed to the apex of the implant. One week after removal of the implant, sense recovery and pain relief started, and 15 days after removal, the paresthesia and pain completely disappeared. For patients who experience transient paresthesia and recovery owing to nerve damage caused by the placement of an implant in the mandibular molar or premolar area, or in patients in whom the implant is close to the inferior alveolar nerve canal or the mental nerve, the spread of inflammation caused by peri-implantitis can induce paresthesia.

  7. Jozef Zwislocki's contribution to the understanding of cutaneous sensation

    Science.gov (United States)

    Bolanowski, Stanley J.

    2003-04-01

    Whereas Professor Zwislocki is well known for his theoretical and experimental activities that discovered many principles about the auditory system as outlined in this special session, his influence on research efforts and contributions to the knowledge base of the cutaneous sensory system has not been as widely appreciated. Philosophically, he believes that all of the sensory systems have common, as well as different capabilities, and it is this philosophy which led him to explore many of the underlying factors behind somatosensation. This presentation will outline his scientific and philosophical input to the understanding of somatosensation from the level of receptor function to higher cognitive aspects. For example, he has influenced various views regarding tactile psychophysical thresholds and the relationships between sensation magnitude and the Differenz Limen. His theories on temporal summation and thoughts regarding independent tactile channels of communication originating in the periphery and passing on to the central nervous system will also be discussed. Physiologically he was a prominent player in determining transduction mechanisms of one of the prototypical mechanoreceptors found within the skin, the Pacinian corpuscle. Indeed, how somatosensation comes about has progressed greatly from his oftentimes unrealized influence.

  8. Advanced Techniques of Industrial Robot Programming

    OpenAIRE

    Cheng, Frank Shaopeng

    2010-01-01

    Creating accurate robot points is an important task in robot programming. This chapter discussed the advanced techniques used in creating robot points for improving robot operation flexibility and reducing robot production downtime. The theory of robotics shows that an industrial robot system represents a robot point in both Cartesian coordinates and proper joint values. The concepts and procedures of designing accurate robot user tool frame UT[k] and robot user frame UF[i] are essential in t...

  9. Robotics for Learning

    CERN Document Server

    Toh, Dennis; Lim, Matthew; Wee, Loo Kang; Ong, Matthew

    2015-01-01

    Teaching Robotics is about empowering students to create and configure robotics devices and program computers to nurture in students the skill sets necessary to play an active role in society. The robot in Figure 1 focuses on the design of scaffolds and physical assembly methods, coupled with a computer logic program to make that makes it move or behave in a very precise (remote controlled or autonomous) manner. This enables students to investigate, explore and refine the program to affect the robots. The Robotics approach takes into account the increasing popularity of Computer Science and the learning by doing (Schank, Berman, & Macpherson, 1999) approach to solve complex problems and use computers meaningfully in learning (Barron & Darling-Hammond, 2008; Jonassen, Howland, Marra, & Crismond, 2008). In Singapore, teachers and students in Woodlands Ring Secondary and Rulang Primary have incorporated robotics to varying extents into formal and informal curricula. In addition, other less expensive ...

  10. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    Science.gov (United States)

    SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

    2016-01-01

    ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Conclusion: Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. PMID:28076489

  11. Grasping in Robotics

    CERN Document Server

    2013-01-01

    Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

  12. Multigait soft robot.

    Science.gov (United States)

    Shepherd, Robert F; Ilievski, Filip; Choi, Wonjae; Morin, Stephen A; Stokes, Adam A; Mazzeo, Aaron D; Chen, Xin; Wang, Michael; Whitesides, George M

    2011-12-20

    This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.

  13. "Integrative Social Robotics"

    DEFF Research Database (Denmark)

    2016-01-01

    The aim of this paper is to sketch the basic motivations for “Integrative Social Robotics” (ISR), as a new paradigm for how to approach research, design, and development of social robotics applications that are culturally sustainable. I argue that social robotics saddles us with normative....... On the ISR approach research in social robotics turns on what social robots can and should do--design and development are from the very beginning informed by value-theoretic and cultural research. ISR thus is a form of research organization that integrates robotics with empirical, conceptual, and value......-theoretic research in the Humanities, the Social Sciences, and the Human Sciences. The resulting paradigm is user-driven design writ large: research, design, and development of social robotics applications are guided—with multiple feedback—by the reflected normative preferences of a cultural community....

  14. Audiovisual materials are effective for enhancing the correction of articulation disorders in children with cleft palate.

    Science.gov (United States)

    Pamplona, María Del Carmen; Ysunza, Pablo Antonio; Morales, Santiago

    2017-02-01

    Children with cleft palate frequently show speech disorders known as compensatory articulation. Compensatory articulation requires a prolonged period of speech intervention that should include reinforcement at home. However, frequently relatives do not know how to work with their children at home. To study whether the use of audiovisual materials especially designed for complementing speech pathology treatment in children with compensatory articulation can be effective for stimulating articulation practice at home and consequently enhancing speech normalization in children with cleft palate. Eighty-two patients with compensatory articulation were studied. Patients were randomly divided into two groups. Both groups received speech pathology treatment aimed to correct articulation placement. In addition, patients from the active group received a set of audiovisual materials to be used at home. Parents were instructed about strategies and ideas about how to use the materials with their children. Severity of compensatory articulation was compared at the onset and at the end of the speech intervention. After the speech therapy period, the group of patients using audiovisual materials at home demonstrated significantly greater improvement in articulation, as compared with the patients receiving speech pathology treatment on - site without audiovisual supporting materials. The results of this study suggest that audiovisual materials especially designed for practicing adequate articulation placement at home can be effective for reinforcing and enhancing speech pathology treatment of patients with cleft palate and compensatory articulation. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  15. A kinematic study of critical and non-critical articulators in emotional speech production.

    Science.gov (United States)

    Kim, Jangwon; Toutios, Asterios; Lee, Sungbok; Narayanan, Shrikanth S

    2015-03-01

    This study explores one aspect of the articulatory mechanism that underlies emotional speech production, namely, the behavior of linguistically critical and non-critical articulators in the encoding of emotional information. The hypothesis is that the possible larger kinematic variability in the behavior of non-critical articulators enables revealing underlying emotional expression goal more explicitly than that of the critical articulators; the critical articulators are strictly controlled in service of achieving linguistic goals and exhibit smaller kinematic variability. This hypothesis is examined by kinematic analysis of the movements of critical and non-critical speech articulators gathered using eletromagnetic articulography during spoken expressions of five categorical emotions. Analysis results at the level of consonant-vowel-consonant segments reveal that critical articulators for the consonants show more (less) peripheral articulations during production of the consonant-vowel-consonant syllables for high (low) arousal emotions, while non-critical articulators show less sensitive emotional variation of articulatory position to the linguistic gestures. Analysis results at the individual phonetic targets show that overall, between- and within-emotion variability in articulatory positions is larger for non-critical cases than for critical cases. Finally, the results of simulation experiments suggest that the postural variation of non-critical articulators depending on emotion is significantly associated with the controls of critical articulators.

  16. Teaching Software Engineering through Robotics

    OpenAIRE

    Shin, Jiwon; Rusakov, Andrey; Meyer, Bertrand

    2014-01-01

    This paper presents a newly-developed robotics programming course and reports the initial results of software engineering education in robotics context. Robotics programming, as a multidisciplinary course, puts equal emphasis on software engineering and robotics. It teaches students proper software engineering -- in particular, modularity and documentation -- by having them implement four core robotics algorithms for an educational robot. To evaluate the effect of software engineering educati...

  17. Urologic robots and future directions

    OpenAIRE

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2008-01-01

    International audience; PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots and present future development directions. RECENT FINDINGS: Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. SUMMARY: The final goal of robot...

  18. Dynamic active constraints for hyper-redundant flexible robots.

    Science.gov (United States)

    Kwok, Ka-Wai; Mylonas, George P; Sun, Loi Wah; Lerotic, Mirna; Clark, James; Athanasiou, Thanos; Darzi, Ara; Yang, Guang-Zhong

    2009-01-01

    In robot-assisted procedures, the surgeon's ability can be enhanced by navigation guidance through the use of virtual fixtures or active constraints. This paper presents a real-time modeling scheme for dynamic active constraints with fast and simple mesh adaptation under cardiac deformation and changes in anatomic structure. A smooth tubular pathway is constructed which provides assistance for a flexible hyper-redundant robot to circumnavigate the heart with the aim of undertaking bilateral pulmonary vein isolation as part of a modified maze procedure for the treatment of debilitating arrhythmia and atrial fibrillation. In contrast to existing approaches, the method incorporates detailed geometrical constraints with explicit manipulation margins of the forbidden region for an entire articulated surgical instrument, rather than just the end-effector itself. Detailed experimental validation is conducted to demonstrate the speed and accuracy of the instrument navigation with and without the use of the proposed dynamic constraints.

  19. A neuro-collision avoidance strategy for robot manipulators

    Science.gov (United States)

    Onema, Joel P.; Maclaunchlan, Robert A.

    1992-01-01

    The area of collision avoidance and path planning in robotics has received much attention in the research community. Our study centers on a combination of an artificial neural network paradigm with a motion planning strategy that insures safe motion of the Articulated Two-Link Arm with Scissor Hand System relative to an object. Whenever an obstacle is encountered, the arm attempts to slide along the obstacle surface, thereby avoiding collision by means of the local tangent strategy and its artificial neural network implementation. This combination compensates the inverse kinematics of a robot manipulator. Simulation results indicate that a neuro-collision avoidance strategy can be achieved by means of a learning local tangent method.

  20. Nonlinearity between acoustics and articulation in Hungarian transparent vowels

    Science.gov (United States)

    Benus, Stefan; Kirke, Karen D.; Gafos, Adamantios I.

    2001-05-01

    We present novel results from the acoustic and articulatory investigation of the production of the transparent vowels (TVs) /i/, /i:/, /e:/ in Hungarian (colon denotes length). The acoustic measurements of the front-back distinction (second formant, the difference of the first and second formants [Ladefoged, 1993]) show that the effect of adjacent back vowels on the front quality of the TVs is only weakly significant. The articulatory measurements of the same data, however, show that adjacent back vowels cause highly significant retraction of the tongue body during the production of the front TVs. The significance of this finding lies in its relevance to the relationship between phonetics and phonology. Our results demonstrate that minor phonetic differences in articulation, impossible to access by traditional theory, correlate with full-fledged phonological alternation of suffix selection in Hungarian. Traditional phonological accounts predict no effect of continuous phonetic details on discrete phonological generalizations. This is supported in our acoustic data but contrasts with our articulatory findings. In the paper we propose a dynamic model where phonological transparency is directly related to nonlinearity between acoustics and articulation [Stevens, 1989; Wood, 1979]. [Work supported by NIH.