WorldWideScience

Sample records for cooperating robots desired

  1. Generating Self-Reliant Teams of Autonomous Cooperating Robots: Desired design Characteristics

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1999-05-01

    The difficulties in designing a cooperative team are significant. Several of the key questions that must be resolved when designing a cooperative control architecture include: How do we formulate, describe, decompose, and allocate problems among a group of intelligent agents? How do we enable agents to communicate and interact? How do we ensure that agents act coherently in their actions? How do we allow agents to recognize and reconcile conflicts? However, in addition to these key issues, the software architecture must be designed to enable multi-robot teams to be robust, reliable, and flexible. Without these capabilities, the resulting robot team will not be able to successfully deal with the dynamic and uncertain nature of the real world. In this extended abstract, we first describe these desired capabilities. We then briefly describe the ALLIANCE software architecture that we have previously developed for multi-robot cooperation. We then briefly analyze the ALLIANCE architecture in terms of the desired design qualities identified.

  2. 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.

  3. The role of roles: physical cooperation between humans and robots

    OpenAIRE

    Küçükyılmaz, Ayşe; Sezgin, Tevfik Metin; Başdoğan, Çağatay; Moertl, Alexander; Lawitzky, Martin; Hirche, Sandra

    2012-01-01

    Since the strict separation of working spaces of humans and robots has experienced a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach. In this context, physical human-robot interaction raises a number of questions regarding a desired intuitive robot behavior. The continuous bilateral information and energy exchange requires an appropriate continuous robot feedback. Investigating a cooperative manipulation task, the desired...

  4. Heterogeneous Multi-Robot Cooperation

    Science.gov (United States)

    1994-02-01

    the objects the robots manipulate are hazardous waste. I have not actually applied the robots to reA toxic waste spills, since they are simply small...1993] Bruce Randall Donald, James Jennings, and Daniela Rus. To- wards a theory of information invariants for cooperating autonomous mobile robots

  5. Communicating Cooperative Robots with Bluetooth

    DEFF Research Database (Denmark)

    Schiøler, Henrik; Son, L.T.; Madsen, Ole Brun

    2001-01-01

    A generic architecture for system of cooperating communicating mobile robots is presented. An overall structure is defined from a modularity viewpoint, where a number of generic modules are identified; low level communication interface, network layer services such as initial and adaptive network...

  6. Cooperative robots and sensor networks

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

    Mobile robots and Wireless Sensor Networks (WSNs) have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and WSNs have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other.
 The primary objective of book is to provide a reference for cutting-edge studies and research trends pertaining to robotics and sensor networks, and in particular for the coupling between them. The book consists of five chapters. The first chapter presents a cooperation strategy for teams of multiple autonomous vehicles to solve the rendezvous problem. The second chapter is motivated by the need to improve existing solutions that deal with connectivity prediction, and proposed a genetic machine learning approach for link-quality prediction. The third chapter presents an arch...

  7. Multi-agent robotic cooperative assembly system

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Presents a multi-robot cooperative assembly systen (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an onni-directional vehicle, PUMA 760 and Adept I and organized in to a hierarchical structure with the cooperation organization on the top and the coordination motion at the bottom to solve the main problem of coordination and cooperation among robots, and concludes with experimental results that MRCAS is reconfigurable and adaptable as the mission changes.

  8. Cooperative Object Transportation With Multiple Humanoid Robots

    OpenAIRE

    呉, 孟鴻

    2015-01-01

    There are more and more robots appearing in factory or our daily life due to development of recent technology. Among all types of robots, humanoid robots have the potential to perform multiple tasks and walk on uneven terrain like human beings. Hence, it is expected that humanoid robots work instead of human beings at dangerous zones such as plant facilities. In such dangerous zones, humanoid robots must cooperate with each other in order to carry heavy and large objects. Although there is...

  9. Cooperation of Humanoid Robots using Teleoperation for Transferring an Object

    Directory of Open Access Journals (Sweden)

    Ali Raza Jafri

    2008-11-01

    Full Text Available In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes according to the situation. In case of object passing with two humanoid robots, mutual position shifts may occur while they are moving. Therefore, it is necessary to correct the position in a real-time manner.To control the arm and hand of the robot remotely we use master arm and hand while it carries and passes the object, the dynamic stability during the execution of walking is ensured by incorporating the ZMP criterion and the desired spacing between the robots is controlled by Leader follower type control .Object passing cooperation for two humanoid robots is based on computer control, wireless LAN, vision, cooperative handling control and text commands. The method is applied as key software of the system. The effectiveness of the proposed methodology for performing cooperatively real time tasks is discussed.

  10. Dynamic Task Allocation in Cooperative Robot Teams

    Directory of Open Access Journals (Sweden)

    Athanasios Tsalatsanis

    2010-02-01

    Full Text Available In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot\\'s ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.

  11. Dynamic Task Allocation in Cooperative Robot Teams

    Directory of Open Access Journals (Sweden)

    Athanasios Tsalatsanis

    2009-12-01

    Full Text Available In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot's ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.

  12. Cooperative robots and sensor networks 2014

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

    This book is the second volume on Cooperative Robots and Sensor Networks. The primary objective of this book is to provide an up-to-date reference for cutting-edge studies and research trends related to mobile robots and wireless sensor networks, and in particular for the coupling between them. Indeed, mobile robots and wireless sensor networks have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and wireless sensor networks have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other. The book consists of ten chapters, organized into four parts. The first part of the book presents three chapters related to localization of mobile robots using wireless sensor networks. Two chapters presented new solutions based Extended Kalman Filter and Particle Fi...

  13. Fully Distributed Cooperative Motion of Group Robots

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    This paper is focused on the fully distributed cooperative motion of group robots and proposes a new approach. Each robot has a local sensing ability and a simple action selection strategy. Computational complexity is decreased by the fully distributed architecture and the information insufficiency is solved by the interaction between the robots and the environment. Variable loop and random method are used to deal with the fluctuation and equity selection problem and the rapidity and reasonabiliiy are guaranteed. Some simulations have proved the effectiveness of the proposed approach.

  14. Toward the Automated Synthesis of Cooperative Mobile Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

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

  15. Safe cooperative robot dynamics on graphs

    OpenAIRE

    Ghrist, Robert; Koditschek, Daniel

    2000-01-01

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

  16. Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans

    Science.gov (United States)

    Rahman, Md. Mozasser; Ikeura, Ryojun; Mizutani, Kazuki

    In the near future many aspects of our lives will be encompassed by tasks performed in cooperation with robots. The application of robots in home automation, agricultural production and medical operations etc. will be indispensable. As a result robots need to be made human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work imitating human characteristics. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the impedance characteristic of the human arm in a cooperative task is investigated. Then, this characteristic is implemented to control a robot in order to perform cooperative task with humans. A human followed the motion of an object, which is moved through desired trajectories. The motion is actuated by the linear motor of the one degree-of-freedom robot system. Trajectories used in the experiments of this method were minimum jerk (the rate of change of acceleration) trajectory, which was found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a simple second-order equation is used as models for the arm dynamics. In the model, we considered mass, stiffness and damping factor. Impedance parameter is calculated from the position and force data obtained from the experiments and based on the “Estimation of Parametric Model”. Investigated impedance characteristic of human arm is then implemented to control a robot, which performed cooperative task with human. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with human.

  17. Desire

    DEFF Research Database (Denmark)

    2017-01-01

    In this chapter I shall try to explain desire according to psychoanalysis (here primarily Sigmund Freud and Jacques Lacan), and why desire is also a concept for that which drives language, literature, and the reader. I hope to show what it means to focus on the dynamics of desire when analysing...

  18. A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

    OpenAIRE

    Shu-qin Li; Lan Shuai; Xian-yi Cheng; Zhen-min Tang; Jing-yu Yang

    2005-01-01

    At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative relationships with constantly changeable task demand in Multi-robot field. First this paper whole and static describes organization model HWROM of robot team, then uses Markov course and Bayesian theorem for reference, dynamical describes the team cooperative relationships building. Finally from c...

  19. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

  20. A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

    National Research Council Canada - National Science Library

    Zhen-min Tang; Xian-yi Cheng; Lan Shuai; Shu-qin Li; Jing-yu Yang

    2008-01-01

    At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative...

  1. A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

    National Research Council Canada - National Science Library

    Li, Shu-qin; Shuai, Lan; Cheng, Xian-yi; Tang, Zhen-min; Yang, Jing-yu

    2005-01-01

    At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative...

  2. Visual world perception modeling and control of cooperative mobile robots

    Science.gov (United States)

    Shirkhodaie, Amir

    2003-10-01

    There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

  3. A New Method of Desired Gait Synthesis for Biped Walking Robot Based on Ground Reaction Force

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D'Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.

  4. Cooperative Three-Robot System for Traversing Steep Slopes

    Science.gov (United States)

    Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

    2009-01-01

    Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

  5. Cooperative system and method using mobile robots for testing a cooperative search controller

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, Raymond H. (Albuquerque, NM); Harrington, John J. (Albuquerque, NM); Eskridge, Steven E. (Albuquerque, NM); Hurtado, John E. (College Station, TX)

    2002-01-01

    A test system for testing a controller provides a way to use large numbers of miniature mobile robots to test a cooperative search controller in a test area, where each mobile robot has a sensor, a communication device, a processor, and a memory. A method of using a test system provides a way for testing a cooperative search controller using multiple robots sharing information and communicating over a communication network.

  6. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

  7. IED Cleanup: A Cooperative Classroom Robotics Challenge--The Benefits and Execution of a Cooperative Classroom Robotics Challenge

    Science.gov (United States)

    Piotrowski, Mark; Kressly, Rich

    2009-01-01

    This article describes a cooperative classroom robotics challenge named "IED Cleanup". This classroom challenge was created to incorporate a humanitarian project with the use of a robotics design system in order to remove simulated IEDs (Improvised Explosive Devices) to a detonation zone within a specified amount of time. Throughout the activity,…

  8. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    Science.gov (United States)

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  9. Cooperation, but not competition, improves 4-year-old children's reasoning about others' diverse desires.

    Science.gov (United States)

    Jin, Xinyi; Li, Pengchao; He, Jie; Shen, Mowei

    2017-05-01

    Three experiments examined whether cooperation or competition affects 4-year-old children's reasoning about other people's desires-which differed from their own-in a gift selection task. Experiment 1 (N=72) found that children's performance in selecting an adult-preferred gift for an adult experimenter was enhanced by a short period of preceding cooperative, but not competitive or individualistic, play with the experimenter. Experiment 2 (N=24) ruled out the alternative explanation that children resisted satisfying their opponent after competition. Experiment 3 (N=48) replicated the cooperation advantage in selecting a gift for someone else, indicating that children's understanding of diverse desires was generally improved by cooperation but not competition. These findings support the constructivist view of social development and highlight the advantage of cooperation. Copyright © 2016 Elsevier Inc. All rights reserved.

  10. Autonomous Mobile Platform for Research in Cooperative Robotics

    Science.gov (United States)

    Daemi, Ali; Pena, Edward; Ferguson, Paul

    1998-01-01

    This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

  11. A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

    Science.gov (United States)

    Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

    The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

  12. The effect of action recognition and robot awareness in cooperative robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-03-01

    Previous research in cooperative robotics has investigated several possible ways of coordinating the actions of cooperative teams -- from implicit cooperation through sensory feedback to explicit cooperation using the exchange of communicated messages. These various approaches differ in the extent to which robot team members arc aware of, or recognize, the actions of their teammates, and the extent to which they use this information to effect their own actions. The research described in this paper investigates this issue of robot awareness of team member actions and its effect on cooperative team performance by examining the results of a series of experiments on teams of physical mobile robots performing a laboratory version of hazardous waste cleanup. In these experiments. we vary the team size (and thus the level of redundancy in team member capabilities) and the level of awareness robots have of their teammates` current actions and evaluate the team`s performance using two metrics: time and energy. The results indicate that the impact of action awareness on cooperative team performance is a function not only of team size and the metric of evaluation. but also on the degree to which the effects of actions can be sensed through the world, the relative amount of work that is available per robot, and the cost of replicated actions. From these empirical studies, we propose a number of principles regarding the use of action recognition and robot awareness of team member actions in cooperative teams -- principles which will help guide engineers in the design and composition of the proper cooperative team for a given robotic mission.

  13. Ten Years of Cooperation Between Mobile Robots and Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jesus Capitán Fernández

    2015-06-01

    Full Text Available This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC at the University of Seville on the cooperation between mobile robots and sensor networks. The GRVC, led by Professor Anibal Ollero, has been working over the last ten years on techniques where robots and sensor networks exploit synergies and collaborate tightly, developing numerous research projects on the topic. In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots. Then, we describe our developed techniques and main results for these challenges. In particular, the paper focuses on autonomous self-deployment of sensor networks; cooperative localization and tracking; self-localization and mapping; and large-scale scenarios. Extensive experimental results and lessons learnt are also discussed in the paper.

  14. Ten Years of Cooperation Between Mobile Robots and Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jesus Capitán Fernández

    2015-06-01

    Full Text Available This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC at the University of Seville on the cooperation between mobile robots and sensor networks. The GRVC, led by Professor Anibal Ollero, has been working over the last ten years on techniques where robots and sensor networks exploit synergies and collaborate tightly, developing numerous research projects on the topic. In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots. Then, we describe our developed techniques and main results for these challenges. In particular, the paper focuses on autonomous self-deployment of sensor networks; cooperative localization and tracking; self-localization and mapping; and large-scale scenarios. Extensive experimental results and lessons learnt are also discussed in the paper.

  15. Concept and design of a cooperative robotic assistant surgery system

    OpenAIRE

    Castillo Cruces, Raúl Armando

    2008-01-01

    The modular interactive computer-assisted surgery (modiCAS) project, settled in the Center for Sensor System (ZESS) at the University of Siegen, in Germany, is engaged to develop an integral solution for different surgical problems by the combination of a navigation system and a robot arm with hands-on capabilities. The robotic system may be thought of as a smart surgical tool that extends surgeon's ability to treat patients, giving him/her surgical assistant by working in cooperative fashion...

  16. 76 FR 59160 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2011-09-23

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... Robotics Technology Consortium (``RTC'') has filed written notifications simultaneously with the Attorney... Robotics LLC, Pittsburgh, PA; Embry-Riddle Aeronautical University, Daytona Beach, FL; EMSolutions,...

  17. Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation

    Directory of Open Access Journals (Sweden)

    Concepción A. Monje

    2008-01-01

    Full Text Available The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.

  18. Autonomous robotic capture of non-cooperative target by adaptive extended Kalman filter based visual servo

    Science.gov (United States)

    Dong, Gangqi; Zhu, Zheng H.

    2016-05-01

    This paper presents a real-time, vision-based algorithm for the pose and motion estimation of non-cooperative targets and its application in visual servo robotic manipulator to perform autonomous capture. A hybrid approach of adaptive extended Kalman filter and photogrammetry is developed for the real-time pose and motion estimation of non-cooperative targets. Based on the pose and motion estimates, the desired pose and trajectory of end-effector is defined and the corresponding desired joint angles of the robotic manipulator are derived by inverse kinematics. A close-loop visual servo control scheme is then developed for the robotic manipulator to track, approach and capture the target. Validating experiments are designed and performed on a custom-built six degrees of freedom robotic manipulator with an eye-in-hand configuration. The experimental results demonstrate the feasibility, effectiveness and robustness of the proposed adaptive extended Kalman filter enabled pose and motion estimation and visual servo strategy.

  19. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Directory of Open Access Journals (Sweden)

    Saúl Tovar-Arriaga

    2012-07-01

    Full Text Available In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms. The implemented control allows the robot to compensate for small patient movements.

  20. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Science.gov (United States)

    Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

    2012-01-01

    In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

  1. Distributed Lazy Q-learning for Cooperative Mobile Robots

    Directory of Open Access Journals (Sweden)

    Claude F. Touzet

    2008-11-01

    Full Text Available Compared to single robot learning, cooperative learning adds the challenge of a much larger search space (combined individual search spaces, awareness of other team members, and also the synthesis of the individual behaviors with respect to the task given to the group. Over the years, reinforcement learning has emerged as the main learning approach in autonomous robotics, and lazy learning has become the leading bias, allowing the reduction of the time required by an experiment to the time needed to test the learned behavior performance. These two approaches have been combined together in what is now called lazy Q-learning, a very efficient single robot learning paradigm. We propose a derivation of this learning to team of robots : the ?pessimistic? algorithm able to compute for each team member a lower bound of the utility of executing an action in a given situation. We use the cooperative multi-robot observation of multiple moving targets (CMOMMT application as an illustrative example, and study the efficiency of the Pessimistic Algorithm in its task of inducing learning of cooperation.

  2. A Biologically Inspired Cooperative Multi-Robot Control Architecture

    Science.gov (United States)

    Howsman, Tom; Craft, Mike; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

    2002-01-01

    A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

  3. Designing a Social Environment for Human-Robot Cooperation.

    Science.gov (United States)

    Amram, Fred M.

    Noting that work is partly a social activity, and that workers' psychological and emotional needs influence their productivity, this paper explores avenues for improving human-robot cooperation and for enhancing worker satisfaction in the environment of flexible automation. The first section of the paper offers a brief overview of the…

  4. Acceleration Workspace of Cooperating Multi-Finger Robot Systems

    Institute of Scientific and Technical Information of China (English)

    Hyungwon Shim; Jihong Lee

    2008-01-01

    We present a mathematical method for acceleration workspace analysis of cooperating multi-finger robot systems using a model of point-contact with friction. A new unified formulation from dynamic equations of cooperating multi-finger robots is derived considering the force and acceleration relationships between the fingers and the object to be handled. From the dynamic equation, maximum translational and rotational acceleration bounds of an object are calculated under given constraints of contact conditions, configurations of fingers, and bounds on the torques of joint actuators for each finger. Here, the rotational acceleration bounds can be applied as an important manipulability index when the multi-finger robot grasps an object. To verify the proposed method, we used a set of case studies with a simple multi-finger mechanism system. The achievable acceleration boundary in task space can be obtained successfully with the proposed method and the acceleration boundary depends on the configurations of fingers.

  5. MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a "Dynamic Coordinator" strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.

  6. Distributed Planning and Control for Teams of Cooperating Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    2004-06-15

    This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of the control approaches for distributed planning and cooperation in multi-robot teams.

  7. Safe Human-Robot Cooperation in an Industrial Environment

    Directory of Open Access Journals (Sweden)

    Nicola Pedrocchi

    2013-01-01

    Full Text Available The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human-robot hybrid systems could have a big economic benefit in small and medium sized production, even if this new paradigm introduces mandatory, challenging safety aspects. Among various requirements for collaborative workspaces, safety-assurance involves two different application layers; the algorithms enabling safe space-sharing between humans and robots and the enabling technologies allowing acquisition data from sensor fusion and environmental data analysing. This paper addresses both the problems: a collision avoidance strategy allowing on-line re-planning of robot motion and a safe network of unsafe devices as a suggested infrastructure for functional safety achievement.

  8. Safe Human-Robot Cooperation in an Industrial Environment

    Directory of Open Access Journals (Sweden)

    Nicola Pedrocchi

    2013-01-01

    Full Text Available The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human‐robot hybrid systems could have a big economic benefit in small and medium sized production, even if this new paradigm introduces mandatory, challenging safety aspects. Among various requirements for collaborative workspaces, safety‐assurance involves two different application layers; the algorithms enabling safe space‐sharing between humans and robots and the enabling technologies allowing acquisition data from sensor fusion and environmental data analysing. This paper addresses both the problems: a collision avoidance strategy allowing on‐line re‐planning of robot motion and a safe network of unsafe devices as a suggested infrastructure for functional safety achievement.

  9. Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator

    Directory of Open Access Journals (Sweden)

    Horacio Ernesto

    2015-01-01

    Full Text Available This paper proposes the design of a hybrid iterative learning controller for a four-degree-of-freedom (DOF robotic machining manipulator (RMM. It combines a nonlinear saturated (sat proportional + integral + derivative (PID control with desired gravity compensation (dgc and proportional + derivative- (PD- based iterative learning control (ILC. The sat(PID control is the primary component that maintains the local stability of the entire RMM system and the PDILC component provides robustness to parameter variations and uncertainties in the robot dynamics. Global asymptotic stability of the proposed control algorithm is conducted using Lyapunov direct method and LaSalles invariance principle. Simulation results show the effectiveness and robustness of the proposed hybrid iterative learning controller. It is also shown that the proposed controller achieved better tracking performances compared to conventional sat(PDdgc feedback controller.

  10. Formation-based Control Scheme for Cooperative Transportation by Multiple Mobile Robots

    Directory of Open Access Journals (Sweden)

    Alpaslan Yufka

    2015-09-01

    Full Text Available This paper presents a motion-planning and control scheme for a cooperative transportation system comprising a single rigid object and multiple autonomous non-holonomic mobile robots. A leader-follower formation control strategy is used for the transportation system in which the object is assumed to be the virtual leader; the robots carrying the object are considered to be followers. A smooth trajectory between the current and desired locations of the object is generated considering the constraints of the virtual leader. In the leader follower approach, the origin of the coordinate system attached to the centre of gravity of the object, which is known as the virtual leader, moves along the generated trajectory while the real robots, which are known as followers, maintain a desired distance and orientation in relation to the leader. An asymptotically stable tracking controller is used for trajectory tracking. The proposed approach is verified by simulations and real applications using Pioneer P3-DX mobile robots.

  11. A marsupial robotic fish team: Design, motion and cooperation

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.

  12. Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1

    OpenAIRE

    Lee, Jihong; Jo, Kyounghwan; Jang, Choulsoo

    2007-01-01

    International audience; This paper presents a new method of cooperative localization for multiple robots utilizing correlation between GPS errors of common mode in shared workspace. Assuming that GPS data of individual robot are correlated strongly as the distance between robots are close, we utilize the differential position data between the robots to refine robot's position data. Under artificial environment for simulation with imposed model error to robot motion and GPS sensor data error, ...

  13. 78 FR 13896 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2013-03-01

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics...; Humanistic Robotics, Inc., Philadelphia, PA; Polaris Sales, Inc., Medina, MN; TDC Acquisition Holdings,...

  14. 79 FR 24450 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2014-04-30

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics... Robotics Foundation, Inc., Mountain View, CA; Sikorsky Aircraft Corporation, Stratford, CT; and...

  15. 75 FR 54914 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2010-09-09

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics... Robotics Inc., Pittsburgh, PA; Energetics Technology Center, Inc., La Plata, MD; Expertise Applications...

  16. 74 FR 62599 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2009-11-30

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics... are: 5D Robotics, Inc., Boise, ID; Adaptive Materials, Inc., Ann Arbor, MI; Advanced...

  17. 77 FR 34067 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2012-06-08

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics..., Inc., Burke, VA; Lithos Robotics Corporation, Amherst, NY; Mechatron Inc., Somerville, MA;...

  18. Human-robot cooperative movement training: learning a novel sensory motor transformation during walking with robotic assistance-as-needed.

    Science.gov (United States)

    Emken, Jeremy L; Benitez, Raul; Reinkensmeyer, David J

    2007-03-28

    A prevailing paradigm of physical rehabilitation following neurologic injury is to "assist-as-needed" in completing desired movements. Several research groups are attempting to automate this principle with robotic movement training devices and patient cooperative algorithms that encourage voluntary participation. These attempts are currently not based on computational models of motor learning. Here we assume that motor recovery from a neurologic injury can be modelled as a process of learning a novel sensory motor transformation, which allows us to study a simplified experimental protocol amenable to mathematical description. Specifically, we use a robotic force field paradigm to impose a virtual impairment on the left leg of unimpaired subjects walking on a treadmill. We then derive an "assist-as-needed" robotic training algorithm to help subjects overcome the virtual impairment and walk normally. The problem is posed as an optimization of performance error and robotic assistance. The optimal robotic movement trainer becomes an error-based controller with a forgetting factor that bounds kinematic errors while systematically reducing its assistance when those errors are small. As humans have a natural range of movement variability, we introduce an error weighting function that causes the robotic trainer to disregard this variability. We experimentally validated the controller with ten unimpaired subjects by demonstrating how it helped the subjects learn the novel sensory motor transformation necessary to counteract the virtual impairment, while also preventing them from experiencing large kinematic errors. The addition of the error weighting function allowed the robot assistance to fade to zero even though the subjects' movements were variable. We also show that in order to assist-as-needed, the robot must relax its assistance at a rate faster than that of the learning human. The assist-as-needed algorithm proposed here can limit error during the learning of a

  19. Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

    OpenAIRE

    Defoort, Michael; Floquet, Thierry; Kökösy, Annemarie; Perruquetti, Wilfrid

    2008-01-01

    International audience; This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables for...

  20. Evaluating the User Experience of Exercising Reaching Motions With a Robot That Predicts Desired Movement Difficulty.

    Science.gov (United States)

    Shirzad, Navid; Van der Loos, H F Machiel

    2016-01-01

    The notion of an optimal difficulty during practice has been articulated in many areas of cognitive psychology: flow theory, the challenge point framework, and desirable difficulties. Delivering exercises at a participant's desired difficulty has the potential to improve both motor learning and users' engagement in therapy. Motivation and engagement are among the contributing factors to the success of exercise programs. The authors previously demonstrated that error amplification can be used to introduce levels of challenge into a robotic reaching task, and that machine-learning algorithms can dynamically adjust difficulty to the desired level with 85% accuracy. Building on these findings, we present the results of a proof-of-concept study investigating the impacts of practicing under desirable difficulty conditions. A control condition with a predefined random order for difficulty levels was deemed more suitable for this study (compared to constant or continuously increasing difficulty). By practicing the task at their desirable difficulties, participants in the experimental group perceived their performance at a significantly higher level and reported lower required effort to complete the task, in comparison to a control group. Moreover, based on self-reports, participants in the experimental group were willing, on average, to continue the training session for 4.6 more training blocks (∼45 min) compared to the control group's average. This study demonstrates the efficiency of delivering the exercises at the user's desired difficulty level to improve the user's engagement in exercise tasks. Future work will focus on clinical feasibility of this approach in increasing stroke survivors' engagement in their therapy programs.

  1. Distributing Planning and Control for Teams of Cooperating Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    2004-07-19

    This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of our control approaches for distributed planning and cooperation in multi-robot teams. The primary objectives of this research project were to: (1) Develop autonomous control technologies to enable multiple vehicles to work together cooperatively, (2) Provide the foundational capabilities for a human operator to exercise oversight and guidance during the multi-vehicle task execution, and (3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for multi-robot teams. These objectives have been successfully met with the results implemented and demonstrated in a near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.

  2. Evolutionary Fuzzy Control and Navigation for Two Wheeled Robots Cooperatively Carrying an Object in Unknown Environments.

    Science.gov (United States)

    Juang, Chia-Feng; Lai, Min-Ge; Zeng, Wan-Ting

    2015-09-01

    This paper presents a method that allows two wheeled, mobile robots to navigate unknown environments while cooperatively carrying an object. In the navigation method, a leader robot and a follower robot cooperatively perform either obstacle boundary following (OBF) or target seeking (TS) to reach a destination. The two robots are controlled by fuzzy controllers (FC) whose rules are learned through an adaptive fusion of continuous ant colony optimization and particle swarm optimization (AF-CACPSO), which avoids the time-consuming task of manually designing the controllers. The AF-CACPSO-based evolutionary fuzzy control approach is first applied to the control of a single robot to perform OBF. The learning approach is then applied to achieve cooperative OBF with two robots, where an auxiliary FC designed with the AF-CACPSO is used to control the follower robot. For cooperative TS, a rule for coordination of the two robots is developed. To navigate cooperatively, a cooperative behavior supervisor is introduced to select between cooperative OBF and cooperative TS. The performance of the AF-CACPSO is verified through comparisons with various population-based optimization algorithms for the OBF learning problem. Simulations and experiments verify the effectiveness of the approach for cooperative navigation of two robots.

  3. Co-robotic ultrasound imaging: a cooperative force control approach

    Science.gov (United States)

    Finocchi, Rodolfo; Aalamifar, Fereshteh; Fang, Ting Yun; Taylor, Russell H.; Boctor, Emad M.

    2017-03-01

    Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

  4. Virtual Commissioning of an Assembly Cell with Cooperating Robots

    Directory of Open Access Journals (Sweden)

    S. Makris

    2012-01-01

    Full Text Available The Virtual Commissioning (VC technology is the latest trend in automotive assembly which, among other benefits, promises a more efficient handling of the complexity in assembly systems, a great reduction in the system’s ramp-up time, and a resulting shortening of the product’s time to market. This paper presents the application of VC techniques to the case of an industrial robotic cell, involving cooperating robots. The complete workflow of the virtual validation of the cell is presented, and the implementation requirements are discussed. Based on the findings, the outlook and challenges for the wide-range adoption of VC technologies in large-scale assembly systems are provided.

  5. CoMRoS: Cooperative mobile robots Stuttgart

    Energy Technology Data Exchange (ETDEWEB)

    Braeunl, T.; Kalbacher, M.; Levi, P.; Mamier, G. [Universitaet Stuttgart (Germany)

    1996-12-31

    Project CoMRoS has the goal to develop intelligent cooperating mobile robots. Several different vehicles are to solve a single task autonomously by exchanging plans without a central control. We use {open_quotes}Robuter II{close_quotes} vehicles from Robosoft France, adapted to our needs. The standard vehicle has very little local intelligence (VME bus system) and is controlled remotely by wireless Ethernet for sending steering commands and receiving sonar sensor data. A wireless video link is used to transmit camera images. Data exchange between vehicles is then performed among the corresponding workstations. The remote control is basically used to simplify testing and debugging of robot programs. However, each vehicle can also be driven completely autonomous by using a laptop PC.

  6. 76 FR 79218 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2011-12-21

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics...''), Robotics Technology Consortium, Inc. (``RTC'') has filed written notifications simultaneously with the...; Jaybridge Robotics, Cambridge, MA; Klett Consulting Group, Inc., Virginia Beach, VA; and Next Wave...

  7. Development and implementation of algorithms in a population of cooperative autonomous mobile robots

    CSIR Research Space (South Africa)

    Namoshe, M

    2007-10-01

    Full Text Available An increase in the number of mobile robot users has lead to the design and implementation of cooperative autonomous mobile robots. Autonomous robots require the ability to build maps of an unknown environment while simultaneously using these maps...

  8. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    NARCIS (Netherlands)

    Wei, C.

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot

  9. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    NARCIS (Netherlands)

    Wei, C.

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot team

  10. Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

    Directory of Open Access Journals (Sweden)

    Yahui Gan

    2012-09-01

    Full Text Available A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here. In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

  11. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    OpenAIRE

    C. Wei

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot teams. Social deliberation should be taken into consideration in such a multi-robot system, which requires that the robots are capable of generating long term plans to achieve a global or team goal, ra...

  12. Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

    OpenAIRE

    Duschau-Wicke Alexander; Caprez Andrea; Riener Robert

    2010-01-01

    Abstract Background Manual body weight supported treadmill training and robot-aided treadmill training are frequently used techniques for the gait rehabilitation of individuals after stroke and spinal cord injury. Current evidence suggests that robot-aided gait training may be improved by making robotic behavior more patient-cooperative. In this study, we have investigated the immediate effects of patient-cooperative versus non-cooperative robot-aided gait training on individuals with incompl...

  13. ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  14. The Evolution of Cooperative Behaviours in Physically Heterogeneous Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Jianhua Yang

    2012-12-01

    Full Text Available Evolutionary Robotics (ER is a methodology that uses evolutionary computation to develop controllers for autonomous robots. The existing works focus on single robot systems or physically homogenous multi-robot teams, although physical heterogeneousness is more prevalent in the real world. It is therefore instructive to examine whether cooperative behaviours can be synthesized using artificial evolution for a team of physically heterogeneous robots. This paper makes an important contribution in answering the question of whether robots with distinct capabilities can synthesize their control strategies to accommodate their own capabilities without human intervention. We present an empirical analysis of the collaboration mechanisms and suggest guidelines about how to choose appropriate evolution methods. Simulated experiments with a team of e-puck robots show that evolution can lead to effective controllers for robots with distinct capabilities.

  15. The Evolution of Cooperative Behaviours in Physically Heterogeneous Multi-robot Systems

    Directory of Open Access Journals (Sweden)

    Jianhua Yang

    2012-12-01

    Full Text Available Evolutionary Robotics (ER is a methodology that uses evolutionary computation to develop controllers for autonomous robots. The existing works focus on\tsingle robot systems or physically homogenous multi‐robot teams, although physical heterogeneousness is more prevalent in the real world. It is therefore instructive to examine whether cooperative behaviours can be synthesized using artificial evolution for\ta team of\tphysically heterogeneous robots. This paper makes an important contribution in answering the question of whether robots with distinct capabilities can synthesize their control strategies to accommodate their own capabilities without human intervention. We present an empirical analysis of the collaboration mechanisms and suggest guidelines about how to choose appropriate evolution methods. Simulated experiments with a team of e‐puck robots show that evolution can lead to effective controllers for robots with distinct capabilities.

  16. Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

    Energy Technology Data Exchange (ETDEWEB)

    Mann, R.C.; Fujimura, K.; Unseren, M.A.

    1991-01-01

    One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.

  17. Collision Prevention Platform for a Dynamic Group of Asynchronous Cooperative Mobile Robots

    Directory of Open Access Journals (Sweden)

    Rami Yared

    2007-08-01

    Full Text Available This paper presents a fail-safe platform on which cooperative mobile robots rely for their motion. The platform consists of a collision prevention protocol for a dynamic group of cooperative mobile robots with asynchronous communications. The collision prevention protocol is timefree, in the sense that it never relies on physical time, which makes it extremely robust for timing uncertainty common in wireless networks. It guarantees that no two robots ever collide, regardless of the respective activities of the robots. The protocol is based on a fully distributed path reservation system. It assumes a mobile ad hoc network formed by the robots themselves, and takes advantage of the inherent locality of the problem in order to reduce communication. The protocol requires neither initial nor complete knowledge of the composition of the group. A performance analysis of the protocol provides insights for a proper dimensioning of system parameters in order to maximize the average effective speed of the robots.

  18. Modelling of cooperating robotized systems with the use of object-based approach

    Science.gov (United States)

    Foit, K.; Gwiazda, A.; Banas, W.; Sekala, A.; Hryniewicz, P.

    2015-11-01

    Today's robotized manufacturing systems are characterized by high efficiency. The emphasis is placed mainly on the simultaneous work of machines. It could manifest in many ways, where the most spectacular one is the cooperation of several robots, during work on the same detail. What's more, recently a dual-arm robots are used that could mimic the manipulative skills of human hands. As a result, it is often hard to deal with the situation, when it is necessary not only to maintain sufficient precision, but also the coordination and proper sequence of movements of individual robots’ arms. The successful completion of this task depends on the individual robot control systems and their respective programmed, but also on the well-functioning communication between robot controllers. A major problem in case of cooperating robots is the possibility of collision between particular links of robots’ kinematic chains. This is not a simple case, because the manufacturers of robotic systems do not disclose the details of the control algorithms, then it is hard to determine such situation. Another problem with cooperation of robots is how to inform the other units about start or completion of part of the task, so that other robots can take further actions. This paper focuses on communication between cooperating robotic units, assuming that every robot is represented by object-based model. This problem requires developing a form of communication protocol that the objects can use for collecting the information about its environment. The approach presented in the paper is not limited to the robots and could be used in a wider range, for example during modelling of the complete workcell or production line.

  19. Formulation and implementation of relational behaviours for multi-robot cooperative systems

    NARCIS (Netherlands)

    van der Vecht, B; Lima, P; Nardi, D; Riedmiller, M; Sammut, C; SantosVictor, J

    2005-01-01

    This paper introduces a general formulation of relational behaviours for cooperative real robots and an example of its implementation using the pass between soccer robots of the Middle-Sized League of RoboCup. The formulation is based on the Joint Commitment Theory and the pass implementation is sup

  20. Cooperation between humans and robots in fine assembly

    Science.gov (United States)

    Jalba, C. K.; Konold, P.; Rapp, I.; Mann, C.; Muminovic, A.

    2017-01-01

    The development of ever smaller components in manufacturing processes require handling, assembling and testing of miniature similar components. The human eye meets its optical limits with ongoing miniaturization of parts, due to the fact that it is not able to detect particles with a size smaller than 0.11 mm or register distances below 0.07 mm - like separating gaps. After several hours of labour, workers cannot accurately differentiate colour nuances as well as constant quality of work cannot be guaranteed. Assembly is usually done with tools, such as microscopes, magnifiers or digital measuring devices. Due to the enormous mental concentration, quickly a fatigue process sets in. This requires breaks or change of task and reduces productivity. Dealing with handling devices such as grippers, guide units and actuators for component assembling, requires a time consuming training process. Often productivity increase is first achieved after years of daily training. Miniaturizations are ubiquitously needed, for instance in the surgery. Very small add-on instruments must be provided. In measurement, e.g. it is a technological must and a competitive advantage, to determine required data with a small-as-possible, highest-possible-resolution sensor. Solution: The realization of a flexible universal workstation, using standard robotic systems and image processing devices in cooperation with humans, where workers are largely freed up from highly strenuous physical and fine motoric work, so that they can do productive work monitoring and adjusting the machine assisted production process.

  1. Distributed control of multi-robot teams: Cooperative baton passing task

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

  2. COOPER (COupled OPEration Robot): control de una estructura articular RRR acoplada a un manipulador

    OpenAIRE

    Perea Fuentes, Iván; García Gómez, Gabriel Jesús; Jara Bravo, Carlos Alberto; Pomares Baeza, Jorge; Candelas Herías, Francisco Andrés; Torres Medina, Fernando

    2011-01-01

    Pendiente de publicación en las actas de las XXXII Jornadas de Automática, Sevilla, 7-9 septiembre 2011. Este artículo presenta el modelado, construcción y control de un robot articular tipo RRR, especialmente diseñado para ser acoplado al extremo de un robot antropomórfico PA-10 de Mitsubishi. A este robot articular de tres grados de libertad se le ha asignado como nombre el acrónimo COOPER (COupled OPEration Robot), y su principal finalidad es dotar al PA-10 de la capacidad de visualizac...

  3. The damage assessment methodology in cooperation with smart sensors and inspection robots

    Science.gov (United States)

    Nitta, Yoshihiro; Ishida, Masami; Onai, Toshio; Watakabe, Morimasa; Nishitani, Akira; Matsui, Chisa

    2014-03-01

    This paper proposes a damage assessment methodology for the non-structural elements, especially the ceiling, in cooperation with the smart sensors and the inspection blimp robot with the Wi-Fi camera. The developed smart sensors use the infrared LEDs in sending the measured data to the inspection blimp robot. The inspection blimp robot integrated in the proposed system has a Wi-Fi camera and an infrared remote control receiver for receiving the data from the smart sensor. In the proposed methodology, the distributed smart sensors firstly detect the damage occurrence. Next, the inspection blimp robots can gather the data from the smart sensors, which transmit the measured data by using an infrared remote control receiver and LED signals. The inspection blimp robot also can inspect the damage location and captures the photographic image of the damage condition. The inspection blimp robot will be able to estimate the damage condition without any process of engineers' on-site-inspection involved. To demonstrate the effectiveness of the inspection blimp robot, the blimp robot is utilized to estimate the aging ceiling of a real structure. For demonstrating the feasibility or possibility of the proposed damage assessment methodology in cooperation with the smart sensors and the inspection blimp robot, the conceptual laboratory experiment is conducted. The proposed methodology will provide valuable information for the repair and maintenance decision making of a damaged structure.

  4. A Case-Study for Life-Long Learning and Adaptation in Cooperative Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1999-09-19

    While considerable progress has been made in recent years toward the development of multi-robot teams, much work remains to be done before these teams are used widely in real-world applications. Two particular needs toward this end are the development of mechanisms that enable robot teams to generate cooperative behaviors on their own, and the development of techniques that allow these teams to autonomously adapt their behavior over time as the environment or the robot team changes. This paper proposes the use of the Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) application as a rich domain for studying the issues of multi-robot learning and adaptation. After discussing the need for learning and adaptation in multi-robot teams, this paper describes the CMOMMT application and its relevance to multi-robot learning. We discuss the results of the previously- developed, hand-generated algorithm for CMOMMT and the potential for learning that was discovered from the hand-generated approach. We then describe the early work that has been done (by us and others) to generate multi- robot learning techniques for the CMOMMT application, as well as our ongoing research to develop approaches that give performance as good, or better, than the hand-generated approach. The ultimate goal of this research is to develop techniques for multi-robot learning and adaptation in the CMOMMT application domain that will generalize to cooperative robot applications in other domains, thus making the practical use of multi-robot teams in a wide variety of real-world applications much closer to reality.

  5. A Multiple Mobile Behavior-based Omni-direction Micro Robots System for Object Micromanipulation with Dynamic Cooperation

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Object micromanipulation has become an issue of primary importance industry and biomedicine.Since human manual capabilities are restricted to certain tolerances.A multi-micro-robot system for micromanipulation is described, which incorporates a dynamic cooperation strategy.A control structure of the multiple micro robots system was proposed that combine the advantages of both center control and distribute control.The dynamic cooperation strategy to the proposed multiple micro robots system handling an object in cooperation is applied.Experimental results illustrate the validity of the proposed robot system with dynamic cooperation for micromanipulation.

  6. Cooperation of mobile robots for accident scene inspection

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, R.H.; Harrington, J.

    1992-11-01

    A telerobotic system demonstration was developed for the Department of Energy`s Accident Response group to highlight the applications of telerobotic vehicles to accident site inspection. The proof-of- principle system employs two mobile robots, Dixie and RAYBOT, to inspect a simulated accident site. Both robots are controlled serially from a single driving station, allowing an operator to take advantage of having multiple robots at the scene. The telerobotic system is described and some of the advantages of having more than one robot present are discussed. Future plans for the system are also presented.

  7. Cooperation of mobile robots for accident scene inspection

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, R.H.; Harrington, J.

    1992-01-01

    A telerobotic system demonstration was developed for the Department of Energy's Accident Response group to highlight the applications of telerobotic vehicles to accident site inspection. The proof-of- principle system employs two mobile robots, Dixie and RAYBOT, to inspect a simulated accident site. Both robots are controlled serially from a single driving station, allowing an operator to take advantage of having multiple robots at the scene. The telerobotic system is described and some of the advantages of having more than one robot present are discussed. Future plans for the system are also presented.

  8. Development of an excretion care support robot with human cooperative characteristics.

    Science.gov (United States)

    Yina Wang; Shuoyu Wang

    2015-01-01

    To support care giving in an aging society with a shrinking population, various life support robots are being developed. In the authors' laboratory, an excretion care support robot (ECSR) with human cooperative characteristic has been developed to relieve the burden of caregivers and improve the quality of life for bedridden persons. This robot consists of a portable toilet with storage tank and a mobile robot which can run autonomously to conduct the cooperative work with others. Our research is focused on how to improve the motion accuracy and how the robot can cooperate with users. In this paper, to enable the ECSR could precisely move in the indoor environment, a proper controller is proposed considering the center of gravity shift and load changes. Then, to perform the cooperative task, two acceleration sensors are used to recognize the users' intended posture and position when moving from bed to toilet. The robot's target angle and position are determined by the user's posture. The effectiveness of the proposed method is verified by a pseudo excretion support experiment.

  9. Ant-like task allocation and recruitment in cooperative robots.

    Science.gov (United States)

    Krieger, M J; Billeter, J B; Keller, L

    2000-08-31

    One of the greatest challenges in robotics is to create machines that are able to interact with unpredictable environments in real time. A possible solution may be to use swarms of robots behaving in a self-organized manner, similar to workers in an ant colony. Efficient mechanisms of division of labour, in particular series-parallel operation and transfer of information among group members, are key components of the tremendous ecological success of ants. Here we show that the general principles regulating division of labour in ant colonies indeed allow the design of flexible, robust and effective robotic systems. Groups of robots using ant-inspired algorithms of decentralized control techniques foraged more efficiently and maintained higher levels of group energy than single robots. But the benefits of group living decreased in larger groups, most probably because of interference during foraging. Intriguingly, a similar relationship between group size and efficiency has been documented in social insects. Moreover, when food items were clustered, groups where robots could recruit other robots in an ant-like manner were more efficient than groups without information transfer, suggesting that group dynamics of swarms of robots may follow rules similar to those governing social insects.

  10. Emergence of Cooperative Behavior based on Learning and Evolution in Collective Autonomous Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Jun, H.B.; Sim, K.B. [Chungang University, Seoul (Korea, Republic of)

    1998-12-01

    In this paper, we propose a behavior learning algorithm of the collective autonomous mobile robots based on the reinforcement learning and conditional evolution. The cooperative behavior is a high level phenomenon observed in the society of social animals and, recently the emergence of cooperative behavior in collective autonomous mobile robots becomes an interesting field in artificial life. In our system each robot with simple behavior strategies can adapt to its environment by means of the reinforcement learning. The internal reinforcement signal for the reinforcement learning is generated by fuzzy interference engine, and dynamic recurrent neural networks are used as an action generation module. We propose conditional evolution for the emergence of cooperative behavior. The evolutionary conditions are spatio-temporal limitations to the occurrence of genetic operations. We show the validity of the proposed learning and evolutionary algorithm through several computer simulations. (author). 22 refs., 9 figs.

  11. Cooperative Localization and Tracking in Distributed Robot-Sensor Networks

    Institute of Scientific and Technical Information of China (English)

    ZHANG Fan; Guilherme S.Pereira; Vijay Kumar

    2005-01-01

    This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exteroceptive sensory information extracted from distributed vision systems. The sufficient and necessary conditions for team localization are proposed. A localization and object tracking approach based on statistical operators and graph searching algorithms is presented for a team of robots localized with heterogeneous sensors. The approach was implemented in an experimental platform consisting of car-like mobile robots equipped with omnidirectional video cameras and IEEE 802.11b wireless networking. The experimental results validate the approach.

  12. Cooperative co-evolution based distributed path planning of multiple mobile robots

    Institute of Scientific and Technical Information of China (English)

    WANG Mei; WU Tie-jun

    2005-01-01

    This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.

  13. SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots.

    Science.gov (United States)

    Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

    2017-03-11

    In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.

  14. Cooperative Tasks between Humans and Robots in Industrial Environments

    Directory of Open Access Journals (Sweden)

    J. A. Corrales

    2012-09-01

    Full Text Available Collaborative tasks between human operators and robotic manipulators can improve the performance and flexibility of industrial environments. Nevertheless, the safety of humans should always be guaranteed and the behaviour of the robots should be modified when a risk of collision may happen. This paper presents the research that the authors have performed in recent years in order to develop a human‐robot interaction system which guarantees human safety by precisely tracking the complete body of the human and by activating safety strategies when the distance between them is too small. This paper not only summarizes the techniques which have been implemented in order to develop this system, but it also shows its application in three real human‐robot interaction tasks.

  15. Evolution of Cooperation in Evolutionary Robotics : the Tradeoff between Evolvability and Efficiency

    OpenAIRE

    Bernard, Arthur; André, Jean-Baptiste; Bredeche, Nicolas

    2015-01-01

    International audience; In this paper, we investigate the benefits and drawbacks of different approaches for solving a cooperative foraging task with two robots. We compare a classical clonal approach with an additional approach which favors the evolution of heterogeneous behaviors according to two defining criteria: the evolvability of the cooperative solution and the efficiency of the coordination behaviors evolved. Our results reveal a tradeoff between evolvability and efficiency: the clon...

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

    OpenAIRE

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

    2015-01-01

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

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

    Science.gov (United States)

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

    2001-10-01

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

  18. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

    Directory of Open Access Journals (Sweden)

    Changan Jiang

    2016-01-01

    Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

  19. 75 FR 57502 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2010-09-21

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF JUSTICE Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics Technology Consortium, Inc. Correction In notice document 2010-22215 beginning on page 54914 in the issue...

  20. Model predictive control for cooperative control of space robots

    Science.gov (United States)

    Kannan, Somasundar; Alamdari, Seyed Amin Sajadi; Dentler, Jan; Olivares-Mendez, Miguel A.; Voos, Holger

    2017-01-01

    The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit.

  1. Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

    Science.gov (United States)

    Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

    2013-01-01

    This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information. PMID:24398557

  2. Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

    Directory of Open Access Journals (Sweden)

    Duschau-Wicke Alexander

    2010-09-01

    Full Text Available Abstract Background Manual body weight supported treadmill training and robot-aided treadmill training are frequently used techniques for the gait rehabilitation of individuals after stroke and spinal cord injury. Current evidence suggests that robot-aided gait training may be improved by making robotic behavior more patient-cooperative. In this study, we have investigated the immediate effects of patient-cooperative versus non-cooperative robot-aided gait training on individuals with incomplete spinal cord injury (iSCI. Methods Eleven patients with iSCI participated in a single training session with the gait rehabilitation robot Lokomat. The patients were exposed to four different training modes in random order: During both non-cooperative position control and compliant impedance control, fixed timing of movements was provided. During two variants of the patient-cooperative path control approach, free timing of movements was enabled and the robot provided only spatial guidance. The two variants of the path control approach differed in the amount of additional support, which was either individually adjusted or exaggerated. Joint angles and torques of the robot as well as muscle activity and heart rate of the patients were recorded. Kinematic variability, interaction torques, heart rate and muscle activity were compared between the different conditions. Results Patients showed more spatial and temporal kinematic variability, reduced interaction torques, a higher increase of heart rate and more muscle activity in the patient-cooperative path control mode with individually adjusted support than in the non-cooperative position control mode. In the compliant impedance control mode, spatial kinematic variability was increased and interaction torques were reduced, but temporal kinematic variability, heart rate and muscle activity were not significantly higher than in the position control mode. Conclusions Patient-cooperative robot-aided gait training

  3. Robust and efficient vision system for group of cooperating mobile robots with application to soccer robots.

    Science.gov (United States)

    Klancar, Gregor; Kristan, Matej; Kovacic, Stanislav; Orqueda, Omar

    2004-07-01

    In this paper a global vision scheme for estimation of positions and orientations of mobile robots is presented. It is applied to robot soccer application which is a fast dynamic game and therefore needs an efficient and robust vision system implemented. General applicability of the vision system can be found in other robot applications such as mobile transport robots in production, warehouses, attendant robots, fast vision tracking of targets of interest and entertainment robotics. Basic operation of the vision system is divided into two steps. In the first, the incoming image is scanned and pixels are classified into a finite number of classes. At the same time, a segmentation algorithm is used to find corresponding regions belonging to one of the classes. In the second step, all the regions are examined. Selection of the ones that are a part of the observed object is made by means of simple logic procedures. The novelty is focused on optimization of the processing time needed to finish the estimation of possible object positions. Better results of the vision system are achieved by implementing camera calibration and shading correction algorithm. The former corrects camera lens distortion, while the latter increases robustness to irregular illumination conditions.

  4. Fuzzy variable impedance control based on stiffness identification for human-robot cooperation

    Science.gov (United States)

    Mao, Dachao; Yang, Wenlong; Du, Zhijiang

    2017-06-01

    This paper presents a dynamic fuzzy variable impedance control algorithm for human-robot cooperation. In order to estimate the intention of human for co-manipulation, a fuzzy inference system is set up to adjust the impedance parameter. Aiming at regulating the output fuzzy universe based on the human arm’s stiffness, an online stiffness identification method is developed. A drag interaction task is conducted on a 5-DOF robot with variable impedance control. Experimental results demonstrate that the proposed algorithm is superior.

  5. Glazed panel construction with human-robot cooperation

    CERN Document Server

    Lee, Seungyeol

    2011-01-01

    These days, construction companies are beginning to be concerned about a potential labor shortage by demographic changes and an aging construction work force. Also, an improvement in construction safety could not only reduce accidents but also decrease the cost of the construction, and is therefore one of the imperative goals of the construction industry. These challenges correspond to the potential for Automation and Robotics in Construction as one of solutions. Almost half of construction work is said to be material handling and materials used for construction are heavy and bulky for humans.

  6. NEW APPROACHES FOR COMPUTING DYNAMIC LOAD-CARRYING CAPACITY OF MULTIPLE COOPERATING ROBOTIC MANIPULATORS

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    A novel unified method for computing the dynamic load-carrying capacity(DLCC) of multiple cooperating robotic manipulators is developed.In this method,the kinematic constraints and the governing dynamic equations of the multiple robot system are formulated in the joint space by using the method of transference of dependence from one set of generalized coordinates to another,and the virtual work principle,which includes the readily available dynamics and joint torques of individual manipulators,and the dynamic of payload.Based on this dynamic model,the upper limit of the DLCC at any points on a given trajectory is obtained by solving a small-size linear programming problem.This method is conceptually straightforward,and it is applicable also to the cases of multi-fingered robot hands and multi-legged walking machines.

  7. Study and application of reinforcement learning based on DAI in cooperative strategy of robot soccer

    Institute of Scientific and Technical Information of China (English)

    GUO Qi; ZHANG Da-zhi; YANG Yong-tian

    2009-01-01

    A dynamic cooperation model of multi-agent is established by combining reinforcement learning with distributed artificial intelligence (DAI), in which the concept of individual optimization loses its meaning be-cause of the dependence of repayment on each agent itself and the choice of other agents. Utilizing the idea of DAI, the intellectual unit of each robot and the change of task and environment, each agent can make decisions independently and finish various complicated tasks by communication and reciprocation between each other. The method is superior to other reinforcement learning methods commonly used in the multi-agent system. It can im-prove the convergence velocity of reinforcement learning, decrease requirements of computer memory, and en-hance the capability of computing and logical ratiocinating for agent. The result of a simulated robot soccer match proves that the proposed cooperative strategy is valid.

  8. Using "human state aware" robots to enhance physical human-robot interaction in a cooperative scenario.

    Science.gov (United States)

    Guerrero, Carlos Rodriguez; Fraile Marinero, Juan Carlos; Turiel, Javier Perez; Muñoz, Victor

    2013-11-01

    Human motor performance, speed and variability are highly susceptible to emotional states. This paper reviews the impact of the emotions on the motor control performance, and studies the possibility of improving the perceived skill/challenge relation on a multimodal neural rehabilitation scenario, by means of a biocybernetic controller that modulates the assistance provided by a haptic controlled robot in reaction to undesirable physical and mental states. Results from psychophysiological, performance and self assessment data for closed loop experiments in contrast with their open loop counterparts, suggest that the proposed method had a positive impact on the overall challenge/skill relation leading to an enhanced physical human-robot interaction experience.

  9. Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

    Science.gov (United States)

    Colombano, Silvano P.; Kirchner, Frank; Spenneberg, Dirk; Starman, Jared; Hanratty, James; Kovsmeyer, David (Technical Monitor)

    2003-01-01

    NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

  10. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    OpenAIRE

    Bin Zi; Huihui Sun; Zhencai Zhu; Sen Qian

    2012-01-01

    This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs). The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit‐Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non‐singular terminal sliding mode control strategy is design...

  11. Evolving homogeneous neurocontrollers for a group of heterogeneous robots: coordinated motion, cooperation, and acoustic communication.

    Science.gov (United States)

    Tuci, Elio; Ampatzis, Christos; Vicentini, Federico; Dorigo, Marco

    2008-01-01

    This article describes a simulation model in which artificial evolution is used to design homogeneous control structures and adaptive communication protocols for a group of three autonomous simulated robots. The agents are required to cooperate in order to approach a light source while avoiding collisions. The robots are morphologically different: Two of them are equipped with infrared sensors, one with light sensors. Thus, the two morphologically identical robots should take care of obstacle avoidance; the other one should take care of phototaxis. Since all of the agents can emit and perceive sound, the group's coordination of actions is based on acoustic communication. The results of this study are a proof of concept: They show that dynamic artificial neural networks can be successfully synthesized by artificial evolution to design the neural mechanisms required to underpin the behavioral strategies and adaptive communication capabilities demanded by this task. Postevaluation analyses unveil operational aspects of the best evolved behavior. Our results suggest that the building blocks and the evolutionary machinery detailed in the article should be considered in future research work dealing with the design of homogeneous controllers for groups of heterogeneous cooperating and communicating robots.

  12. Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton.

    Science.gov (United States)

    del-Ama, Antonio J; Gil-Agudo, Angel; Pons, José L; Moreno, Juan C

    2014-03-04

    Robotic and functional electrical stimulation (FES) approaches are used for rehabilitation of walking impairment of spinal cord injured individuals. Although devices are commercially available, there are still issues that remain to be solved. Control of hybrid exoskeletons aims at blending robotic exoskeletons and electrical stimulation to overcome the drawbacks of each approach while preserving their advantages. Hybrid actuation and control have a considerable potential for walking rehabilitation but there is a need of novel control strategies of hybrid systems that adequately manage the balance between FES and robotic controllers. Combination of FES and robotic control is a challenging issue, due to the non-linear behavior of muscle under stimulation and the lack of developments in the field of hybrid control. In this article, a cooperative control strategy of a hybrid exoskeleton is presented. This strategy is designed to overcome the main disadvantages of muscular stimulation: electromechanical delay and change in muscle performance over time, and to balance muscular and robotic actuation during walking.Experimental results in healthy subjects show the ability of the hybrid FES-robot cooperative control to balance power contribution between exoskeleton and muscle stimulation. The robotic exoskeleton decreases assistance while adequate knee kinematics are guaranteed. A new technique to monitor muscle performance is employed, which allows to estimate muscle fatigue and implement muscle fatigue management strategies. Kinesis is therefore the first ambulatory hybrid exoskeleton that can effectively balance robotic and FES actuation during walking. This represents a new opportunity to implement new rehabilitation interventions to induce locomotor activity in patients with paraplegia.Acronym list: 10 mWT: ten meters walking test; 6 MWT: six minutes walking test; FSM: finite-state machine; t-FSM: time-domain FSM; c-FSM: cycle-domain FSM; FES: functional electrical

  13. Vision-Based Cooperative Pose Estimation for Localization in Multi-Robot Systems Equipped with RGB-D Cameras

    Directory of Open Access Journals (Sweden)

    Xiaoqin Wang

    2014-12-01

    Full Text Available We present a new vision based cooperative pose estimation scheme for systems of mobile robots equipped with RGB-D cameras. We first model a multi-robot system as an edge-weighted graph. Then, based on this model, and by using the real-time color and depth data, the robots with shared field-of-views estimate their relative poses in pairwise. The system does not need the existence of a single common view shared by all robots, and it works in 3D scenes without any specific calibration pattern or landmark. The proposed scheme distributes working loads evenly in the system, hence it is scalable and the computing power of the participating robots is efficiently used. The performance and robustness were analyzed both on synthetic and experimental data in different environments over a range of system configurations with varying number of robots and poses.

  14. Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

    Science.gov (United States)

    Lew, Jae Young; Book, Wayne J.

    1991-01-01

    Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

  15. Study and Application of Reinforcement Learning in Cooperative Strategy of the Robot Soccer Based on BDI Model

    Directory of Open Access Journals (Sweden)

    Wu Bo-ying

    2009-11-01

    Full Text Available The dynamic cooperation model of multi-Agent is formed by combining reinforcement learning with BDI model. In this model, the concept of the individual optimization loses its meaning, because the repayment of each Agent dose not only depend on itsself but also on the choice of other Agents. All Agents can pursue a common optimum solution and try to realize the united intention as a whole to a maximum limit. The robot moves to its goal, depending on the present positions of the other robots that cooperate with it and the present position of the ball. One of these robots cooperating with it is controlled to move by man with a joystick. In this way, Agent can be ensured to search for each state-action as frequently as possible when it carries on choosing movements, so as to shorten the time of searching for the movement space so that the convergence speed of reinforcement learning can be improved. The validity of the proposed cooperative strategy for the robot soccer has been proved by combining theoretical analysis with simulation robot soccer match (11vs11 .

  16. A Dynamic Cooperative Scheme with Multiple Antennas for Indoor Mobile Robot Localization

    Directory of Open Access Journals (Sweden)

    Chung-Liang Chang

    2013-01-01

    Full Text Available This paper proposes a spatial cooperative diversity and decision-making technique to enhance signal detection and indoor mobile robot positioning performance of a global positioning satellite system (GNSS receiver. Though the adaptive antenna array technique in early research could effectively promote antijamming freedom, overcome time-varying system, and mitigate narrowband and wideband interferences, factors such as the decrease of signal magnitude caused by obstacles (especially in the indoor environment, multipath, and blanking effect caused by the change in antenna direction with the motion of mobile robot can degrade the detection and interference mitigation performance of GNSS receivers. This paper aims to develop a dynamic cooperative scheme to proceed with the switch, selection, combination, and optimization among antennas. In addition, a signal processing experimental platform is also established to receive actually indoor GNSS signals for verification. The proposed scheme is capable of effectively promoting the postcorrelation signal-to-noise ratio (SNR capability of a GNSS receiver under the indoor environment.

  17. I Reach Faster When I See You Look: Gaze Effects in Human-Human and Human-Robot Face-to-Face Cooperation.

    Science.gov (United States)

    Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerrard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

    2012-01-01

    Human-human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human-human cooperation experiment demonstrating that an agent's vision of her/his partner's gaze can significantly improve that agent's performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human-robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human-robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times.

  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. Dream of future on human-machine cooperative system; Ningen robot system ni okeru fluid power gijutsu

    Energy Technology Data Exchange (ETDEWEB)

    Tanaka, Y. [Hosei University, Tokyo (Japan). Faculty of Engineering

    2000-01-15

    This paper describes the human-machine cooperative system and fluid power technology. Most of Japanese robot R and D activities shifted from early R and D on hydraulic or pneumatic driving to that on simple electric driving, and development of fluid power technology as actuator and control technology is retarded. For creating an artificial work environment with a presence by virtual reality formation technology, an equipment (actuator) directly acting such five senses (sensor) of operators as visual, auditory, pressure and contact senses is essential. Pneumatic actuator is extremely suitable for such one because of its small size, light weight, safety and high power density. Robocup has been held as the soccer game of many autonomous robots. For the soccer game of human beings and robots, development of such technologies for advanced autonomous robots is necessary as realtime processing, advanced intelligence, human friendliness, safety, high-efficiency high-power actuator equivalent to human muscle, and energy source. (NEDO)

  20. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit‐Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non‐singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non‐singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  1. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  2. A cognitive neuroscience perspective on embodied language for human-robot cooperation.

    Science.gov (United States)

    Madden, Carol; Hoen, Michel; Dominey, Peter Ford

    2010-03-01

    This article addresses issues in embodied sentence processing from a "cognitive neural systems" approach that combines analysis of the behavior in question, analysis of the known neurophysiological bases of this behavior, and the synthesis of a neuro-computational model of embodied sentence processing that can be applied to and tested in the context of human-robot cooperative interaction. We propose a Hybrid Comprehension Model that links compact propositional representations of sentences and discourse with their temporal unfolding in situated simulations, under the control of grammar. The starting point is a model of grammatical construction processing which specifies the neural mechanisms by which language is a structured inventory of mappings from sentence to meaning. This model is then "embodied" in a perceptual-motor system (robot) which allows it access to sentence-perceptual representation pairs, and interaction with the world providing the basis for language acquisition. We then introduce a "simulation" capability, such that the robot has an internal representation of its interaction with the world. The control of this simulator and the associated representations present a number of interesting "neuro-technical" issues. First, the "simulator" has been liberated from real-time. It can run without being connected to current sensory motor experience. Second, "simulations" appear to be represented at different levels of detail. Our paper provides a framework for beginning to address the questions: how does language and its grammar control these aspects of simulation, what are the neurophysiological bases, and how can this be demonstrated in an artificial yet embodied cognitive system. Copyright 2009 Elsevier Inc. All rights reserved.

  3. Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

    Science.gov (United States)

    Zarafshan, P.; Moosavian, S. Ali A.

    2013-10-01

    Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors

  4. Japanese lunar robotics exploration by co-operation with lander and rover

    Indian Academy of Sciences (India)

    Takashi Kubota; Yasuharu Kunii; Yoji Kuroda

    2005-12-01

    Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed.A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials.This will give us the key information to study the lunar inner structure and understand the Moon ’s origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes.To carry out the geological exploration in the central peak,lander and rover co-operative exploration is proposed.The working group has been conducting feasibility study of advance technologies.This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established. The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator.The design and implementation of a science rover for the near future lunar missions requiring long traverses and scientific observations are described and some experimental results are presented.

  5. Movement Performance of Human-Robot Cooperation Control Based on EMG-driven Hill-type and Proportional Models for an Ankle Power-assist Exoskeleton Robot.

    Science.gov (United States)

    Ao, Di; Song, Rong; Gao, Jin-Wu

    2016-06-22

    Although the merits of electromyography (EMG)-based control of powered assistive systems have been certified, the factors that affect the performance of EMG-based human-robot cooperation, which are very important, have received little attention. This study investigates whether a more physiologically appropriate model could improve the performance of human-robot cooperation control for an ankle power-assist exoskeleton robot. To achieve the goal, an EMG-driven Hill-type neuromusculoskeletal model (HNM) and a linear proportional model (LPM) were developed and calibrated through maximum isometric voluntary dorsiflexion (MIVD). The two control models could estimate the real-time ankle joint torque, and HNM is more accurate and can account for the change of the joint angle and muscle dynamics. Then, eight healthy volunteers were recruited to wear the ankle exoskeleton robot and complete a series of sinusoidal tracking tasks in the vertical plane. With the various levels of assist based on the two calibrated models, the subjects were instructed to track the target displayed on the screen as accurately as possible by performing ankle dorsiflexion and plantarflexion. Two measurements, the root mean square error (RMSE) and root mean square jerk (RMSJ), were derived from the assistant torque and kinematic signals to characterize the movement performances, whereas the amplitudes of the recorded EMG signals from the tibialis anterior (TA) and the gastrocnemius (GAS) were obtained to reflect the muscular efforts. The results demonstrated that the muscular effort and smoothness of tracking movements decreased with an increase in the assistant ratio. Compared with LPM, subjects made lower physical efforts and generated smoother movements when using HNM, which implied that a more physiologically appropriate model could enable more natural and human-like human-robot cooperation and has potential value for improvement of human-exoskeleton interaction in future applications.

  6. Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback

    Directory of Open Access Journals (Sweden)

    Liying Su

    2009-01-01

    Full Text Available This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods.

  7. Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability

    Directory of Open Access Journals (Sweden)

    Xungao Zhong

    2013-10-01

    Full Text Available In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF, in conjunction with Elman neural network (ENN learning techniques. The global map relationship between the vision space and the robotic workspace is learned using an ENN. This learned mapping is shown to be an approximate estimate of the Jacobian in global space. In the testing phase, the desired Jacobian is arrived at using a robust KF to improve the ENN learning result so as to achieve robotic precise convergence of the desired pose. Meanwhile, the ENN weights are updated (re-trained using a new input-output data pair vector (obtained from the KF cycle to ensure robot global stability manipulation. Thus, our method, without requiring either camera or model parameters, avoids the corrupted performances caused by camera calibration and modeling errors. To demonstrate the proposed scheme’s performance, various simulation and experimental results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.

  8. STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

    Institute of Scientific and Technical Information of China (English)

    Zhang Zheng; Ma Shugen; Li Bin; Zhang Liping; Cao Binggang

    2006-01-01

    Objective To study mechanics characteristics of two cooperative reconfigurable planetary robots when they get across an obstacle, and to find out the relationship between the maximum height of a stair with the configuration of the two-robot, and to find some restrictions of kinematics for the cooperation. Methods Multirobot cooperation theory is used in the whole study process. Inverse kinematics of the robot is used to form a desired configuration in the cooperation process. Static equations are established to analyze the relations between the friction factor, the configuration of robots and the maximum height of a stair. Kinematics analysis is used to find the restrictions of the two collaborative robots in position, velocity and acceleration. Results 3D simulation shows that the two cooperative robots can climb up a stair under the condition of a certain height and a certain friction factor between robot wheel and the surface of the stair. Following the restrictions of kinematics, the climbing mission is fulfilled successfully and smoothly. Conclusion The maximum height of a stair, which the two cooperative robots can climb up, is involved in the configuration of robots, friction factor between the stair and the robots. The most strict restriction of the friction factor does not appear in the horizontal position. In any case, the maximum height is smaller than half of the distance between the centroid of robot1 with the centroid of robot2. However, the height can be higher than the radius of one robot wheel, which profit from the collaboration.

  9. Enhanced bandwidth of a microstrip antenna using a parasitic mushroom-like metamaterial structure for multi-robot cooperative navigation

    Science.gov (United States)

    Lee, Cherl-Hee; Lee, Jonghun; Kim, Yoon-Gu; An, Jinung

    2015-01-01

    The broadband design of a microstrip patch antenna is presented and experimentally studied for multi-robot cooperation. A parasitic mushroom-like metamaterial (MTM) patch close to a microstrip top patch is excited through gap-coupling, thereby producing a resonance frequency. Because of the design, the resonance frequency of the parasitic MTM patch is adjacent to that of the main patch, and the presented antenna can achieve an enhanced bandwidth of 450 MHz, which is about two times the bandwidth of a conventional patch antenna without the MTM parasitic patch. The error rate of packet transmissions for measuring the distance between a leader robot and a follower robot was also improved by almost two-fold.

  10. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. R and D on robot system cooperating and coexisting with human beings; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating with human beings and executing complicated operations in a human working/living space. This paper describes the fiscal 2000 results. Development of robot motion library was continued for extended task for providing services to people in care houses for the aged controlling motions of the humanoid robot. A basic design for a personal service system by the humanoid robot was conducted with the aim of nursing assistance and for the objective of developing a portable terminal type tele-operation device. A public and a home cockpit were researched with the purpose of developing user interfaces for telexistence control. A dynamic simulator for humanoid robots was built, with motions of standing-up and walking examined, in order to develop basic theories for the dual-handed tasks aided by the leg-arm cooperative motion. To develop a robot that properly and safely cooperates and coexists with the human beings, it is essential to obtain a dynamically reasonable and natural control law, so that the basic studies were conducted in this direction. With the purpose of developing a motion capture and learning system, a virtual robot platform and an information acquiring interface were developed. Studies were also conducted on modeling technique for achieving realistic material properties from high-precision image synthesis and actual images. (NEDO)

  11. GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

    Science.gov (United States)

    Jankovic, Marko; Paul, Jan; Kirchner, Frank

    2016-04-01

    Recent studies of the space debris population in low Earth orbit (LEO) have concluded that certain regions have already reached a critical density of objects. This will eventually lead to a cascading process called the Kessler syndrome. The time may have come to seriously consider active debris removal (ADR) missions as the only viable way of preserving the space environment for future generations. Among all objects in the current environment, the SL-8 (Kosmos 3M second stages) rocket bodies (R/Bs) are some of the most suitable targets for future robotic ADR missions. However, to date, an autonomous relative navigation to and capture of an non-cooperative target has never been performed. Therefore, there is a need for more advanced, autonomous and modular systems that can cope with uncontrolled, tumbling objects. The guidance, navigation and control (GNC) system is one of the most critical ones. The main objective of this paper is to present a preliminary concept of a modular GNC architecture that should enable a safe and fuel-efficient capture of a known but uncooperative target, such as Kosmos 3M R/B. In particular, the concept was developed having in mind the most critical part of an ADR mission, i.e. close range proximity operations, and state of the art algorithms in the field of autonomous rendezvous and docking. In the end, a brief description of the hardware in the loop (HIL) testing facility is made, foreseen for the practical evaluation of the developed architecture.

  12. Mechatronics design of a robotic systems

    OpenAIRE

    Buonocore, Luca Rosario

    2015-01-01

    The same coordination aspects are the key-points of the last proposed method about comunication: now, the robotic device have to cooperate in order to manage the object in the desired way with a good sensitivity and this can be done exploiting the torque end force sensor of the new system. A general introduction underlining the need to make a robot autonomous or at least able to operate in unstructured scenarios to cope with human end other robotic device. Project of ultralight robot ar...

  13. 协作多机器人系统研究进展综述%A survey of recent advances in cooperative multi-robot systems

    Institute of Scientific and Technical Information of China (English)

    吴军; 徐昕; 连传强; 贺汉根

    2011-01-01

    Cooperative multi-robot systems have been a particularly popular topic within robotics because of their potential applications. To meet the demand of promoting relevant study, the current research and development situation of cooperative multi-robot systems were systematically reviewed and summarized. Research concerning the unconscious bionic swarm-cooperation multi-robot and the heterogeneous intentional-cooperation multi-robot was discussed. In particular, to build and optimize heterogeneous intentional-cooperation multi-robot systems. the recent advances in system structure, environment perception. and control optimization were surveyed and analyzed. Moreover, the benchmark tasks and universal software/hardware platforms for a multi-robot were summarized. Finally,future developments in cooperative multi-robot system research were discussed.%协作多机器人系统是近年来机器人研究的热点,具有良好的应用前景.针对开展相关研究的迫切需要,总结了协作多机器人系统研究的国内外发展现状,并分别对无意识协作的仿生多机器人系统和有意识协作的异构多机器人系统研究进行论述.重点从系统构建和优化控制的宏观角度出发,对有意识协作异构多机器人系统的体系结构、环境感知以及优化控制3个方面的研究进展分别展开论述;对典型的多机器人验证任务和软硬件实验平台进行了总结;最后对协作多机器人系统的研究方向进行了展望.

  14. Cooperative Wall-climbing Robots in 3D Environments for Surveillance and Target Tracking

    Science.gov (United States)

    2009-02-08

    Unlike the traditional climbing robots using magnetic devices and vacuum suction techniques , and some recent novel climbing robots of vortex...a low pressure zone enclosed by a chamber. Since the City-Climber robots don’t require perfect sealing as the vacuum suction technique does, the...Mosaics”, IEEE Workshop on Three- Dimensional Cinematography (3DCINE󈧊), June 22, New York City (in conjunction with CVPR). 23. Zhigang Zhu, Hao Tang

  15. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. Development of energy conservation technology; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    Introduction of a number of robots and consumption of a large amount of energy are unavoidable if a complicated process operation is to be carried out by robots in an extensive work site. Great energy conservation is contrived by developing robots applicable to manufacturing in performing a variety of operations in place of human beings and thereby reducing the number of robots to work. This paper explains the fiscal 2000 results. For dual-handed cooperative tasks, a function was examined capable of gripping an object without giving a humanoid robot an instruction of an exact gripping position. A method was designed to prepare a command for the other arm through a command for one arm, with torque impedance control employed for the purpose of avoiding damage due to collision. A study was conducted on a three-dimensional shape detecting model using a visual device of a robot. In grasping problems of balance control of a humanoid robot, the behavior of a robot consisting of multi-links was considered as behavior of inverted pendulum, with possibility checked for the stabilization of the balance. For the purpose of putting the virtual robot platform previously developed to practical use, a three-dimensional operation tool of run-time user interface was developed, with research conducted on the sophistication of robot application. (NEDO)

  16. [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.

  17. Minefield Mapping Using Cooperative Multirobot Systems

    Directory of Open Access Journals (Sweden)

    Alaa Khamis

    2012-01-01

    Full Text Available This paper presents a team-theoretic approach to cooperative multirobot systems. The individual actions of the robots are controlled by the Belief-Desire-Intention model to endow the robots with the know-how needed to execute these actions deliberately. The cooperative behaviors between the heterogeneous robots are governed by the Team-Log theory to endow all the robots in the team with the know-how-to-cooperate and determine the team members’ commitments to each other despite their different types, properties, and goals. The proposed approach is tested for validity with the real life problem of minefield mapping. Different minefield sweeping strategies are studied to control the mobility of the mobile sweepers within the minefield in order to maximize the area coverage and improve picture compilation capability of the multirobot system.

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

    Science.gov (United States)

    2003-03-01

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

  19. 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.

  20. Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements.

    Science.gov (United States)

    Liang, Xinwu; Wang, Hesheng; Liu, Yun-Hui; Chen, Weidong; Hu, Guoqiang; Zhao, Jie

    2016-10-01

    In this paper, the task-space cooperative tracking control problem of networked robotic manipulators without task-space velocity measurements is addressed. To overcome the problem without task-space velocity measurements, a novel task-space position observer is designed to update the estimated task-space position and to simultaneously provide the estimated task-space velocity, based on which an adaptive cooperative tracking controller without task-space velocity measurements is presented by introducing new estimated task-space reference velocity and acceleration. Furthermore, adaptive laws are provided to cope with uncertain kinematics and dynamics and rigorous stability analysis is given to show asymptotical convergence of the task-space tracking and synchronization errors in the presence of communication delays under strongly connected directed graphs. Simulation results are given to demonstrate the performance of the proposed approach.

  1. Self-organized control in cooperative robots using a pattern formation principle

    DEFF Research Database (Denmark)

    Starke, Jens; Ellsaesser, Carmen; Fukuda, Toshio

    2011-01-01

    Self-organized modular approaches proved in nature to be robust and optimal and are a promising strategy to control future concepts of flexible and modular manufacturing processes. We show how this can be applied to a model of flexible manufacturing based on time-dependent robot-target assignment...... problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission...

  2. FY 1998 Report on research and development project. Research and development of human-cooperative/coexisting robot systems; 1998 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    This R and D project is aimed at development of the human-cooperative/coexisting robot systems with high safety and reliability, capable of performing complicated works cooperatively and in a coexisting manner with humans in human working and living spaces, in order to help improve safety and efficiency in various industrial areas, improve services and convenience in manufacturing and service areas, and create new industries. The trend surveys cover humanoid robot systems, remote control systems and simulators, and the application surveys cover services for humans, basic humanoids and entertainment communication. The 1998 R and D efforts include research and development, fabrication and surveys for the following themes; (1) fabrication of robot platforms for supporting manual works, (2) development of surrounded visual display systems, (3) development of robot arm manipulation and force displaying systems, (4) development of a dynamic simulator, (5) development of a distributed software platform, (6) researches and development of computation algorithm for kinematic chain dynamics, (7) development of motion teaching system for multi-functional robots, (8) investigation of trends in robotics technology, and (9) researches and surveys of robot application. (NEDO)

  3. 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.

  4. An Effective Division of Labor Between Human and Robotic Agents Performing a Cooperative Assembly Task

    Science.gov (United States)

    Rehnmark, Fredrik; Bluethmann, William; Rochlis, Jennifer; Huber, Eric; Ambrose, Robert

    2003-01-01

    NASA's Human Space Flight program depends heavily on spacewalks performed by human astronauts. These so-called extra-vehicular activities (EVAs) are risky, expensive and complex. Work is underway to develop a robotic astronaut's assistant that can help reduce human EVA time and workload by delivering human-like dexterous manipulation capabilities to any EVA worksite. An experiment is conducted to evaluate human-robot teaming strategies in the context of a simplified EVA assembly task in which Robonaut, a collaborative effort with the Defense Advanced Research Projects Agency (DARPA), an anthropomorphic robot works side-by-side with a human subject. Team performance is studied in an effort to identify the strengths and weaknesses of each teaming configuration and to recommend an appropriate division of labor. A shared control approach is developed to take advantage of the complementary strengths of the human teleoperator and robot, even in the presence of significant time delay.

  5. An Improved Reinforcement Learning Algorithm for Cooperative Behaviors of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Yong Song

    2014-01-01

    Full Text Available Reinforcement learning algorithm for multirobot will become very slow when the number of robots is increasing resulting in an exponential increase of state space. A sequential Q-learning based on knowledge sharing is presented. The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning. Mobile robots obtain present environmental state by sensors. Then the state will be matched to determine if the relevant behavior rule has been stored in the database. If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined. Otherwise the new rule will be appended to the database. The robots learn according to a given sequence and share the behavior database. We examine the algorithm by multirobot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed.

  6. Cooperative terrain model acquisition by two point-robots in planar polygonal terrains

    Energy Technology Data Exchange (ETDEWEB)

    Rao, N.S.V.; Protopopescu, V.

    1994-11-29

    We address the model acquisition problem for an unknown terrain by a team of two robots. The terrain may be cluttered by a finite number of polygonal obstacles with unknown shapes and positions. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scanning from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming/expensive of all the robot operations. We employ the restricted visibility graph methods in a hierarchiacal setup. For terrains with convex obstacles, the sensing time can be halved compared to a single robot implementation. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into 2-connected components and trees is considered. Performance for the 2-robot team is expressed in terms of sizes of 2-connected components, and the sizes and diameters of the trees. The proposed algorithm and analysis can be applied to the methods based on Voronoi diagram and trapezoidal decomposition.

  7. Cooperative terrain model acquisition by a team of two or three point-robots

    Energy Technology Data Exchange (ETDEWEB)

    Rao, N.S.V.; Protopopescu, V. [Oak Ridge National Lab., TN (United States); Manickam, N. [DePauw Univ., Greencastle (India)

    1996-04-01

    We address the model acquisition problem for an unknown planar terrain by a team of two or three robots. The terrain is cluttered by a finite number of polygonal obstacles whose shapes and positions are unknown. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scan operations executed from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming of all the robot operations. We employ the restricted visibility graph methods in a hierarchical setup. For terrains with convex obstacles and for teams of n(= 2, 3) robots, we prove that the sensing time is reduced by a factor of 1/n. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into n-connected and (n - 1)-or-less connected components is considered. The performance for the n(= 2, 3) robot team is expressed in terms of the sizes of n-connected components, and the sizes and diameters of (n - 1)-or-less connected components.

  8. Design of an Action Selection Mechanism for Cooperative Soccer Robots Based on Fuzzy Decision Making Algorithm

    Directory of Open Access Journals (Sweden)

    S. Alireza Mohades Kasaei

    2010-04-01

    Full Text Available Robocup is an international competition for multi agent research and related subject like: Artificial intelligence, Image processing, machine learning, robot path planning, control, and
    obstacle avoidance. In a soccer robot game, the environment is highly competitive and dynamic. In order to work in the dynamically changing environment, the decision-making system of a soccer robot system should have the features of flexibility and real-time adaptation. In this paper we will
    focus on the Middle Size Soccer Robot league (MSL and new hierarchical hybrid fuzzy methods for decision making and action selection of a robot in Middle Size Soccer Robot league (MSL are presented. First, the behaviors of an agent are introduced, implemented and classified in two layers,
    the Low_Level_Behaviors and the High_Level_Behaviors. In the second layer, a two phase mechanism for decision making is introduced. In phase one, some useful methods are implemented which check the robot’s situation for performing required behaviors. In the next phase, the team strategy, team formation, robot’s role and the robot’s positioning system are introduced. A fuzzy logical approach is employed to recognize the team strategy and further more to tell the player the
    best position to move. We believe that a Dynamic role engine is necessary for a successful team. Dynamic role engine and formation control during offensive or defensive play, help us to prevent collision avoidance among own players when attacking the ball and obstacle avoidance of the opponents. At last, we comprised our implemented algorithm in the Robocup 2007 and 2008 and results showed the efficiency of the introduced methodology. The results are satisfactory which has already been successfully implemented in ADRO RoboCup team. This project is still in progress and some new interesting methods are described in the current report.

  9. 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

  10. Application of Sensor Fusion in Multi-robot Cooperative Localization%传感器融合在多机器人合作定位中的应用

    Institute of Scientific and Technical Information of China (English)

    刘显荣

    2011-01-01

    Robot localization is the premise of other robot research,such as environment explore and motion coordination.Inspired by information fusion ,a novel multi-robot cooperative localization technology is presented, which fuses the robot's multiple sensor data. First, the basic motion form of the two-wheel robot was modeled, and the relative observing formula was built aiming at the ultrasonic sensor. Then filtering and first-level fusion were applied to robots proprioceptive and exteroceptive sensors respectively,by which obtained the robot's proprioceptive location data and relative observing data.Finally, the robot's proprioceptive location data and observing data were fused by extension kalman filter (EKF),and the multi-robot cooperative localization was implemented. Experiment result demonstrates this cooperative localization technology can get the robots to form landmarks for each other,eliminate the accumulate error from encoder,and improve the robot localization accuracy efficiently.%机器人的定位技术是进行机器人环境探索、协调运动研究的前提,从信息融合的思想出发,提出了一种融合多传感器信息的合作定位技术.首先,对两轮机器人的基本运动形式进行建模,并针对超声波传感器建立了机器人之间的相对观测方程.然后,分别对机器人的内、外部传感器进行滤波和第一级融合,得到自身位姿和相对观测信息.最后,利用扩展卡尔曼滤波(EKF)融合机器人的自身位姿和观测信息,实现多机器人的合作定位.实验结果表明,本合作定位能够使机器人之间互为路标,消除码盘定位的累积误差,有效地提高机器人定位精度.

  11. Weight-Perception-Based Novel Control of a Power-Assist Robot for the Cooperative Lifting of Light-Weight Objects

    Directory of Open Access Journals (Sweden)

    S. M. Mizanoor Rahman

    2012-10-01

    Full Text Available We developed a 1‐DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power‐assist because the perceived weight differs from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We analyzed human features such as weight perception, load forces, motions etc. We found that the robot reduced the perceived weights to 25% of the actual weights, and the load forces were 8 times larger than the actual requirements. The excessive load forces resulted in excessive accelerations that jeopardized the performances. We then implemented a novel control based on the human features, which was such that a virtual mass exponentially declined from a large value to a small one when subjects lifted objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations and thus enhanced performances in terms of maneuverability, safety etc. The findings may be used to develop power assist robots for manipulating heavy objects in industries that may augment human’s abilities and skills and may improve interactions between robots and users.

  12. Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm

    Science.gov (United States)

    Wen, Zhuoman; Wang, Yanjie; Luo, Jun; Kuijper, Arjan; Di, Nan; Jin, Minghe

    2017-07-01

    When a space robotic arm deploys a payload, usually the pose between the cooperative target fixed on the payload and the hand-eye camera installed on the arm is calculated in real-time. A high-precision robust visual cooperative target localization method is proposed. Combing a circle, a line and dots as markers, a target that guarantees high detection rates is designed. Given an image, single-pixel-width smooth edges are drawn by a novel linking method. Circles are then quickly extracted using isophotes curvature. Around each circle, a square boundary in a pre-calculated proportion to the circle radius is set. In the boundary, the target is identified if certain numbers of lines exist. Based on the circle, the lines, and the target foreground and background intensities, markers are localized. Finally, the target pose is calculated by the Point-3-Perspective algorithm. The algorithm processes 8 frames per second with the target distance ranging from 0.3m to 1.5 m. It generated high-precision poses of above 97.5% on over 100,000 images regardless of camera background, target pose, illumination and motion blur. At 0.3 m, the rotation and translation errors were less than 0.015° and 0.2 mm. The proposed algorithm is very suitable for real-time visual measurement that requires high precision in aerospace.

  13. Interaction learning for dynamic movement primitives used in cooperative robotic tasks

    DEFF Research Database (Denmark)

    Kulvicius, Tomas; Biehl, Martin; Aein, Mohamad Javad

    2013-01-01

    Abstract Since several years dynamic movement primitives (DMPs) are more and more getting into the center of interest for flexible movement control in robotics. In this study we introduce sensory feedback together with a predictive learning mechanism which allows tightly coupled dual-agent systems...... to learn an adaptive, sensor-driven interaction based on DMPs. The coupled conventional (no-sensors, no learning) DMP-system automatically equilibrates and can still be solved analytically allowing us to derive conditions for stability. When adding adaptive sensor control we can show that both agents learn...

  14. Interaction learning for dynamic movement primitives used in cooperative robotic tasks

    DEFF Research Database (Denmark)

    Kulvicius, Tomas; Biehl, Martin; Aein, Mohamad Javad;

    2013-01-01

    to learn an adaptive, sensor-driven interaction based on DMPs. The coupled conventional (no-sensors, no learning) DMP-system automatically equilibrates and can still be solved analytically allowing us to derive conditions for stability. When adding adaptive sensor control we can show that both agents learn......Abstract Since several years dynamic movement primitives (DMPs) are more and more getting into the center of interest for flexible movement control in robotics. In this study we introduce sensory feedback together with a predictive learning mechanism which allows tightly coupled dual-agent systems...

  15. Desired gait synthesis in biped robot based on reactive force%基于地面反力的双足机器人期望步态轨迹规划

    Institute of Scientific and Technical Information of China (English)

    张永学; 麻亮; 强文义; 付佩琛

    2001-01-01

    Presents the new method of desired gait generation in biped robot based on the reactive force between the foot and environment with the mathematical relationship between the reactive force and the joint motion derived by following the D'Alembert principle, the desired gait of biped robot based on ZMP stability criterion and other physical constraints, and the desired trajectory of ZMP determined by fuzzy logic from human locomotion which reduces the motion range of the trunk and can be applied to the single foot supporting and double feet supporting phase by changing the constraints only, and proves the feasibility and good performance of the method with experimental results.%提出了一种基于地面反力的双足机器人期望步态轨迹规划方法. 通过D'Alembert定理推导出地面反力与机器人关节运动之间的数学关系. 结合ZMP(零力矩点)稳定性原则和其他物理性约束条件,给出了双足机器人期望步态轨迹. 受人类行走的启发,采用模糊策略来规划期望ZMP轨迹. 该方案与传统的双足机器人步态轨迹生成方法比较,可实现稳定的行走,具有上体的运动范围小,适用于单、双脚支撑期等优点. 双足机器人的实验说明了该方案的可行性和良好性能.

  16. An Optimization Algorithm with Novel RFA-PSO Cooperative Evolution: Applications to Parameter Decision of a Snake Robot

    Directory of Open Access Journals (Sweden)

    Qin Gao

    2015-01-01

    Full Text Available The success to design a hybrid optimization algorithm depends on how to make full use of the effect of exploration and exploitation carried by agents. To improve the exploration and exploitation property of the agents, we present a hybrid optimization algorithm with both local and global search capabilities by combining the global search property of rain forest algorithm (RFA and the rapid convergence of PSO. Originally two kinds of agents, RFAAs and PSOAs, are introduced to carry out exploration and exploitation, respectively. In order to improve population diversification, uniform distribution and adaptive range division are carried out by RFAAs in flexible scale during the iteration. A further improvement has been provided to enhance the convergence rate and processing speed by combining PSO algorithm with potential guides found by both RFAAs and PSOAs. Since several contingent local minima conditions may happen to PSO, special agent transformation is suggested to provide information exchanging and cooperative coevolution between RFAAs and PSOAs. Effectiveness and efficiency of the proposed algorithm are compared with several algorithms in the various benchmark function problems. Finally, engineering design optimization problems taken from the gait control of a snake-like robot are implemented successfully by the proposed RFA-PSO.

  17. 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.

  18. Sociological and Biological Insights on How to Prevent the Reduction in Cognitive Activity that Stems from Robots Assuming Workloads in Human–Robot Cooperation

    Directory of Open Access Journals (Sweden)

    Diego Compagna

    2016-09-01

    Full Text Available The reduction of cognitive tasks brought about by new developments in service-robots’ collaboration with humans in working environments has given rise to new challenges as to how to address safety issues. This paper presents insights from biology, cognitive/neural sciences and sociology that can conquer these new challenges. The main focus lies in sociological variables that ensure safe human–robot interaction in working environments rather than addressing biological ones (avoiding bodily harm or purely cognitive ones (avoiding any signals that are outside the human’s sensory comfort zones. We will present an approach on how to integrate behavioral patterns into the robotic system in order to prevent the problem of reduced cognition in relation to essential features, which are necessary for carrying out this pattern in the context of a human–robot interaction with non-humanoid robots (which is the most typical design of robots used in work environments.

  19. desirability scale

    Directory of Open Access Journals (Sweden)

    Alejandro C. Cosentino

    2008-01-01

    Full Text Available La deseabilidad social es la necesidad de los sujetos de obtener aprobación respondiendo de un modo culturalmente aceptable y apropiado. Uno de los instrumentos más utilizado para medirla es la Marlowe-Crowne Social Desirability Scale (MCSDS, desarrollada por los autores en 1960. Es de frecuente aplicación en diversos tipos de estudios de diferentes áreas de la Psicología y la Medicina. Resulta adecuada tanto para estimar sesgos de respuestas en un sentido socialmente deseable como para operacionalizar constructos psicológicos, tales como de necesidad de aprobación o de defensividad. Es la medida estándar para discriminar entre los estilos de respuesta al estrés del modelo de Weinberger, Schwartz y Davidson (1979. A lo largo del tiempo, diversos autores le han realizado modificaciones tales como: cambios de formato de administración, abreviaciones, traducciones y adaptaciones a diversas culturas. En este estudio se describe el desarrollo de la Escala de Deseabilidad Social de Crowne y Marlowe (EDSCM que es una adaptación argentina de la escala completa MCSDS en su formato original de papel y lápiz. Los datos obtenidos a través de diferentes muestras (estudiantes universitarios, adultos y solicitantes de empleos respaldan que la EDSCM posee adecuadas confiabilidad y validez de constructo, como lo demuestra el estudio de su validez convergente, validez divergente, validez por técnica de instrucciones diferenciales y validez de grupos conocidos. Se sugiere el uso de la EDSCM para investigaciones en diferentes áreas de Psicología y Medicina en poblaciones argentinas.

  20. A flexible dual-mode proximity sensor based on cooperative sensing for robot skin applications

    Science.gov (United States)

    Huang, Ying; Cai, Xia; Kan, Wenqing; Qiu, Shihua; Guo, Xiaohui; Liu, Caixia; Liu, Ping

    2017-08-01

    A flexible dual-mode proximity sensor has been designed and implemented, which is capable of combining capacitive-resistive detection in this paper. The capacitive type proximity sensor detecting is defined as mode-C, and the resistive type proximity sensor detecting is defined as mode-R. The characteristics of the proximity sensor are as follows: (1) the theoretical mode is developed which indicates that this proximity sensor can reflect proximity information accurately; (2) both sensing modes are vertically integrated into a sandwich-like chip with an 8 mm × 12 mm unit area. The thickness of a mode-R sensing material (graphene nanoplatelets) and mode-C dielectric (the mixture of carbon black and silicone rubber) is 1 mm and 2.5 mm, respectively; (3) for mode-R, the linearity of temperature-resistance curve can achieve 0.998 in the temperature range from 25°C to 65°C. And for mode-C, various materials can be successfully detected with fast response and high reversibility. Meanwhile, the study compensated the influence of object temperature to ensure mode-C properly works. A cooperative sensing test shows that R-C dual modes sense effectively which can enlarge the sensing distance compared with the single mode proximity sensor. The fabrication of this sensor is convenient, and the integrity of a flexible sandwich-like structure based on dual modes is beneficial to form arrays, which is suitable to be used in skin-like sensing applications.

  1. Where’s Waldo? How perceptual, cognitive, and emotional brain processes cooperate during learning to categorize and find desired objects in a cluttered scene

    Science.gov (United States)

    Chang, Hung-Cheng; Grossberg, Stephen; Cao, Yongqiang

    2014-01-01

    The Where’s Waldo problem concerns how individuals can rapidly learn to search a scene to detect, attend, recognize, and look at a valued target object in it. This article develops the ARTSCAN Search neural model to clarify how brain mechanisms across the What and Where cortical streams are coordinated to solve the Where’s Waldo problem. The What stream learns positionally-invariant object representations, whereas the Where stream controls positionally-selective spatial and action representations. The model overcomes deficiencies of these computationally complementary properties through What and Where stream interactions. Where stream processes of spatial attention and predictive eye movement control modulate What stream processes whereby multiple view- and positionally-specific object categories are learned and associatively linked to view- and positionally-invariant object categories through bottom-up and attentive top-down interactions. Gain fields control the coordinate transformations that enable spatial attention and predictive eye movements to carry out this role. What stream cognitive-emotional learning processes enable the focusing of motivated attention upon the invariant object categories of desired objects. What stream cognitive names or motivational drives can prime a view- and positionally-invariant object category of a desired target object. A volitional signal can convert these primes into top-down activations that can, in turn, prime What stream view- and positionally-specific categories. When it also receives bottom-up activation from a target, such a positionally-specific category can cause an attentional shift in the Where stream to the positional representation of the target, and an eye movement can then be elicited to foveate it. These processes describe interactions among brain regions that include visual cortex, parietal cortex, inferotemporal cortex, prefrontal cortex (PFC), amygdala, basal ganglia (BG), and superior colliculus (SC

  2. Where's Waldo? How perceptual, cognitive, and emotional brain processes cooperate during learning to categorize and find desired objects in a cluttered scene.

    Science.gov (United States)

    Chang, Hung-Cheng; Grossberg, Stephen; Cao, Yongqiang

    2014-01-01

    The Where's Waldo problem concerns how individuals can rapidly learn to search a scene to detect, attend, recognize, and look at a valued target object in it. This article develops the ARTSCAN Search neural model to clarify how brain mechanisms across the What and Where cortical streams are coordinated to solve the Where's Waldo problem. The What stream learns positionally-invariant object representations, whereas the Where stream controls positionally-selective spatial and action representations. The model overcomes deficiencies of these computationally complementary properties through What and Where stream interactions. Where stream processes of spatial attention and predictive eye movement control modulate What stream processes whereby multiple view- and positionally-specific object categories are learned and associatively linked to view- and positionally-invariant object categories through bottom-up and attentive top-down interactions. Gain fields control the coordinate transformations that enable spatial attention and predictive eye movements to carry out this role. What stream cognitive-emotional learning processes enable the focusing of motivated attention upon the invariant object categories of desired objects. What stream cognitive names or motivational drives can prime a view- and positionally-invariant object category of a desired target object. A volitional signal can convert these primes into top-down activations that can, in turn, prime What stream view- and positionally-specific categories. When it also receives bottom-up activation from a target, such a positionally-specific category can cause an attentional shift in the Where stream to the positional representation of the target, and an eye movement can then be elicited to foveate it. These processes describe interactions among brain regions that include visual cortex, parietal cortex, inferotemporal cortex, prefrontal cortex (PFC), amygdala, basal ganglia (BG), and superior colliculus (SC).

  3. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

  4. 机器人和软件人协同智能仿真平台研究%Intelligent Cooperative Simulation of SoftMan and Robot

    Institute of Scientific and Technical Information of China (English)

    左敏; 曾广平; 涂序彦; 魏伟

    2011-01-01

    研究将软件人所具备的更全面的拟人智能、行为、功能应用到机器人的控制系统中以提升机器人的环境感知、动态决策与规划能力.设计了机器人和软件人平行进化、智能协调、协同仿真系统的总体方案,建立了两级大系统的多层状态空间模型,进行了协同仿真平台的体系结构设计,构建了机器人和软件人的两级平行系统:协调管理级(上级),监控软件人与机器人平行系统;局部控制级(下级)控制软件人与机器人平行系统.%In this paper we study how to apply the more comprehensive humanized intelligence, behavior, function of Soft-Man in robot's control system to enhance its perception of environment, dynamic decision-making and planning ability.The general research scheme of parallel evolution, intelligent coordination and cooperative simulation of robot and SoftMan is proposted.State space model of large scale system with two levels and architecture of the large scale system are established.Two level parallel systems of robot and SoftMan are built, which are coordinate management level ( upper level): parallel system of monitoring SoftMan and robot, and local control level ( lower level ):parallel system of controlling SoftMan and robot.

  5. Behavior selection strategy for soccer robots

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The soccer robot system and the effective multi-agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low-level component of the robot control system necessary to move the robots on the playground. Each action controller determines the linear and angular velocity commands of the robots corre sponding to its own purpose. The behavior is the high-level component of the robot control system composed of necessary action sequences. Each behavior module determines the desired action sequences and action com mands corresponding to its own objective. The behavior selector considering the information that comes from the vision system selects the behavior of each robot every sampling time. Thus, the behavior of each robot is changed dynamically. The presented strategy is successfully applied to the MASKARO team and the team is ranked in the first place in the 2000 FIRA Korea-Cup K-League.

  6. Nursing Cooperation in Robot-assisted Laparoscopic Partial Nephrectomy%机器人辅助腹腔镜肾部分切除术的护理配合

    Institute of Scientific and Technical Information of China (English)

    吴小凤; 盛夏; 吴震杰; 吕晨; 杨波

    2016-01-01

    目的:探讨机器人辅助腹腔镜肾部分切除术护理配合的要点。方法回顾性分析2012年3月至2014年10月在第二军医大学长海医院泌尿外科中心行机器人辅助腹腔镜肾部分切除术的151例肾脏肿瘤患者的临床资料,总结其护理要点。结果150例患者顺利完成手术,1例患者中转开腹行肾部分切除术。结论机器人辅助腹腔镜肾部分切除术是一种安全有效的治疗局限性肾肿瘤的微创手术方法,器械设备管理以及手术前后护理配合是保证手术顺利实施的重要环节。%Objective To summarize the key point of nursing cooperation in robot-assisted laparoscopic partial nephrectomy.Methods Clinical data of 15 1 cases were analyzed retrospectively,and the key nursing points were concluded.Results There were 150 patients underwent successful robot-assisted laparoscopic partial nephrectomy,1 case was transferred to opening partial nephrectomy.Conclusion Robot-assisted laparoscopic partial nephrectomy is a safe and effective minimally invasive treatment for localized renal cell carcinoma.The equipment management and preoperative and postoperative nursing cooperation is the key link to gurantee the successful implementation of the surgery.

  7. 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.

  8. 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...

  9. Experiments in cooperative-arm object manipulation with a two-armed free-flying robot. Ph.D. Thesis

    Science.gov (United States)

    Koningstein, Ross

    1990-01-01

    Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

  10. Cooperative and Competitive Coordination in Swarm Robotic Search for Multiple Targets%群机器人多目标搜索中的合作协同和竞争协同

    Institute of Scientific and Technical Information of China (English)

    张云正; 薛颂东; 曾建潮

    2015-01-01

    群机器人进行多目标搜索时,通过任务分工形成多个子群,各子群分别针对一个意向目标协同搜索,故围绕子群协同中存在的合作关系和竞争关系提出控制策略。为进行合作协同,建立子群发言人的动态遴选机制,不同子群的发言人进行通信,交换所属各子群的最优信息,引导本子群的搜索行为;为进行竞争协同,引入承包机制,按子群的优势地位高低决定是承包还是放弃对某些目标的搜索。两类协同控制的仿真结果表明,合作协同扩大了机器人的感知范围,竞争协同降低了空间冲突机率。二者综合作用,明显提高了群机器人的搜索效率。%The swarm robots should be divided into some sub-swarms through task allocation when searching for multiple targets so as that each sub-swarm can work together on a desired target. For this end, a strategy of control is proposed which apply to cooperation relationship and competition relationship between some sub-swarms. To coordinate cooperatively, a spokesperson for each sub-swarm is required to elect in a self-organization fashion. On behalf of its sub-swarm, it commu-nicate with spokespersons of other sub-swarms, exchanging the respective local best information with these spokespersons each other, guiding its sub-swarm to search a target. For coordinating competitively, a mechanism of contract is proposed. These advantage sub-swarms contract with targets. On the contrast, those disadvantage sub-swarms abandon searching these targets. In a word, we design a control algorithm for the two kinds of coordination at coarse granularity level. Simulation results show that, coordinating cooperatively expand robots’ sense range. Coordinating competitively resolve space conflicts. Coordinating which occur between sub-swarms at coarse granularity level and in sub-swarm frame at fine granularity level, promote search efficiency to more high obviously than the

  11. Object impedance control for cooperative manipulation - Theory and experimental results

    Science.gov (United States)

    Schneider, Stanley A.; Cannon, Robert H., Jr.

    1992-01-01

    This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

  12. Multi-robot cooperative localization based on particle swarm optimization%粒子群优化的多机器人协作定位方法

    Institute of Scientific and Technical Information of China (English)

    刘利枚; 蔡自兴

    2011-01-01

    针对异质多机器人具有不同的感知能力和处理能力的特点,提出一种基于粒子群优化的多机器人协作相对定位方法.该方法将常规粒子滤波方法与粒子群优化算法有机结合,通过粒子群优化方法对预估粒子进行更新,同时利用多机器人之间的相对观测信息,调整粒子的提议分布和粒子权重,增强多机器人位置预测的有效性,提高多机器人定位的精度.实时数据实验结果表明:该方法正确、可行.%According to different perceptions and processing abilities of heterogeneous robots, an approach to multi-robot cooperative localization was presented based on particle swarm optimization. Through the particle swarm algorithm combined with the standard particle filter, the prediction of particles was updated, and the proposal distribution and the weight of particles were adjusted based on the relative observations to enhance the effectiveness of the position prediction and improve the localization accuracy. The online experimential results prove that the improved method is correct and feasible.

  13. 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.

  14. Research on cooperative ball-pushing for multiple biomimetic robotic-fish based on dynamic role assignment strategy%基于动态角色的多机器鱼协作顶球研究

    Institute of Scientific and Technical Information of China (English)

    肖权; 孔峰; 谢广明

    2012-01-01

    机器鱼水球比赛是进行多机器鱼协作研究的标准平台.考虑在机器鱼水球比赛中的协作顶球策略问题,以行为机制理论为基础,根据机器鱼与球之间的距离及机器鱼的方向,通过引入进攻与防守函数来确定各机器鱼的动态角色分配.进一步将多机器鱼协作顶球任务划分为4个子任务层,分别对4个子任务层的行为机制与算法加以规划.最后,通过实验验证了多机器鱼协作顶球策略的可行性和有效性.%Water polo game performs as one standard platform for the study on multiple biomimetic robotic-fish cooperation these days. Consider the ball-pushing task, in which the dynamic roles of robotic-fish are determined by attack and defense functions which are based on the distances between the robotic-fish and the center of ball and the directions of the robotic-fish. Further, the ball-pushing task is plotted into four subtask levels, whose behaviors and algo-rithm are plotted separately. Finally, it is verified through test that it is effective and feasible for the multiple biomimetic robotic-fish to cooperative push ball on multiple biomimetic robotic-fish coopera-tive control platforms.

  15. 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.

  16. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Operational research of humanoid robot system; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the operational research of humanoid robot system. Carrying out the development smoothly and efficiently requires accumulation of the operational know-how in both of the periodical check and maintenance and the aspects of hard and software to maintain the functions and performances of the robot platform having been developed in the previous fiscal year. Checks were given on fitting of the fasteners and connectors, batteries, and sensors. Operations were confirmed and adjusted on the liquid crystal projector of the surrounded visual display system for remotely controlled operation, polarization filters, screens, reflector mirrors, and wide viewing angle cameras. Verifications were made on fitting of the arm operation force sensing and presenting system, checks on the mechanical components, and operation of the driving system, whereas no change has been found in the operation for the period of one year, and sufficient performance was identified for the remote robot operation. The virtual robot platform has presented no crash and impediments during erroneous use in the disks of the dynamics simulator and the distributed network processing system. (NEDO)

  17. A Survey of Space Robotics

    Science.gov (United States)

    Pedersen, L.; Kortenkamp, D.; Wettergreen, D.; Nourbakhsh, I.; Korsmeyer, David (Technical Monitor)

    2003-01-01

    In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.

  18. Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

    OpenAIRE

    2015-01-01

    El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la activi...

  19. Robust Adaptive Controller for Robot Manipulator Based on Desired Trajectory Compensation%基于期望轨迹补偿的机器人鲁棒自适应控制

    Institute of Scientific and Technical Information of China (English)

    王延玉; 刘国栋

    2011-01-01

    针对机器人存在的参数不确定性和外扰的问题,提出了一种基于期望轨迹补偿和自适应控制的方法,在传统自适应控制方法的基础上,结合变结构控制方法,设计了一种新的控制策略.该方法采用期望轨迹补偿,离线计算回归矩阵,可以有效节约控制系统在线计算的时间,实时性好,并利用变结构思想补偿非线性摩擦和外界干扰,利用lyapunov直接法分析证明系统可实现全局渐进稳定,而且由于自适应率中不含有不确定项,可以有效解决参数辨识过程中的参数漂移问题,仿真结果也表明,系统估计参数收敛于真实值,并对于系统不确定性和外扰具有较好的鲁棒性.%A robust adaptive controller with guaranteed transient performance under a desired compensation adaptation law is developed for trajectory tracking control of robot manipulator in the presence of parametric uncertainties and external disturbances. With some modifications to the conventional adaptation law, a new control law is redesigned by combining the design methodologies of adaptive control and sliding mode control. The adaptive scheme has best computationally efficient for real-time calculating of the regressor, and compensate nonlinear friction and external disturbances via thought of variable structure. The global asymptotic stability is validated by Lyapunov direct method. Because the adaptation law is robust to uncertainty, the parameter is not contaminated with noise, simulation results show the estimated parameters are converged and the good robust and accuracy are obtained.

  20. Design of robot soccer simulator

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Robot soccer game is an interesting emerging domain for multiple cooperative robotic system. This paper discusses the detailed design of a simulator, and describes the architecture of soccer server and client in detail. This simulator is sufficiently flexible and robust for the users to develop strategies for a simulated compe tition and to test algorithms of intelligent robotics.

  1. Hypoactive Sexual Desire Disorder

    DEFF Research Database (Denmark)

    Goldstein, Irwin; Kim, Noel N.; Clayton, Anita H

    2017-01-01

    to participate in sexual activity due to absent or decreased spontaneous desire, sexual desire in response to erotic cues or stimulation, or ability to maintain desire or interest through sexual activity for at least 6 months, with accompanying distress. Treatment follows a biopsychosocial model and is guided...

  2. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. Development for putting new power generating technology to practical use; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating and coexisting with human beings to carry out complicated operations in a dangerous site such as a plant, power station maintenance, construction, disaster relief, etc. This paper describes the fiscal 2000 results. In the research for navigated walking functions, the capabilities were extracted for walking straight, turning around and going up and down stairs, with a virtual platform simulated and examined. In the development of remote operation for proxy drive, a method was investigated for instructing change in posture and cooperative movement of the arms and legs. In the evaluation of proxy drive operations for industrial vehicles, a type of operating machine was specified for driving in a standing posture applicable to a robot. In the development of information forming technology supporting remote operations, a basic design was made for the simulator technology of compensating information. Server/client remote control technology was investigated, while a plurality of bi-directional interface means were reviewed for the purpose of efficient information exchange between a robot and an operator. A system for assembling a wall panel was evaluated as an outdoor man-machine cooperative operation. Adaptability to complicated environment such as unprepared ground was also studied, as well as the control of movement of a humanoid robot. (NEDO)

  3. Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    Full Text Available We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory. The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. It is assumed that network robots have the same number of joints and equivalent joint work spaces. A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time-delay problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.

  4. 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.      

  5. Notion of Control-Law Module and Modular Framework of Cooperative Transportation Using Multiple Nonholonomic Robotic Agents With Physical Rigid-Formation-Motion Constraints.

    Science.gov (United States)

    Li, Wei

    2016-05-01

    Consider cooperative manipulation and transportation of a rigid body by multiple two-wheeled nonholonomic robotic agents that attached to it, the agents are then physically constrained to maintain rigid-formation-motion (RFM); thus the system has two physical motion-constraints at two levels: 1) the nonholonomic constraint at the individual level and 2) the RFM constraint at the system level. First, we provide a novel notion: the encapsulation of a category of control with certain constraints for one motion-mode as a control-law module (CLM), any concrete control law with such constraints is called an instance of the CLM; here two CLMs are provided as the examples. Then we provide an RFM control framework by decomposing a feasible RFM configuration-path as a concatenation of partitions, with one type of CLMs for each partition; thus any instance for each partition can be designed separately and incorporated easily with the interchangeable property, which makes the framework modular, flexible, and adaptive, to satisfy different kinematics requirements. As a result, the transportation is achieved by RFM control of agents. Also, the RFM framework implies a valuable rigid-closure-method for accurate rigid body manipulation even when agents are not attached to the body.

  6. Concurrent Path Planning with One or More Humanoid Robots

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor)

    2014-01-01

    A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

  7. L-ALLIANCE: a mechanism for adaptive action selection in heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-11-01

    In practical applications of robotics, it is usually quite difficult, if not impossible, for the system designer to fully predict the environmental states in which the robots will operate. The complexity of the problem is further increased when dealing with teams of robots which themselves may be incompletely known and characterized in advance. It is thus highly desirable for robot teams to be able to adapt their performance during the mission due to changes in the environment, or to changes in other robot team members. In previous work, we introduced a behavior-based mechanism called the ALLIANCE architecture -- that facilitates the fault tolerant cooperative control of multi-robot teams. However, this previous work did not address the issue of how to dynamically update the control parameters during a mission to adapt to ongoing changes in the environment or in the robot team, and to ensure the efficiency of the collective team actions. In this paper, we address this issue by proposing the L-ALLIANCE mechanism, which defines an automated method whereby robots can use knowledge learned from previous experience to continually improve their collective action selection when working on missions composed of loosely coupled, discrete subtasks. This ability to dynamically update robotic control parameters provides a number of distinct advantages: it alleviates the need for human tuning of control parameters, it facilitates the use of custom-designed multi-robot teams for any given application, it improves the efficiency of the mission performance, and It allows robots to continually adapt their performance over time due to changes in the robot team and/or the environment. We describe the L-ALLIANCE mechanism, present the results of various alternative update strategies we investigated, present the formal model of the L-ALLIANCE mechanism, and present the results of a simple proof of concept implementation on a small team of heterogeneous mobile robots.

  8. On Open- source Multi-robot simulators

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-07-01

    Full Text Available Open source software simulators play a major role in robotics design and research as platforms for developing, testing and improving architectures, concepts and algorithms for cooperative/multi-robot systems. Simulation environment enables control...

  9. Desire, Democracy and Education

    Science.gov (United States)

    Thogersen, Ulla

    2011-01-01

    In recent years the concept of eros has found its way back into educational literature with the aim of integrating human desires into educational theories and counteracting a devaluation of emotional life. This paper holds the view that this integration is important because desire expresses a fundamental way of relating to the world. However, part…

  10. Tandem robot control system and method for controlling mobile robots in tandem

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

  11. Cooperative Strategy of Robot Fish Based on Region Partition and Edge Corner Processing%基于区域划分和边角处理的机器鱼协作策略

    Institute of Scientific and Technical Information of China (English)

    原鑫; 李擎; 苏中; 刘福朝

    2015-01-01

    针对水中机器人全局视觉水球2VS2比赛中出现的水球位于边角的特殊情况,提出一种基于比赛场地的区域划分和边角处理的协作比赛策略。通过对比赛场地的划分,划定了2条机器鱼各自负责的区域,并利用机器鱼顶球方式建立机器鱼运动模型。基于水球位于4个边角的问题,讨论了3种协作方式的利弊,得出执行边角处理时采用1条机器鱼处理边角球,1条机器鱼游到合适的位置进行防守的协作策略为最优。在水中机器人平台上进行协作顶球实验验证,实验结果表明:该方法缩短了处理边角球、边界球的时间,提高了机器鱼的协作和进攻效率,使得水球总是朝着有利于己方的方向运动。%For the special circumstances, which in underwater robot global vision water polo 2VS2 games water polo is located in the edge corner, a venue of the regional partition and edge corner processing based on cooperative game strategy is proposed in this paper. The competition area is divided into different parts that two robotic fishes are separately responsible for their own part, and robotic fish motion model is established by using the ball-pushing movement. Based on the problem that water polo is located in the four edge corners, we discussed the advantages and disadvantages of the three kinds of collaboration, find the cooperative strategy which one robotic fish processes the edge corner case and at the same time the other fish swims to the suitable position for defense is the best. The experimental results that executed in the underwater robot platform show that: this strategy can improve the cooperation ability and scoring efficiency of two robot fishes, shorten the time of processing water polo which is located in edge corner and make water polo movement always in our favor.

  12. Impact Effect Analysis of Dual-arm Space Robot Capturing a Non-cooperative Target and Force/Position Robust Stabilization Control for Closed-chain Hybrid System%双臂空间机器人捕获非合作目标冲击效应分析及闭链混合系统力/位形鲁棒镇定控制

    Institute of Scientific and Technical Information of China (English)

    董楸煌; 陈力

    2015-01-01

    分析漂浮基双臂空间机器人捕获非合作目标所受的冲击影响效应,及捕获后空间机器人和目标组成的闭链混合系统对目标夹持内力和位形的鲁棒镇定控制。将捕获目标过程视为两机械臂末端与目标碰撞前、碰撞过程和碰撞后三个阶段。在碰撞前空间机器人和目标是分离的两分体系统,利用第二类拉格朗日方程建立漂浮基双臂空间机器人系统的动力学模型。在机械臂末端与目标碰撞阶段,基于空间机器人与目标总动量守恒,利用动量定理计算翻滚目标对空间机器人运动状态的冲击影响效应。在碰撞后,双臂空间机器人已捕获翻滚目标并组成闭链混合系统,针对混合系统在碰撞阶段受冲击影响而产生不稳定运动,提出一种鲁棒控制算法对其进行镇定控制,以实现双臂对目标夹持内力和空间机器人位形的协调控制,并达到期望的稳定状态。数值仿真验证了上述控制算法的有效性。%The impact effect of a free-floating dual-arm space robot to capture a non-cooperative target is analyzed, and during the post-capture the space robot and the target compose a closed-chaln hybrid system, then a clamp force and position robust stabilization control is discussed. The target capture process is considered as pre-impact phase,impact phase and post-impact phase. The space robot and target are separated subsystem in the pre-impact phase, and the dynamics model of free-floating space robot is derived by the second Lagrange equation. In the impact phase, base on the total momentum conservation of space robot and target, the impact effect for the space robot motion is calculated by momentum theorem. In the post-impact phase, the dual-arm space robot has captured the target and formed a closed-chaln hybrid system, considering the unstable motion which is caused by the impact effect in the impact phase, a robust control algorithm is proposed

  13. 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…

  14. 机器人辅助腹腔镜下低位直肠癌根治术的护理配合%Nursing cooperation in robot-assisted radical resection of low rectal carcinoma under laparoscope

    Institute of Scientific and Technical Information of China (English)

    许晓晓; 张秋玲; 李凤云

    2014-01-01

    目的:探讨机器人辅助腹腔镜下低位直肠癌根治术的护理配合方法,提高护士的手术配合质量。方法对48例机器人辅助腹腔镜下低位直肠癌根治术的手术配合进行总结分析。结果48例机器人辅助腹腔镜下低位直肠癌根治术均顺利完成。结论充分的术前准备和完善的术中护理管理是保障手术顺利进行的关键。%Objective To probe into ways of nursing cooperation in robot-assisted radical resection of low rectal carcinoma under laparoscope, thus improve the quality of nursing cooperation. Methods Summarize and analyze 48 cases of nursing cooperation in robot-assisted radical resection of low rectal carcinoma under laparoscope. Results All the 48 cases have been performed successfully. Conclusion The full preoperative preparation and sound intraoperative nursing management are the guarantees of the smooth operation.

  15. Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

    Science.gov (United States)

    Ou, Meiying; Li, Shihua; Wang, Chaoli

    2013-12-01

    This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

  16. Intraoperative nursing cooperation for robotic-assisted laparoscopic precise liver resection%机器人辅助腹腔镜精准肝切除的手术配合

    Institute of Scientific and Technical Information of China (English)

    许晓晓; 武伟; 李凤云; 孙建荷

    2011-01-01

    Objective To investigate intraoperative nursing cooperation for robotic-assisted laparoscopic precise liver resection. Methods Between April and July 2009, 13 consecutive patients underwent roboticassisted laparoscopic anatomic hepatectomy for benign and malignant hepatic diseases. The clinical data of preoperative preparation, intraoperative cooperation and management of emergency were analyzed retrospectively and summarized gradually. Results All 13 robotic-assisted laparoscopic precise liver resections were performed successfully in the manner of pure laparoscopic resection. The nursing protocol was formulated to improve the preoperative preparation, intraoperative cooperation, management of emergency and postoperative summary. The nursing outcome was satisfactory due to effective nursing strategy. Conclusions Robotic surgery has been expanded into multi-disciplinary field, therefore preparation, communication, discreet placement and protection are important guarantees in its development.%目的 探讨机器人辅助腹腔镜精准肝切除手术的护理配合。方法 回顾性分析13例机器人辅助腹腔镜精准肝切除手术资料,对本组手术的术前准备、术中配合及紧急情况的处理进行总结。结果 13例患者均成功接受了机器人辅助腹腔镜精准肝切除术,术前准备、术中配合、特殊情况应对及术后整理均不断改进,取得满意的护理效果。结论 机器人手术方式扩展到多专科多种术式,准备与沟通、谨慎的安置与保护,是手术护理伴随手术技术发展呈现专科护士作用的重要保障。

  17. 经脐单孔机器人肾囊肿去顶术的护理配合%Nursing cooperation of robotic transumbilical laparoendoscopic single-site renal cyst decortication

    Institute of Scientific and Technical Information of China (English)

    王涛; 李丽霞; 崔冬冬; 刘亚男

    2015-01-01

    目的:探讨经脐单孔机器人肾囊肿去顶术的护理配合。方法通过配合7例采用单孔机器人手术专用器械及单孔复合Port行肾囊肿去顶术,对术前培训、物品准备、床旁机械臂系统摆放、手术配合及围术期器械进行护理管理。结果7例手术均顺利完成,医护配合效果满意。结论术前熟悉单孔复合Port结构及使用方法,了解单孔机器人专用器械特点,掌握手术操作步骤,术者在术中良好的沟通是手术成功的关键。%Objective To explore the nursing efficacy of robotic transumbilical laparoendoscopic single-site renal cyst decortication. Methods Based on the nursing cooperation of 7 patients undergoing robotic transumbilical laparoendoscopic single-site renal cyst decortication, we managed preoperative train, items preparation, bedside mechanical arm system arrangement, cooperation of operation and perioperative devices. Results All the operation of 7 cases were successfully performed, and the nursing cooperation was favorable. Conclusions We well know about the structure, characteristic, procedures and application of the equipment of Robotic Laparoendoscopic Single-Site, combine with the intraoperative communication. All of them play critical roles on the success of the procedure.

  18. 基于虚拟环境的多操作者多机器人协作遥操作系统%Virtual Environment-Based Multi-Operator Multi-Robot Cooperative Teleoperation System

    Institute of Scientific and Technical Information of China (English)

    马良; 闫继宏; 赵杰; 陈志峰

    2011-01-01

    A virtual environment-based multi-operator multi-robot cooperative teleoperation system is proposed, and the software framework of control system with three layered C/S (client/server) structure is adopted.The model of distributed virtual environment is built according to work scene of the experimental platform for accomplishing distributed control of multiple robots by multiple operators.Based on the structure of multi-operator multi-robot teleoperation system, a method based on local lag is presented to realize consistency control in distributed virtual environment, and the problems of clock synchronization, lag time and state repairing in teleoperation system are overcome.Finally, multi-robot cooperative control experiment including different types of cooperation is conducted on the proposed platform, and interaction between the operator and virtual environment is achieved.The operator interacts with virtual environment, observes the task environment and controls the robots in real time with the aid of real-time multi-video image feedback and force feedback, and completes the given task safely and efficiently, which verifies the reasonability and feasibility of the system.%建立了基于虚拟环境的多操作者多机器人协作遥操作系统,采用3层C/S结构的控制系统软件构架.根据实验系统平台工作场景对分布式虚拟环境进行建模,以实现多操作者对多机器人的分布式控制.结合多操作者多机器人遥操作系统的结构特点,采用本地滞后原理对分布式虚拟环境的一致性控制进行了研究,解决了遥操作系统一致性控制中时钟同步、滞后时间、状态修复等问题.最后在提出的系统平台上进行了不同协作类型的多机器人协调控制实验,操作者与虚拟环境进行交互,在力反馈及实时多视频图像反馈辅助下,实时地观察作业环境并控制机器人运动,安全、高效地完成了作业任务,验证了该系统的合理性和有效性.

  19. Hypoactive sexual desire disorder.

    Science.gov (United States)

    Davison, Sonia L

    2012-08-01

    Hypoactive sexual desire disorder (HSDD) is the most prevalent female sexual dysfunction, with estimates of prevalence approximating 10%. By definition it is a deficiency of sexual desire that causes distress. HSDD has no single cause, but physiological, psychological and socio-cultural factors underpinning female sexual desire may all be important in its development. Medical therapeutic strategies to date have concentrated on modulation of hormone levels, particularly androgen administration, yet few products have been approved for the treatment of HSDD in developed countries. More recent medical targets have included agents with 5-hydroxytryptamine agonist activity. Psychological therapeutic approaches have been infrequently studied but concentrate on cognitive behavioural therapy. HSDD is an evolving diagnosis, the existence of which has been questioned by some critics. Whilst HSDD remains the subject of ongoing research, its title and definition are under debate as a new edition of the Diagnostic and Statistical Manual of the American Psychiatric Association approaches publication in 2012.

  20. Mathematics, Mathematicians, and Desire

    OpenAIRE

    Roodal Persad, Veda

    2014-01-01

    This thesis is about mapping the landscape of engagement with mathematics, including elucidating aspects of who we are, as human beings, when we do mathematics and of what mathematics calls us to do if we are to engage with it. Using the concept of desire in the psychoanalytic theory of Jacques Lacan and the forms of desire as elucidated by the Lacanian theorist, Mark Bracher, I seek to find out what the mathematical encounter takes (the demands and costs) and what it gives (the offers and re...

  1. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Development for practical application of new power generation technology; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the development for practical application of a new power generation technology for the human cooperative and coexisting (humanoid) robot system. Carrying out the development smoothly and efficiently requires accumulation of the system operational know-how, as well as the periodical check and maintenance to maintain the functions and performances of the robot platform having been developed in the previous fiscal year. Checks were given on the robot platform hardware, and no anomalies were verified in all operation. For the remote operation platform, normal operations were identified in the visual and audio information presenting and communication systems, including such components as the PCI, noise removing card, three-dimensional microphone, and SGI320. Operations were confirmed on the movement and operation sensing and presenting system, whereas no change has been found in the operation for the period of one year, and sufficient performance was maintained. For the virtual robot platform, the operation was made open to public on the basic operation library network interface. No operational defects, damages, wear, and electrical failures were found in the master hand for the remote control by hands, force sense presentation, finger and wrist position detection, and contact angle presentation. (NEDO)

  2. 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/

  3. 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/

  4. 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...

  5. 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...

  6. Distributed Estimation and Control for Robotic Networks

    NARCIS (Netherlands)

    Simonetto, A.

    2012-01-01

    Mobile robots that communicate and cooperate to achieve a common task have been the subject of an increasing research interest in recent years. These possibly heterogeneous groups of robots communicate locally via a communication network and therefore are usually referred to as robotic networks. The

  7. Development of a New Backdrivable Actuator for Haptic Interfaces and Collaborative Robots

    Directory of Open Access Journals (Sweden)

    Florian Gosselin

    2016-06-01

    Full Text Available Industrial robots are most often position controlled and insensitive to external forces. In many robotic applications, however, such as teleoperation, haptics for virtual reality, and collaborative robotics, a close cooperation between humans and robots is required. For such applications, force sensing and control capabilities are required for stable interactions with the operator and environment. The robots must also be backdrivable, i.e., the robot must be able to follow user’s induced movements with the least possible resistance. High force efficiency is also desirable. These requirements are different from the design drivers of traditional industrial robots and call for specific actuators and reducers. Many such devices were proposed in the literature. However, they suffer from several drawbacks, offering either a limited reduction ratio or being complex and bulky. This paper introduces a novel solution to this problem. A new differential cable drive reducer is presented. It is backdrivable, has a high efficiency, and a potentially infinite reduction ratio. A prototype actuator using such a reducer has been developed and integrated on a test bench. The experimental characterization of its performance confirms its theoretical advantages.

  8. 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...

  9. 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.

  10. 全机器人辅助低温灌注下肾部分切除术的护理配合%Nursing cooperation of cold intravascular perfusion during Robot-assisted laparoscopic partial nephrectomy

    Institute of Scientific and Technical Information of China (English)

    王涛; 李丽霞; 董薪; 蔡康灵

    2014-01-01

    目的:探讨全机器人辅助低温灌注下肾部分切除术下的护理配合流程,提高护士的手术配合质量。方法通过配合10例全机器人辅助低温灌注下肾部分切除手术,对术前物品准备、手术间布局,术中体位摆放及手术精准配合进行总结。结果10例手术顺利完成,无中转开腹,手术配合满意。结论准备好特殊手术物品,熟练的手术操作步骤,与手术医生积极沟通,掌握机器人各系统的使用情况是确保手术成功的关键。%Objective To explore the nursing cooperation during cold intravascular perfusion during robot-assisted laparoscopic partial nephrectomy. Methods Ten patients with renal cancer underwent robot-assisted laparoscopic partial nephrectomy using renal arterial perfusion with cold,the experience including preoperative preparation,intraoperative positioning and cooperation, and perioperative management of devices were drawn. Results All operative procedures were successfully performed. Conclusion Preoperative preparation,intraoperative communication and the skillful use of robotˊs system play critical roles on the success of the procedure.

  11. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot performan

  12. Performance impact of mutation operators of a subpopulation-based genetic algorithm for multi-robot task allocation problems.

    Science.gov (United States)

    Liu, Chun; Kroll, Andreas

    2016-01-01

    Multi-robot task allocation determines the task sequence and distribution for a group of robots in multi-robot systems, which is one of constrained combinatorial optimization problems and more complex in case of cooperative tasks because they introduce additional spatial and temporal constraints. To solve multi-robot task allocation problems with cooperative tasks efficiently, a subpopulation-based genetic algorithm, a crossover-free genetic algorithm employing mutation operators and elitism selection in each subpopulation, is developed in this paper. Moreover, the impact of mutation operators (swap, insertion, inversion, displacement, and their various combinations) is analyzed when solving several industrial plant inspection problems. The experimental results show that: (1) the proposed genetic algorithm can obtain better solutions than the tested binary tournament genetic algorithm with partially mapped crossover; (2) inversion mutation performs better than other tested mutation operators when solving problems without cooperative tasks, and the swap-inversion combination performs better than other tested mutation operators/combinations when solving problems with cooperative tasks. As it is difficult to produce all desired effects with a single mutation operator, using multiple mutation operators (including both inversion and swap) is suggested when solving similar combinatorial optimization problems.

  13. Fruit harvesting robots in Japan

    Science.gov (United States)

    Kondo, N.; Monta, M.; Fujiura, T.

    We have developed harvesting robots for tomato /1/, petty-tomato, cucumber /2/ and grape /3/ in Japan. These robots mainly consist of manipulators, end-effectors, visual sensors and traveling devices. These mechanisms of the robot components were developed based on the physical properties of the work objects. The robots must work automatically by themselves in greenhouses or fields, since we are considering for one operator to tend several robots in the production system. The system is modeled after Japanese agriculture which is commonly seen to produce many kinds of crops in greenhouses and in many small fields intensively. Bioproduction in space is somewhat similar to the agricultural system in Japan, because few operators have to work in a small space. Employing robots for bioproduction in space is considered desirable in near future. The following is a description of the harvesting robots.

  14. Desire Beyond Simpathy

    Directory of Open Access Journals (Sweden)

    Diana Patricia Zuluaga

    2006-12-01

    Full Text Available Resumen:La esquematización que realiza Jhon Bricke de Hume, me condujo a plantear ciertas preguntas que encuentran un terreno fértil en el análisis sobre la simpatía realizado por Hume. Esta propuesta plantea como hipótesis fundamental que el deseo de ser apreciado es el rasgo fundamental del ser apasionado, que Hume contempla en el Libro II del Tratado. Dicho deseo está vinculado a las afecciones de orgullo y aprecio, así como al ansia de aquellos bienes (riqueza, poder, belleza, virtud considerados por Hume causas de dichas afecciones. La hipótesis esclarece posibles relaciones entre las afecciones de aprecio y orgullo, simpatía y comparación, y hace posible una lectura particular del origen natural de la convención.Abstract:The central hypothesis set forth in this essay is that the desire to be appreciated is the fundamental feature of the passionate being, described by Hume in the context of his analysis of sympathy in Book II of the Treatise. That desire is linked to the affections of pride and appreciation, as well as to the yearning for those goods (wealth, power, beauty, and virtue, which Hume considers the causes of such affections. Said hypothesis clarifies the potential relationships between the affections of appreciation and pride, as well as of sympathy and comparison, and it makes possible a peculiar reading of the natural origin of convention.

  15. Robots and Humans: Synergy in Planetary Exploration

    Science.gov (United States)

    Landis, Geoffrey A.

    2003-01-01

    How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments.

  16. Artificial Hormone Reaction Networks: Towards Higher Evolvability in Evolutionary Multi-Modular Robotics

    CERN Document Server

    Hamann, Heiko; Schmickl, Thomas; Crailsheim, Karl

    2010-01-01

    The semi-automatic or automatic synthesis of robot controller software is both desirable and challenging. Synthesis of rather simple behaviors such as collision avoidance by applying artificial evolution has been shown multiple times. However, the difficulty of this synthesis increases heavily with increasing complexity of the task that should be performed by the robot. We try to tackle this problem of complexity with Artificial Homeostatic Hormone Systems (AHHS), which provide both intrinsic, homeostatic processes and (transient) intrinsic, variant behavior. By using AHHS the need for pre-defined controller topologies or information about the field of application is minimized. We investigate how the principle design of the controller and the hormone network size affects the overall performance of the artificial evolution (i.e., evolvability). This is done by comparing two variants of AHHS that show different effects when mutated. We evolve a controller for a robot built from five autonomous, cooperating modu...

  17. Comparison of the operative cooperation of da Vinci robotic surgery and traditional laparoscopic surgery%达芬奇机器人手术与传统腔镜手术护理配合的比较与启示

    Institute of Scientific and Technical Information of China (English)

    唐鲁; 李晓芳; 朱国雄; 郭志红; 王飞

    2016-01-01

    目的:通过达芬奇机器人手术与传统腔镜手术护理配合的比较研究,为微创手术护理配合的规范化、专业化发展提供借鉴。方法结合实际操作体会,采取比较研究方法为主,辅以文献研究法。结果与传统腔镜手术相比,达芬奇机器人手术在护士业务素质要求与培训方式、伦理法律知识与人文素养要求、设备的安装调试与前期准备工作、相应的护理内容与侧重、设备故障处理与器械术后管理等方面对手术室护理工作提出了更高的要求。结论达芬奇机器人手术的应用与推广,为精确微创手术配合的改进与发展提供了有益的启示,建议加强护士专项培训与继续教育;建立相应操作流程与管理规范;做好患者的告知解释工作以及发挥手术团队的协作精神。%Objective To compare the operative cooperation of da Vinci robotic surgery and traditional laparoscopic surgery, so as to provide evidence to qualify the operative cooperation of minimally invasive operation. Methods Comparison of the operative cooperation with related experiences and literature was made between the two kinds of surgeries. Results More requirements were put forward during the da Vinci robotic surgery on nurses′ service quality and training methods, ethics & law knowledge and humanistic care, equipment installation and preparation, complicated nursing performance content, system error handling and postoperative management, etc.. Conclusions It is suggested that the operative cooperation of the precise minimally invasive operation should be improved as follows:strengthen the nurses′ special training and continuing education; establish related operation process and management standards;do patients′explanation work and surgical team cooperation.

  18. Collective Energy Foraging of Robot Swarms and Robot Organisms

    CERN Document Server

    Kernbach, Serge

    2011-01-01

    Cooperation and competition among stand-alone swarm agents increase collective fitness of the whole system. A principally new kind of collective systems is demonstrated by some bacteria and fungi, when they build symbiotic organisms. Symbiotic life forms emerge new functional and self-developmental capabilities, which allow better survival of swarm agents in different environments. In this paper we consider energy foraging scenario for two robotic species, swarm robots and symbiotic robot organism. It is indicated that aggregation of microrobots into a robot organism can provide better functional fitness for the whole group. A prototype of microrobots capable of autonomous aggregation and disaggregation are shown.

  19. 考虑通信状况的多机器人CSLAM问题综述%An Overview on the Cooperative SLAM Problem of Multi-robot Systems Considering Communication Conditions

    Institute of Scientific and Technical Information of China (English)

    张国良; 汤文俊; 曾静; 徐君; 姚二亮

    2014-01-01

    The communication conditions can affect the design and realization of cooperative simultaneous localization and mapping (CSLAM) algorithms directly. According to the different focuses among the assumptions on the com-munication conditions of multi-robot systems, the state-of-the-art research advances of multi-robot CSLAM algorithms are presented in this paper. Firstly, the characters and drawbacks of the centralized CSLAM algorithm based on fully connected communication condition are introduced. Secondly, in the situation of unknown initial correspondence of the multi-robot system, the map merging issue of distributed CSLAM algorithm based on limited communication range and bandwidth is analyzed and defined in terms of map alignment, data association and map fusion. Furthermore, some of the latest research achievements on distributed CSLAM algorithm considering sparse-dynamic communication situation are also presented. Finally, the prospect of future research in the area of multi-robot CSLAM is summarized.%多机器人系统的通信状况能够直接影响协作同时定位与地图创建(Cooperative simultaneous localization and mapping, CSLAM)算法的设计和实现。根据对多机器人通信状况所作出假设的侧重点不同,对多机器人CSLAM 算法研究现状和进展进行综述。首先,简要介绍了基于完全连通通信条件的集中式CSLAM 算法的特点和缺陷;其次,结合多机器人系统初始相对位姿关系未知的情况,从地图配准、数据关联和地图融合等三个方面,对基于通信范围或者带宽受限条件的分布式CSLAM 算法的地图合并问题进行了分析和阐述;进而重点对考虑稀疏-动态通信状况的分布式CSLAM 算法的最新研究成果进行了归纳总结。最后指出多机器人CSLAM研究领域今后的研究方向。

  20. Robot and robot system

    Science.gov (United States)

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

    2011-01-01

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

  1. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Development of energy usage rationalizing technology; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the operational research on the human cooperative and coexisting (humanoid) robot system to rationalize energy usage. Operational method and maintenance were studied on the platform hardware that has been developed in the previous fiscal year. Checks were given periodically on the robot platform hardware, and no anomalies were verified in all operation. Verifications were made on the fasteners, additional tightening, fitting of the connectors, battery checks, zero position and step response checks, and output checks on the force component sensor, gyro sensor and G sensor. For the virtual robot platform, discussions were given on the basic movement library for the geography complying three-dimensional walking. Such configurations were constituted that integrated use is possible with the simulator system by connecting the networks, and the user can instruct the CORBA server with the generation of walking movements according to the GUI by using the general purpose WWW browser to connect it to the HTTP server, whose result can be verified by three-dimensional graphics. A method to stabilize the all-axis movement servo model was made open to public. (NEDO)

  2. 1st Iberian Robotics Conference

    CERN Document Server

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

    2014-01-01

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

  3. Elements of Autonomous Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan

    In this thesis, we study several central elements of autonomous self-reconfigurable modular robots. Unlike conventional robots such robots are: i) Modular, since robots are assembled from numerous robotic modules. ii) Reconfigurable, since the modules can be combined in a variety of ways. iii) Self......-reconfigurable, since the modules themselves are able to change how they are combined. iv) Autonomous, since robots control themselves without human guidance. Such robots are attractive to study since they in theory have several desirable characteristics, such as versatility, reliability and cheapness. In practice...... robots: design, scalability, self-reconfiguration and adaptation. The first element we consider is the design of systems, modules, robots, and behaviors. We introduce a number of design principles that will guide our designs throughout the thesis. The design principles advocate simple, extendable...

  4. 起重吊装多机器人系统协作避障规划研究%Research of Cooperation Obstacle Avoidance Planning for Hoisting Multi-robot System

    Institute of Scientific and Technical Information of China (English)

    林俊; 訾斌; 吴瑕

    2012-01-01

    针对起重吊装多机器人系统实际作业情况,进行了该机器人系统协作避障规划研究.首先,基于栅格法提出了优化姿态转角--动态栅格法的路径规划改进算法;其次,设计了基于传感器技术的自适应协作系统.该协作避障方法具备了寻找全局最优路线的能力,同时实现了多机器人系统内部的稳定协调合作;最后,建立了Matlab与LabVIEW联合仿真系统,仿真结果表明该系统是可行且高效的.%According to the practical operation of hoisting multi-mobile robots system,the cooperation obstacle avoidance planning was studied. Firstly,an improvement algorithm of optimization of the attitude angle-dynamic grid method for path planning was proposed based on grid method. In addition,the adaptive cooperation system was designed based on sensor technology. The system has the ability to search for the global optimal path,and the stable coordination of the multi-mobile robots internal system was achieved. Finally,the co-simulation system was built using Matlab and LabVIEW. Simulation results show that the system was feasible and efficient.

  5. 基于模糊自调节算法的乒乓球机器人回球速度计算%The Computation of Desired Ball Velocity after Striking Based on Self-tunning Fuzzy Algorithm for Robotic Table Tennis

    Institute of Scientific and Technical Information of China (English)

    苏虎; 徐德; 黄艳龙; 谭民

    2012-01-01

    A model of computing the desired velocity of returning balls is developed so that the robot could return the incoming ball to a desired point on the table with a specified landing velocity. Firstly, three polynomials of the flying time are used to fit the ball's trajectory while neglecting the effort of the Magnus force; the initial velocity is obtained after the coefficients of the polynomials are estimated using LM algorithm. Then, a new configuration of storing and replacing experimental data is introduced; the result is received by fitting the stored data. The weighted average of the two results is regarded as the original value of the fuzzy correcting algorithm. With the analysis of the influence of the desired velocity on the error between the actual landing point and the desired point, the velocity is tuned using the fuzzy algorithm after the landing point is predicted. The tuned velocity is the eventual result for controlling the striking speed and posture of the paddle in the process of returning the ball. Finally, experiments were well conducted to verify the performance of the proposed method.%提出了一种新的回球速度计算模型,达到以期望的落球速度定点回球的目的.首先,忽略了运动过程中马格努斯力的影响,以多项式拟合乒乓球的运动轨迹,利用LM算法求解得到回球速度的初始值.然后,提出了一种新的基于区域分割的经验数据存储与替换模式,经线性拟合经验数据得到回球速度,并与初始速度求加权平均值,作为模糊调节的初始值.分析了回球速度的各分量对落点误差的影响,根据预测的落点误差,利用模糊算法调节回球速度,将调整后的结果用于控制回球过程中的球拍位姿与击球速度.实验结果验证了方法的有效性.

  6. Cooperative multi-robot localization based on particle swarm optimization in the environment of wireless sensor%无线传感器环境下粒子群优化的多机器人协同定位研究

    Institute of Scientific and Technical Information of China (English)

    程磊; 周明达; 吴怀宇; 李杰; 王永骥

    2015-01-01

    协同定位是多机器人自主行为的一项重要技术,重点描述了无线传感器网络环境下结合粒子群优化提出多机器人协同定位算法。该算法引入重采样,解决了粒子耗尽问题,扩大了解空间的范围,保证了种群的多样性,并且引入了惯性权重解决了粒子退化的问题。仿真结果表明,利用无线传感器网络进行辅助导航,采用粒子群优化算法,综合无线传感器网络进行辅助导航,融合各个机器人观测信息,可以降低求解问题的空间维数,在高斯噪声下能有效提高移动机器人定位精度。%Cooperative localization is an important technique of multi-robot ’ s autonomous behavior .In this paper , the multi-robot cooperative localization algorithm based on the optimization of particle swarm optimization under wireless sensor network environment is described .The resampling algorithm is introduced to solve the problem of particle depletion , enlarge the scope of solution space and guarantee the diversity of population .The introduction of inertia weight provides a solution for the particle degradation .Simulation results showed that by using the particle swarm optimization algorithm , which is supported by wireless sensor network to assist navigation and integrating ro-bots’ observation information , the spatial dimensions of the problem can be reduced .In addition, the accuracy of robot localization can be improved effectively under the background of Gaussian noise .

  7. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  8. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  9. 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....

  10. Mechatronics Design of a Mobile Robot System

    Directory of Open Access Journals (Sweden)

    Ahmad A. Mahfouz

    2013-02-01

    Full Text Available Mobile robot motion control is simplified to a DC motor motion control that may include gear system. The simplest and widespread approach to control the mobile robot motion is the differential drive style, it consists of two in-lines with each a DC motor. Both DC motors are independently powered so the desired movements will rely on how these two DC motors are commanded. Thedevelop design, model and control of Mechatronics mobile robotic system is presented in this paper. The developed robotic system is intended for research purposes as well as for educational process. The model of proposed mobile robot was created and verified using MATLAB-Simulink software.

  11. Transferring human impedance regulation skills to robots

    CERN Document Server

    Ajoudani, Arash

    2016-01-01

    This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.

  12. Lessons Learned in Designing User-configurable Modular Robotics

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2013-01-01

    User-configurable robotics allows users to easily configure robotic systems to perform task-fulfilling behaviors as desired by the users. With a user configurable robotic system, the user can easily modify the physical and func-tional aspect in terms of hardware and software components of a robotic...... with the semi-autonomous com-ponents of the user-configurable robotic system in interaction with the given environment. Components constituting such a user-configurable robotic system can be characterized as modules in a modular robotic system. Several factors in the definition and implementation...

  13. 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

  14. Cooperation Without Intervention

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    In January, China announced its desire to increase cooperation with African countries by issuing China's African Policy, a paper intended to guide relations with the continent by continuing a non-interventionist and non-ideological strategy. Christopher Mutsvangwa, Zimbabwean Ambassador to China, shared his views of the policy with Beijing Review reporter Ni Yanshuo and answered criticisms of the China-Africa relationship by Western countries that tie cooperation to democracy and human rights.

  15. Theory and Application of Multi-robot Service-oriented Architecture

    Institute of Scientific and Technical Information of China (English)

    Yunfei Cai; Zhenmin Tang; Yuhua Ding; Bin Qian

    2016-01-01

    In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot’s underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.

  16. Robotic Precursor Missions for Mars Habitats

    Science.gov (United States)

    Huntsberger, Terry; Pirjanian, Paolo; Schenker, Paul S.; Trebi-Ollennu, Ashitey; Das, Hari; Joshi, Sajay

    2000-07-01

    Infrastructure support for robotic colonies, manned Mars habitat, and/or robotic exploration of planetary surfaces will need to rely on the field deployment of multiple robust robots. This support includes such tasks as the deployment and servicing of power systems and ISRU generators, construction of beaconed roadways, and the site preparation and deployment of manned habitat modules. The current level of autonomy of planetary rovers such as Sojourner will need to be greatly enhanced for these types of operations. In addition, single robotic platforms will not be capable of complicated construction scenarios. Precursor robotic missions to Mars that involve teams of multiple cooperating robots to accomplish some of these tasks is a cost effective solution to the possible long timeline necessary for the deployment of a manned habitat. Ongoing work at JPL under the Mars Outpost Program in the area of robot colonies is investigating many of the technology developments necessary for such an ambitious undertaking. Some of the issues that are being addressed include behavior-based control systems for multiple cooperating robots (CAMPOUT), development of autonomous robotic systems for the rescue/repair of trapped or disabled robots, and the design and development of robotic platforms for construction tasks such as material transport and surface clearing.

  17. 全机器人辅助腹腔镜下腔静脉取癌栓手术的护理配合%Nursing cooperation of robot-assisted Inferior vena cava tumor emboli removal surgery

    Institute of Scientific and Technical Information of China (English)

    王涛; 曾晓晓; 赵晶; 李丽霞

    2014-01-01

    Objective:To explore the nursing coordination during the process of robot-assisted inferior vena cava tumor emboli removal surgery.Methods:Analyzed and summarized 8 cases of the robot-assisted inferior vena cava tumor emboli removal surgeries about the preoperative special preparation,the position of mechanical arm system, the evaluation of surgery patients,the intraoperative intake and drain management and the surgical precision coordi-nation.Results:8 cases were completely and successfully performed surgeries,with satisfactory doctor-nurse cooper-ation.There were no postoperative complications during our short-term follow-up.Conclusions:The complete preop-erative special preparation,skilled operation steps,accurately and rapidly equipment transfer,shorten the operation time are key points to ensure the success of the surgery.%目的::探讨全机器人辅助腹腔镜下腔静脉取癌栓手术的护理配合流程。方法:通过配合8例全机器人辅助腹腔镜下腔静脉取癌栓手术对术前特殊物品准备、床旁机械臂系统摆放、手术患者的评估、术中出入量管理及手术精准配合进行总结。结果:8例手术均顺利完成,医护配合效果满意,短期随访无术后并发症发生。结论:备好特殊手术物品,熟练的手术操作步骤,准确的快速传递器械,缩短手术时间是确保手术成功的关键。

  18. Paedophilia, Sexual Desire, and Perversity.

    Science.gov (United States)

    Spiecker, Ben; Steutel, Jan

    1997-01-01

    Criticizes justifications given by pedophiles for having sex with children, including an analysis of "sexual desire" and "erotic." Raises the question of whether pedophile activities can ever be morally permissible. Uses principles of mutual consent and non-exploitation to answer negatively. Examines whether pedophile desires can be regarded as…

  19. The neural correlates of desire.

    Directory of Open Access Journals (Sweden)

    Hideaki Kawabata

    Full Text Available In an event-related fMRI study, we scanned eighteen normal human subjects while they viewed three categories of pictures (events, objects and persons which they classified according to desirability (desirable, indifferent or undesirable. Each category produced activity in a distinct part of the visual brain, thus reflecting its functional specialization. We used conjunction analysis to learn whether there is a brain area which is always active when a desirable picture is viewed, regardless of the category to which it belongs. The conjunction analysis of the contrast desirable > undesirable revealed activity in the superior orbito-frontal cortex. This activity bore a positive linear relationship to the declared level of desirability. The conjunction analysis of desirable > indifferent revealed activity in the mid-cingulate cortex and in the anterior cingulate cortex. In the former, activity was greater for desirable and undesirable stimuli than for stimuli classed as indifferent. Other conjunction analyses produced no significant effects. These results show that categorizing any stimulus according to its desirability activates three different brain areas: the superior orbito-frontal, the mid-cingulate, and the anterior cingulate cortices.

  20. Educational Robotics: Open Questions and New Challenges

    Science.gov (United States)

    Alimisis, Dimitris

    2013-01-01

    This paper investigates the current situation in the field of educational robotics and identifies new challenges and trends focusing on the use of robotic technologies as a tool that will support creativity and other 21st-century learning skills. Finally, conclusions and proposals are presented for promoting cooperation and networking of…

  1. Rule-based Dynamic Safety Monitoring for Mobile Robots

    DEFF Research Database (Denmark)

    Adam, Marian Sorin; Larsen, Morten; Jensen, Kjeld;

    2016-01-01

    —Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but no existing approaches for addressing the safety challenge provide a clearly specified and isolated safety layer...

  2. Probabilistic Verification of Multi-Robot Missions in Uncertain Environments

    Science.gov (United States)

    2015-11-01

    uncertain environment. Verification of robot software is related to general purpose software verification in its objective of taking a program as...input and automatically determining whether that program achieves a desired objective or not [1]. It differs in that a robot program continually...Probabilistic Verification of Multi -Robot Missions in Uncertain Environments Damian M. Lyons*, Ronald C. Arkin‡, Shu Jiang‡, Dagan Harrington

  3. RX130 Robot Calibration

    Science.gov (United States)

    Fugal, Mario

    2012-10-01

    In order to create precision magnets for an experiment at Oak Ridge National Laboratory, a new reverse engineering method has been proposed that uses the magnetic scalar potential to solve for the currents necessary to produce the desired field. To make the magnet it is proposed to use a copper coated G10 form, upon which a drill, mounted on a robotic arm, will carve wires. The accuracy required in the manufacturing of the wires exceeds nominal robot capabilities. However, due to the rigidity as well as the precision servo motor and harmonic gear drivers, there are robots capable of meeting this requirement with proper calibration. Improving the accuracy of an RX130 to be within 35 microns (the accuracy necessary of the wires) is the goal of this project. Using feedback from a displacement sensor, or camera and inverse kinematics it is possible to achieve this accuracy.

  4. Robotic surgery in gynecology.

    Science.gov (United States)

    Alkatout, Ibrahim; Mettler, Liselotte; Maass, Nicolai; Ackermann, Johannes

    2016-01-01

    Robotic surgery is the most dynamic development in the sector of minimally invasive operations currently. It should not be viewed as an alternative to laparoscopy, but as the next step in a process of technological evolution. The advancement of robotic surgery, in terms of the introduction of the Da Vinci Xi, permits the variable use of optical devices in all four trocars. Due to the new geometry of the "patient cart," an operation can be performed in all spatial directions without re-docking. Longer instruments and the markedly narrower mechanical elements of the "patient cart" provide greater flexibility as well as access similar to those of traditional laparoscopy. Currently, robotic surgery is used for a variety of indications in the treatment of benign gynecological diseases as well as malignant ones. Interdisciplinary cooperation and cooperation over large geographical distances have been rendered possible by telemedicine, and will ensure comprehensive patient care in the future by highly specialized surgery teams. In addition, the second operation console and the operation simulator constitute a new dimension in advanced surgical training. The disadvantages of robotic surgery remain the high costs of acquisition and maintenance as well as the laborious training of medical personnel before they are confident with using the technology.

  5. Characteristics of Behavior of Robots with Emotion Model

    Science.gov (United States)

    Sato, Shigehiko; Nozawa, Akio; Ide, Hideto

    Cooperated multi robots system has much dominance in comparison with single robot system. It is able to adapt to various circumstances and has a flexibility for variation of tasks. However it has still problems to control each robot, though methods for control multi robots system have been studied. Recently, the robots have been coming into real scene. And emotion and sensitivity of the robots have been widely studied. In this study, human emotion model based on psychological interaction was adapt to multi robots system to achieve methods for organization of multi robots. The characteristics of behavior of multi robots system achieved through computer simulation were analyzed. As a result, very complexed and interesting behavior was emerged even though it has rather simple configuration. And it has flexiblity in various circumstances. Additional experiment with actual robots will be conducted based on the emotion model.

  6. Robotics in Remote and Hostile Environments

    Science.gov (United States)

    Bellingham, James G.; Rajan, Kanna

    2007-11-01

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

  7. Fertility Desire and Reproductive Health

    African Journals Online (AJOL)

    Understanding fertility desire and reproductive health care needs of HIV positive men and women in the era ... and related consequences. ... inform national policy decisions on PMTCT, HIV ... The study population was included proportional to.

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

    CERN Document Server

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

    2008-01-01

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

  10. Human-Robot Teams in Entertainment and Other Everyday Scenarios

    CERN Document Server

    Fazli, Pooyan

    2009-01-01

    A new and relatively unexplored research direction in robotics systems is the coordination of humans and robots working as a team. In this paper, we focus upon problem domains and tasks in which multiple robots, humans and other agents are cooperating through coordination to satisfy a set of goals or to maximize utility. We are primarily interested in applications of human robot coordination in entertainment and other activities of daily life. We discuss the teamwork problem and propose an architecture to address this.

  11. 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

  12. 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

  13. 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....

  14. 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.

  15. The Implementation of Robotic Surgery in Israel.

    Science.gov (United States)

    Matanes, Emad; Boulus, Sari; Lowenstein, Lior

    2015-09-01

    In the last decade the number of robotic devices and the medical procedures utilizing them increased significantly around the world. To evaluate the implementation of robotic surgeries in Israel in various surgical disciplines. We conducted a retrospective study accessing information about the annual purchases of robots, the number of physicians trained for their use, and the number of robotic surgeries performed each year, according to indications of surgery and the disciplines of the operating medical staff. The data were taken from the database of Intuitive Surgical Inc. Six robots were purchased by six medical centers in Israel during the years 2008-2013. There are currently 150 physicians trained to use the robot in one of the simulators of Intuitive Surgical Inc. Of them, 104 are listed as active robotic surgeons. Most of these physicians are urologists, gynecologists, or general surgeons. The number of robotic surgeries increased each year in all fields in which it was implemented. In 2013, 975 robotic surgeries were performed in Israel. Of them, 52% were performed by urologists; 89% of them were radical prostatectomy. The use of robotic surgery increased considerably in Israel over recent years, in urology, gynecology, general surgery, and otolaryngology. Despite the lack of conclusive evidence of the advantages of robotic surgery over the laparoscopic approach, the market power and the desire to be at the technological forefront drive many medical centers to purchase the robot and to train physicians in its use.

  16. Cooperative Games and Multiagent Systems

    NARCIS (Netherlands)

    S. Airiau

    2013-01-01

    Forming coalitions is a generic means for cooperation: people, robots, web services, resources, firms; they can all improve their performance by joining forces. The use of coalitions has been successful in domains such as task allocations, sensor networks, and electronic marketplaces. Forming effici

  17. SNEAKY: a small highly mobile vision-enabled IP-ready tele-operable robot

    Science.gov (United States)

    Varghese, Vin J.; Natarajan, Narasimhamurthi; Lakshmanan, Sridhar

    2006-05-01

    This paper describes a desirable set of features for small mobile robotic vehicles-features that are desirable both in terms of usefulness and versatility. A generic robotic architecture with these desirable features is discussed. The paper concludes by presenting SNEAKY, a commercial product available from M-Bots, that possesses most of the features included in the architecture.

  18. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

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

  19. 4th International Conference on Advanced Robotics

    CERN Document Server

    1989-01-01

    The Fourth International Conference on Advanced Robotics was held in Columbus, Ohio, U. S. A. on June 13th to 15th, 1989. The first two conferences in this series were held in Tokyo. The third was held in Versailles, France in October 1987. The International Conference on Advanced Robotics is affiliated with the International Federation of Robotics. This conference was sponsored by The Ohio State University. The American Society of Mechanical Engineers was a cooperating co-sponsor. The objective of the International Conference on Advanced Robotics is to provide an international exchange of information on the topic of advanced robotics. This was adopted as one of the themes for international research cooperation at a meeting of representatives of seven industrialized countries held in Williamsburg, U. S. A. in May 1983. The present conference is truly international in character with contributions from authors of twelve countries. (Bulgaria, Canada, France, Great Britain, India, Italy, Japan, Peoples Republic o...

  20. Doubling desire: The Yeatsian Daimon

    Directory of Open Access Journals (Sweden)

    N. Meihuizen

    2002-08-01

    Full Text Available Through the agency of Daimonic desire, Yeatsian spiritualism repeats empirical existence. In positing a desire that extends beyond the limits of individual human life, Yeats denies the definitive value of an exclusive finitude, such as that perceived by Michel Foucault in The Order of Things (1974. If Yeats, involved in a qualified manner in an aspect of Foucault’s analytic of finitude, is a modernist, he is related to that type Fredric Jameson calls the “anti-modern modernist” (Jameson, 1991:304, the modernist who reacts against modernisation. In discussing Daimonic desire, then, it is congruous with a reading of Yeats to do so both from the perspective of the empirical realm of the “dying generations”, and the spiritual realm of the “artifice of eternity”. In the first case the Daimon can surely be understood as a manifestation of the Zeitgeist, but how do we understand the spirits in the second case, who have transcended the ultimate limit of finitude, death itself, and who thus rock the three Foucauldian cornerstones of finitude – life, labour, and language, “marked by the spatiality of the body, the yawning of desire, and the time of language” (Foucault, 1974:315? Clearly, for Yeats, life is not limited by death; labour is not limited by a somnolent desire; and language is not confined within the span of a single life.

  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. Desire as response to experience

    DEFF Research Database (Denmark)

    Thøgersen, Ulla

    2009-01-01

    . The first part of the paper presents and critically discusses the answers given by need gratification theory (Maslow, McClelland, McGregor) and by learning theories placed within the field of workplace learning or organizational learning (Senge, Argyris et Schön, Wenger) and it opens up the ambition...... to rethink motivation from the point of view of a phenomenological understanding of desire. The second and third part of the paper follows up this ambition by presenting an understanding of desire based within a phenomenological framework (Merleau-Ponty) and by discussing the implication of a shift in focus...

  3. On compliant underactuated robotic fingers

    NARCIS (Netherlands)

    Wassink, Martin

    2011-01-01

    Driven by societal trends, such as aging, and by a desire to drive economic growth and enhance commercial competitiveness, researchers have tried to move robots from structured manufacturing tasks to unstructured professional and personal service applications. As announced in the Falcon project, an

  4. Compliant actuation of rehabilitation robots

    NARCIS (Netherlands)

    Vallery, Heike; Veneman, Jan; Asseldonk, van Edwin; Ekkelenkamp, Ralf; Buss, Martin; Kooij, van der Herman

    2008-01-01

    This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable sti

  5. Flocking of multi-robot systems with connectivity maintenance on directed graphs

    Institute of Scientific and Technical Information of China (English)

    Yutian Mao; Lihua Dou; Hao Fang; Jie Chen

    2014-01-01

    Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity mainte-nance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via careful y designing a class of bounded artificial potential fields (APF) which could guarantee the connectivity maintenance, col ision avoidance and distance stabilization simultaneously during the system evolu-tion. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved pro-vided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more general-ized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that al robots can asymptotical y move with the desired velocity and orientation even if there is only one in-formed robot in the team. Final y, nontrivial simulations and exper-iments are conducted to verify the effectiveness of the proposed algorithm.

  6. 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.

  7. Lifelong Learning, Policy and Desire

    Science.gov (United States)

    Lynch, Heather

    2008-01-01

    Recent lifelong learning policies have been criticized for creating an illusion of freedom whilst simultaneously reducing choice. The concept of desire permits engagement with the conscious and unconscious drives that underpin individual decision-making, which direct the life course. Utilizing the ideas of Hume and Spinoza, the present article…

  8. Becoming-Teachers: Desiring Students

    Science.gov (United States)

    Mercieca, Duncan

    2012-01-01

    This article proposes a reading of the lives of teachers through a Deleuzian-Guattarian materialistic approach. By asking the question "what kind of life do teachers live?" this article reminds us that teachers sometimes welcome the imposed policies, procedures and programmes, the consequences of which remove them from students. This desire is…

  9. A Compelling Desire for Deafness

    Science.gov (United States)

    Veale, David

    2006-01-01

    A case is described of a patient who has a compelling and persistent desire to become deaf. She often kept cotton wool moistened with oil in her ears and was learning sign language. Living without sound appeared to be a severe form of avoidance behavior from hyperacusis and misophonia. She had a borderline personality disorder that was associated…

  10. Paedophilia, Sexual Desire, and Perversity.

    Science.gov (United States)

    Spiecker, Ben; Steutel, Jan

    1997-01-01

    Criticizes justifications given by pedophiles for having sex with children, including an analysis of "sexual desire" and "erotic." Raises the question of whether pedophile activities can ever be morally permissible. Uses principles of mutual consent and non-exploitation to answer negatively. Examines whether pedophile desires…

  11. 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.

  12. 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

  13. 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

  14. Intelligent robot trends for 1998

    Science.gov (United States)

    Hall, Ernest L.

    1998-10-01

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

  15. Hand-held medical robots.

    Science.gov (United States)

    Payne, Christopher J; Yang, Guang-Zhong

    2014-08-01

    Medical robots have evolved from autonomous systems to tele-operated platforms and mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have seen both commercial and clinical success, uptake of these robots remains moderate because of their high cost, large physical footprint and long setup times. More recently, researchers have moved toward developing hand-held robots that are completely ungrounded and manipulated by surgeons in free space, in a similar manner to how conventional instruments are handled. These devices provide specific functions that assist the surgeon in accomplishing tasks that are otherwise challenging with manual manipulation. Hand-held robots have the advantages of being compact and easily integrated into the normal surgical workflow since there is typically little or no setup time. Hand-held devices can also have a significantly reduced cost to healthcare providers as they do not necessitate the complex, multi degree-of-freedom linkages that grounded robots require. However, the development of such devices is faced with many technical challenges, including miniaturization, cost and sterility, control stability, inertial and gravity compensation and robust instrument tracking. This review presents the emerging technical trends in hand-held medical robots and future development opportunities for promoting their wider clinical uptake.

  16. Modelling and Control for Soft Finger Manipulation and Human-Robot Interaction

    OpenAIRE

    Ficuciello, Fanny

    2010-01-01

    One of the greatest challenges of humanoid robotics is to provide a robotic systems with autonomous and dextrous skills. Dextrous manipulation skills, for personal and service robots in unstructured environments, are of fundamental importance, in order to accomplish manipulation tasks in human-like ways and to realize a proper and safe cooperation between humans and robots. The contributions presented in this thesis are aimed at modeling and controlling multifingered robotic hands wit...

  17. Robotics virtual rail system and method

    Science.gov (United States)

    Bruemmer, David J.; Few, Douglas A.; Walton, Miles C.

    2011-07-05

    A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

  18. Learning User Intention in Networked Mobile Robot Control

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay from data transmission over Internet. The robot cannot accomplish the desired actions of the remote operator in time, which severely impairs reliability and efficiency of the robot system. This paper investigated a novel approach, learning user intention, to compensate the uncertain time delay with the autonomy of a mobile robot. The user intention to control and operate the robot was modeled and incrementally inferred based on Bayesian techniques so that the desired actions could be recognized and completed by the robot autonomously. Thus the networked robot is able to fulfill the task assigned without frequent interaction with the user, which decreases data transmission and improves the efficiency of the whole system. Experimental results show the validity and feasibility of the proposed method.

  19. Emotions in robot psychology.

    Science.gov (United States)

    Nitsch, V; Popp, M

    2014-10-01

    In his famous thought experiments on synthetic vehicles, Valentino Braitenberg stipulated that simple stimulus-response reactions in an organism could evoke the appearance of complex behavior, which, to the unsuspecting human observer, may even appear to be driven by emotions such as fear, aggression, and even love (Braitenberg, Vehikel. Experimente mit künstlichen Wesen, Lit Verlag, 2004). In fact, humans appear to have a strong propensity to anthropomorphize, driven by our inherent desire for predictability that will quickly lead us to discern patterns, cause-and-effect relationships, and yes, emotions, in animated entities, be they natural or artificial. But might there be reasons, that we should intentionally "implement" emotions into artificial entities, such as robots? How would we proceed in creating robot emotions? And what, if any, are the ethical implications of creating "emotional" robots? The following article aims to shed some light on these questions with a multi-disciplinary review of recent empirical investigations into the various facets of emotions in robot psychology.

  20. Desirable difficulties in vocabulary learning

    OpenAIRE

    Bjork, RA; Kroll, JF

    2015-01-01

    © 2015 by the Board of Trustees of the University of Illinois. In this article we discuss the role of desirable difficulties in vocabulary learning from two perspectives, one having to do with identifying conditions of learning that impose initial challenges to the learner but then benefit later retention and transfer, and the other having to do with the role of certain difficulties that are intrinsic to language processes, are engaged during word learning, and reflect how language is underst...

  1. Desirable Difficulties in Vocabulary Learning.

    Science.gov (United States)

    Bjork, Robert A; Kroll, Judith F

    2015-01-01

    In this article we discuss the role of desirable difficulties in vocabulary learning from two perspectives, one having to do with identifying conditions of learning that impose initial challenges to the learner but then benefit later retention and transfer, and the other having to do with the role of certain difficulties that are intrinsic to language processes, are engaged during word learning, and reflect how language is understood and produced. From each perspective we discuss evidence that supports the notion that difficulties in learning and imposed costs to language processing may produce benefits because they are likely to increase conceptual understanding. We then consider the consequences of these processes for actual second-language learning and suggest that some of the domain-general cognitive advantages that have been reported for proficient bilinguals may reflect difficulties imposed by the learning process, and by the requirement to negotiate cross-language competition, that are broadly desirable. As Alice Healy and her collaborators were perhaps the first to demonstrate, research on desirable difficulties in vocabulary and language learning holds the promise of bringing together research traditions on memory and language that have much to offer each other.

  2. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2010-02-01

    Full Text Available This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.

  3. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

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

  4. Sociable Robots through Self-maintained Energy

    Directory of Open Access Journals (Sweden)

    Henrik Schioler

    2008-11-01

    Full Text Available Research of autonomous mobile robots has mostly emphasized interaction and coordination that are natually inspired from biological behavior of birds, insects, and fish: flocking, foraging, collecting, and sharing. However, most research has been only focused on autonomous behaviors in order to perform robots like animals, whereas it is lacked of determinant to those behaviours: energy. Approaching to clusted amimal and the higher, collective and sharing food among individuals are major activity to keep society being. This paper issues an approach to sociable robots using self-maintained energy in cooperative mobile robots, which is dominantly inspired from swarm behavior of collecting and sharing food of honey-bee and ant. Autonomous mobile robots are usually equipped with a finite energy, thus they can operate in a finite time. To overcome the finitude, we describe practical deployment of mobile robots that are capable of carrying and exchanging fuel to other robots. Mechanism implementation including modular hardware and control architecture to demonstrate the capabicities of the approach is presented. Subsequently, the battery exchange algorithm basically based on probabilistic modeling of total energy on each robot located in its local vicinity is described. The paper is concluded with challenging works of chain of mobile robots, rescue, repair, and relation of heterogeneous robots.

  5. Sociable Robots Through Self-Maintained Energy

    Directory of Open Access Journals (Sweden)

    Trung Dung Ngo

    2006-12-01

    Full Text Available Research of autonomous mobile robots has mostly emphasized interaction and coordination that are natually inspired from biological behavior of birds, insects, and fish: flocking, foraging, collecting, and sharing. However, most research has been only focused on autonomous behaviors in order to perform robots like animals, whereas it is lacked of determinant to those behaviours: energy. Approaching to clusted amimal and the higher, collective and sharing food among individuals are major activity to keep society being. This paper issues an approach to sociable robots using self-maintained energy in cooperative mobile robots, which is dominantly inspired from swarm behavior of collecting and sharing food of honey-bee and ant. Autonomous mobile robots are usually equipped with a finite energy, thus they can operate in a finite time. To overcome the finitude, we describe practical deployment of mobile robots that are capable of carrying and exchanging fuel to other robots. Mechanism implementation including modular hardware and control architecture to demonstrate the capabicities of the approach is presented. Subsequently, the battery exchange algorithm basically based on probabilistic modeling of total energy on each robot located in its local vicinity is described. The paper is concluded with challenging works of chain of mobile robots, rescue, repair, and relation of heterogeneous robots.

  6. Intelligent robotics can boost America's economic growth

    Science.gov (United States)

    Erickson, Jon D.

    1994-01-01

    A case is made for strategic investment in intelligent robotics as a part of the solution to the problem of improved global competitiveness for U.S. manufacturing, a critical industrial sector. Similar cases are made for strategic investments in intelligent robotics for field applications, construction, and service industries such as health care. The scope of the country's problems and needs is beyond the capability of the private sector alone, government alone, or academia alone to solve independently of the others. National cooperative programs in intelligent robotics are needed with the private sector supplying leadership direction and aerospace and non-aerospace industries conducting the development. Some necessary elements of such programs are outlined. The National Aeronautics and Space Administration (NASA) and the Lyndon B. Johnson Space Center (JSC) can be key players in such national cooperative programs in intelligent robotics for several reasons: (1) human space exploration missions require supervised intelligent robotics as enabling tools and, hence must develop supervised intelligent robotic systems; (2) intelligent robotic technology is being developed for space applications at JSC (but has a strong crosscutting or generic flavor) that is advancing the state of the art and is producing both skilled personnel and adaptable developmental infrastructure such as integrated testbeds; and (3) a NASA JSC Technology Investment Program in Robotics has been proposed based on commercial partnerships and collaborations for precompetitive, dual-use developments.

  7. The Summer Robotic Autonomy Course

    Science.gov (United States)

    Nourbakhsh, Illah R.

    2002-01-01

    We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the

  8. Autonomous caregiver following robotic wheelchair

    Science.gov (United States)

    Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

    2011-12-01

    In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

  9. 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.

  10. 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

  11. 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…

  12. 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

  13. 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

  14. A power autonomous monopedal robot

    Science.gov (United States)

    Krupp, Benjamin T.; Pratt, Jerry E.

    2006-05-01

    We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all

  15. Robot Control System based on Web Application and RFID Technology

    Directory of Open Access Journals (Sweden)

    Barenji Ali Vatankhah

    2015-01-01

    Full Text Available This paper discusses an integration driven framework for enabling the RFID based identification of parts to perform robotic distributor operations in the random mix based parts control based on web application. The RFID technology senses newly arriving parts to be distribution robot, the robot is able to recognize them and perform cooperative distributing via web-based application. The developed web application control system is implemented in the educational robotic arm. RFID system sends real time information from parts to the web application and web based application makes a decision for control of the robot arm, controller of robot controls the robot as based on the decision from web application. The proposed control system has increases the reconfiguration and scalability of robot system.

  16. Towards safe robots approaching Asimov’s 1st law

    CERN Document Server

    Haddadin, Sami

    2014-01-01

    The vision of seamless human-robot interaction in our everyday life that allows for tight cooperation between human and robot has not become reality yet. However, the recent increase in technology maturity finally made it possible to realize systems of high integration, advanced sensorial capabilities and enhanced power to cross this barrier and merge living spaces of humans and robot workspaces to at least a certain extent. Together with the increasing industrial effort to realize first commercial service robotics products this makes it necessary to properly address one of the most fundamental questions of Human-Robot Interaction: How to ensure safety in human-robot coexistence? In this authoritative monograph, the essential question about the necessary requirements for a safe robot is addressed in depth and from various perspectives. The approach taken in this book focuses on the biomechanical level of injury assessment, addresses the physical evaluation of robot-human impacts, and isolates the major factor...

  17. International Politics: A Desirable Paradigm

    Institute of Scientific and Technical Information of China (English)

    Xia Aiding; Feng Shuai

    2007-01-01

    This article first traces the origin of four concepts: International Politics (IP), International Relations (IR), World Politics (WP) and Global Politics (GP) and discusses the similarities among these four paradigms. It then analyses their application both at home and abroad. Finally, it argues for the desirability of selecting the concept of IP in academic training, thus facilitating practical application of concepts. It asserts that this will not only enhance academic discussion about IP among different Chinese schools of thought, but also help blazing new ideas.

  18. Robot, human and communication; Robotto/ningen/comyunikeshon

    Energy Technology Data Exchange (ETDEWEB)

    Suehiro, T.

    1996-04-10

    Recently, some interests on the robots working with human beings under the same environment as the human beings and living with the human beings were promoting. In such robots, more suitability for environment and more robustness of system are required than those in conventional robots. Above all, communication of both the human beings and the robots on their cooperations is becoming a new problem. Hitherto, for the industrial robot, cooperation between human beings and robot was limited on its programming. As this was better for repeated operation of the same motion, its adoptable work was limited to some comparatively simpler one in factory and was difficult to change its content partially or to apply the other work. Furthermore, on the remote-controlled intelligent work robot represented by the critical work robot, its cooperation between the human beings and the robot can be conducted with the operation at remote location. In this paper, the communication of the robots lived with the human beings was examined. 17 refs., 1 fig.

  19. Conflictual cooperation

    DEFF Research Database (Denmark)

    Axel, Erik

    2011-01-01

    , cooperation appeared as the continuous reworking of contradictions in the local arrangement of societal con- ditions. Subjects were distributed and distributed themselves according to social privileges, resources, and dilemmas in cooperation. Here, the subjects’ activities and understandings took form from...

  20. FY 2001 report on the results of the immediately effective type new regional consortium R and D project. Development of the computer/human cooperation type guard robot for crime prevention/disaster prevention use using IT technology; 2001 nendo sokkogata chiiki shinsei konsosiamu kenkyu kaihatsu jigyo kenkyu. IT gijutsu wo mochiita keisanki ningen kyocho gata bohan bosai you keibi robotto no kaihatsu seika hokoku

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2002-03-01

    In the light of the enlargement of demand/market of disaster prevention guard in association with changes in the social environment, development of a practical robot that automatically patrols and guards a building instead of a guard. The completed 'prototype guard robot' has a height of about 185cm and has a diameter of 65cm and moves by 4-wheel running at the maximum speed of 3km/h by the cooperative control for smoothly displacing/uniting the autonomous function and operational signals from remote operators. The robot recognizes the environment by various sensors (omniazimuth, laser, ultrasonic waves, light, infrared rays), patrols the inside of the building and lets the guard center (operator) know of it in case of emergency. The robot is also able to fight a fire by a fire extinguisher in the judgment of operator. As to the power supply, the robot can automatically change the consumed battery at battery exchange station and continue the automatical patrol and guard. Moreover, the autonomous function for going up/down in an elevator was developed by which the robot can move to different floors from the floor where he is using elevator. (NEDO)

  1. Navigation strategies for multiple autonomous mobile robots moving in formation

    Science.gov (United States)

    Wang, P. K. C.

    1991-01-01

    The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

  2. Borders, boundaries and desirable wishes

    Directory of Open Access Journals (Sweden)

    Luca Pinciaroli

    2015-05-01

    Full Text Available “Borders, boundaries and desirable wishes” is the title of the residential workshop offered to a group of young adults (aged 18-25 of the Centro di Salute Mentale (Mental Health Center of the DSM Basaglia of ASL TO2 in Turin. The idea of the workshop, the definition of the objectives and the topics, which are clearly expressed in the title, come from the work of the team dedicated to group psychotherapies, which has been offering group psychodrama sessions to young adults of this age since 2008. In the delicate move to the adult age, these young adults are lost and stuck in static realities where it is not possible to open up to the dimension of desire nor to the transforming encounter with the Other, since they didn’t have the experience of boundaries and lack. These two elements are necessary to acquire the ability to make projects for oneself. During the workshop the following instruments were used: group, psychodrama and art therapy. The group, as a paternal function, ensured the presence of safe boundaries enabling individuals to experiment; psychodrama and art therapy enabled the bodies to experience encounters and transformations, using doing as a metaphor for the movement against the inhibition of doing and as a way to show oneself to the Other and be able to see the Other. 

  3. Visualizing desirable patient healthcare experiences.

    Science.gov (United States)

    Liu, Sandra S; Kim, Hyung T; Chen, Jie; An, Lingling

    2010-01-01

    High healthcare cost has drawn much attention and healthcare service providers (HSPs) are expected to deliver high-quality and consistent care. Therefore, an intimate understanding of the most desirable experience from a patient's and/or family's perspective as well as effective mapping and communication of such findings should facilitate HSPs' efforts in attaining sustainable competitive advantage in an increasingly discerning environment. This study describes (a) the critical quality attributes (CQAs) of the experience desired by patients and (b) the application of two visualization tools that are relatively new to the healthcare sector, namely the "spider-web diagram" and "promotion and detraction matrix." The visualization tools are tested with primary data collected from telephone surveys of 1,800 patients who had received care during calendar year 2005 at 6 of 61 hospitals within St. Louis, Missouri-based, Ascension Health. Five CQAs were found by factor analysis. The spider-web diagram illustrates that communication and empowerment and compassionate and respectful care are the most important CQAs, and accordingly, the promotion and detraction matrix shows those attributes that have the greatest effect for creating promoters, preventing detractors, and improving consumer's likelihood to recommend the healthcare provider.

  4. Cooperative Learning

    Institute of Scientific and Technical Information of China (English)

    桑莹莹

    2015-01-01

    This paper is about the cooperative learning as a teaching method in a second language learning class. It mainly talks about the background, foundation, features, definitions, components, goals, advantages and disadvantages of cooperative learning. And as the encounter of the disadvantages in cooperative learning, this paper also proposes some strategies.

  5. Microgravity, Mesh-Crawling Legged Robots

    Science.gov (United States)

    Behar, Alberto; Marzwell, Neville; Matthews, Jaret; Richardson, Krandalyn; Wall, Jonathan; Poole, Michael; Foor, David; Rodgers, Damian

    2008-01-01

    The design, fabrication, and microgravity flight-testing are part of a continuing development of palm-sized mobile robots that resemble spiders (except that they have six legs apiece, whereas a spider has eight legs). Denoted SpiderBots (see figure), they are prototypes of proposed product line of relatively inexpensive walking robots that could be deployed in large numbers to function cooperatively in construction, repair, exploration, search, and rescue activities in connection with exploration of outer space and remote planets.

  6. State Estimation for Tensegrity Robots

    Science.gov (United States)

    Caluwaerts, Ken; Bruce, Jonathan; Friesen, Jeffrey M.; Sunspiral, Vytas

    2016-01-01

    Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

  7. Symbiotic multi-robot organisms reliability, adaptability, evolution

    CERN Document Server

    Nakamura, Yoshihiko; Kernbach, Serge

    2010-01-01

    This book examines the evolution of self-organised multicellular structures, and the remarkable transition from unicellular to multicellular life. It shows the way forward in developing new robotic entities that are versatile, cooperative and self-configuring.

  8. Layered learning of soccer robot based on artificial neural network

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Discusses the application of artificial neural network for MIROSOT, introduces a layered model of BP network of soccer robot for learning basic behavior and cooperative behavior, and concludes from experimental results that the model is effective.

  9. 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...

  10. 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...

  11. Collaborative robotic team design and integration

    Science.gov (United States)

    Spofford, John R.; Anhalt, David J.; Herron, Jennifer B.; Lapin, Brett D.

    2000-07-01

    Teams of heterogeneous mobile robots are a key aspect of future unmanned systems for operations in complex and dynamic urban environments, such as that envisions by DARPA's Tactical Mobile Robotics program. Interactions among such team members enable a variety of mission roles beyond those achievable with single robots or homogeneous teams. Key technologies include docking for power and data transfer, marsupial transport and deployment, collaborative team user interface, cooperative obstacle negotiation, distributed sensing, and peer inspection. This paper describes recent results in the integration and evaluation of component technologies within a collaborative system design. Integration considerations include requirement definition, flexible design management, interface control, and incremental technology integration. Collaborative system requirements are derived from mission objectives and robotic roles, and impact system and individual robot design at several levels. Design management is a challenge in a dynamic environment, with rapid evolution of mission objectives and available technologies. The object-oriented system model approach employed includes both software and hardware object representations to enable on- the-fly system and robot reconfiguration. Controlled interfaces among robots include mechanical, behavioral, communications, and electrical parameters. Technologies are under development by several organizations within the TMR program community. The incremental integration and validation of these within the collaborative system architecture reduces development risk through frequent experimental evaluations. The TMR system configuration includes Packbot-Perceivers, Packbot- Effectors, and Throwbots. Surrogates for these robots are used to validate and refine designs for multi-robot interaction components. Collaborative capability results from recent experimental evaluations are presented.

  12. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  13. Discussion of Multi-Robot Exploration in Communication-Limited Environments

    NARCIS (Netherlands)

    Visser, A.; de Hoog, J.; Jiménez-González, A.; Martínez-de Dios, J.R.; Franchi, A.

    2013-01-01

    Many robotics applications benefit from cooperative exploration by multiple robots. Often the environments that they operate in contain significant communication challenges due to their size or complexity. There has been much work in keeping teams of autonomously exploring robots connected to one an

  14. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  15. HUMAN MACHINE COOPERATIVE TELEROBOTICS

    Energy Technology Data Exchange (ETDEWEB)

    William R. Hamel; Spivey Douglass; Sewoong Kim; Pamela Murray; Yang Shou; Sriram Sridharan; Ge Zhang; Scott Thayer; Rajiv V. Dubey

    2003-06-30

    described as Human Machine Cooperative Telerobotics (HMCTR). The HMCTR combines the telerobot with robotic control techniques to improve the system efficiency and reliability in teleoperation mode. In this topical report, the control strategy, configuration and experimental results of Human Machines Cooperative Telerobotics (HMCTR), which modifies and limits the commands of human operator to follow the predefined constraints in the teleoperation mode, is described. The current implementation is a laboratory-scale system that will be incorporated into an engineering-scale system at the Oak Ridge National Laboratory in the future.

  16. Dynamical modelling of coordinated multiple robot systems

    Science.gov (United States)

    Hayati, Samad

    1987-01-01

    The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.

  17. Coordinating robots in water polo matches using modified snowdrift games

    NARCIS (Netherlands)

    Wang, Chen; Wu, Bin; Cao, Ming; Xie, Guangming

    2012-01-01

    One key research topic in the study of coordinating multiple robots is to understand under what conditions the synergy effect emerges. While most of the previous work on cooperative robots confirms the existence of synergy effects, less is known about how to quantify them and more importantly, how t

  18. Theory and Application of Multi-robot Service-oriented Architecture

    Institute of Scientific and Technical Information of China (English)

    Yunfei Cai; Zhenmin Tang; Yuhua Ding; Bin Qian

    2016-01-01

    In order to solve the problem of heterogeneity in multi-robot cooperation,a new service-oriented architecture is proposed for multi-robot cooperation.Service provision and energy consumption are the basic cooperative behaviors.A set of basic concepts of robot service are proposed.A layered multi-robot service-oriented architecture is designed.Finally,the experiments illustrate the superiority of the proposed architecture which makes robot's underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked,which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction,expansion,restructuring and maintenance.

  19. Reducing robotic guidance during robot-assisted gait training improves gait function: a case report on a stroke survivor.

    Science.gov (United States)

    Krishnan, Chandramouli; Kotsapouikis, Despina; Dhaher, Yasin Y; Rymer, William Z

    2013-06-01

    To test the feasibility of patient-cooperative robotic gait training for improving locomotor function of a chronic stroke survivor with severe lower-extremity motor impairments. Single-subject crossover design. Performed in a controlled laboratory setting. A 62-year-old man with right temporal lobe ischemic stroke was recruited for this study. The baseline lower-extremity Fugl-Meyer score of the subject was 10 on a scale of 34, which represented severe impairment in the paretic leg. However, the subject had a good ambulation level (community walker with the aid of a stick cane and ankle-foot orthosis) and showed no signs of sensory or cognitive impairments. The subject underwent 12 sessions (3 times per week for 4wk) of conventional robotic training with the Lokomat, where the robot provided full assistance to leg movements while walking, followed by 12 sessions (3 times per week for 4wk) of patient-cooperative robotic control training, where the robot provided minimal guidance to leg movements during walking. Clinical outcomes were evaluated before the start of the intervention, immediately after 4 weeks of conventional robotic training, and immediately after 4 weeks of cooperative control robotic training. These included: (1) self-selected and fast walking speed, (2) 6-minute walk test, (3) Timed Up & Go test, and (4) lower-extremity Fugl-Meyer score. Results showed that clinical outcomes changed minimally after full guidance robotic training, but improved considerably after 4 weeks of reduced guidance robotic training. The findings from this case study suggest that cooperative control robotic training is superior to conventional robotic training and is a feasible option to restoring locomotor function in ambulatory stroke survivors with severe motor impairments. A larger trial is needed to verify the efficacy of this advanced robotic control strategy in facilitating gait recovery after stroke. Copyright © 2013 American Congress of Rehabilitation Medicine

  20. 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...

  1. In the Hands of Service Robots

    DEFF Research Database (Denmark)

    Peronard, Jean-Paul

    The development in high technology and the globalizations of markets creates reel opportunity for service providers to introduce service robots to the consumer market. Unfortunately, little consideration has been given how robots may be commercialized for the mass market (Blackman, 2013). While...... the benefits of applying robots in professional service e.g. healthcare are extensive, the research into consumer motivation is limited. There is a need for a greater understanding of the individual differences in beliefs and perception in relation to service technology in general and in particular for service...... robots. Therefore, this article proposes a general typology of consumer attitudes and expectations towards service robots. Four types of values are identified and labelled critical, practical, affectionate, and desirable. Based on these values four consumer types are then theoretically develop and may...

  2. In the Hands of Service Robots

    DEFF Research Database (Denmark)

    Peronard, Jean-Paul

    The development in high technology and the globalizations of markets creates reel opportunity for service providers to introduce service robots to the consumer market. Unfortunately, little consideration has been given how robots may be commercialized for the mass market (Blackman, 2013). While...... robots. Therefore, this article proposes a general typology of consumer attitudes and expectations towards service robots. Four types of values are identified and labelled critical, practical, affectionate, and desirable. Based on these values four consumer types are then theoretically develop and may...... the benefits of applying robots in professional service e.g. healthcare are extensive, the research into consumer motivation is limited. There is a need for a greater understanding of the individual differences in beliefs and perception in relation to service technology in general and in particular for service...

  3. 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.

  4. Hybrid Force Motion Synchronization Control of Robot Manipulators

    OpenAIRE

    Fikkan, Kristoffer

    2010-01-01

    The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused...

  5. Dynamic Trajectory Generation for Serial Elastic Actuated Robots

    OpenAIRE

    Petit, Florian; Lakatos, Dominic; Friedl, Werner; Albu-Schäffer, Alin

    2012-01-01

    Robotic systems can benefit from the introduction of properly chosen joint elasticity. Besides their robustness against rigid impact, the energy saving capabilities may increase the system dynamics. In this paper, a method applicable for robots with serial elastic joints is presented, which embodies a desired oscillatory behavior into the hardware and thereby leads to improved performance. This is achieved by shaping the flexible joint robot as a linear onemode system and embodying the nat...

  6. The walking robot project

    Science.gov (United States)

    Williams, P.; Sagraniching, E.; Bennett, M.; Singh, R.

    1991-01-01

    A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight.

  7. Research on Multirobot Pursuit Task Allocation Algorithm Based on Emotional Cooperation Factor

    OpenAIRE

    Baofu Fang; Lu Chen; Hao Wang; Shuanglu Dai; Qiubo Zhong

    2014-01-01

    Multirobot task allocation is a hot issue in the field of robot research. A new emotional model is used with the self-interested robot, which gives a new way to measure self-interested robots’ individual cooperative willingness in the problem of multirobot task allocation. Emotional cooperation factor is introduced into self-interested robot; it is updated based on emotional attenuation and external stimuli. Then a multirobot pursuit task allocation algorithm is proposed, which is based on em...

  8. 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.

  9. [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.

  10. [History of robotics: from archytas of tarentum until Da Vinci robot. (Part II)].

    Science.gov (United States)

    Sánchez-Martín, F M; Jiménez Schlegl, P; Millán Rodríguez, F; Salvador-Bayarri, J; Monllau Font, V; Palou Redorta, J; Villavicencio Mavrich, H

    2007-03-01

    Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued for more than 4000 years. Archytas of Tarentum (at around 400 a.C.), Heron of Alexandria, Hsieh-Fec, Al-Jazari, Bacon, Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors. At 1942 Asimov published the three robotics laws. Mechanics, electronics and informatics advances at XXth century developed robots to be able to do very complex self governing works. At 1985 the robot PUMA 560 was employed to introduce a needle inside the brain. Later on, they were designed surgical robots like World First, Robodoc, Gaspar o Acrobot, Zeus, AESOP, Probot o PAKI-RCP. At 2000 the FDA approved the da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons. Currently urological procedures like prostatectomy, cystectomy and nephrectomy are performed with the da Vinci, so urology has become a very suitable speciality to robotic surgery.

  11. Desirable Skills in New Pharmacists.

    Science.gov (United States)

    O'Brien, Catherine E; Flowers, Schwanda K; Stowe, Cindy D

    2017-02-01

    To compare survey responses between licensed pharmacists who work with or employ new graduates and graduating senior pharmacy students at a college of pharmacy. This was a retrospective analysis of surveys given to 2 groups of pharmacists and students. Responses to items regarding importance of desirable qualities in new pharmacists and level of preparation of new graduates were analyzed. Qualities included drug information, pharmacology, therapeutics, communication with patients/customers or health care professionals, professionalism, ethics, management, and conflict resolution. There was consensus between pharmacists and students regarding the importance of all items ( P > .05 for all comparisons). However, the percentage of pharmacists versus students who agreed that new graduates communicate effectively differed (86.7% vs 100%, respectively, P communication as the 1 skill that would distinguish an applicant, and retail and hospital pharmacists displayed a statistically significant ( P skills essential for pharmacy practice but disagree on the level of preparation for effective communication. These results support ongoing efforts to improve the development of communication skills in the professional pharmacy curriculum.

  12. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an ass

  13. Robot Formations Using Only Local Sensing and Control

    DEFF Research Database (Denmark)

    Fredslund, Jacob; Mataric, Maja J.

    2001-01-01

    , behaviorbased algorithm that solves the problem for N robots each equipped with sonar, laser, camera, and a radio link for communicating with other robots. The method uses the idea of keeping a single friend at a desired angle (by panning the camera and keeping the friend centered in the image), and only...

  14. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an

  15. Parametric uncertain identification of a robotic system

    Science.gov (United States)

    Angel, L.; Viola, J.; Hernández, C.

    2016-07-01

    This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS / MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.

  16. Cooperative Path-Planning for Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Qichen Wang

    2014-11-01

    Full Text Available In this paper, we propose a collision avoidance algorithm for multi-vehicle systems, which is a common problem in many areas, including navigation and robotics. In dynamic environments, vehicles may become involved in potential collisions with each other, particularly when the vehicle density is high and the direction of travel is unrestricted. Cooperatively planning vehicle movement can effectively reduce and fairly distribute the detour inconvenience before subsequently returning vehicles to their intended paths. We present a novel method of cooperative path planning for multi-vehicle systems based on reinforcement learning to address this problem as a decision process. A dynamic system is described as a multi-dimensional space formed by vectors as states to represent all participating vehicles’ position and orientation, whilst considering the kinematic constraints of the vehicles. Actions are defined for the system to transit from one state to another. In order to select appropriate actions whilst satisfying the constraints of path smoothness, constant speed and complying with a minimum distance between vehicles, an approximate value function is iteratively developed to indicate the desirability of every state-action pair from the continuous state space and action space. The proposed scheme comprises two phases. The convergence of the value function takes place in the former learning phase, and it is then used as a path planning guideline in the subsequent action phase. This paper summarizes the concept and methodologies used to implement this online cooperative collision avoidance algorithm and presents results and analysis regarding how this cooperative scheme improves upon two baseline schemes where vehicles make movement decisions independently.

  17. KALI - An environment for the programming and control of cooperative manipulators

    Science.gov (United States)

    Hayward, Vincent; Hayati, Samad

    1988-01-01

    A design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.

  18. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

    Science.gov (United States)

    Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M.; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T.J.

    2010-01-01

    In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted. PMID:22294927

  19. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

    Directory of Open Access Journals (Sweden)

    Aníbal Ollero

    2010-03-01

    Full Text Available In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites, a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

  20. LocoKit - A Construction Kit for Exploration of Morphology of Legged Robots

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian; Støy, Kasper

    2011-01-01

    Producing steady stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain is a big challenge in robotics. In addressing this challenge, it is often desirable to experiment with different morphologies and see how they influence on the way the robot walks....... This is however not always easy, since robots are often built as a fixed system with a limited possibility of changing the morphology without redesign a significant part of the robot. This work is focusing on the creation of a robotic construction kit specifically aimed at easing the process of constructing...... legged robots. This is accomplished by giving the creator the possibility to easily do morphological changes to the robot even after it have been build, to see how it effects the robot?s ability to walk in unknown terrain....

  1. Sexual Desire and Hormonal Contraception

    Science.gov (United States)

    Boozalis, Amanda; Tutlam, Nhial T.; Robbins, Camaryn Chrisman; Peipert, Jeffrey F.

    2015-01-01

    Objective To examine the effect of hormonal contraception on sexual desire. Materials and Methods We performed a cross-sectional analysis of 1,938 of the 9,256 participants enrolled in the Contraceptive CHOICE Project. This subset included participants enrolled between April and September 2011 who completed a baseline and six-month telephone survey. Multivariable logistic regression was used to assess the association between contraceptive method and report of lacking interest in sex, controlling for potential confounding variables. Results More than one in five participants (23.9%) reported lacking interest in sex at 6 months after initiating a new contraceptive method. Of 262 copper IUD users (referent group), 18.3% reported lacking interest in sex. Our primary outcome was more prevalent in women who are young (copper IUD users, participants using depot medroxyprogesterone (ORadj=2.61, 95% confidence interval (CI)=1.47-4.61), the vaginal ring (ORadj=2.53, 95% CI=1.37-4.69), and the implant (ORadj=1.60, 95% CI=1.03-2.49) more commonly reported lack of interest in sex. We found no association between use of the hormonal IUD, oral contraceptive pill, and patch and lack of interest in sex. Conclusion CHOICE participants using depot medroxyprogesterone acetate, the contraceptive ring, and implant were more likely to report a lack of interest in sex compared to copper IUD users. Future research should confirm these findings and their possible physiological basis. Clinicians should be reassured that most women do not experience reduced sex drive with the use of most contraceptive methods. PMID:26855094

  2. 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.

  3. Electroactive Polymer (EAP) Actuators for Future Humanlike Robots

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

    Human-like robots are increasingly becoming an engineering reality thanks to recent technology advances. These robots, which are inspired greatly by science fiction, were originated from the desire to reproduce the human appearance, functions and intelligence and they may become our household appliance or even companion. The development of such robots is greatly supported by emerging biologically inspired technologies. Potentially, electroactive polymer (EAP) materials are offering actuation capabilities that allow emulating the action of our natural muscles for making such machines perform lifelike. There are many technical issues related to making such robots including the need for EAP materials that can operate as effective actuators. Beside the technology challenges these robots also raise concerns that need to be addressed prior to forming super capable robots. These include the need to prevent accidents, deliberate harm, or their use in crimes. In this paper, the potential EAP actuators and the challenges that these robots may pose will be reviewed.

  4. Minimizing Hexapod Robot Foot Deviations Using Multilayer Perceptron

    Directory of Open Access Journals (Sweden)

    Vytautas Valaitis

    2015-12-01

    Full Text Available Rough-terrain traversability is one of the most valuable characteristics of walking robots. Even despite their slower speeds and more complex control algorithms, walking robots have far wider usability than wheeled or tracked robots. However, efficient movement over irregular surfaces can only be achieved by eliminating all possible difficulties, which in many cases are caused by a high number of degrees of freedom, feet slippage, frictions and inertias between different robot parts or even badly developed inverse kinematics (IK. In this paper we address the hexapod robot-foot deviation problem. We compare the foot-positioning accuracy of unconfigured inverse kinematics and Multilayer Perceptron-based (MLP methods via theory, computer modelling and experiments on a physical robot. Using MLP-based methods, we were able to significantly decrease deviations while reaching desired positions with the hexapod’s foot. Furthermore, this method is able to compensate for deviations of the robot arising from any possible reason.

  5. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

  6. Alternate Location Method of a Robot Team in Unknown Environment

    Institute of Scientific and Technical Information of China (English)

    WANG Jian-zhong; LIU Jing-jing

    2008-01-01

    The alternate location method of a robot team is proposed. Three of the robots are kept still as beacon robots, not always the same ones, while the others are regarded as mobile robots. The mobile robots alternatively measure the distance between one of them and three beacon robots with ultrasonic measurement module. The distance data are combined with its dead-reckoning information using iterated extended Kalman filter(IEKF) to realize the optimal estimate of its position. According to the condition the future beacon robots positions should be desired ones, the target function and the nonlinear constrain equations are set up which are used by nonlinear optimization algorithm to estimate the position of the future beacon robots. By alternately changing the robots roles as active beacon, the alternate location in unknown environment can be realized. Process and result of the simulation test are given and the position estimation error is within±10mm, which proves the validity of this method.

  7. Multiple impedance control of space free-flying robots via virtual linkages

    Science.gov (United States)

    Rastegari, Rambod; Moosavian, S. Ali A.

    2010-03-01

    Multiple impedance control (MIC) is a Model-Based algorithm that enforces a designated impedance on all cooperating manipulators, the manipulated object, and the moving base if applied on a mobile robotic system such as a space free flying robotic system. The MIC can be properly applied to manipulate a grasped object, and move it on a desired path. However, during such maneuvers, some inner forces and torques are usually produced in the object. For tuning the inner object forces, it is needed to model the inner forces/torques or their effects on the object. In this paper, a virtual linkage model is introduced to determine the inner forces using the MIC law. Also, the load distribution among the end-effectors is modeled. To this end, the MIC law is used to control both path tracking and inner forces tuning when manipulating an object. The moving object is grasped solidly with two 6 degrees of freedom (DOF) cooperating end-effectors mounted on a 6 DOF spacecraft appended with a 2 DOF antenna. An explicit dynamics model of this highly complicated 20 DOF system is derived using SPACEMAPLE, and then simulated in MATLAB. The obtained results reveal good tracking performance of the proposed MIC controller, besides tuning the object internal forces due to tension or compression forces, also torsion and bending moments.

  8. 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.

  9. Industrial Robots For Measurement And Inspection Purposes

    Science.gov (United States)

    Ahlers, R.-J.

    1989-02-01

    The use of industrial robots for measuring and testing is becoming increasingly significant as a component of flexible production. In the early stages of their development robots were used mainly for monotonous and repetitive tasks such as handling and spot welding. Thanks to improvements in the precision with which they work and also in control and regulation technologies, it is possible today to employ robots as flexible, sensor-assisted and even "intellligent" tools for measuring and testing. As a result, however, much higher accuracy is demanded of the robots used for such purposes. In addition, robot measurement and acceptance test requirements have become more exacting. The present paper is based on recommendations that have been developed by cooperative work of the Association of German-Engineers (VDI/GMA). The appropriate working group is entitled "Industrial Robots -Measurement and Inspection". The author is the chairman of this working group. Apart from the technical equipment involved, the use of industrial robots for measuring purposes also calls for the devi-sing and programming of appropriate measuring strategies. In this context the planning and implementation of measuring projects have to be discussed along with software reliability and on-line/off-line programming strategies. Four different utilizations of robots for measuring and testing are presented and illustrated by examples.

  10. Pleasure/Desire, Sexularism and Sexuality Education

    Science.gov (United States)

    Rasmussen, Mary Louise

    2012-01-01

    Pleasure and desire have been important components of researchers' vision for sexuality education for over 20 years, a trend inspired by Michelle Fine's seminal paper, "Sexuality, Schooling, and Adolescent Females: The Missing Discourse of Desire." This essay considers how discourses related to pleasure and desire have been taken up in the USA and…

  11. Pleasure/Desire, Sexularism and Sexuality Education

    Science.gov (United States)

    Rasmussen, Mary Louise

    2012-01-01

    Pleasure and desire have been important components of researchers' vision for sexuality education for over 20 years, a trend inspired by Michelle Fine's seminal paper, "Sexuality, Schooling, and Adolescent Females: The Missing Discourse of Desire." This essay considers how discourses related to pleasure and desire have been taken up in the USA and…

  12. [How does summer affect sexual desire?].

    Science.gov (United States)

    Kontula, Osmo; Väisälä, Leena

    2013-01-01

    Sexual desire involves many different things such as sexual thoughts and images, excitement, expectation and orgasm. Mood has a strong association with sexual desire. Fatigue and depression in particular cause lack of sexual desire. By affecting the state of alertness and energy in humans, sunlight may increase sexual activity.

  13. MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

    Directory of Open Access Journals (Sweden)

    Kiattisin Kanjanawanishkul

    2015-01-01

    Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

  14. 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.

  15. 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.

  16. 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

  17. 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.

  18. Serendipitous Offline Learning in a Neuromorphic Robot.

    Science.gov (United States)

    Stewart, Terrence C; Kleinhans, Ashley; Mundy, Andrew; Conradt, Jörg

    2016-01-01

    We demonstrate a hybrid neuromorphic learning paradigm that learns complex sensorimotor mappings based on a small set of hard-coded reflex behaviors. A mobile robot is first controlled by a basic set of reflexive hand-designed behaviors. All sensor data is provided via a spike-based silicon retina camera (eDVS), and all control is implemented via spiking neurons simulated on neuromorphic hardware (SpiNNaker). Given this control system, the robot is capable of simple obstacle avoidance and random exploration. To train the robot to perform more complex tasks, we observe the robot and find instances where the robot accidentally performs the desired action. Data recorded from the robot during these times is then used to update the neural control system, increasing the likelihood of the robot performing that task in the future, given a similar sensor state. As an example application of this general-purpose method of training, we demonstrate the robot learning to respond to novel sensory stimuli (a mirror) by turning right if it is present at an intersection, and otherwise turning left. In general, this system can learn arbitrary relations between sensory input and motor behavior.

  19. Robotic Milking Implementation in the Sverdlovsk Region

    Directory of Open Access Journals (Sweden)

    Egor Artyomovich Skvortcov

    2017-03-01

    Full Text Available The research topic is relevant due to a high rate of the implementation of milking robots (automatic milking system, AMS in Western Europe and in the Middle Urals. As of January 1, 2016, 21 milking robot systems of six different brands of foreign production were installed in the region. Milking robotics is used in small, medium and large enterprises (by the number of personnel, in contrast to Western Europe, where it is mainly used on the farms of family type. The article examines the socioeconomic causes of the introduction of robotics, as well as the impact of the use of robots to the economic indicators of milk production. The expert survey has revealed as the main reasons for the introduction of robotics, a desire to reduce the risks of personnel (45.5 % and a shortage of staff (18.2 %. The analysis of the utilization efficiency of fixed assets in all organizations introduced robots has shown both a decrease of capital productivity after the introduction of milking robots for 15–60 % or more, and the reduce of the profit rate in 9 out of 11 of the analysed organizations because of the high capital intensity of robotics projects. The analysis of labour indicators and the net cost of milk is carried out in 45.5 % of organizations, where we have obtained the consistent results of the use of robotics. The authors have analysed the direct costs for the production of 1 quintal of milk. In a group of 5 companies, on a robotic farm, it is 5.1 % lower than in a conventional farm. The complexity of the production of milk on a robotic farm is lower by 48.7 %, and labour productivity per person is higher on 95.3 % than on conventional farms. The results of the study can be used as the recommendations for agricultural organizations to use robotics milking to reduce the deficit of staff and to minimize the impact of personnel risks on production results. The growth of the importance of the reasons for the introduction of milking robots and a high

  20. 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.

  1. Dynamic Coordination Of A Two-Arm Robotic Manipulator

    Science.gov (United States)

    Lee, Sukhan; Kim, Sungbok

    1994-01-01

    Report presents study of dynamical and kinematical considerations guiding selection of configuration of self-reconfigurable, two-arm robotic manipulator. Two multiple-link arms cooperate in manipulating single object, reconfiguring their mutual, cooperative structure according to changing task requirements.

  2. Desire on and off the couch.

    Science.gov (United States)

    Friedberg, Ahron L

    2013-03-01

    The concept of desire is potentially useful and underutilized for elucidating and understanding psychoanalytic material and informing psychoanalytic technique. It can be employed as a lens for viewing and clarifying diverse clinical phenomenon and other mental productions. One way of defining desire as a conceptual framework as applied to psychoanalytic theory is to refract it into three components: (1) love (emotional desire), (2) sex (physical desire), and (3) passion (other manifestations of desire). These different aspects of desire are manifest in and of themselves and as enhancements of one another. Focusing on each of them as manifest in the transference/countertransference relationship in analysis can facilitate a patient becoming more aware of psychological conflicts and working them through in analysis. This paper presents and discusses a case study in which these different aspects of desire are employed and analyzed.

  3. Desire thinking as a predictor of gambling.

    Science.gov (United States)

    Fernie, Bruce A; Caselli, Gabriele; Giustina, Lucia; Donato, Gilda; Marcotriggiani, Antonella; Spada, Marcantonio M

    2014-04-01

    Desire thinking is a voluntary cognitive process involving verbal and imaginal elaboration of a desired target. A desired target can relate to an object, an internal state or an activity, such as gambling. This study investigated the role of desire thinking in gambling in a cohort of participants recruited from community and clinical settings. Ninety five individuals completed a battery of self-report measures consisting of the Hospital Anxiety and Depression Scale (HADS), the Gambling Craving Scale (GCS), the Desire Thinking Questionnaire (DTQ) and the South Oaks Gambling Screen (SOGS). Correlation analyses revealed that gender, educational level, recruitment source, anxiety and depression, craving and desire thinking were correlated with gambling. A hierarchical multiple regression analysis revealed that both recruitment source and desire thinking were the only independent predictors of gambling when controlling for all other study variables, including craving. These findings are discussed in the light of metacognitive therapy (MCT).

  4. Navigation Method for Autonomous Robots in a Dynamic Indoor Environment

    Directory of Open Access Journals (Sweden)

    Stanislav Věchet

    2013-11-01

    Full Text Available The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers. For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders.

  5. 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

  6. 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...

  7. 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...

  8. RESEARCH ON JUMPING SEQUENCE PLANNING ISSUES OF HOPPING ROBOTS

    Institute of Scientific and Technical Information of China (English)

    LIUZhuang-zhi; ZHUJian-ying

    2004-01-01

    The wheeled or crawled robots often suffer from big obstacles or ditches, so a hopping robot needs to fit the tough landform in the field environments. In order to jump over obstacles rapidly, a jumping sequence must be generated based on the landform information from sensors or user input. The planning method for planar mobile robots is compared with that of hopping robots. Several factors can change the planning result. Adjusting these coefficients, a heuristic searching algorithm for the jumping sequence is developed on a simplified landform. Calculational result indicates that the algorithm can achieve safety and efficient control sequences for a desired goal.

  9. Self-organization, embodiment, and biologically inspired robotics.

    Science.gov (United States)

    Pfeifer, Rolf; Lungarella, Max; Iida, Fumiya

    2007-11-16

    Robotics researchers increasingly agree that ideas from biology and self-organization can strongly benefit the design of autonomous robots. Biological organisms have evolved to perform and survive in a world characterized by rapid changes, high uncertainty, indefinite richness, and limited availability of information. Industrial robots, in contrast, operate in highly controlled environments with no or very little uncertainty. Although many challenges remain, concepts from biologically inspired (bio-inspired) robotics will eventually enable researchers to engineer machines for the real world that possess at least some of the desirable properties of biological organisms, such as adaptivity, robustness, versatility, and agility.

  10. A Novel Navigation Algorithm for Hexagonal Hexapod Robot

    Directory of Open Access Journals (Sweden)

    Mohiuddin Ahmed

    2010-01-01

    Full Text Available Problem statement: Wheeled robots are not very well suited for navigation over uneven terrains. Hexapod robots have some advantages over wheeled robots when negotiating and navigating on rugged terrain. Approach: Different gaits of hexapods can be developed for different kinds of locomotion and obstacle avoidance. Results: In this research a novel algorithm has been developed for hexapod robots navigation. Conclusion: Implementation of the developed algorithm on a hexapod prototype showed desirable performance in terms of stable navigation with simultaneous gait transition over different terrains.

  11. Integrated multi-sensory control of space robot hand

    Science.gov (United States)

    Bejczy, A. K.; Kan, E. P.; Killion, R. R.

    1985-01-01

    Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).

  12. Mathematical Modeling and Analysis of Multirobot Cooperative Hunting Behaviors

    Directory of Open Access Journals (Sweden)

    Yong Song

    2015-01-01

    Full Text Available This paper presents a mathematical model of multirobot cooperative hunting behavior. Multiple robots try to search for and surround a prey. When a robot detects a prey it forms a following team. When another “searching” robot detects the same prey, the robots form a new following team. Until four robots have detected the same prey, the prey disappears from the simulation and the robots return to searching for other prey. If a following team fails to be joined by another robot within a certain time limit the team is disbanded and the robots return to searching state. The mathematical model is formulated by a set of rate equations. The evolution of robot collective hunting behaviors represents the transition between different states of robots. The complex collective hunting behavior emerges through local interaction. The paper presents numerical solutions to normalized versions of the model equations and provides both a steady state and a collaboration ratio analysis. The value of the delay time is shown through mathematical modeling to be a strong factor in the performance of the system as well as the relative numbers of the searching robots and the prey.

  13. Fuzzy Control for Food Agricultural Robotics of a Degree

    Directory of Open Access Journals (Sweden)

    Lepeng Song

    2014-02-01

    Full Text Available In this study, we have a research of the fuzzy control for food agricultural robotics of a degree. Weeding robots can replace humans weeding activities, since the control system with nonlinear, robustness and a series of complex time-varying characteristics of the traditional PID control of the food agricultural robot end of the operation control effect cannot achieve the desired results, therefore, the design for the traditional use of classical PID control algorithm to control the food agricultural robot end of the operation of a series of drawbacks, combining cutting-edge control theory, fuzzy rule-based adaptive PID control strategy to control the entire system, so as to achieve the desired control effect. Experimental results show that the fuzzy adaptive PID control method for robot end postural control has better adaptability and track-ability.

  14. Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

    Science.gov (United States)

    Goddard, Charles O.

    2012-01-01

    Teleoperation of robots in space from Earth has historically been dfficult. Speed of light delays make direct joystick-type control infeasible, so it is desirable to command a robot in a very high-level fashion. However, in order to provide such an interface, knowledge of what objects are in the robot's environment and how they can be interacted with is required. In addition, many tasks that would be desirable to perform are highly spatial, requiring some form of six degree of freedom input. These two issues can be combined, allowing the user to assist the robot's perception by identifying the locations of objects in the scene. The zSpace system, a virtual holographic environment, provides a virtual three-dimensional space superimposed over real space and a stylus tracking position and rotation inside of it. Using this system, a possible interface for this sort of robot control is proposed.

  15. 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

  16. 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

  17. Series Elastic Actuators for legged robots

    Science.gov (United States)

    Pratt, Jerry E.; Krupp, Benjamin T.

    2004-09-01

    Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better." A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke"s Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Actuators that have been developed using both electric and hydraulic components.

  18. Spectral Control of Mobile Robot Networks

    CERN Document Server

    Zavlanos, Michael M; Jadbabaie, Ali

    2010-01-01

    The eigenvalue spectrum of the adjacency matrix of a network is closely related to the behavior of many dynamical processes run over the network. In the field of robotics, this spectrum has important implications in many problems that require some form of distributed coordination within a team of robots. In this paper, we propose a continuous-time control scheme that modifies the structure of a position-dependent network of mobile robots so that it achieves a desired set of adjacency eigenvalues. For this, we employ a novel abstraction of the eigenvalue spectrum by means of the adjacency matrix spectral moments. Since the eigenvalue spectrum is uniquely determined by its spectral moments, this abstraction provides a way to indirectly control the eigenvalues of the network. Our construction is based on artificial potentials that capture the distance of the network's spectral moments to their desired values. Minimization of these potentials is via a gradient descent closed-loop system that, under certain convex...

  19. 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…

  20. 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…

  1. 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...

  2. 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...

  3. Ubiquitous Robotic Technology for Smart Manufacturing System.

    Science.gov (United States)

    Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

    2016-01-01

    As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  4. Ubiquitous Robotic Technology for Smart Manufacturing System

    Directory of Open Access Journals (Sweden)

    Wenshan Wang

    2016-01-01

    Full Text Available As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  5. Hierarchical Robot Control In A Multisensor Environment

    Science.gov (United States)

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

    1987-03-01

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

  6. Compact Dexterous Robotic Hand

    Science.gov (United States)

    Lovchik, Christopher Scott (Inventor); Diftler, Myron A. (Inventor)

    2001-01-01

    A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

  7. MARS: An Educational Environment for Multiagent Robot Simulations

    Directory of Open Access Journals (Sweden)

    Marco Casini

    2016-01-01

    Full Text Available Undergraduate robotics students often find it difficult to design and validate control algorithms for teams of mobile robots. This is mainly due to two reasons. First, very rarely, educational laboratories are equipped with large teams of robots, which are usually expensive, bulky, and difficult to manage and maintain. Second, robotics simulators often require students to spend much time to learn their use and functionalities. For this purpose, a simulator of multiagent mobile robots named MARS has been developed within the Matlab environment, with the aim of helping students to simulate a wide variety of control algorithms in an easy way and without spending time for understanding a new language. Through this facility, the user is able to simulate multirobot teams performing different tasks, from cooperative to competitive ones, by using both centralized and distributed controllers. Virtual sensors are provided to simulate real devices. A graphical user interface allows students to monitor the robots behaviour through an online animation.

  8. The cost of probabilistic gathering in oblivious robot networks

    CERN Document Server

    Clement, Julien; Potop-Butucaru, Maria Gradinariu; Messika, Stephane

    2008-01-01

    In this paper we address the complexity issues of two agreement problems in oblivious robot networks namely gathering and scattering. These abstractions are fundamental coordination problems in cooperative mobile robotics. Moreover, their oblivious characteristics makes them appealing for self-stabilization since they are self-stabilizing with no extra-cost. Given a set of robots with arbitrary initial location and no initial agreement on a global coordinate system, gathering requires that all robots reach the exact same but not predetermined location while scattering aims at scatter robots such that no two robots share the same location. Both deterministic gathering and scattering have been proved impossible under arbitrary schedulers therefore probabilistic solutions have been recently proposed. The contribution of this paper is twofold. First, we propose a detailed complexity analysis of the existent probabilistic gathering algorithms in both fault-free and fault-prone environments. We consider both crash ...

  9. New trends in medical and service robots challenges and solutions

    CERN Document Server

    Pisla, Doina; Bleuler, Hannes

    2014-01-01

    This volume describes new frontiers in medical and service robotics in the light of recent developments in technology to advance robot design and implementation. In particular, the work looks at advances in design, development and implementation of contemporary surgical, rehabilitation and biorobots. Surgical robots allow surgeons greater access to areas under operation using more precise and less invasive methods. Rehabilitation robots facilitate and support the lives of the infirm, elderly people, or those with dysfunction of body parts affecting movement. These robots are also used for rehabilitation and related procedures, such as training and therapy. Biorobots are designed to imitate the cognition of humans and animals. The need to substitute humans working on delicate, tiresome and monotonous tasks, or working with potentially health-damaging toxic materials, requires intelligent, high-performance service robots with the ability to cooperate, advanced communication and sophisticated perception and cogn...

  10. Towards Bio-Inspired Chromatic Behaviours in Surveillance Robots

    Directory of Open Access Journals (Sweden)

    Sampath Kumar Karutaa Gnaniar

    2016-09-01

    Full Text Available The field of Robotics is ever growing at the same time as posing enormous challenges. Numerous works has been done in biologically inspired robotics emulating models, systems and elements of nature for the purpose of solving traditional robotics problems. Chromatic behaviours are abundant in nature across a variety of living species to achieve camouflage, signaling, and temperature regulation. The ability of these creatures to successfully blend in with their environment and communicate by changing their colour is the fundamental inspiration for our research work. In this paper, we present dwarf chameleon inspired chromatic behaviour in the context of an autonomous surveillance robot, “PACHONDHI”. In our experiments, we successfully validated the ability of the robot to autonomously change its colour in relation to the terrain that it is traversing for maximizing detectability to friendly security agents and minimizing exposure to hostile agents, as well as to communicate with fellow cooperating robots.

  11. 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)

  12. 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...

  13. 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

  14. 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...

  15. 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.

  16. Behavior-Based Formation Control of Swarm Robots

    Directory of Open Access Journals (Sweden)

    Dongdong Xu

    2014-01-01

    Full Text Available Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments.

  17. Towards Coordination and Control of Multi-robot Systems

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt

    This thesis focuses on control and coordination of mobile multi-robot systems (MRS). MRS can often deal with tasks that are difficult to be accomplished by a single robot. One of the challenges is the need to control, coordinate and synchronize the operation of several robots to perform some...... specified task. This calls for new strategies and methods which allow the desired system behavior to be specified in a formal and succinct way. Two different frameworks for the coordination and control of MRS have been investigated. Framework I - A network of robots is modeled as a network of multi......-modal hybrid automata. The notion of bisimulations is used to abstract robots in the network. The result is a network of interacting timed automata which allows coordination among the robots and timing constraints to be considered. The model checker UPPAAL is used for formal symbolic model checking against...

  18. Google glass-based remote control of a mobile robot

    Science.gov (United States)

    Yu, Song; Wen, Xi; Li, Wei; Chen, Genshe

    2016-05-01

    In this paper, we present an approach to remote control of a mobile robot via a Google Glass with the multi-function and compact size. This wearable device provides a new human-machine interface (HMI) to control a robot without need for a regular computer monitor because the Google Glass micro projector is able to display live videos around robot environments. In doing it, we first develop a protocol to establish WI-FI connection between Google Glass and a robot and then implement five types of robot behaviors: Moving Forward, Turning Left, Turning Right, Taking Pause, and Moving Backward, which are controlled by sliding and clicking the touchpad located on the right side of the temple. In order to demonstrate the effectiveness of the proposed Google Glass-based remote control system, we navigate a virtual Surveyor robot to pass a maze. Experimental results demonstrate that the proposed control system achieves the desired performance.

  19. A Social Desirability Questionnaire for Young Children

    Science.gov (United States)

    Ford, LeRoy H., Jr.; Rubin, Barry M.

    1970-01-01

    A Young Children's Social Desirability Scale based on the MMPI was constructed and administered to nursery school children. Results showed that social desirability scores increased with age, showed a low positive relationship to picture vocabularly IQ, and were unrelated to sex in a high socieconomic sample. (KJ)

  20. Object of desire self-consciousness theory.

    Science.gov (United States)

    Bogaert, Anthony F; Brotto, Lori A

    2014-01-01

    In this article, the authors discuss the construct of object of desire self-consciousness, the perception that one is romantically and sexually desirable in another's eyes. The authors discuss the nature of the construct, variations in its expression, and how it may function as part of a self-schemata or script related to romance and sexuality. The authors suggest that object of desire self-consciousness may be an adaptive, evolved psychological mechanism allowing sexual and romantic tactics suitable to one's mate value. The authors also suggest that it can act as a signal that one has high mate value in the sexual marketplace. The authors then review literature (e.g., on fantasies, on sexual activity preferences, on sexual dysfunctions, on language) suggesting that object of desire self-consciousness plays a particularly important role in heterosexual women's sexual/romantic functioning and desires.

  1. 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...

  2. DESIGN OF ROBOTIC COLONIZER CONTROL SYSTEM FOR AQUEOUS ENVIRONMENT

    Directory of Open Access Journals (Sweden)

    C.VENKATESH

    2013-05-01

    Full Text Available Now a days there is a huge interest on underwater communication systems for various applications in order to explore aqueous environments. Intelligent robots and cooperative multi- agent robotic systems can be very efficient tools to speed up search and research operations in remote areas. Robots are also useful to do jobs inareas and in situations that are hazardous for human, they can go anywhere that is not reachable my humans and can go into gaps and move trough small holes that are impossible for humans and even trained dogs. in this paper, a wireless underwater mobile robot system is designed in order to study the behavior of artemia group. anew idea has been presented for underwater mobile robot system which is consists of two parts, first is the underwater mechanical robot and the second is ZigBee wireless based mobile robot which controls and moves the first part. by this system different patterns motion control (linear, circular, zigzag, etc. has been performed and proved the ability to control group of robot by controlling the group of artemia and monitoring the underwater mobile robot control with the help of water proof RF wireless camera and also explore the details present around the mobile robot

  3. 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.

  4. A fuzzy logic controller for an autonomous mobile robot

    Science.gov (United States)

    Yen, John; Pfluger, Nathan

    1993-01-01

    The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

  5. A remote integrated testbed for cooperating objects

    CERN Document Server

    Dios, Jose Ramiro Martinez-de; Bernabe, Alberto de San; Ollero, Anibal

    2013-01-01

    Testbeds are gaining increasing relevance in research domains and also in industrial applications. However, very few books devoted to testbeds have been published. To the best of my knowledge no book on this topic has been published. This book is particularly interesting for the growing community of testbed developers. I believe the book is also very interesting for researchers in robot-WSN cooperation.This book provides detailed description of a system that can be considered the first testbed that allows full peer-to-peer interoperability between heterogeneous robots and ubiquitous systems su

  6. Cooperative sentry vehicles and differential GPS leapfrog

    Energy Technology Data Exchange (ETDEWEB)

    FEDDEMA,JOHN T.; LEWIS,CHRISTOPHER L.; LAFARGE,ROBERT A.

    2000-06-07

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability that allows two or more vehicles to alternate sending DGPS corrections. Using this leapfrog technique, this paper shows that a group of autonomous vehicles can travel 22.68 kilometers with a root mean square positioning error of only 5 meters.

  7. 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...

  8. 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...

  9. Nozzle Mounting Method Optimization Based on Robot Kinematic Analysis

    Science.gov (United States)

    Chen, Chaoyue; Liao, Hanlin; Montavon, Ghislain; Deng, Sihao

    2016-08-01

    Nowadays, the application of industrial robots in thermal spray is gaining more and more importance. A desired coating quality depends on factors such as a balanced robot performance, a uniform scanning trajectory and stable parameters (e.g. nozzle speed, scanning step, spray angle, standoff distance). These factors also affect the mass and heat transfer as well as the coating formation. Thus, the kinematic optimization of all these aspects plays a key role in order to obtain an optimal coating quality. In this study, the robot performance was optimized from the aspect of nozzle mounting on the robot. An optimized nozzle mounting for a type F4 nozzle was designed, based on the conventional mounting method from the point of view of robot kinematics validated on a virtual robot. Robot kinematic parameters were obtained from the simulation by offline programming software and analyzed by statistical methods. The energy consumptions of different nozzle mounting methods were also compared. The results showed that it was possible to reasonably assign the amount of robot motion to each axis during the process, so achieving a constant nozzle speed. Thus, it is possible optimize robot performance and to economize robot energy.

  10. Points-Based Safe Path Planning of Continuum Robots

    Directory of Open Access Journals (Sweden)

    Khuram Shahzad

    2015-07-01

    Full Text Available Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g., working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot's movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property. We believe that this effectively balances the desired safety and efficiency requirements.

  11. ENHANCING COOPERATION

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    China and Japan can cooperate on a wide scope of issues, such as the organization of the Beijing Olympic Games next year and aid to Africa,said Ide Keiji, Minister of Public Relations, Press, Culture, Education and Sports and Spokesperson of the Embassy

  12. 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

  13. Intention and behavior understanding for service robot; Hito ni sabisu suru tameno ito, kodo no rikai

    Energy Technology Data Exchange (ETDEWEB)

    Sato, T.; Mizoguchi, H. [The Univ. of Tokyo, Tokyo (Japan). Research Center for Advanced Science and Technology

    1995-04-10

    A claim is made that human service robot can also be used in understanding of human`s intention. But to do such kind of service, present day robots are not enough to prepare necessary functions itself. Function of essential human intention understanding and put that understanding in to practice - behaviour understanding are examined in human service robot. The examinations and corresponding investigation`s present conditions are explained in this study. Further essential architecture of robot and practical mechanism on the occasion of understanding in practical use are outlined. Applications of robots which have function of understandings of human behaviour to intention are also described. It should be mentioned that combining robot and human, cooperation between human and robot should be cross-examined in future with the above mentioned results. Regarding this development of human robot`s cooperative intelligence, further research is needed with new point of view. To make cooperative function of human robot is perfect, many indications are proposed for future study. 10 refs., 2 figs.

  14. Historia de la robótica: de Arquitas de Tarento al robot da Vinci (Parte II)

    OpenAIRE

    2007-01-01

    HISTORY OF ROBOTICS: FROM ARCHYTAS OF TARENTUM UNTIL DA VINCI ROBOT. (PART II) Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued for more than 4000 years. Archytas of Tarentum (at around 400 a.C.), Heron of Alexandria, Hsieh-Fec, Al-Jazari, Bacon, Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors. ...

  15. Factors Affecting Fertility Desires in the Philippines

    Directory of Open Access Journals (Sweden)

    Clarissa C. David

    2014-12-01

    Full Text Available Factors affecting fertility desires in the Philippines were examined using data from a national survey and from individual and group qualitative interviews involving 143 respondents. Fertility goals usually range from two to three children, but evidence suggests that they are dynamic and may change over a person’s lifetime. Qualitative interviews reveal that when negotiating about family size, it is the partner who wants more children that will be followed. A strong demand for gender balance among offspring creates a willingness to have more children than originally desired. Fertility goals increase over time among women. While those who start childbirth at a very young age successfully space their children, they tend to want larger families than those who start late. Initial fertility goals among women are generally low but may increase because of higher fertility desires among men, a demand for gender balance in children, and the desire for babies once their children have grown.

  16. 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.

  17. 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 ...

  18. 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…

  19. Rethinking Trait Conceptions of Social Desirability Scales

    DEFF Research Database (Denmark)

    de Vries, Reinout E.; Zettler, Ingo; Hilbig, Benjamin E.

    2014-01-01

    Numerous researchers have noted that, instead of response sets or styles, most social desirability scales seem to measure personality traits instead. In two studies, we investigated the substantive interpretation of the Balanced Inventory of Desirable Responding in terms of the HEXACO model of pe...... and Agreeableness, but Honesty-Humility was by far its most important predictor. In a subsample (n = 465), Honesty-Humility and IM were unrelated to GPA....

  20. Is the Separating Equilibrium Really Desirable ?

    OpenAIRE

    大倉, 真人

    2002-01-01

    Purpose of this paper is to investigate whether “risk sub-divided insurance” is really desirable or not. Compare to other insurance products, it submits lower insurance premium for low-risk individuals but higher insurance premium for high-risk individuals. Moreover, an adverse selection problem appears because the insurance companies cannot observe each risk type. But the other insurance which does not discriminate the insurance premium is not necessarily desirable because it appears cross s...

  1. Hydrodynamic design of an underwater hull cleaning robot and its evaluation

    Directory of Open Access Journals (Sweden)

    Man Hyung Lee

    2012-12-01

    Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

  2. A mobile robots experimental environment with event-based wireless communication.

    Science.gov (United States)

    Guinaldo, María; Fábregas, Ernesto; Farias, Gonzalo; Dormido-Canto, Sebastián; Chaos, Dictino; Sánchez, José; Dormido, Sebastián

    2013-07-22

    An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage is presented.

  3. Path Planning Control for Mobile Robot

    Directory of Open Access Journals (Sweden)

    Amenah A.H. Salih

    2011-01-01

    Full Text Available Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process. This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and points of intersection with the straight path to find the nearly optimal path which connects the start and the goal point.This work has theoretical part and experimental part. The theoretical part includes building a MATLAB program which is applied to environment image to find the nearly optimal path .MATLAB - C++.NET interface is accomplished then to supply the path information for C++.NET program which is done for programming the pioneer mobile robot to achieve the desired path. The experimental part includes using wireless camera that takes an image for the environment and send it to the computer which processes this image and sends ( by wireless connection the resulted path information to robot which programmed in C++.NET program to walk according to this path.So, the overall system can be represented by:Wireless camera – computer – wireless connection for the mobile robot .The experimental work including some experiments shows that the developed mobile robot (pioneer p3-dx travels successfully from the start point and reach the goal point across the optimal path (according to time and power which is obtained as result of the proposed path planning algorithm introduced in this paper.

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

    Directory of Open Access Journals (Sweden)

    Marivic Gatan Dizon

    2014-12-01

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

  5. LocoKit - A Construction Kit for Exploration of Morphology of Legged Robots

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian; Støy, Kasper

    2011-01-01

    Producing steady stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain is a big challenge in robotics. In addressing this challenge, it is often desirable to experiment with different morphologies and see how they influence on the way the robot walks....... This is however not always easy, since robots are often built as a fixed system with a limited possibility of changing the morphology without redesign a significant part of the robot. This work is focusing on the creation of a robotic construction kit specifically aimed at easing the process of constructing...... legged robots. This is accomplished by giving the creator the possibility to easily do morphological changes to the robot even after it have been build, to see how it effects the robot’s ability to walk in unknown terrain....

  6. Research of Communication Mechanism of the Multi-agent in Multi-agent Robot Systems

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    The cooperation of multi-robot that is based on the multi-agent system (MAS) theory of distributed artificial intelligence has become a hotspot in the robotics R&D. In the research the multi-robot is regarded as multi-agent. So the communication and cooperation of multi-agent become the key problem for gaining the dynamic running information of cooperating robots. In this paper the authors introduce the communication modes for agent and provide a common strategy which aims at the communication resources of multi-agent model-the CSMA/CD (Carrier Sense Multiple Access with Collision Detection) protocol which is based on the transmittal medium. It supports the cable-communication of multi-robot and the experiments prove its validity.

  7. Robotic inspection technology-process an toolbox

    Energy Technology Data Exchange (ETDEWEB)

    Hermes, Markus [ROSEN Group (United States). R and D Dept.

    2005-07-01

    Pipeline deterioration grows progressively with ultimate aging of pipeline systems (on-plot and cross country). This includes both, very localized corrosion as well as increasing failure probability due to fatigue cracking. Limiting regular inspecting activities to the 'scrapable' part of the pipelines only, will ultimately result into a pipeline system with questionable integrity. The confidence level in the integrity of these systems will drop below acceptance levels. Inspection of presently un-inspectable sections of the pipeline system becomes a must. This paper provides information on ROSEN's progress on the 'robotic inspection technology' project. The robotic inspection concept developed by ROSEN is based on a modular toolbox principle. This is mandatory. A universal 'all purpose' robot would not be reliable and efficient in resolving the postulated inspection task. A preparatory Quality Function Deployment (QFD) analysis is performed prior to the decision about the adequate robotic solution. This enhances the serviceability and efficiency of the provided technology. The word 'robotic' can be understood in its full meaning of Recognition - Strategy - Motion - Control. Cooperation of different individual systems with an established communication, e.g. utilizing Bluetooth technology, support the robustness of the ROSEN robotic inspection approach. Beside the navigation strategy, the inspection strategy is also part of the QFD process. Multiple inspection technologies combined on a single carrier or distributed across interacting container must be selected with a clear vision of the particular goal. (author)

  8. Robot Control Based On Spatial-Operator Algebra

    Science.gov (United States)

    Rodriguez, Guillermo; Kreutz, Kenneth K.; Jain, Abhinandan

    1992-01-01

    Method for mathematical modeling and control of robotic manipulators based on spatial-operator algebra providing concise representation and simple, high-level theoretical frame-work for solution of kinematical and dynamical problems involving complicated temporal and spatial relationships. Recursive algorithms derived immediately from abstract spatial-operator expressions by inspection. Transition from abstract formulation through abstract solution to detailed implementation of specific algorithms to compute solution greatly simplified. Complicated dynamical problems like two cooperating robot arms solved more easily.

  9. 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.

  10. DESIGN AND REALIZATION OF DISTRIBUTED MULTI-ROBOT COMMUNICATION SYSTEM BASED ON COLONY COOPERATION%基于群体协作的分布式多机器人通信系统的设计与实现

    Institute of Scientific and Technical Information of China (English)

    李智军; 周晓; 吕恬生

    2000-01-01

    Distributed robotic system consists of a multirobot system that need to collaborate in changableand dynamic environment, thus, it's a crucial issue how to deal with sharing the communication resources. Inthis paper, we introduce a general strategy based on CSMA/CD and communication protocol, which isdesigned for use in inter-robot environments with unreliable ,single-channel and low-communication. it'sshown that the communication protocol is effective ,efficient robust.%分布机器人系统涉及在多样变化动态环境中的协助,因此,一个重要的问题是如何解决多机器人的通讯资源共享.本文提出了针对共享分布式多机器人系统(DSR)模型中通讯资源的一般策略--基于传输介质CSMA/CD(无线通讯中具有冲突检测的载波侦听多重访问)的协议,它支持多移动机器人系统内部的无线通讯,实验证明此设计方法有效.

  11. 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...

  12. 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....

  13. Toward controlling perturbations in robotic sensor networks

    Science.gov (United States)

    Banerjee, Ashis G.; Majumder, Saikat R.

    2014-06-01

    Robotic sensor networks (RSNs), which consist of networks of sensors placed on mobile robots, are being increasingly used for environment monitoring applications. In particular, a lot of work has been done on simultaneous localization and mapping of the robots, and optimal sensor placement for environment state estimation1. The deployment of RSNs, however, remains challenging in harsh environments where the RSNs have to deal with significant perturbations in the forms of wind gusts, turbulent water flows, sand storms, or blizzards that disrupt inter-robot communication and individual robot stability. Hence, there is a need to be able to control such perturbations and bring the networks to desirable states with stable nodes (robots) and minimal operational performance (environment sensing). Recent work has demonstrated the feasibility of controlling the non-linear dynamics in other communication networks like emergency management systems and power grids by introducing compensatory perturbations to restore network stability and operation2. In this paper, we develop a computational framework to investigate the usefulness of this approach for RSNs in marine environments. Preliminary analysis shows promising performance and identifies bounds on the original perturbations within which it is possible to control the networks.

  14. Bipedal Robot Locomotion on a Terrain with Pitfalls

    Directory of Open Access Journals (Sweden)

    Alireza Tabrizizadeh

    2014-12-01

    Full Text Available In this paper a locomotion control system for bipedal robot is proposed to provide desirable walking on a terrain and skipping over a pitfall preventing the robot from falling in it. The proposed strategy is a combination of motion optimization based on particle swarm optimization algorithm and utilization of mode switching at the higher level controller. The model for bipedal robot is a compass gait model but the presented method is general and could be appropriately extended and generalized for other complicated models. Principles of minimalistic designs are also respected and simple central pattern generator and simple mechanical feedback control are used to produce and maintain desirable motion patterns of the robot.

  15. [History of robotics: from Archytas of Tarentum until da Vinci robot. (Part I)].

    Science.gov (United States)

    Sánchez Martín, F M; Millán Rodríguez, F; Salvador Bayarri, J; Palou Redorta, J; Rodríguez Escovar, F; Esquena Fernández, S; Villavicencio Mavrich, H

    2007-02-01

    Robotic surgery is the newst technologic option in urology. To understand how new robots work is interesting to know their history. The desire to design machines imitating humans continued for more than 4000 years. There are references to King-su Tse (clasic China) making up automaton at 500 a. C. Archytas of Tarentum (at around 400 a.C.) is considered the father of mechanical engineering, and one of the occidental robotics classic referents. Heron of Alexandria, Hsieh-Fec, Al-Jazari, Roger Bacon, Juanelo Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors in the middle age, renaissance and classicism. At the XIXth century, automaton production underwent a peak and all engineering branches suffered a great development. At 1942 Asimov published the three robotics laws, based on mechanics, electronics and informatics advances. At XXth century robots able to do very complex self governing works were developed, like da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons.

  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. A Practical Humanoid Robot Morphology for Operation in Civilian Environments

    OpenAIRE

    MCGINN, CONOR

    2014-01-01

    Despite recent progress in robotics research and development, the effective design of multi-purpose robotic solutions for civilian and domestic environments has proven particularly elusive. Mechanically simple systems are typically incapable of traversing stairs (a feature in most buildings) and lack the flexibility to undertake many tasks that may be desired while more complex solutions suffer from practical issues relating to excessive weight, size, power consumption and c...

  18. Design and implementation of a mechanically heterogeneous robot group

    Science.gov (United States)

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

    1999-08-01

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

  19. Piezoresistive pressure sensor array for robotic skin

    Science.gov (United States)

    Mirza, Fahad; Sahasrabuddhe, Ritvij R.; Baptist, Joshua R.; Wijesundara, Muthu B. J.; Lee, Woo H.; Popa, Dan O.

    2016-05-01

    Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, haptic communication is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots increase perception capabilities of their surrounding environments. Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability. In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.

  20. Flocking of multiple mobile robots based on backstepping.

    Science.gov (United States)

    Dong, Wenjie

    2011-04-01

    This paper considers the flocking of multiple nonholonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a desired geometric pattern whose centroid moves along a desired trajectory under the condition that the desired trajectory is available to a portion of the group of robots. Since communication delay is inevitable in distributed control, its effect on the performance of the closed-loop systems is analyzed. It is shown that the proposed controllers work well if communication delays are constant. To show effectiveness of the proposed controllers, simulation results are included.

  1. Sex Differences in Judgments of Social Desirability.

    Science.gov (United States)

    Paunonen, Sampo V

    2016-08-01

    This study evaluates sex differences in the perceived desirability of personality behaviors and beliefs. Men and women (N = 149, Mage  = 18.7) judged the social desirability scale values (SDSVs) of 150 personality statements as applied either to a male target or a female target. For comparison, some estimated SDSVs with no target sex specified. A separate sample of 537 respondents endorsed the 150 items via self-report. Raters showed a high consensus in their SDSV judgments within conditions (α = .86 to .90) and no sex-of-rater effects across conditions. Substantial sex-of-target effects (p desirable for one sex but not for the other. The behaviors seen as more (less) desirable when applied to men rather than to women were endorsed more (less) by men than by women in the respondent sample. Similar results were found when no target sex was specified for the SDSV ratings, presumably because judges evaluated the behaviors as applied to a target of their own sex. The present results have important implications for the measurement and reporting of SDSVs, the evaluation of substance versus style in self-reports, and the construction of desirability-reduced personality inventories. © 2015 Wiley Periodicals, Inc.

  2. Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search

    Directory of Open Access Journals (Sweden)

    Qi Wang

    2011-02-01

    Full Text Available Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN. Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability.

  3. Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size

    Directory of Open Access Journals (Sweden)

    Purnomo Sejati

    2016-05-01

    Full Text Available This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is a significant issue to develop effective determination team member for multiple mobile robot object conveyance, few studies have been done on it. Therefore, we propose an algorithm for determining the number of the team member on multiple mobile robot object conveyance with grasping push. The team member is determined based on object weight to obtain appropriate formation. First, the object shape and size measurement is carried out by a surveyor robot that approaches and surrounds the object. During surrounding the object, the surveyor robot measures its distance to the object and records for estimating the object shape and size. Since the object shape and size are estimated, the surveyor robot makes initial push position on the estimated push point and calls additional robots for cooperative push. The algorithm is validated in several computer simulations with varying object shape and size. As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance.

  4. Olfaction and hearing based mobile robot navigation for odor/sound source search.

    Science.gov (United States)

    Song, Kai; Liu, Qi; Wang, Qi

    2011-01-01

    Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE) and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN). Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability.

  5. 机器人辅助腹腔镜治疗巨输尿管症患者的护理配合%Nursing Cooperation of Robot-assisted Laparoscopic in the Treatment of Congenital Megaureter

    Institute of Scientific and Technical Information of China (English)

    崔冬冬; 蔡康灵; 王晓芳

    2015-01-01

    目的:探讨机器人辅助腹腔镜治疗巨输尿管症患者的护理方法.方法回顾性分析并总结2014年1-8月,解放军总医院泌尿外科收治的机器人辅助腹腔镜治疗巨输尿管症患者10例的临床资料.结果10例患者均顺利完成手术,无中转开腹;手术时间平均为(153.5±3.56)min,术后住院时间平均为(6.5±0.76)d,无继发漏尿、出血等术后并发症发生.结论机器人辅助腹腔镜治疗巨输尿管症安全可行,而手术室护士的精心护理和熟练操作是确保手术成功的关键.%Objective To disucss the nursing method of robot-assisted laparascopic surgery in the treat-ment of congenital megaureter,to increase the nursing quality.Methods Clinical data of 10 patients under-went robot-assisted laparascopic in the treatment of congenital megaureter were analyzed retrospectively. Results All the 10 cases were successfully performed without conversion to open operation.The mean operation time was(153.5±3.56)min,the postoperative hospitalization time was(6.5±0.76)d,there was no obvious complication such as urine leakage and secondary bleeding.Conclusion Robot-assisted laparas-copic reconstructive surgery in congenital megaureter treatment is a safe and effective approach,and the thoughtful care and proficiency are the keys to ensure the success operation.

  6. Space CoBot: modular design of an holonomic aerial robot for indoor microgravity environments

    OpenAIRE

    Roque, Pedro; Ventura, Rodrigo

    2016-01-01

    This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with humans, such as telepresence and cooperative mobile manipulation. The design is modular, comprising an hexrotor based propulsion system, and a stack of modules including batteries, cameras for navigation, a screen for telepresence, a robotic arm, space for exten...

  7. Integration of humanoid robots in collaborative working environment: a case study on motion generation

    OpenAIRE

    Stasse, Olivier; Ruland, Rudolf; Lamiraux, Florent; Kheddar, Abderrahmane; Yokoi, Kazuhito; Prinz, Wolfgang

    2009-01-01

    International audience; This paper illustrates through a practical example an integration of a humanoid robotic architecture, with an open-platform collaborative working environment called BSCW (Be Smart-Cooperate Worldwide). BSCW is primarily designed to advocate a futuristic shared workspace system for humans. We exemplify how a complex robotic system (such as a humanoid robot) can be integrated as a proactive collaborative agent which provides services and interacts with other agents shari...

  8. Adaptive Trajectory Tracking Control of Wheeled Mobile Robots with Nonholonomic Constraint

    Institute of Scientific and Technical Information of China (English)

    LI Jian-hua; WANG Sun-an

    2005-01-01

    A mobile robot is one of the well-known nonholonomic systems. In this paper, a new adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is proposed. Stability of the rule is proved through the use of a Liapunov function. The artificial electrostatic field cooperates with error posture in steering in the controller. At last, this method is implemented on the simulations and the wheeled mobile robot. Results show the effectiveness of the controllers.

  9. 4th International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

    Karray, Fakhri; Jo, Jun; Sincak, Peter; Myung, Hyun

    2017-01-01

    This book covers all aspects of robot intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 4th International Conference on Robot Intelligence Technology and Applications (RiTA), held in Bucheon, Korea, December 14 - 16, 2015. For better readability, this edition has the total of 49 article...

  10. 3rd International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

    Yang, Weimin; Jo, Jun; Sincak, Peter; Myung, Hyun

    2015-01-01

    This book covers all aspects of robot intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 3rd International Conference on Robot Intelligence Technology and Applications (RiTA), held in Beijing, China, November 6 - 8, 2014. For better readability, this edition has the total 74 papers group...

  11. Experience with the behavior-basedRobot development

    DEFF Research Database (Denmark)

    Marian, Nicolae; Bilberg, Arne

    context. Instead of having stored computer-based models of surrounding environments (deliberative systems), behavior-based robots (BBR) are guided by their users through smart cooperation and interaction. For instance, there is no programming in the robot of what a crop field, cleaning floor......, including aspects to transform social contexts into behavioral control models and to plan a behavioral strategy and make it adaptive. Validation of ideas is made in an experiment with a group of LEGO mobile robots using a range of sensors and negotiating their roles in different environments, which...

  12. Robots and Humans in Planetary Exploration: Working Together?

    Science.gov (United States)

    Landis, Geoffrey A.; Lyons, Valerie (Technical Monitor)

    2002-01-01

    Today's approach to human-robotic cooperation in planetary exploration focuses on using robotic probes as precursors to human exploration. A large portion of current NASA planetary surface exploration is focussed on Mars, and robotic probes are seen as precursors to human exploration in: Learning about operation and mobility on Mars; Learning about the environment of Mars; Mapping the planet and selecting landing sites for human mission; Demonstration of critical technology; Manufacture fuel before human presence, and emplace elements of human-support infrastructure

  13. Points-based Safe Path Planning of Continuum Robots

    Directory of Open Access Journals (Sweden)

    Khuram Shahzad

    2015-07-01

    Full Text Available Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g.,working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot’s movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property. We believe that this effectively balances the desired safety and efficiency requirements.

  14. Query Processing for Probabilistic State Diagrams Describing Multiple Robot Navigation in an Indoor Environment

    Energy Technology Data Exchange (ETDEWEB)

    Czejdo, Bogdan [ORNL; Bhattacharya, Sambit [North Carolina Fayetteville State University; Ferragut, Erik M [ORNL

    2012-01-01

    This paper describes the syntax and semantics of multi-level state diagrams to support probabilistic behavior of cooperating robots. The techniques are presented to analyze these diagrams by querying combined robots behaviors. It is shown how to use state abstraction and transition abstraction to create, verify and process large probabilistic state diagrams.

  15. Mesofluidic controlled robotic or prosthetic finger

    Energy Technology Data Exchange (ETDEWEB)

    Lind, Randall F; Jansen, John F; Love, Lonnie J

    2013-11-19

    A mesofluidic powered robotic and/or prosthetic finger joint includes a first finger section having at least one mesofluidic actuator in fluid communication with a first actuator, a second mesofluidic actuator in fluid communication with a second actuator and a second prosthetic finger section pivotally connected to the first finger section by a joint pivot, wherein the first actuator pivotally cooperates with the second finger to provide a first mechanical advantage relative to the joint point and wherein the second actuator pivotally cooperates with the second finger section to provide a second mechanical advantage relative to the joint point.

  16. A Study on Bible Archetypes in Desire under the Elms

    Institute of Scientific and Technical Information of China (English)

    DU Man-li

    2014-01-01

    Desire under the Elms reveals a tragedy of spiritual and survival desire of human being. O’Neill creates many Bible ar-chetypes in Desire under the Elms. The thesis analyzes and appreciates Desire under the Elms from aspect of Bible archetype to highlight the destructive power of improper desires in Desire under the Elms.

  17. Power, desire, and pleasure in sexual fantasies.

    Science.gov (United States)

    Zurbriggen, Eileen L; Yost, Megan R

    2004-08-01

    One hundred and sixty-two participants (ages 21-45) wrote open-ended sexual fantasies and completed self-report measures of rape myth acceptance, adversarial sexual beliefs, and attitudes toward women. We coded fantasies using a newly developed scoring system that includes themes of dominance, submission, sexual pleasure, and sexual desire. Men fantasized about dominance more than women did; they also tended to focus more on the desire and pleasure of their partner. Desire and pleasure were more closely linked in the fantasies of men than in the fantasies of women, for whom the two were distinct constructs. Although fantasies of submission were not associated with problematic attitudes for either gender, men's fantasies of dominance were associated with greater acceptance of rape myths. For women, greater rape myth acceptance was associated with emotional and romantic fantasy themes.

  18. The Self-Justifying Desire for Happiness

    DEFF Research Database (Denmark)

    Rodogno, Raffaele

    2004-01-01

    In Happiness, Tabensky equates the notion of happiness to Aristotelian eudaimonia. I shall claim that doing so amounts to equating two concepts that moderns cannot conceptually equate, namely, the good for a person and the good person or good life. In §2 I examine the way in which Tabensky deals...... with this issue and claim that his idea of happiness is as problematic for us moderns as is any translation of the notion of eudaimonia in terms of happiness. Naturally, if happiness understood as eudaimonia is ambiguous, so will be the notion of a desire for happiness, which we find at the core of Tabensky......'s whole project. In §3 I shall be concerned with another aspect of the desire for happiness; namely, its alleged self-justifying nature. I will attempt to undermine the idea that this desire is self-justifying by undermining the criterion on which Tabensky takes self-justifiability to rest, i.e. its...

  19. 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.

  20. Emergent of Burden Sharing of Robots with Emotion Model

    Science.gov (United States)

    Kusano, Takuya; Nozawa, Akio; Ide, Hideto

    Cooperated multi robots system has much dominance in comparison with single robot system. Multi robots system is able to adapt to various circumstances and has a flexibility for variation of tasks. Robots are necessary that build a cooperative relations and acts as an organization to attain a purpose in multi robots system. Then, group behavior of insects which doesn't have advanced ability is observed. For example, ants called a sociality insect emerge systematic activities by the interaction with using a very simple way. Though ants make a communication with chemical matter, a human plans a communication by words and gestures. In this paper, we paid attention to the interaction based on psychological viewpoint. And a human's emotion model was used for the parameter which became a base of the motion planning of robots. These robots were made to do both-way action in test field with obstacle. As a result, a burden sharing like guide or carrier was seen even though those had a simple setup.

  1. Approximate Cartesian Control for Robotic Tool Usage with Graceful Degradation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Many of NASA's exploration scenarios include important roles for autonomous or partially autonomous robots. It is desirable for them to utilize human tools when...

  2. Development of an unmanned agricultural robotics system for measuring crop conditions for precision aerial application

    Science.gov (United States)

    An Unmanned Agricultural Robotics System (UARS) is acquired, rebuilt with desired hardware, and operated in both classrooms and field. The UARS includes crop height sensor, crop canopy analyzer, normalized difference vegetative index (NDVI) sensor, multispectral camera, and hyperspectral radiometer...

  3. Robot Arm Control and Having Meal Aid System with Eye Based Human-Computer Interaction (HCI)

    Science.gov (United States)

    Arai, Kohei; Mardiyanto, Ronny

    Robot arm control and having meal aid system with eye based HCI is proposed. The proposed system allows disabled person to select desirable food from the meal tray by their eyes only. Robot arm which is used for retrieving the desirable food is controlled by human eye. At the tip of the robot arm, tiny camera is equipped. Disabled person wear a glass of which a single Head Mount Display: HMD and tiny camera is mounted so that disabled person can take a look at the desired food and retrieve it by looking at the food displayed onto HMD. Experimental results show that disabled person can retrieve the desired food successfully. It also is confirmed that robot arm control by eye based HCI is much faster than that by hands.

  4. Fertility Desires among Women Living with HIV

    Science.gov (United States)

    Cook, Ryan; Potter, JoNell Efantis; Miron-Shatz, Talya; Chakhtoura, Nahida; Spence, Andrew; Byrne, Margaret M.

    2016-01-01

    Objective Rates of pregnancy among women living with HIV (WLHIV) have increased with the availability of effective HIV treatment. Planning for pregnancy and childbirth is an increasingly important element of HIV care. Though rates of unintended pregnancies are high among women in general, among couples affected by HIV, significant planning and reproductive decisions must be considered to prevent negative health consequences for WLHIV and their neonates. To gain insight into this reproductive decision-making process among WLHIV, this study explored women’s knowledge, attitudes and practices regarding fertility planning, reproductive desires, and safer conception practices. It was hypothesized that pregnancy desires would be influenced by partners, families, the potential risk of HIV transmission to infants, and physicians’ recommendations. Methods WLHIV of childbearing age were recruited from urban South Florida, and completed an assessment of demographics (N = 49), fertility desires and a conjoint survey of factors associated with reproductive decision-making. Results Using conjoint analysis, we found that different decision paths exist for different types of women: Younger women and those with less education desired children if their partners wanted children; reproductive desires among those with less education, and with less HIV pregnancy-related knowledge, displayed a trend toward additional emphasis on their family’s desires. Conversely, older women and those with more education appeared to place more importance on physician endorsement in their plans for childbearing. Conclusions Results of this study highlight the importance of ongoing preconception counselling for all women of reproductive age during routine HIV care. Counselling should be tailored to patient characteristics, and physicians should consider inclusion of families and/or partners in the process. PMID:27610626

  5. Clash of Desires: Detective vs. Femme Fatale

    Directory of Open Access Journals (Sweden)

    Veronika Pituková

    2013-06-01

    Full Text Available This article discusses the theme of desire presented in American hard-boiled detective fiction and its subsequent transformation on the screen in form of films noir of the 1940’s. The works in focus are novels The Maltese Falcon by Dashiell Hammett, Farewell, My Lovely by Raymond Chandler and Build My Gallows High by Daniel Mainwaring and their film noir adaptations – The Maltese Falcon (1941, Murder, My Sweet (1944 and Out of the Past (1947. The proposed paper seeks to offer a contrastive analysis of the novels and the films and situate them in their respective social and cultural contexts. The central conflict of this article is presented by the clash between the femme fatale’s and detective’s desires. Hard-boiled novels present femme fatale as a dame with a past, a spider woman, and the detective as a hero with no future, caught in her web of intrigues. The only way out for the detective is to suppress the sexual desire for the woman and hold strong to his professional code. The femme fatale’s desire for more and for better is deadly and dangerous for those who succumb to her lure, but the detective’s desire for truth can be fatal for the dark lady too.  This clash presented in the novels is confronted with the 1940’s Hollywood production. When the detective frees himself from the sexual lure of the fatal woman he has a chance to live and even bring her to justice, but she can still escape or decide herself what to do with her destiny. Both, the dame and the hero are victims of their desires. The 1940’s films noir’s femme fatales have to pay for their crimes, no matter how crafty, seductive or manipulative they are.  Thus these films present the masculine dominance as strong and undefeated.

  6. 物联网环境下群体机器人协同演化机制研究%Research on Cooperative Evolution Mechanism of Swarm Robots Based on IOT

    Institute of Scientific and Technical Information of China (English)

    葛艳红; 李文锋; 董文涛

    2012-01-01

    State information distribution, potential field distribution and evolution goal of swarm robots can be accessed by collaborative awareness technology based on Internet of Things (IOT). Wireless sensor network nodes can be controlled to create individual information, which is called 'virtual entity'. Virtual entity can be used to induce collaborative e-volution of swarm robots. Induced information model based on characteristics of wireless sensor networks is built, and one swarm behavior control algorithm is proposed. The proposed algorithm can actively control swarm behavior through activity and layout of wireless sensor network without changing rules of swarm behavior. Effectiveness of the proposed control algorithm is validated by simulation experiments.%利用物联网协同感知技术获取群体机器人行为的状态信息分布、势场分布和群体行为演化目标.据此控制无线传感网络产生个体信息,形成“虚形体”,诱导协助群体机器人行为的演化,从而形成一种基于传感器网络特征的诱导信息模型和群体行为控制算法.在不改变群集行为规则的情况下,通过传感器网络控制诱导信息的活动与布局,所提出的控制算法主动诱导控制群体行为.通过实例仿真验证了所提出算法的有效性.

  7. Adaptive neural network consensus based control of robot formations

    Science.gov (United States)

    Guzey, H. M.; Sarangapani, Jagannathan

    2013-05-01

    In this paper, adaptive consensus based formation control scheme is derived for mobile robots in a pre-defined formation when full dynamics of the robots which include inertia, Corolis, and friction vector are considered. It is shown that dynamic uncertainties of robots can make overall formation unstable when traditional consensus scheme is utilized. In order to estimate the affine nonlinear robot dynamics, a NN based adaptive scheme is utilized. In addition to this adaptive feedback control input, an additional control input is introduced based on the consensus approach to make the robots keep their desired formation. Subsequently, the outer consensus loop is redesigned for reduced communication. Lyapunov theory is used to show the stability of overall system. Simulation results are included at the end.

  8. Robots and cyborgs: to be or to have a body?

    Science.gov (United States)

    Palese, Emma

    2012-06-01

    Starting with service robotics and industrial robotics, this paper aims to suggest philosophical reflections about the relationship between body and machine, between man and technology in our contemporary world. From the massive use of the cell phone to the robots which apparently "feel" and show emotions like humans do. From the wearable exoskeleton to the prototype reproducing the artificial sense of touch, technological progress explodes to the extent of embodying itself in our nakedness. Robotics, indeed, is inspired by biology in order to develop a new kind of technology affecting human life. This is a bio-robotic approach, which is fulfilled in the figure of the cyborg and consequently in the loss of human nature. Today, humans have reached the possibility to modify and create their own body following their personal desires. But what is the limit of this achievement? For this reason, we all must question ourselves whether we have or whether we are a body.

  9. Rule-based Dynamic Safety Monitoring for Mobile Robots

    DEFF Research Database (Denmark)

    Adam, Marian Sorin; Schultz, Ulrik Pagh

    2016-01-01

    , defined in an easily understandable way for facilitating safety certification. In this paper, we propose that functional-safety-critical concerns regarding the robot software be explicitly declared separately from the main program, in terms of externally observable properties of the software. Concretely......—Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but no existing approaches for addressing the safety challenge provide a clearly specified and isolated safety layer......, and is experimentally demonstrated to enforce safety behaviour in existing robot software. We believe our approach could be extended to other fields to similarly simplify safety certification....

  10. SPIRAL2/DESIR high resolution mass separator

    Energy Technology Data Exchange (ETDEWEB)

    Kurtukian-Nieto, T., E-mail: kurtukia@cenbg.in2p3.fr [Centre d’Études Nucléaires de Bordeaux Gradignan, Université Bordeaux 1-CNRS/IN2P3, BP 120, F-33175 Gradignan Cedex (France); Baartman, R. [TRIUMF, 4004 Wesbrook Mall, Vancouver B.C., V6T 2A3 (Canada); Blank, B.; Chiron, T. [Centre d’Études Nucléaires de Bordeaux Gradignan, Université Bordeaux 1-CNRS/IN2P3, BP 120, F-33175 Gradignan Cedex (France); Davids, C. [Physics Division, Argonne National Laboratory, Argonne, IL 60439 (United States); Delalee, F. [Centre d’Études Nucléaires de Bordeaux Gradignan, Université Bordeaux 1-CNRS/IN2P3, BP 120, F-33175 Gradignan Cedex (France); Duval, M. [GANIL, CEA/DSM-CNRS/IN2P3, Bd Henri Becquerel, BP 55027, F-14076 Caen Cedex 5 (France); El Abbeir, S.; Fournier, A. [Centre d’Études Nucléaires de Bordeaux Gradignan, Université Bordeaux 1-CNRS/IN2P3, BP 120, F-33175 Gradignan Cedex (France); Lunney, D. [CSNSM-IN2P3-CNRS, Université de Paris Sud, F-91405 Orsay (France); Méot, F. [BNL, Upton, Long Island, New York (United States); Serani, L. [Centre d’Études Nucléaires de Bordeaux Gradignan, Université Bordeaux 1-CNRS/IN2P3, BP 120, F-33175 Gradignan Cedex (France); Stodel, M.-H.; Varenne, F. [GANIL, CEA/DSM-CNRS/IN2P3, Bd Henri Becquerel, BP 55027, F-14076 Caen Cedex 5 (France); and others

    2013-12-15

    DESIR is the low-energy part of the SPIRAL2 ISOL facility under construction at GANIL. DESIR includes a high-resolution mass separator (HRS) with a designed resolving power m/Δm of 31,000 for a 1 π-mm-mrad beam emittance, obtained using a high-intensity beam cooling device. The proposed design consists of two 90-degree magnetic dipoles, complemented by electrostatic quadrupoles, sextupoles, and a multipole, arranged in a symmetric configuration to minimize aberrations. A detailed description of the design and results of extensive simulations are given.

  11. Children's Social Desirability and Dietary Reports.

    Science.gov (United States)

    Baxter, Suzanne Domel; Smith, Albert F; Litaker, Mark S; Baglio, Michelle L; Guinn, Caroline H; Shaffer, Nicole M

    2004-01-01

    We investigated telephone administration of the Children's Social Desirability (CSD) scale and our adaptation for children of the Social Desirability for Food scale (C-SDF). Each of 100 4th-graders completed 2 telephone interviews 28 days apart. CSD scores had adequate internal consistency and test-retest reliability, and a 14-item subset was identified that sufficiently measures the same construct. Our C-SDF scale performed less well in terms of internal consistency and test-retest reliability; factor analysis revealed 2 factors, 1 of which was moderately related to the CSD. The 14-item subset of the CSD scale may help researchers understand error in children's dietary reports.

  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. Robotic invasion of operation theatre and associated anaesthetic issues: A review

    OpenAIRE

    Kakar, Prem N.; Jyotirmoy Das; Preeti Mittal Roy; Vijaya Pant

    2011-01-01

    A Robotic device is a powered, computer controlled manipulator with artificial sensing that can be reprogrammed to move and position tools to carry out a wide range of tasks. Robots and Telemanipulators were first developed by the National Aeronautics and Space Administration (NASA) for use in space exploration. Today′s medical robotic systems were the brainchild of the United States Department of Defence′s desire to decrease war casualties with the development of ′telerobotic surgery′. The ′...

  14. Optimal control of 2-wheeled mobile robot at energy performance index

    Science.gov (United States)

    Kaliński, Krzysztof J.; Mazur, Michał

    2016-03-01

    The paper presents the application of the optimal control method at the energy performance index towards motion control of the 2-wheeled mobile robot. With the use of the proposed method of control the 2-wheeled mobile robot can realise effectively the desired trajectory. The problem of motion control of mobile robots is usually neglected and thus performance of the realisation of the high level control tasks is limited.

  15. Stabilization of Nonholonomic Robot Formations: A First‐state Contractive Model Predictive Control Approach

    OpenAIRE

    Xie, Feng; Fierro, Rafael

    2009-01-01

    A model predictive control algorithm is developed for stabilizing a team of nonholonomic mobile robots navigating in formation within an obstacle-populated environment. In this scenario, the {em leader} robot may need to execute abrupt maneuvers (i.e., sudden stops and backward motions) in order to avoid collisions and accomplish mission objectives. Moreover, follower robots should be capable of tracking their leaders maintaining desired relative distance and orientation. To this end, nonholo...

  16. Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network.

    Science.gov (United States)

    Budiharto, Widodo

    2015-01-01

    For specific purpose, vision-based surveillance robot that can be run autonomously and able to acquire images from its dynamic environment is very important, for example, in rescuing disaster victims in Indonesia. In this paper, we propose architecture for intelligent surveillance robot that is able to avoid obstacles using 3 ultrasonic distance sensors based on backpropagation neural network and a camera for face recognition. 2.4 GHz transmitter for transmitting video is used by the operator/user to direct the robot to the desired area. Results show the effectiveness of our method and we evaluate the performance of the system.

  17. Impedance adaptation for optimal robot-environment interaction

    Science.gov (United States)

    Ge, Shuzhi Sam; Li, Yanan; Wang, Chen

    2014-02-01

    In this paper, impedance adaptation is investigated for robots interacting with unknown environments. Impedance control is employed for the physical interaction between robots and environments, subject to unknown and uncertain environments dynamics. The unknown environments are described as linear systems with unknown dynamics, based on which the desired impedance model is obtained. A cost function that measures the tracking error and interaction force is defined, and the critical impedance parameters are found to minimise it. Without requiring the information of the environments dynamics, the proposed impedance adaptation is feasible in a large number of applications where robots physically interact with unknown environments. The validity of the proposed method is verified through simulation studies.

  18. Real-Time Control of Wi-Fi Surveillance Robot

    Directory of Open Access Journals (Sweden)

    Poh Eng Fong

    2011-01-01

    Full Text Available This paper presents the design of a low cost Wi-Fi surveillance robot. The purpose of this surveillance robot is to navigate and deal with multiple-angled monitoring towards the environment with inexpensive hardware and free software cost. The desirable wireless standards used in this design is IEEE 802.11b/g (Wi-Fi due to its  range up to 152 meters with 54Mbps. Robot will be constructed in four wheels. Two driven wheels are needed to navigate the direction along with two caster wheels.

  19. Variants of guided self-organization for robot control.

    Science.gov (United States)

    Martius, Georg; Herrmann, J Michael

    2012-09-01

    Autonomous robots can generate exploratory behavior by self-organization of the sensorimotor loop. We show that the behavioral manifold that is covered in this way can be modified in a goal-dependent way without reducing the self-induced activity of the robot. We present three strategies for guided self-organization, namely by using external rewards, a problem-specific error function, or assumptions about the symmetries of the desired behavior. The strategies are analyzed for two different robots in a physically realistic simulation.

  20. Learning robust plans for mobile robots from a single trial

    Energy Technology Data Exchange (ETDEWEB)

    Engelson, S.P. [Bar-Ilan Univ., Ramat Gan (Israel)

    1996-12-31

    We address the problem of learning robust plans for robot navigation by observing particular robot behaviors. In this Paper we present a method which can learn a robust reactive example of a desired behavior. The translating a sequence of events arising system into a plan which represents among such events. This method allows us to rely or the underlying stability properties of low-level behavior processes in order to produce robust plans. Since the resultant plan reproduces the original behavior of the robot at a high level, it generalizes over small environmental changes and is robust to sensor and effector noise.

  1. Turning in a Bipedal Robot

    Institute of Scientific and Technical Information of China (English)

    Jau-Ching Lu; Jing-Yi Chen; Pei-Chun Lin

    2013-01-01

    We report the development of turning behavior on a child-size bipedal robot that addresses two common scenarios:turning in place and simultaneous walking and turning.About turning in place,three strategies are investigated and compared,including body-first,leg-first,and body/leg-simultaneous.These three strategies are used for three actions,respectively:when walking follows turning immediately,when space behind the robot is very tight,and when a large turning angle is desired.Concerning simultaneous walking and turning,the linear inverted pendulum is used as the motion model in the single-leg support phase,and the polynomial-based trajectory is used as the motion model in the double-leg support phase and for smooth motion connectivity to motions in a priori and a posteriori single-leg support phases.Compared to the trajectory generation of ordinary walking,that of simultaneous walking and turning introduces only two extra parameters:one for determining new heading direction and the other for smoothing the Center of Mass (COM) trajectory.The trajectory design methodology is validated in both simulation and experimental environments,and successful robot behavior confirms the effectiveness of the strategy.

  2. Sexual Desire in Sexual Minority and Majority Women and Men: The Multifaceted Sexual Desire Questionnaire.

    Science.gov (United States)

    Chadwick, Sara B; Burke, Shannon M; Goldey, Katherine L; Bell, Sarah N; van Anders, Sari M

    2017-01-09

    Sexual desire is increasingly understood to be multifaceted and not solely erotically oriented, but measures are still generally unitary and eroticism-focused. Our goals in this article were to explore the multifaceted nature of sexual desire and develop a measure to do so, and to determine how multifaceted sexual desire might be related to gender/sex and sexual orientation/identity. In the development phase, we generated items to form the 65-item Sexual Desire Questionnaire (DESQ). Next, the DESQ was administered to 609 women, 705 men, and 39 non-binary identified participants. Results showed that the DESQ demonstrated high reliability and validity, and that sexual desire was neither unitary nor entirely erotic, but instead was remarkably multifaceted. We also found that multifaceted sexual desire was in part related to social location variables such as gender/sex and sexual orientation/identity. We propose the DESQ as a measure of multifaceted sexual desire that can be used to compare factor themes, total scores, and scores across individual items in diverse groups that take social context into account. Results are discussed in light of how social location variables should be considered when making generalizations about sexual desire, and how conceptualizations of desire as multifaceted may provide important insights.

  3. Intuitive Embedded Teaching System Design for Multi-Jointed Robots

    Directory of Open Access Journals (Sweden)

    Chin-Pao Hung

    2012-06-01

    Full Text Available This work describes the development of a novel embedded teaching system for multi‐jointed robots. Differing from the traditional teaching panel method, the proposed method does not require any complex computations for coordinate transformation and is a simpler scheme. The proposed teaching system includes a small teaching robot, which is scaled to the real jointed robot, however, joints are replaced with potentiometers. An embedded electrical control system contains the main control board and joint control cards. The main control board receives voltage signals from the teaching robot and transforms them into position commands for the motion of each joint. All the position commands are recorded on the main control board using the desired sample rate. In trajectory planning mode, the operator drags the teaching robot to generate the desired motion. The electrical control system drives the real jointed robot in response to the received voltage signals from the teaching robot. Trajectory teaching can be done naturally without expertise. The teaching system architecture, control board design and program flowchart are described and implemented.

  4. 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.

  5. 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.

  6. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs.

  7. 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.

  8. 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

  9. Vision based Object Recognition of E-Puck Mobile Robot for Warehouse Application

    OpenAIRE

    Mehmet S. Guzel; John Erwin; Wan Nurshazwani Wan Zakaria

    2015-01-01

    At present, most warehouses still require human services for unloading of goods. Unloading of goods requires a continuous system to ensure the quality of work productivity. Therefore the need of autonomous robot system in warehouse is needed to improve the quality of work. Thus, a localization and recognition algorithm is developed and implemented on the E-puck robot. The task involves the recognition of desired object based on their colour (red and blue) and locating the desired object to th...

  10. Robust force control of a robot manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Dawson, D.M. (Clemson Univ., SC (United States)); Lewis, F.L. (Univ. of Texas, Fort Worth (United States)); Dorsey, J.F. (Georgia Inst. of Tech., Atlanta (United States))

    1992-08-01

    In this article, the authors develop a robust position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. The controller is constructed so that a desired positional trajectory can be followed along the surface of the environment while the forces exerted on the environmental surface are regulated according to a target impedance. A global uniform ultimate boundedness result is obtained for the position tracking error and the force regulation error (i.e., the error between the actual manipulator impedance and desired target impedance). The controller only requires measurement of the end-effector force, joint velocity, and joint position.

  11. Schooling and a "Blamable Desire for Knowledge"

    Science.gov (United States)

    Clabaugh, Gary K.

    2005-01-01

    As a teacher the author often wishes that his students were more curious. Yet, Alice Ramos (this issue) proposes that curiosity can be a vice. She writes that there are times when a student might be motivated by a "blamable desire for knowledge." Ramos bases this claim on a distinction made by Thomas Aquinas, the thirteenth-century Aristotelian…

  12. Social Desirability Scales: More Substance than Style.

    Science.gov (United States)

    McCrae, Robert R.; Costa, Paul T., Jr.

    1983-01-01

    Compared self-reports from 215 adults to the external criterion of spouse ratings of personality traits to separate substance from style in social desirability (SD) scales. Results showed that correcting self-reports for SD failed to improve correspondence with an external, objective criterion and in several cases lowered agreement. (LLL)

  13. The Social Desirability of Social Value Orientations

    NARCIS (Netherlands)

    Bekkers, René

    2001-01-01

    To what degree are social value orientations as measured by decomposed games vulnerable to social desirability concerns? In contrast to prior research (Platow, 1994), this study, using a large scale survey in The Netherlands (n=450), shows that respondents classified as ‘prosocial’ agree more often

  14. Economic Soft Landing:A Common Desir

    Institute of Scientific and Technical Information of China (English)

    LUOYUANJUN

    2005-01-01

    An economic soft landing refers to steady deceleration of an overheated economy to a mole moderate rate of growth. As such, it may appear to relate to government macro,adjustmentrrather than the desire of the common people. But its effect is one of cooling down fleree economic growth that exerts high pressure on daily life and is, therefore, of social benefif.

  15. The Body Drawn Between Knowledge and Desire

    Directory of Open Access Journals (Sweden)

    J. Kent Fitzsimons

    2014-08-01

    Full Text Available The architectural drawing brings together two aspects of architecture’s inescapable relationship with the human body: knowledge and desire. When Adolf Loos designed the never built Josephine Baker House (1928, his drawings mobilized and transmitted knowledge of the human body in general. At the same time, Loos deployed architectural means to express desire for the dancer’s body. The sections and plans suggest that the Viennese architect imagined Baker swimming in a pool whose submerged walls include large windows looking into the watery stage, enveloping the dancer’s body while putting it on display for guests.Considered more generally, the architectural drawing always contains these two bodily moments, insofar as it describes proposals that give form to the lived world. This dynamic couple in the drawing corresponds to the difference between touching the body and grasping it; between an architect pursuing the desire to affect others through their senses and an architectural discipline extending its knowledge of human existence. This article considers relevant aspects in the writings of Robin Evans, Michel Foucault, Michel de Certeau, William T. Mitchell, and Jean-Luc Nancy to develop a theoretical basis for understanding the tensions and alliances at play when architecture draws the body between knowledge and desire.

  16. Control Algorithm Trajectory Planning for Dual Cooperative Manipulators with Experimental Verification

    Directory of Open Access Journals (Sweden)

    Omar Ahmed

    2016-01-01

    Full Text Available In order to achieve cooperation of multi-robots simultaneously, this paper presents an approach of Trajectory planning for two decoupled robots with six degrees of freedom (DOF each to execute packing task. The Denavit-Hartenberg (D-H representation is used to model robot links and solve the transformation matrices of each joint. The inverse kinematics solution using for a 6- DOF Robotic arm is presented, for given initial and final configurations of the robots, the robots are placed so that their workspaces overlap. An algorithm successfully finds a set of configurations to ensure, collision free transition from start to end configuration. Simulation and experiments based on 6-dof robot are carried out and the results verified the effectiveness of the proposed algorithm.

  17. Mimetic desire and scapegoat mechanism in sport

    Directory of Open Access Journals (Sweden)

    Jernej Pisk

    2012-12-01

    Full Text Available BACKGROUND: The most fundamental question about sport is what is sport, what is its origin and its essence? Because sport is connected with the human being (there is no sport without human beings different anthropological visions of human being result in different understandings of sport. OBJECTIVE: The objective of this paper is to present and explain an anthropological vision of the human being and society as was developed by René Girard. In his view mimetic desire and the scapegoat mechanism have a central role in any culture, religion or other secular institutions. The explanatory power of his theory is presented when it is applied to the world of sport. METHODS: Our methodology is philosophical, involving conceptual analysis and the application of the outcomes to sport. RESULTS: In the paper we show that mimetic desire can be recognized as one of the important origins of recreational and competitive sports. When people recognize what other people are able to do or accomplish in sport this invokes the mimetic desire as a result of which motivation for sport and competiveness can arise. But mimetic rivalry leads to an unstable situation. Therefore a second element is needed: Scapegoating in sport is presented as a mean to preserve the good reputation of sport, to keep peace in sport as well as in society as a whole. Finally, the attempt to overcome mimetic desire and scapegoating in sport is presented and the question if this is worth trying at all is opened. CONCLUSIONS: The theories of mimetic desire and scapegoat mechanism have great explanatory power when they are applied to the field of sport. They could reveal us some hidden motives and forces which drive athletes and sport as a whole. Moreover, they exceed the world of sport and reveal the influence of sport on the whole of society.

  18. 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.

  19. 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...

  20. Multi-robot searching with sparse binary cues and limited space perception

    Directory of Open Access Journals (Sweden)

    Siqi eZhang

    2015-05-01

    Full Text Available In this paper, we consider the problem of searching for a source that releases particles in a turbulent medium with searchers having binary sensors and limited space perception.To this aim, we extend an information-theoric strategy to multiple searchers and demonstrate its efficiency both in simulation and robotic experiments. The search time is found to decay as $1/n$ for $n$ cooperative robots as compared to $1/sqrt{n}$ for independent robots so that significant gains in the search time are obtained with a small number of robots, {it e.g.} $n=3$. Search efficiency results from pooling sensory information between robots to improve individual decision-making (three detections on average per searcher were sufficient to reach the source. The methods is robust to odometry errors and is thus relevant to robots searching in low visibility conditions, {it e.g.} firefighter robots exploring smoky environments.