Multi-Axis Force Sensor for Human-Robot Interaction Sensing in a Rehabilitation Robotic Device.

Science.gov (United States)

Grosu, Victor; Grosu, Svetlana; Vanderborght, Bram; Lefeber, Dirk; Rodriguez-Guerrero, Carlos

2017-06-05

Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.

Control solutions for robots using Android and iOS devices

Science.gov (United States)

Evans, A. William, III; Gray, Jeremy P.; Rudnick, Dave; Karlsen, Robert E.

2012-06-01

As more Soldiers seek to utilize robots to enhance their mission capabilities, controls are needed which are intuitive, portable, and adaptable to a wide range of mission tasks. Android™ and iOS™ devices have the potential to meet each of these requirements as well as being based on readily available hardware. This paper will focus on some of the ways in which an Android™ or iOS™ device could be used to control specific and varied robot mobility functions and payload tools. Several small unmanned ground vehicle (SUGV) payload tools will have been investigated at Camp Pendleton during a user assessment and mission feasibility study for automatic remote tool changing. This group of payload tools will provide a basis, to researchers, concerning what types of control functions are needed to fully utilize SUGV robotic capabilities. Additional, mobility functions using tablet devices have been used as part of the Safe Operation of Unmanned systems for Reconnaissance in Complex Environments Army Technology Objective (SOURCE ATO) which is investigating the safe operation of robotics. Using Android™ and iOS™ hand-held devices is not a new concept in robot manipulation. However, the authors of this paper hope to introduce some novel concepts that may serve to make the interaction between Soldier and machine more fluid and intuitive. By creating a better user experience, Android™ and iOS™ devices could help to reduce training time, enhance performance, and increase acceptance of robotics as valuable mission tools for Soldiers.

Deployable and Conformal Planar Micro-Devices: Design and Model Validation

Directory of Open Access Journals (Sweden)

Jinda Zhuang

2014-08-01

Full Text Available We report a design concept for a deployable planar microdevice and the modeling and experimental validation of its mechanical behavior. The device consists of foldable membranes that are suspended between flexible stems and actuated by push-pull wires. Such a deployable device can be introduced into a region of interest in its compact “collapsed” state and then deployed to conformally cover a large two-dimensional surface area for minimally invasive biomedical operations and other engineering applications. We develop and experimentally validate theoretical models based on the energy minimization approach to examine the conformality and figures of merit of the device. The experimental results obtained using model contact surfaces agree well with the prediction and quantitatively highlight the importance of the membrane bending modulus in controlling surface conformality. The present study establishes an early foundation for the mechanical design of this and related deployable planar microdevice concepts.

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

Energy Technology Data Exchange (ETDEWEB)

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

1996-11-01

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

Robotic arm design for a remotely-deployed, in situ waste characterization probe

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Haas, J.W.

1991-01-01

This paper describes some design considerations for a system which will combine robotics and laser spectroscopy to produce an in situ monitoring system for heterogeneous waste materials. The new system will provide faster, cheaper, safer, and more complete characterization of mixed solids and liquids stored in tanks and drums or buried in pits. A small, fiberoptic multiprobe that performs Raman and fluorescence measurements of wastes composed of a variety of organic and inorganic compounds will be described. Design considerations for a novel sensor platform that positions and stabilizes the multiprobe relative to the sampling point in order to make accurate spectroscopic measurements and deploys the sensor in hazardous environments with minimal risk to workers will be presented. The core of the platform will be a 3-Degrees-Of-Freedom (3-DOF), spherical coordinate end effector equipped with a proximity sensor that compensates for errors introduced by the flexible nature of the support arm. The platform can be adapted to operate the most robotic deployment systems used in hazardous environments. The multisensor probe will be coupled to remote, portable laser spectrometer systems by a fiber-optic bundle. 5 refs

Robotic arm design for a remotely-deployed, in situ waste characterization probe

International Nuclear Information System (INIS)

Kress, Reid; Haas, John; Jansen, John

1992-01-01

This paper describes some design considerations for a system which will combine robotics and laser spectroscopy to produce an in situ monitoring system for heterogeneous waste materials. The new system will provide faster, cheaper) safer, and more complete characterization of mixed solids and liquids stored in tanks and drums or buried in pits. A small, fiberoptic multiprobe that performs Raman and fluorescence measurements of wastes composed of a variety of organic and inorganic compounds will be described. Design considerations for a novel sensor platform that positions and stabilizes the multiprobe relative to the sampling point in order to male accurate spectroscopic measurements and deploys the sensor in hazardous environments with minimal risk to workers will be presented. The core of (he platform will be a 3-Degrees-Of-Freedom (3-DOF), spherical coordinate end effector equipped with a proximity sensor that compensates for errors introduced by the flexible nature of the support arm. The platform can be adapted to operate with most robotic deployment systems used in hazardous environments. The multisensor probe will be coupled to remote, portable laser spectrometer systems by a fiber-optic bundle. (author)

Mechanical deployment system on aries an autonomous mobile robot

International Nuclear Information System (INIS)

Rocheleau, D.N.

1995-01-01

ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the mechanical deployment system-referred to as the camera positioning system (CPS)-used in the project. The CPS is used for positioning four identical but separate camera packages consisting of vision cameras and other required sensors such as bar-code readers and light stripe projectors. The CPS is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 5 interlocking rail-elements which starts from a retracted position and extends upward to simultaneously position 3 separate camera packages to inspect the top three drums of a column of four drums. The second is a parallelogram special case Grashof four-bar mechanism which is used for positioning a camera package on drums on the floor. Both mechanisms are the subject of this paper, where the lift mechanism is discussed in detail

EXOS research on master controllers for robotic devices

Science.gov (United States)

Marcus, Beth A.; An, Ben; Eberman, Brian

1992-01-01

Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

Soft robotic devices for hand rehabilitation and assistance: a narrative review.

Science.gov (United States)

Chu, Chia-Ye; Patterson, Rita M

2018-02-17

The debilitating effects on hand function from a number of a neurologic disorders has given rise to the development of rehabilitative robotic devices aimed at restoring hand function in these patients. To combat the shortcomings of previous traditional robotics, soft robotics are rapidly emerging as an alternative due to their inherent safety, less complex designs, and increased potential for portability and efficacy. While several groups have begun designing devices, there are few devices that have progressed enough to provide clinical evidence of their design's therapeutic abilities. Therefore, a global review of devices that have been previously attempted could facilitate the development of new and improved devices in the next step towards obtaining clinical proof of the rehabilitative effects of soft robotics in hand dysfunction. A literature search was performed in SportDiscus, Pubmed, Scopus, and Web of Science for articles related to the design of soft robotic devices for hand rehabilitation. A framework of the key design elements of the devices was developed to ease the comparison of the various approaches to building them. This framework includes an analysis of the trends in portability, safety features, user intent detection methods, actuation systems, total DOF, number of independent actuators, device weight, evaluation metrics, and modes of rehabilitation. In this study, a total of 62 articles representing 44 unique devices were identified and summarized according to the framework we developed to compare different design aspects. By far, the most common type of device was that which used a pneumatic actuator to guide finger flexion/extension. However, the remainder of our framework elements yielded more heterogeneous results. Consequently, those results are summarized and the advantages and disadvantages of many design choices as well as their rationales were highlighted. The past 3 years has seen a rapid increase in the development of soft robotic

Robotic devices and brain-machine interfaces for hand rehabilitation post-stroke.

Science.gov (United States)

McConnell, Alistair C; Moioli, Renan C; Brasil, Fabricio L; Vallejo, Marta; Corne, David W; Vargas, Patricia A; Stokes, Adam A

2017-06-28

To review the state of the art of robotic-aided hand physiotherapy for post-stroke rehabilitation, including the use of brain-machine interfaces. Each patient has a unique clinical history and, in response to personalized treatment needs, research into individualized and at-home treatment options has expanded rapidly in recent years. This has resulted in the development of many devices and design strategies for use in stroke rehabilitation. The development progression of robotic-aided hand physiotherapy devices and brain-machine interface systems is outlined, focussing on those with mechanisms and control strategies designed to improve recovery outcomes of the hand post-stroke. A total of 110 commercial and non-commercial hand and wrist devices, spanning the 2 major core designs: end-effector and exoskeleton are reviewed. The growing body of evidence on the efficacy and relevance of incorporating brain-machine interfaces in stroke rehabilitation is summarized. The challenges involved in integrating robotic rehabilitation into the healthcare system are discussed. This review provides novel insights into the use of robotics in physiotherapy practice, and may help system designers to develop new devices.

An investigation of highly accurate and precise robotic hole measurements using non-contact devices

Directory of Open Access Journals (Sweden)

Usman Zahid

2016-01-01

Full Text Available Industrial robots arms are widely used in manufacturing industry because of their support for automation. However, in metrology, robots have had limited application due to their insufficient accuracy. Even using error compensation and calibration methods, robots are not effective for micrometre (μm level metrology. Non-contact measurement devices can potentially enable the use of robots for highly accurate metrology. However, the use of such devices on robots has not been investigated. The research work reported in this paper explores the use of different non-contact measurement devices on an industrial robot. The aim is to experimentally investigate the effects of robot movements on the accuracy and precision of measurements. The focus has been on assessing the ability to accurately measure various geometric and surface parameters of holes despite the inherent inaccuracies of industrial robot. This involves the measurement of diameter, roundness and surface roughness. The study also includes scanning of holes for measuring internal features such as start and end point of a taper. Two different non-contact measurement devices based on different technologies are investigated. Furthermore, effects of eccentricity, vibrations and thermal variations are also assessed. The research contributes towards the use of robots for highly accurate and precise robotic metrology.

Miniaturized robotically deployed sensor systems for in-situ characterization of hazardous waste

International Nuclear Information System (INIS)

Fischer, G.J.

1996-01-01

A series of ''MiniLab'' end effectors are currently being designed for robotic deployment in hazardous areas such as waste storage tanks at Idaho National Engineering Laboratories (INEL) and Oak Ridge National Laboratory (ORNL). These MiniLabs will be the first ever multichannel hazardous waste characterization end effectors deployed in underground high level waste storage tanks. They consist of a suite of chemical, radiological, and physical properties sensors integrated into a compact package mounted on the end of a robotic arm and/or vehicle. Most of the sensors are commercially available thus reducing the overall cost of design and maintenance. Sensor configurations can be customized depending on site/customer needs. This paper will address issues regarding the cost of field sampling verses MiniLab in-situ measurements and a brief background of the Light Duty utility Arm (LDUA) program. Topics receiving in depth attention will include package size parameters/constraints, design specifications, and investigations of currently available sensor technology. Sensors include radiological, gas, chemical, electrolytic, visual, temperature, and ranging. The effects of radiation on the life of the systems/sensors will also be discussed. Signal processing, control, display, and data acquisition methods will be described. The paper will conclude with an examination of possible applications for MiniLabs

ROSMOD: A Toolsuite for Modeling, Generating, Deploying, and Managing Distributed Real-time Component-based Software using ROS

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Pranav Srinivas Kumar

2016-09-01

Full Text Available This paper presents the Robot Operating System Model-driven development tool suite, (ROSMOD an integrated development environment for rapid prototyping component-based software for the Robot Operating System (ROS middleware. ROSMOD is well suited for the design, development and deployment of large-scale distributed applications on embedded devices. We present the various features of ROSMOD including the modeling language, the graphical user interface, code generators, and deployment infrastructure. We demonstrate the utility of this tool with a real-world case study: an Autonomous Ground Support Equipment (AGSE robot that was designed and prototyped using ROSMOD for the NASA Student Launch competition, 2014–2015.

Deployment of Remotely-Accessible Robotics Laboratory

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Richard Balogh

2012-03-01

Full Text Available Robotnacka is an autonomous drawing mobile robot, designed for eaching beginners in the Logo programming language. It can also be used as an experimental platform, in our case in a remotely accessible robotic laboratory with the possibility to control the robots via the Internet. In addition to a basic version of the robot a version equipped with a gripper is available too, one with a wireless camera, and one with additional ultrasonic distance sensors. The laboratory is available on-line permanently and provides a simple way to incorporate robotics in teaching mathematics, programming and other subjects. The laboratory has been in use several years. We provide description of its functionality and summarize our experience.

Wheelchair-mounted robotic arm to hold and move a communication device - final design.

Science.gov (United States)

Barrett, Graham; Kurley, Kyle; Brauchie, Casey; Morton, Scott; Barrett, Steven

2015-01-01

At the 51st Rocky Mountain Bioengineering Symposium we presented a preliminary design for a robotic arm to assist an individual living within an assistive technology smart home. The individual controls much of their environment with a Dynavox Maestro communication device. However, the device obstructs the individual’s line of site when navigating about the smart home. A robotic arm was developed to move the communication device in and out of the user’s field of view as desired. The robotic arm is controlled by a conveniently mounted jelly switch. The jelly switch sends control signals to a four state (up, off, down, off) single-axis robotic arm interfaced to a DC motor by high power electronic relays. This paper describes the system, control circuitry, and multiple safety features. The arm will be delivered for use later in 2015.

Implementation of a map route analysis robot: combining an Android smart device and differential-drive robotic platform

Directory of Open Access Journals (Sweden)

Tseng Chi-Hung

2017-01-01

Full Text Available This paper proposes an easy-to-implement and relatively low-cost robotic platform with capability to realize image identification, object tracking, and Google Map route planning and navigation. Based on the JAVA and Bluetooth communication architectures, the system demonstrates the integration of Android smart devices and a differential-drive robotic platform.

A Formation Behavior for Large-Scale Micro-Robot Deployment

Energy Technology Data Exchange (ETDEWEB)

Dudenhoeffer, Donald Dean; Jones, Michael Paul

2000-12-01

Micro-robots will soon be available for deployment by the thousands. Consequently, controlling and coordinating a force this large to accomplish a prescribed task is of great interest. This paper describes a flexible architecture for modeling thousands of autonomous agents simultaneously. The agents’ behavior is based on a subsumption architecture in which individual behaviors are prioritized with respect to all others. The primary behavior explored in this work is a group formation behavior based on social potential fields (Reif and Wang 1999). This paper extends the social potential field model by introducing a neutral zone within which other behaviors may exhibit themselves. Previous work with social potential fields has been restricted to models of “perfect” autonomous agents. The paper evaluates the effect of social potential fields in the presence of agent death (failure) and imperfect sensory input.

Process for anodizing a robotic device

Science.gov (United States)

Townsend, William T [Weston, MA

2011-11-08

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

An overview of robotic/mechanical devices for post-stroke thumb rehabilitation.

Science.gov (United States)

Suarez-Escobar, Marian; Rendon-Velez, Elizabeth

2018-01-15

This article aims to clarify the current state-of-the-art of robotic/mechanical devices for post-stroke thumb rehabilitation as well as the anatomical characteristics and motions of the thumb that are crucial for the development of any device that aims to support its motion. A systematic literature search was conducted to identify robotic/mechanical devices for post-stroke thumb rehabilitation. Specific electronic databases and well-defined search terms and inclusion/exclusion criteria were used for such purpose. A reasoning model was devised to support the structured abstraction of relevant data from the literature of interest. Following the main search and after removing duplicated and other non-relevant studies, 68 articles (corresponding to 32 devices) were left for further examination. These articles were analyzed to extract data relative to (i) the motions assisted/permitted - either actively or passively - by the device per anatomical joint of the thumb and (ii) mechanical-related aspects (i.e., architecture, connections to thumb, other fingers supported, adjustability to different hand sizes, actuators - type, quantity, location, power transmission and motion trajectory). Most articles describe preliminary design and testing of prototypes, rather than the thorough evaluation of commercially ready devices. Defining appropriate kinematic models of the thumb upon which to design such devices still remains a challenging and unresolved task. Further research is needed before these devices can actually be implemented in clinical environments to serve their intended purpose of complementing the labour of therapists by facilitating intensive treatment with precise and repeatable exercises. Implications for Rehabilitation Post-stroke functional disability of the hand, and particularly of the thumb, significantly affects the capability to perform activities of daily living, threatening the independence and quality of life of the stroke survivors. The latest studies

Assembly For Moving a Robotic Device Along Selected Axes

Science.gov (United States)

Nowlin, Brentley Craig (Inventor); Koch, Lisa Danielle (Inventor)

2001-01-01

An assembly for moving a robotic device along selected axes includes a programmable logic controller (PLC) for controlling movement of the device along selected axes to effect movement of the device to a selected disposition. The PLC includes a plurality of single axis motion control modules, and a central processing unit (CPU) in communication with the motion control modules. A human-machine interface is provided for operator selection of configurations of device movements and is in communication with the CPU. A motor drive is in communication with each of the motion control modules and is operable to effect movement of the device along the selected axes to obtain movement of the device to the selected disposition.

StarClose Vascular Closure Device: Prospective Study on 222 Deployments in an Interventional Radiology Practice

International Nuclear Information System (INIS)

Imam, Atique; Carter, Ranjana M. S.; Phillips-Hughes, Jane; Boardman, Philip; Uberoi, Raman

2007-01-01

The StarClose device (Abbott Vascular Devices; Abbott Laboratories, Redwood City, CA) utilizes an externally placed Nitinol clip to achieve arterial closure following femoral artery puncture. The objectives of this study were to assess the efficacy and complications of the StarClose device in patients undergoing interventional radiological procedures. Preprocedural clotting status, pulse and blood pressure, severity of vessel calcification, sheath size, and time to deployment were recorded. Postdeployment complications immediately postprocedure, at 1 h, at 2 h, and at 1 week were recorded. A duplex scan was performed in the first 10 patients to assess any immediate vascular complications. Deployments were successful in 96% achieving immediate hemostasis. Mean deployment time was 48 s. There were no major complications. The StarClose device was found to have a high technical and clinical efficacy

Prosthetic Jamming Terminal Device: A Case Study of Untethered Soft Robotics.

Science.gov (United States)

Cheng, Nadia; Amend, John; Farrell, Todd; Latour, Debra; Martinez, Carlos; Johansson, Jen; McNicoll, Anthony; Wartenberg, Marek; Naseef, Samuel; Hanson, William; Culley, William

2016-12-01

This article illuminates the major and often overlooked challenge of untethering soft robotic systems through the context of recent work, in which soft robotic gripper technology enabled by jamming of granular media was applied to a prosthetic jamming terminal device (PJTD). The PJTD's technical and market feasibility was evaluated in a pilot study with two upper-limb amputees. A PJTD prototype was tested against a commercial device (Motion Control electric terminal service with a one degree-of-freedom pinching mechanism) using two existing hand function tests: the first quantified the device's speed in picking and placing small blocks and the second evaluated a person's ability to perform activities of daily living (ADLs). The PJTD prototype performed slightly slower than its commercial counterpart in the first test. While both participants successfully completed all the ADLs with both devices in the second test, the commercial device scored marginally higher. Results suggested that PJTD can have potential benefits over existing terminal devices, such as providing the capability to firmly grasp tools due to the ability of PJTD to conform to arbitrary surfaces and reducing compensatory shoulder movements due to its axisymmetric design. Some downsides were that users reported fatigue while operating the PJTD, as most operations require pushing the PJTD against target objects to adequately conform to them. The greatest drawback for the PJTD is also a major roadblock preventing a number of soft robotic research projects from making an impact in real-world applications: pneumatic technology required for operating the PJTD is currently too large and heavy to enable compact untethered operation.

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.

A Self-Organizing Interaction and Synchronization Method between a Wearable Device and Mobile Robot.

Science.gov (United States)

Kim, Min Su; Lee, Jae Geun; Kang, Soon Ju

2016-06-08

In the near future, we can expect to see robots naturally following or going ahead of humans, similar to pet behavior. We call this type of robots "Pet-Bot". To implement this function in a robot, in this paper we introduce a self-organizing interaction and synchronization method between wearable devices and Pet-Bots. First, the Pet-Bot opportunistically identifies its owner without any human intervention, which means that the robot self-identifies the owner's approach on its own. Second, Pet-Bot's activity is synchronized with the owner's behavior. Lastly, the robot frequently encounters uncertain situations (e.g., when the robot goes ahead of the owner but meets a situation where it cannot make a decision, or the owner wants to stop the Pet-Bot synchronization mode to relax). In this case, we have adopted a gesture recognition function that uses a 3-D accelerometer in the wearable device. In order to achieve the interaction and synchronization in real-time, we use two wireless communication protocols: 125 kHz low-frequency (LF) and 2.4 GHz Bluetooth low energy (BLE). We conducted experiments using a prototype Pet-Bot and wearable devices to verify their motion recognition of and synchronization with humans in real-time. The results showed a guaranteed level of accuracy of at least 94%. A trajectory test was also performed to demonstrate the robot's control performance when following or leading a human in real-time.

Towards soft robotic devices for site-specific drug delivery.

Science.gov (United States)

Alici, Gursel

2015-01-01

Considerable research efforts have recently been dedicated to the establishment of various drug delivery systems (DDS) that are mechanical/physical, chemical and biological/molecular DDS. In this paper, we report on the recent advances in site-specific drug delivery (site-specific, controlled, targeted or smart drug delivery are terms used interchangeably in the literature, to mean to transport a drug or a therapeutic agent to a desired location within the body and release it as desired with negligibly small toxicity and side effect compared to classical drug administration means such as peroral, parenteral, transmucosal, topical and inhalation) based on mechanical/physical systems consisting of implantable and robotic drug delivery systems. While we specifically focus on the robotic or autonomous DDS, which can be reprogrammable and provide multiple doses of a drug at a required time and rate, we briefly cover the implanted DDS, which are well-developed relative to the robotic DDS, to highlight the design and performance requirements, and investigate issues associated with the robotic DDS. Critical research issues associated with both DDSs are presented to describe the research challenges ahead of us in order to establish soft robotic devices for clinical and biomedical applications.

Development of a K3A robot for deployment in radioactive environments

International Nuclear Information System (INIS)

Sias, F.R. Jr.

1996-01-01

Radioactive materials make up a significant part of the hazardous-material inventory of the United States Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. To use a mobile robot in the vicinity of high-level gamma radiation requires a special design. Since materials and electronic circuits can withstand some radiation without failure, the simplest approach would be simply to use an unmodified commercial mobile robot in the radioactive environment but remove it before failure occurs. Unpowered backup is another method of extending system lifetime in an ionizing radiation environment. When the primary system fails or degrades sufficiently, the backup system can be switched in to maintain system operation. By careful design and production-lot testing, systems can be designed to meet moderate doses of radiation; however, randomly-selected off- the-shelf commercial parts cannot be guaranteed to meet a specified total-dose tolerance. We can define the Basic Radiation-Hardened System to be a teleoperated K3A transport capable of deploying a radiation-hardened video camera for initial entry and inspection applications. The electronics in the K3A mobile base has three essential modules: MA-2 Motor Amplifier Circuit, DC-I Drive Control Computer, and DC/DC Converter for powering the electronics. Design of the system will be discussed

Navigation control of a multi-functional eye robot

International Nuclear Information System (INIS)

Ali, F.A.M.; Hashmi, B.; Younas, A.; Abid, B.

2016-01-01

The advancement in robotic field is enhanced rigorously in the past Few decades. Robots are being used in different fields of science as well as warfare. The research shows that in the near future, robots would be able to serve in fighting wars. Different countries and their armies have already deployed several military robots. However, there exist some drawbacks of robots like their inefficiency and inability to work under abnormal conditions. Ascent of artificial intelligence may resolve this issue in the coming future. The main focus of this paper is to provide a low cost and long range most efficient mechanical as well as software design of an Eye Robot. Using a blend of robotics and image processing with an addition of artificial intelligence path navigation techniques, this project is designed and implemented by controlling the robot (including robotic arm and camera) through a 2.4 GHz RF module manually. Autonomous function of the robot includes navigation based on the path assigned to the robot. The path is drawn on a VB based application and then transferred to the robot wirelessly or through serial port. A Wi-Fi based Optical Character Recognition (OCR) implemented video streaming can also be observed at remote devices like laptops. (author)

Design and control of RUPERT: a device for robotic upper extremity repetitive therapy.

Science.gov (United States)

Sugar, Thomas G; He, Jiping; Koeneman, Edward J; Koeneman, James B; Herman, Richard; Huang, H; Schultz, Robert S; Herring, D E; Wanberg, J; Balasubramanian, Sivakumar; Swenson, Pete; Ward, Jeffrey A

2007-09-01

The structural design, control system, and integrated biofeedback for a wearable exoskeletal robot for upper extremity stroke rehabilitation are presented. Assisted with clinical evaluation, designers, engineers, and scientists have built a device for robotic assisted upper extremity repetitive therapy (RUPERT). Intense, repetitive physical rehabilitation has been shown to be beneficial overcoming upper extremity deficits, but the therapy is labor intensive and expensive and difficult to evaluate quantitatively and objectively. The RUPERT is developed to provide a low cost, safe and easy-to-use, robotic-device to assist the patient and therapist to achieve more systematic therapy at home or in the clinic. The RUPERT has four actuated degrees-of-freedom driven by compliant and safe pneumatic muscles (PMs) on the shoulder, elbow, and wrist. They are programmed to actuate the device to extend the arm and move the arm in 3-D space. It is very important to note that gravity is not compensated and the daily tasks are practiced in a natural setting. Because the device is wearable and lightweight to increase portability, it can be worn standing or sitting providing therapy tasks that better mimic activities of daily living. The sensors feed back position and force information for quantitative evaluation of task performance. The device can also provide real-time, objective assessment of functional improvement. We have tested the device on stroke survivors performing two critical activities of daily living (ADL): reaching out and self feeding. The future improvement of the device involves increased degrees-of-freedom and interactive control to adapt to a user's physical conditions.

Interacting with and via mobile devices and mobile robots in an assisted living setting

Directory of Open Access Journals (Sweden)

Maria Dagioglou

2015-05-01

Full Text Available Using robotic home assistants as a platform for remote health monitoring offers several advantages, but also presents considerable challenges related to both the technical immaturity of home robotics and to user acceptance issues. In this paper we explore tablets and similar mobile devices as the medium of communication between robots and their users, presenting relevant current and planned research in humanrobot interaction that can help the telehealth community circumvent technical shortcomings, improve user acceptance, and maximize the quality of the data collected by robotic home assistants.

Healthcare Robotics

OpenAIRE

Riek, Laurel D.

2017-01-01

Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

An EMG-driven exoskeleton hand robotic training device on chronic stroke subjects: task training system for stroke rehabilitation.

Science.gov (United States)

Ho, N S K; Tong, K Y; Hu, X L; Fung, K L; Wei, X J; Rong, W; Susanto, E A

2011-01-01

An exoskeleton hand robotic training device is specially designed for persons after stroke to provide training on their impaired hand by using an exoskeleton robotic hand which is actively driven by their own muscle signals. It detects the stroke person's intention using his/her surface electromyography (EMG) signals from the hemiplegic side and assists in hand opening or hand closing functional tasks. The robotic system is made up of an embedded controller and a robotic hand module which can be adjusted to fit for different finger length. Eight chronic stroke subjects had been recruited to evaluate the effects of this device. The preliminary results showed significant improvement in hand functions (ARAT) and upper limb functions (FMA) after 20 sessions of robot-assisted hand functions task training. With the use of this light and portable robotic device, stroke patients can now practice more easily for the opening and closing of their hands at their own will, and handle functional daily living tasks at ease. A video is included together with this paper to give a demonstration of the hand robotic system on chronic stroke subjects and it will be presented in the conference. © 2011 IEEE

Robotic devices for nuclear plant

Energy Technology Data Exchange (ETDEWEB)

Abel, E

1986-05-01

The article surveys the background of nuclear remote handling and its associated technology, robotics. Manipulators, robots, robot applications, extending the range of applications, and future developments, are all discussed.

Robot technology in remote inspection and repair

International Nuclear Information System (INIS)

Lowe, D.B.

1981-01-01

The development of remotely controlled equipment for use in a hostile (eg radioactive) environment is reviewed. Inspection and repair work in the core vessel of a nuclear reactor is a particular example of the need for robot devices. Devices with the ability to reach out after entering the interior of the reactor and perform specified operations some distance from the entry axis are needed. It is also necessary to design with tool retrieval emergencies in mind. Should an accident or malfunction prevent withdrawal of the equipment by normal means there must be a fail-safe mechanism of collapse and withdrawal. Visual contact with the device, usually by closed circuit TV is also necessary. Recent developments are described. These include stereoscopic imaging, a flexible arm of increased reach, dexterity and strength, and a computerized robotic arm with seven degrees of freedom to be deployed by the flexible arm. Microprocessors are used to analyse information and command functions. A current solution of the need for precise positioning and tracking of a NDT head round a reactor core is illustrated. (U.K.)

SafeNet: a methodology for integrating general-purpose unsafe devices in safe-robot rehabilitation systems.

Science.gov (United States)

Vicentini, Federico; Pedrocchi, Nicola; Malosio, Matteo; Molinari Tosatti, Lorenzo

2014-09-01

Robot-assisted neurorehabilitation often involves networked systems of sensors ("sensory rooms") and powerful devices in physical interaction with weak users. Safety is unquestionably a primary concern. Some lightweight robot platforms and devices designed on purpose include safety properties using redundant sensors or intrinsic safety design (e.g. compliance and backdrivability, limited exchange of energy). Nonetheless, the entire "sensory room" shall be required to be fail-safe and safely monitored as a system at large. Yet, sensor capabilities and control algorithms used in functional therapies require, in general, frequent updates or re-configurations, making a safety-grade release of such devices hardly sustainable in cost-effectiveness and development time. As such, promising integrated platforms for human-in-the-loop therapies could not find clinical application and manufacturing support because of lacking in the maintenance of global fail-safe properties. Under the general context of cross-machinery safety standards, the paper presents a methodology called SafeNet for helping in extending the safety rate of Human Robot Interaction (HRI) systems using unsafe components, including sensors and controllers. SafeNet considers, in fact, the robotic system as a device at large and applies the principles of functional safety (as in ISO 13489-1) through a set of architectural procedures and implementation rules. The enabled capability of monitoring a network of unsafe devices through redundant computational nodes, allows the usage of any custom sensors and algorithms, usually planned and assembled at therapy planning-time rather than at platform design-time. A case study is presented with an actual implementation of the proposed methodology. A specific architectural solution is applied to an example of robot-assisted upper-limb rehabilitation with online motion tracking. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Fast and Efficient Radiological Interventions via a Graphical User Interface Commanded Magnetic Resonance Compatible Robotic Device

Science.gov (United States)

Özcan, Alpay; Christoforou, Eftychios; Brown, Daniel; Tsekos, Nikolaos

2011-01-01

The graphical user interface for an MR compatible robotic device has the capability of displaying oblique MR slices in 2D and a 3D virtual environment along with the representation of the robotic arm in order to swiftly complete the intervention. Using the advantages of the MR modality the device saves time and effort, is safer for the medical staff and is more comfortable for the patient. PMID:17946067

A Systematic Review on Existing Measures for the Subjective Assessment of Rehabilitation and Assistive Robot Devices

Directory of Open Access Journals (Sweden)

Yiannis Koumpouros

2016-01-01

Full Text Available The objective of the current study is to identify and classify outcome measures currently used for the assessment of rehabilitation or assistive robot devices. We conducted a systematic review of the literature using PubMed, MEDLINE, CIRRIE, and Scopus databases for studies that assessed rehabilitation or assistive robot devices from 1980 through January 2016. In all, 31 articles met all inclusion criteria. Tailor-made questionnaires were the most commonly used tool at 66.7%, while the great majority (93.9% of the studies used nonvalidated instruments. The study reveals the absence of a standard scale which makes it difficult to compare the results from different researchers. There is a great need, therefore, for a valid and reliable instrument to be available for use by the intended end users for the subjective assessment of robot devices. The study concludes by identifying two scales that have been validated in general assistive technology devices and could support the scope of subjective assessment in rehabilitation or assistive robots (however, with limited coverage and a new one called PYTHEIA, recently published. The latter intends to close the gap and help researchers and developers to evaluate, assess, and produce products that satisfy the real needs of the end users.

Development of a fixation device for robot assisted fracture reduction of femoral shaft fractures: a biomechanical study.

Science.gov (United States)

Weber-Spickschen, T S; Oszwald, M; Westphal, R; Krettek, C; Wahl, F; Gosling, T

2010-01-01

Robot assisted fracture reduction of femoral shaft fractures provides precise alignment while reducing the amount of intraoperative imaging. The connection between the robot and the fracture fragment should allow conventional intramedullary nailing, be minimally invasive and provide interim fracture stability. In our study we tested three different reduction tools: a conventional External Fixator, a Reposition-Plate and a Three-Point-Device with two variations (a 40 degrees and a 90 degrees version). We measured relative movements between the tools and the bone fragments in all translation and rotation planes. The Three-Point-Device 90 degrees showed the smallest average relative displacement and was the only device able to withstand the maximum applied load of 70 Nm without failure of any bone fragment. The Three-Point-Device 90 degrees complies with all the stipulated requirements and is a suitable interface for robot assisted fracture reduction of femoral shaft fractures.

A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics.

Science.gov (United States)

Beckerle, Philipp; Salvietti, Gionata; Unal, Ramazan; Prattichizzo, Domenico; Rossi, Simone; Castellini, Claudio; Hirche, Sandra; Endo, Satoshi; Amor, Heni Ben; Ciocarlie, Matei; Mastrogiovanni, Fulvio; Argall, Brenna D; Bianchi, Matteo

2017-01-01

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.

Facilitating Social Play for Children with PDDs: Effects of Paired Robotic Devices

Directory of Open Access Journals (Sweden)

Soichiro Matsuda

2017-06-01

Full Text Available Interacting with toys and other people is fundamental for developing social communication skills. However, children with autism spectrum disorder (ASD are characterized by having a significant impairment in social interaction, which often leads to deficits in play skills. For this reason, methods of teaching play skills to young children with ASD have been well documented. Although previous studies have examined a variety of instructional strategies for teaching skills, few studies have evaluated the potential of using robotic devices. The purpose of the present study is to examine whether automatic feedback provided by colored lights and vibration via paired robotic devices, COLOLO, facilitates social play behaviors in children with ASD. We also explore how social play relates to social interaction. COLOLO is a system of paired spherical devices covered with soft fabric. All participants in this study were recruited as volunteers through the Department of Psychology at Keio University. The pilot study included three participants diagnosed with Pervasive Developmental Disorders (PDDs; 5- to 6-year-old boys, and compared experimental conditions with and without automatic feedback from the devices (colored lights and vibration. The results indicated that the participants in the condition that included feedback from the devices exhibited increased rates of ball contact and looking at the therapist’s ball, but did not exhibit increased rates of eye contact or positive affect. In the experimental study, a systematic replication of the pilot study was performed with three other participants diagnosed with PDDs (3- to 6-year-old boys, using an A-B-A-B design. Again, the results demonstrated that, in the condition with colored lights and vibration, the children increased ball contact as well as looking at the therapist’s ball. However, the results did not show the effect of automatic feedback consistently for three children. These findings are

Neuro-robotics from brain machine interfaces to rehabilitation robotics

CERN Document Server

Artemiadis

2014-01-01

Neuro-robotics is one of the most multidisciplinary fields of the last decades, fusing information and knowledge from neuroscience, engineering and computer science. This book focuses on the results from the strategic alliance between Neuroscience and Robotics that help the scientific community to better understand the brain as well as design robotic devices and algorithms for interfacing humans and robots. The first part of the book introduces the idea of neuro-robotics, by presenting state-of-the-art bio-inspired devices. The second part of the book focuses on human-machine interfaces for pe

A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Directory of Open Access Journals (Sweden)

Philipp Beckerle

2017-05-01

Full Text Available Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human–robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.

A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Science.gov (United States)

Beckerle, Philipp; Salvietti, Gionata; Unal, Ramazan; Prattichizzo, Domenico; Rossi, Simone; Castellini, Claudio; Hirche, Sandra; Endo, Satoshi; Amor, Heni Ben; Ciocarlie, Matei; Mastrogiovanni, Fulvio; Argall, Brenna D.; Bianchi, Matteo

2017-01-01

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human–robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions. PMID:28588473

Access to hands-on mathematics measurement activities using robots controlled via speech generating devices: three case studies.

Science.gov (United States)

Adams, Kim; Cook, Al

2014-07-01

To examine how using a robot controlled via a speech generating device (SGD) influences the ways students with physical and communication limitations can demonstrate their knowledge in math measurement activities. Three children with severe physical disabilities and complex communication needs used the robot and SGD system to perform four math measurement lessons in comparing, sorting and ordering objects. The performance of the participants was measured and the process of using the system was described in terms of manipulation and communication events. Stakeholder opinions were solicited regarding robot use. Robot use revealed some gaps in the procedural knowledge of the participants. Access to both the robot and SGD was shown to provide several benefits. Stakeholders thought the intervention was important and feasible for a classroom environment. The participants were able to participate actively in the hands-on and communicative measurement activities and thus meet the demands of current math instruction methods. Current mathematics pedagogy encourages doing hands-on activities while communicating about concepts. Adapted Lego robots enabled children with severe physical disabilities to perform hands-on length measurement activities. Controlling the robots from speech generating devices (SGD) enabled the children, who also had complex communication needs, to reflect and report on results during the activities. By using the robots combined with SGDs, children both exhibited their knowledge of and experienced the concepts of mathematical measurements.

On the Efficacy of Isolating Shoulder and Elbow Movements with a Soft, Portable, and Wearable Robotic Device

Science.gov (United States)

Kadivar, Zahra; Beck, Christopher E.; Rovekamp, Roger N.; O'Malley, Marcia K.; Joyce, Charles A.

2016-01-01

Treatment intensity has a profound effect on motor recovery following neurological injury. The use of robotics has potential to automate these labor-intensive therapy procedures that are typically performed by physical therapists. Further, the use of wearable robotics offers an aspect of portability that may allow for rehabilitation outside the clinic. The authors have developed a soft, portable, lightweight upper extremity wearable robotic device to provide motor rehabilitation of patients with affected upper limbs due to traumatic brain injury (TBI). A key feature of the device demonstrated in this paper is the isolation of shoulder and elbow movements necessary for effective rehabilitation interventions. Herein is presented a feasibility study with one subject and demonstration of the device's ability to provide safe, comfortable, and controlled upper extremity movements. Moreover, it is shown that by decoupling shoulder and elbow motions, desired isolated joint actuation can be achieved.

Evaluation and in situ assessment of photodegradation of polyaromatic hydrocarbons in semipermeable membrane devices deployed in ocean water

Energy Technology Data Exchange (ETDEWEB)

Komarova, Tatiana V. [University of Queensland, National Research Centre for Environmental Toxicology (EnTox), 39 Kessels Road, Coopers Plains, Queensland (Australia)], E-mail: t.komarova@uq.edu.au; Bartkow, Michael E. [University of Queensland, National Research Centre for Environmental Toxicology (EnTox), 39 Kessels Road, Coopers Plains, Queensland (Australia); Rutishauser, Sibylle [Swiss Federal Institute of Aquatic Science and Technology (Eawag), Department of Environmental Toxicology, CH-8600 Duebendorf (Switzerland); Carter, Steve [Queensland Health Forensic and Scientific Service (QHFSS), Queensland (Australia); Mueller, Jochen F. [University of Queensland, National Research Centre for Environmental Toxicology (EnTox), 39 Kessels Road, Coopers Plains, Queensland (Australia)

2009-03-15

Semipermeable membrane devices (SPMDs) were deployed in water using four different methods: a typical SPMD cage with and without a mesh cover, a bowl chamber and without any protection. In addition to routinely used performance reference compounds (PRCs), perdeuterated dibenz[a,h]anthracene was added. Due to its high sampler to water partition coefficient no measurable clearance due to diffusion was expected during the deployment period, hence any observed loss could be attributed to photodegradation. The loss of PRCs was measured and SPMD-based water concentrations determined. Results showed that a typical SPMD deployment cage covered with mesh provided the best protection from photodegradation. Samplers which had undergone the highest photodegradation underestimated PAH water concentrations by up to a factor of 5 compared to the most protected SPMDs. This study demonstrates that the potential for photodegradation needs to be addressed when samplers are deployed in water of low turbidity. - Our study indicates that photodegradation of PAHs occurs from passive water samplers (SPMDs) deployed in different devices.

Architecture and prototype of human-machine interface with mobile robotic device

International Nuclear Information System (INIS)

Dyumin, A.A.; Sorokoumov, P.S.; Chepin, E.V.; Urvanov, G.A.

2013-01-01

The possibility of controlling mobile robotic (MRD) device is analyzed and a prototype control system is described. It is established that, for controlling MRD, it is expedient to use a brain-computer interface. A system of interpretation of information obtained from the operator brain has been developed and used in the proposed prototype control system [ru

Singularity now: using the ventricular assist device as a model for future human-robotic physiology.

Science.gov (United States)

Martin, Archer K

2016-04-01

In our 21 st century world, human-robotic interactions are far more complicated than Asimov predicted in 1942. The future of human-robotic interactions includes human-robotic machine hybrids with an integrated physiology, working together to achieve an enhanced level of baseline human physiological performance. This achievement can be described as a biological Singularity. I argue that this time of Singularity cannot be met by current biological technologies, and that human-robotic physiology must be integrated for the Singularity to occur. In order to conquer the challenges we face regarding human-robotic physiology, we first need to identify a working model in today's world. Once identified, this model can form the basis for the study, creation, expansion, and optimization of human-robotic hybrid physiology. In this paper, I present and defend the line of argument that currently this kind of model (proposed to be named "IshBot") can best be studied in ventricular assist devices - VAD.

Computer Simulation of Robotic Device Components in 3D Printer Manufacturing

Directory of Open Access Journals (Sweden)

M. A. Kiselev

2016-01-01

Full Text Available The paper considers a relevant problem "Computer simulation of robotic device components in manufacturing on a 3D printer" and highlights the problem of computer simulation based on the cognitive programming technology of robotic device components. The paper subject is urgent because computer simulation of force-torque and accuracy characteristics of robot components in terms of their manufacturing properties and conditions from polymeric and metallic materials is of paramount importance for programming and manufacturing on the 3D printers. Two types of additive manufacturing technologies were used:1. FDM (Fused deposition modeling - layered growth of products from molten plastic strands;2. SLM (Selective laser melting - selective laser sintering of metal powders, which, in turn, create:• conditions for reducing the use of expensive equipment;• reducing weight and increasing strength through optimization of  the lattice structures when using a bionic design;• a capability to implement mathematical modeling of individual components of robotic and other devices in terms of appropriate characteristics;• a 3D printing capability to create unique items, which cannot be made by other known methods.The paper aim was to confirm the possibility of ensuring the strength and accuracy characteristics of cases when printing from polymeric and metallic materials on a 3D printer. The investigation emphasis is on mathematical modeling based on the cognitive programming technology using the additive technologies in their studies since it is, generally, impossible to make the obtained optimized structures on the modern CNC machines.The latter allows us to create a program code to be clear to other developers without cost, additional time for development, adaptation and implementation.Year by year Russian companies increasingly use a 3D-print system in mechanical engineering, aerospace industry, and for scientific purposes. Machines for the additive

Hierarchical coordination control of mobile robots

NARCIS (Netherlands)

Adinandra, S.

2012-01-01

In the last decade, robotic systems have penetrated human life more than human can imagine. In particular, the multi-mobile robotic systems have faced a fast growing due to the fact that by deploying a large collection of mobile robots the overall system has a high redundancy and offers the

Manual input device for controlling a robot arm

International Nuclear Information System (INIS)

Fischer, P.J.; Siva, K.V.

1990-01-01

A six-axis input device, eg joystick, is supported by a mechanism which enables the joystick to be aligned with any desired orientation, eg parallel to the tool. The mechanism can then be locked to provide a rigid support of the joystick. The mechanism may include three pivotal joints whose axes are perpendicular, each incorporating a clutch. The clutches may be electromagnetic or mechanical and may be operable jointly or independently. The robot arm comprises a base rotatable about a vertical axis, an upper arm, a forearm and a tool or grip rotatable about three perpendicular axes relative to the forearm. (author)

Mobile robotics for CANDU maintenance

International Nuclear Information System (INIS)

Lipsett, M.G.; Rody, K.H.

1996-01-01

Although robotics researchers have been promising that robotics would soon be performing tasks in hazardous environments, the reality has yet to live up to the hype. The presently available crop of robots suitable for deployment in industrial situations are remotely operated, requiring skilled users. This talk describes cases where mobile robots have been used successfully in CANDU stations, discusses the difficulties in using mobile robots for reactor maintenance, and provides near-term goals for achievable improvements in performance and usefulness. (author) 5 refs., 2 ills

Parametric optimization in virtual prototyping environment of the control device for a robotic system used in thin layers deposition

Science.gov (United States)

Enescu (Balaş, M. L.; Alexandru, C.

2016-08-01

The paper deals with the optimal design of the control system for a 6-DOF robot used in thin layers deposition. The optimization is based on parametric technique, by modelling the design objective as a numerical function, and then establishing the optimal values of the design variables so that to minimize the objective function. The robotic system is a mechatronic product, which integrates the mechanical device and the controlled operating device.The mechanical device of the robot was designed in the CAD (Computer Aided Design) software CATIA, the 3D-model being then transferred to the MBS (Multi-Body Systems) environment ADAMS/View. The control system was developed in the concurrent engineering concept, through the integration with the MBS mechanical model, by using the DFC (Design for Control) software solution EASY5. The necessary angular motions in the six joints of the robot, in order to obtain the imposed trajectory of the end-effector, have been established by performing the inverse kinematic analysis. The positioning error in each joint of the robot is used as design objective, the optimization goal being to minimize the root mean square during simulation, which is a measure of the magnitude of the positioning error varying quantity.

Automation &robotics for future Mars exploration

Science.gov (United States)

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

2003-04-01

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

Towards efficient deployment in Internet of Robotic Things

OpenAIRE

Razafimandimby , Cristanel; Loscri , Valeria; Vegni , Anna Maria

2017-01-01

International audience; Internet of Robotic Things (IoRT) is a new concept introduced for the first time by ABI Research. Unlike the Internet of Things (IoT), IoRT provides adynamic actuation and is considered as the new evolution of IoT. This new concept will bring new opportunities and challenges, while providing newbusiness ideas for IoT and robotics’ entrepreneurs. In this work, we will focus particularly on two issues: (i) connectivity maintenance among multiple IoRT robots, and (ii) the...

Obstacles delaying the prompt deployment of piston-type mechanical cardiopulmonary resuscitation devices during emergency department resuscitation: a video-recording and time-motion study.

Science.gov (United States)

Huang, Edward Pei-Chuan; Wang, Hui-Chih; Ko, Patrick Chow-In; Chang, Anna Marie; Fu, Chia-Ming; Chen, Jiun-Wei; Liao, Yen-Chen; Liu, Hung-Chieh; Fang, Yao-De; Yang, Chih-Wei; Chiang, Wen-Chu; Ma, Matthew Huei-Ming; Chen, Shyr-Chyr

2013-09-01

The quality of cardiopulmonary resuscitation (CPR) is important to survival after cardiac arrest. Mechanical devices (MD) provide constant CPR, but their effectiveness may be affected by deployment timeliness. To identify the timeliness of the overall and of each essential step in the deployment of a piston-type MD during emergency department (ED) resuscitation, and to identify factors associated with delayed MD deployment by video recordings. Between December 2005 and December 2008, video clips from resuscitations with CPR sessions using a MD in the ED were reviewed using time-motion analyses. The overall deployment timeliness and the time spent on each essential step of deployment were measured. There were 37 CPR recordings that used a MD. Deployment of MD took an average 122.6 ± 57.8s. The 3 most time-consuming steps were: (1) setting the device (57.8 ± 38.3s), (2) positioning the patient (33.4 ± 38.0 s), and (3) positioning the device (14.7 ± 9.5s). Total no flow time was 89.1 ± 41.2s (72.7% of total time) and associated with the 3 most time-consuming steps. There was no difference in the total timeliness, no-flow time, and no-flow ratio between different rescuer numbers, time of day of the resuscitation, or body size of patients. Rescuers spent a significant amount of time on MD deployment, leading to long no-flow times. Lack of familiarity with the device and positioning strategy were associated with poor performance. Additional training in device deployment strategies are required to improve the benefits of mechanical CPR. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Air-deployable oil spill sampling devices review phase 2 testing. Volume 1

International Nuclear Information System (INIS)

Hawke, L.; Dumouchel, A.; Fingas, M.; Brown, C.E.

2007-01-01

SAIC Canada tested air deployable oil sampling devices for the Emergencies Science and Technology Division of Environment Canada in order to determine the applicability and status of these devices. The 3 devices tested were: Canada's SABER (sampling autonomous buoy for evidence recovery), the United States' POPEIE (probe for oil pollution evidence in the environment); and, Sweden's SAR Floatation 2000. They were tested for buoyancy properties, drift behaviour and sampler sorbent pickup ratios. The SAR and SABER both had lesser draft and greater freeboard, while the POPEIE had much greater draft than freeboard. All 3 devices could be used for oil sample collection in that their drift characteristics would allow for the SABER and SAR devices to be placed upwind of the slick while the POPEIE device could be placed downwind of an oil spill. The sorbent testing revealed that Sefar sorbent and Spectra sorbent used in the 3 devices had negative pickup ratios for diesel but performance improved as oil viscosity increased. Both sorbents are inert and capable of collecting oil in sufficient volumes for consistent fingerprinting analysis. 10 refs., 8 tabs., 8 figs

Localization of a Robotic Crawler for CANDU Fuel Channel Inspection

Science.gov (United States)

Manning, Mark

This thesis discusses the design and development of a pipe crawling robot for the purpose of CANDU fuel channel inspection. The pipe crawling robot shall be capable of deploying the existing CIGAR (Channel Inspection and Gauging Apparatus for Reactors) sensor head. The main focus of this thesis is the design of the localization system for this robot and the many tests that were completed to demonstrate its accuracy. The proposed localization system consists of three redundant resolver wheels mounted to the robot's frame and two resolvers that are mounted inside a custom made cable drum. This cable drum shall be referred to in this thesis as the emergency retrieval device. This device serves the dual-purpose of providing absolute position measurements (via the cable that is tethered to the robot) as well as retrieving the robot if it is inoperable. The estimated accuracy of the proposed design is demonstrated with the use of a proof-of-concept prototype and a custom made test bench that uses a vision system to provide a more accurate estimate of the robot's position. The only major difference between the proof-of-concept prototype and the proposed solution is that the more expensive radiation hardened components were not used in the proof-of-concept prototype design. For example, the proposed solution shall use radiation hardened resolver wheels, whereas the proof-of-concept prototype used encoder wheels. These encoder wheels provide the same specified accuracy as the radiation hardened resolvers for the most realistic results possible. The rationale behind the design of the proof-of-concept prototype, the proposed final design, the design of the localization system test bench, and the test plan for developing all of the components of the design related to the robot's localization system are discussed in the thesis. The test plan provides a step by step guide to the configuration and optimization of an Unscented Kalman Filter (UKF). The UKF was selected as the ideal

Robotic hand with modular extensions

Science.gov (United States)

Salisbury, Curt Michael; Quigley, Morgan

2015-01-20

A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.

Robotics

International Nuclear Information System (INIS)

Scheide, A.W.

1983-01-01

This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

Device for dynamic switching of robot control points

DEFF Research Database (Denmark)

2015-01-01

The invention comprises a system for switching between control points of a robotic system involving an industrial robot including a robot arm with a number of joints and provided with a tool interest point movable in a plurality of degrees of freedom.......The invention comprises a system for switching between control points of a robotic system involving an industrial robot including a robot arm with a number of joints and provided with a tool interest point movable in a plurality of degrees of freedom....

Performing mathematics activities with non-standard units of measurement using robots controlled via speech-generating devices: three case studies.

Science.gov (United States)

Adams, Kim D; Cook, Albert M

2017-07-01

Purpose To examine how using a Lego robot controlled via a speech-generating device (SGD) can contribute to how students with physical and communication impairments perform hands-on and communicative mathematics measurement activities. This study was a follow-up to a previous study. Method Three students with cerebral palsy used the robot to measure objects using non-standard units, such as straws, and then compared and ordered the objects using the resulting measurement. Their performance was assessed, and the manipulation and communication events were observed. Teachers and education assistants were interviewed regarding robot use. Results Similar benefits to the previous study were found in this study. Gaps in student procedural knowledge were identified such as knowing to place measurement units tip-to-tip, and students' reporting revealed gaps in conceptual understanding. However, performance improved with repeated practice. Stakeholders identified that some robot tasks took too long or were too difficult to perform. Conclusions Having access to both their SGD and a robot gave the students multiple ways to show their understanding of the measurement concepts. Though they could participate actively in the new mathematics activities, robot use is most appropriate in short tasks requiring reasonable operational skill. Implications for Rehabilitation Lego robots controlled via speech-generating devices (SGDs) can help students to engage in the mathematics pedagogy of performing hands-on activities while communicating about concepts. Students can "show what they know" using the Lego robots, and report and reflect on concepts using the SGD. Level 1 and Level 2 mathematics measurement activities have been adapted to be accomplished by the Lego robot. Other activities can likely be accomplished with similar robot adaptations (e.g., gripper, pen). It is not recommended to use the robot to measure items that are long, or perform measurements that require high

Modeling and Simulation for Exploring Human-Robot Team Interaction Requirements

Energy Technology Data Exchange (ETDEWEB)

Dudenhoeffer, Donald Dean; Bruemmer, David Jonathon; Davis, Midge Lee

2001-12-01

Small-sized and micro-robots will soon be available for deployment in large-scale forces. Consequently, the ability of a human operator to coordinate and interact with largescale robotic forces is of great interest. This paper describes the ways in which modeling and simulation have been used to explore new possibilities for human-robot interaction. The paper also discusses how these explorations have fed implementation of a unified set of command and control concepts for robotic force deployment. Modeling and simulation can play a major role in fielding robot teams in actual missions. While live testing is preferred, limitations in terms of technology, cost, and time often prohibit extensive experimentation with physical multi-robot systems. Simulation provides insight, focuses efforts, eliminates large areas of the possible solution space, and increases the quality of actual testing.

High Altitude Platforms Mobile Robotic Telesurgery (HAPsMRT)

National Research Council Canada - National Science Library

Broderick, Timothy J

2006-01-01

.... This demonstrated that a surgical robot could be deployed in an extreme environment and controlled by a surgeon who was remotely located from the robot using a wireless communication system (UAV...

Toward understanding social cues and signals in human?robot interaction: effects of robot gaze and proxemic behavior

OpenAIRE

Fiore, Stephen M.; Wiltshire, Travis J.; Lobato, Emilio J. C.; Jentsch, Florian G.; Huang, Wesley H.; Axelrod, Benjamin

2013-01-01

As robots are increasingly deployed in settings requiring social interaction, research is needed to examine the social signals perceived by humans when robots display certain social cues. In this paper, we report a study designed to examine how humans interpret social cues exhibited by robots. We first provide a brief overview of perspectives from social cognition in humans and how these processes are applicable to human–robot interaction (HRI). We then discuss the need to examine the relatio...

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

International Nuclear Information System (INIS)

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

1990-01-01

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

Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection

International Nuclear Information System (INIS)

Burks, B.L.; Falter, D.D.; Noakes, M.; Vesco, D.

1999-01-01

The Robotics Technology Development Program now known as the Robotics Crosscut Program, funded the development and deployment of a small remotely operated vehicle for inspection and cleanout of small horizontal waste storage tanks that have limited access. Besides the advantage of access through tank risers as small as 18-in. diameter, the small robotic system is also significantly less expensive to procure and to operate than larger remotely operated vehicle (ROV) systems. The vehicle specified to support this activity was the ROV Technologies, Inc., Scarab. The Scarab is a tracked vehicle with an independently actuated front and rear ''toe'' degree-of-freedom which allows the stand-off and angle of the vehicle platform with respect to the floor to be changed. The Scarab is a flexible remote tool that can be used for a variety of tasks with its primary uses targeted for inspection and small scale waste retrieval. The vehicle and any necessary process equipment are mounted in a deployment and containment enclosure to simplify deployment and movement of the system from tank to tank. This paper outlines the technical issues related to the Scarab vehicle and its deployment for use in tank inspection and waste retrieval operation

Robotic devices and brain-machine interfaces for hand rehabilitation post-stroke

OpenAIRE

McConnell, Alistair C; Moioli, Renan C; Brasil, Fabricio L; Vallejo, Marta; Corne, David W; Vargas, Patricia A; Stokes, Adam A

2017-01-01

OBJECTIVE: To review the state of the art of robotic-aided hand physiotherapy for post-stroke rehabilitation, including the use of brain-machine interfaces. Each patient has a unique clinical history and, in response to personalized treatment needs, research into individualized and at-home treatment options has expanded rapidly in recent years. This has resulted in the development of many devices and design strategies for use in stroke rehabilitation.METHODS: The development progression of ro...

Industrial Robots.

Science.gov (United States)

Reed, Dean; Harden, Thomas K.

Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

Exploring the ethical landscape of robot-assisted Search and Rescue

NARCIS (Netherlands)

Harbers, M.; Greeff, J. de; Kruijff-Korbayová, I.; Neerincx, M.A.; Hindriks, K.V.

2017-01-01

As robots are increasingly used in Search and Rescue (SAR) missions, it becomes highly relevant to study how SAR robots can be developed and deployed in a responsible way. In contrast to some other robot application domains, e.g. military and healthcare, the ethics of robot-assisted SAR are

Assessment of knee laxity using a robotic testing device: a comparison to the manual clinical knee examination.

Science.gov (United States)

Branch, T P; Stinton, S K; Siebold, R; Freedberg, H I; Jacobs, C A; Hutton, W C

2017-08-01

The purpose of this study was to collect knee laxity data using a robotic testing device. The data collected were then compared to the results obtained from manual clinical examination. Two human cadavers were studied. A medial collateral ligament (MCL) tear was simulated in the left knee of cadaver 1, and a posterolateral corner (PLC) injury was simulated in the right knee of cadaver 2. Contralateral knees were left intact. Five blinded examiners carried out manual clinical examination on the knees. Laxity grades and a diagnosis were recorded. Using a robotic knee device which can measure knee laxity in three planes of motion: anterior-posterior, internal-external tibia rotation, and varus-valgus, quantitative data were obtained to document tibial motion relative to the femur. One of the five examiners correctly diagnosed the MCL injury. Robotic testing showed a 1.7° larger valgus angle, 3° greater tibial internal rotation, and lower endpoint stiffness (11.1 vs. 24.6 Nm/°) in the MCL-injured knee during varus-valgus testing when compared to the intact knee and 4.9 mm greater medial tibial translation during rotational testing. Two of the five examiners correctly diagnosed the PLC injury, while the other examiners diagnosed an MCL tear. The PLC-injured knee demonstrated 4.1 mm more lateral tibial translation and 2.2 mm more posterior tibial translation during varus-valgus testing when compared to the intact knee. The robotic testing device was able to provide objective numerical data that reflected differences between the injured knees and the uninjured knees in both cadavers. The examiners that performed the manual clinical examination on the cadaver knees proved to be poor at diagnosing the injuries. Robotic testing could act as an adjunct to the manual clinical examination by supplying numbers that could improve diagnosis of knee injury. Level II.

Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots

Directory of Open Access Journals (Sweden)

Álvaro Gutiérrez

2011-11-01

Full Text Available Swarms of robots can use their sensing abilities to explore unknown environments and deploy on sites of interest. In this task, a large number of robots is more effective than a single unit because of their ability to quickly cover the area. However, the coordination of large teams of robots is not an easy problem, especially when the resources for the deployment are limited. In this paper, the Distributed Bees Algorithm (DBA, previously proposed by the authors, is optimized and applied to distributed target allocation in swarms of robots. Improved target allocation in terms of deployment cost efficiency is achieved through optimization of the DBA’s control parameters by means of a Genetic Algorithm. Experimental results show that with the optimized set of parameters, the deployment cost measured as the average distance traveled by the robots is reduced. The cost-efficient deployment is in some cases achieved at the expense of increased robots’ distribution error. Nevertheless, the proposed approach allows the swarm to adapt to the operating conditions when available resources are scarce.

Empowering Older Patients to Engage in Self Care: Designing an Interactive Robotic Device

Science.gov (United States)

Tiwari, Priyadarshi; Warren, Jim; Day, Karen

2011-01-01

Objectives: To develop and test an interactive robot mounted computing device to support medication management as an example of a complex self-care task in older adults. Method: A Grounded Theory (GT), Participatory Design (PD) approach was used within three Action Research (AR) cycles to understand design requirements and test the design configuration addressing the unique task requirements. Results: At the end of the first cycle a conceptual framework was evolved. The second cycle informed architecture and interface design. By the end of third cycle residents successfully interacted with the dialogue system and were generally satisfied with the robot. The results informed further refinement of the prototype. Conclusion: An interactive, touch screen based, robot-mounted information tool can be developed to support healthcare needs of older people. Qualitative methods such as the hybrid GT-PD-AR approach may be particularly helpful for innovating and articulating design requirements in challenging situations. PMID:22195203

Exploratory Analysis of an On-line Evolutionary Algorithm in Simulated Robots

NARCIS (Netherlands)

Haasdijk, E.W.; Smit, S.K.; Eiben, A.E.

2012-01-01

In traditional evolutionary robotics, robot controllers are evolved in a separate design phase preceding actual deployment; we call this off-line evolution. Alternatively, robot controllers can evolve while the robots perform their proper tasks, during the actual operational phase; we call this

Ground robotic measurement of aeolian processes

Science.gov (United States)

Qian, Feifei; Jerolmack, Douglas; Lancaster, Nicholas; Nikolich, George; Reverdy, Paul; Roberts, Sonia; Shipley, Thomas; Van Pelt, R. Scott; Zobeck, Ted M.; Koditschek, Daniel E.

2017-08-01

Models of aeolian processes rely on accurate measurements of the rates of sediment transport by wind, and careful evaluation of the environmental controls of these processes. Existing field approaches typically require intensive, event-based experiments involving dense arrays of instruments. These devices are often cumbersome and logistically difficult to set up and maintain, especially near steep or vegetated dune surfaces. Significant advances in instrumentation are needed to provide the datasets that are required to validate and improve mechanistic models of aeolian sediment transport. Recent advances in robotics show great promise for assisting and amplifying scientists' efforts to increase the spatial and temporal resolution of many environmental measurements governing sediment transport. The emergence of cheap, agile, human-scale robotic platforms endowed with increasingly sophisticated sensor and motor suites opens up the prospect of deploying programmable, reactive sensor payloads across complex terrain in the service of aeolian science. This paper surveys the need and assesses the opportunities and challenges for amassing novel, highly resolved spatiotemporal datasets for aeolian research using partially-automated ground mobility. We review the limitations of existing measurement approaches for aeolian processes, and discuss how they may be transformed by ground-based robotic platforms, using examples from our initial field experiments. We then review how the need to traverse challenging aeolian terrains and simultaneously make high-resolution measurements of critical variables requires enhanced robotic capability. Finally, we conclude with a look to the future, in which robotic platforms may operate with increasing autonomy in harsh conditions. Besides expanding the completeness of terrestrial datasets, bringing ground-based robots to the aeolian research community may lead to unexpected discoveries that generate new hypotheses to expand the science

Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

Science.gov (United States)

Erickson, David; Lacheray, Hervé; Lai, Gilbert; Haddadi, Amir

2014-06-01

This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.

The restoration of walking stereotype with robotic device in patients after knee replacement

Directory of Open Access Journals (Sweden)

E. S. Koneva

2013-01-01

Full Text Available The efficacy of the reconstruction of the external robotic walking (RRH on the device "Lokomat" in patients after total knee arthroplasty (TKA in the early postoperative period (priori. The patients were divided into two groups: the study group (n=112 in patients whose priori to train walk on robotic device (EDM and control group (n = 80, where the restoration was carried out in an active stereotype motoring instructor-led exercise therapy without use of mechanized equipment. Comparative analysis of the test results revealed more efficient recovery stereotype walk from the main group. In the analysis of the main group in the dynamics dinamoplantgrafii showed improvement in economic structure step, restoring the symmetry of the load while walking between the lower limbs, improved suspension function of the operated limb. According to the analysis parameter of the trajectory of migration center under the feet, we noted an increase in the effective axial load on the operated leg in the main group 1161.29 267.49 g/cm2 compared with the control group 460.28 52.42 g/cm2 (p ≤ 0,05. In the main group also showed a decrease of anxiety and increasing motivation. Conducted an X-ray - control the implanted joint in the long-term (12 months after surgery did not show any signs of instability in the case of prosthetic components. Thus, conducting robotic training walk in patients in the early postoperative period is an effective and safe method of rehabilitation.

RoboCup Rescue Robot and Simulation Leagues

NARCIS (Netherlands)

Akin, H.L.; Ito, N.; Jacoff, A.; Kleiner, A.; Pellenz, J.; Visser, A.

2013-01-01

The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (for example, Fukushima Daiichi nuclear disaster). This article provides

Roles and Self-Reconfigurable Robots

DEFF Research Database (Denmark)

Dvinge, Nicolai; Schultz, Ulrik Pagh; Christensen, David Johan

2007-01-01

A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape......., significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.......A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape....... Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular...

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.

Robot-Assisted Antegrade In-Situ Fenestrated Stent Grafting

International Nuclear Information System (INIS)

Riga, Celia V.; Bicknell, Colin D.; Wallace, Daniel; Hamady, Mohamad; Cheshire, Nicholas

2009-01-01

To determine the technical feasibility of a novel approach of in-situ fenestration of aortic stent grafts by using a remotely controlled robotic steerable catheter system in the porcine model. A 65-kg pig underwent robot-assisted bilateral antegrade in-situ renal fenestration of an abdominal aortic stent graft with subsequent successful deployment of a bare metal stent into the right renal artery. A 16-mm iliac extension covered stent served as the porcine aortic endograft. Under fluoroscopic guidance, the graft was punctured with a 20-G customized diathermy needle that was introduced and kept in place by the robotic arm. The needle was exchanged for a 4 x 20 mm cutting balloon before successful deployment of the renal stent. Robot-assisted antegrade in-situ fenestration is technically feasible in a large mammalian model. The robotic system enables precise manipulation, stable positioning, and minimum instrumentation of the aorta and its branches while minimizing radiation exposure.

An Intuitive Robot Teleoperation System for Nuclear Power Plant Decommissioning

International Nuclear Information System (INIS)

Lee, Chang-hyuk; Gu, Taehyeong; Lee, Kyung-min; Ye, Sung-Joon; Bang, Young-bong

2017-01-01

A robot teleoperation system consists of a master device and a slave robot. The master device senses human intention and delivers it to the salve robot. A haptic device and an exoskeletal robot are widely used as the master device. The slave robot carries out operations delivered by the master device. It should guarantee enough degree of freedom (DOF) to perform the instructed operation and mobility in the environment inside the nuclear plant, such as flat surfaces and stairs. A 7-DOF robotic arm is commonly used as the slave device. This paper proposed a robot teleoperation system for nuclear power plant decommissioning. It discussed an experiment that was performed to validate the system's usability. The operator wearing the exoskeletal master device at the master site controlled the slave robot enabling it to move on a flat surface, climb/descend stairs, and move obstacles. The proposed robot teleoperation system can also be used in hazardous working environments where the use of such robots would be beneficial to human health and safety. In the future, research studies on the protection against radiation that damages the slave robot should be conducted.

Current state of micro-robots/devices as substitutes for screening colonoscopy: assessment based on technology readiness levels.

Science.gov (United States)

Tapia-Siles, Silvia C; Coleman, Stuart; Cuschieri, Alfred

2016-02-01

Previous reports have described several candidates, which have the potential to replace colonoscopy, but to date, there is still no device capable of fully replacing flexible colonoscopy in the management of colonic disorders and for mass adult population screening for asymptomatic colorectal cancer. NASA developed the TRL methodology to describe and define the stages of development before use and marketing of any device. The definitions of the TRLS used in the present review are those formulated by "The US Department of Defense Technology Readiness Assessment Guidance" but adapted to micro-robots for colonoscopy. All the devices included are reported in scientific literature. They were identified by a systematic search in Web of Science, PubMed and IEEE Xplore amongst other sources. Devices that clearly lack the potential for full replacement of flexible colonoscopy were excluded. The technological salient features of all the devices included for assessment are described briefly, with particular focus on device propulsion. The devices are classified according to the TRL criteria based on the reported information. An analysis is next undertaken of the characteristics and salient features of the devices included in the review: wireless/tethered devices, data storage-transmission and navigation, additional functionality, residual technology challenges and clinical and socio-economical needs. Few devices currently possess the required functionality and performance to replace the conventional colonoscopy. The requirements, including functionalities which favour the development of a micro-robot platform to replace colonoscopy, are highlighted.

Extreme Environment Sampling System Deployment Mechanism, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Future Venus or Comet mission architectures may feature robotic sampling systems comprised of a Sampling Tool and Deployment Mechanism. Since 2005, Honeybee has been...

Conference on Space and Military Applications of Automation and Robotics

Science.gov (United States)

1988-01-01

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

Is the bipolar vessel sealer device an effective tool in robotic surgery? A retrospective analysis of our experience and a meta-analysis of the literature about different robotic procedures by investigating operative data and post-operative course.

Science.gov (United States)

Ortenzi, Monica; Ghiselli, Roberto; Baldarelli, Maddalena; Cardinali, Luca; Guerrieri, Mario

2018-04-01

The latest robotic bipolar vessel sealing tools have been described to be effective allowing to perform procedures with reduced blood loss and shorter operative times. The aim of this study was to assess the efficacy and reliability of these devices applied in different robotic procedures. All robotic operations, between 2014 and 2016, were performed using the EndoWrist One VesselSealer (EWO, Intuitive Surgical, Sunnyvale, CA), a bipolar fully wristed device. Data, including age, gender, body mass index (BMI), were collected. Robot docking time, intraoperative blood loss, robot malfunctioning and overall operative time were analyzed. A meta-analysis of the literature was carried out to point the attention to three different parameters (mean blood loss, operating time and hospital stay) trying to identify how different coagulation devices may affect them. In 73 robotic procedures, the mean operative time was 118.2 minutes (75-125 minutes). Mean hospital stay was four days (2-10 days). There were two post-operative complications (2.74%). The bipolar vessel sealer offers the efficacy of bipolar diathermy and the advantages of a fully wristed instrument. It does not require any change of instruments for coagulation or involvement of the bedside assistant surgeon. These characteristics lead to a reduction in operative time.

Review of emerging surgical robotic technology.

Science.gov (United States)

Peters, Brian S; Armijo, Priscila R; Krause, Crystal; Choudhury, Songita A; Oleynikov, Dmitry

2018-04-01

The use of laparoscopic and robotic procedures has increased in general surgery. Minimally invasive robotic surgery has made tremendous progress in a relatively short period of time, realizing improvements for both the patient and surgeon. This has led to an increase in the use and development of robotic devices and platforms for general surgery. The purpose of this review is to explore current and emerging surgical robotic technologies in a growing and dynamic environment of research and development. This review explores medical and surgical robotic endoscopic surgery and peripheral technologies currently available or in development. The devices discussed here are specific to general surgery, including laparoscopy, colonoscopy, esophagogastroduodenoscopy, and thoracoscopy. Benefits and limitations of each technology were identified and applicable future directions were described. A number of FDA-approved devices and platforms for robotic surgery were reviewed, including the da Vinci Surgical System, Sensei X Robotic Catheter System, FreeHand 1.2, invendoscopy E200 system, Flex® Robotic System, Senhance, ARES, the Single-Port Instrument Delivery Extended Research (SPIDER), and the NeoGuide Colonoscope. Additionally, platforms were reviewed which have not yet obtained FDA approval including MiroSurge, ViaCath System, SPORT™ Surgical System, SurgiBot, Versius Robotic System, Master and Slave Transluminal Endoscopic Robot, Verb Surgical, Miniature In Vivo Robot, and the Einstein Surgical Robot. The use and demand for robotic medical and surgical platforms is increasing and new technologies are continually being developed. New technologies are increasingly implemented to improve on the capabilities of previously established systems. Future studies are needed to further evaluate the strengths and weaknesses of each robotic surgical device and platform in the operating suite.

A portable air jet actuator device for mechanical system identification

Science.gov (United States)

Belden, Jesse; Staats, Wayne L.; Mazumdar, Anirban; Hunter, Ian W.

2011-03-01

System identification of limb mechanics can help diagnose ailments and can aid in the optimization of robotic limb control parameters and designs. An interesting fluid phenomenon—the Coandă effect—is utilized in a portable actuator to provide a stochastic binary force disturbance to a limb system. The design of the actuator is approached with the goal of creating a portable device which could be deployed on human or robotic limbs for in situ mechanical system identification. The viability of the device is demonstrated by identifying the parameters of an underdamped elastic beam system with fixed inertia and stiffness and variable damping. The nonparametric compliance impulse response yielded from the system identification is modeled as a second-order system and the resultant parameters are found to be in excellent agreement with those found using more traditional system identification techniques. The current design could be further miniaturized and developed as a portable, wireless, unrestrained mechanical system identification instrument for less intrusive and more widespread use.

Design of a robotic device for assessment and rehabilitation of hand sensory function.

Science.gov (United States)

Lambercy, Olivier; Robles, Alejandro Juárez; Kim, Yeongmi; Gassert, Roger

2011-01-01

This paper presents the design and implementation of the Robotic Sensory Trainer, a robotic interface for assessment and therapy of hand sensory function. The device can provide three types of well controlled stimuli: (i) angular displacement at the metacarpophalangeal (MCP) joint using a remote-center-of-motion double-parallelogram structure, (ii) vibration stimuli at the fingertip, proximal phalange and palm, and (iii) pressure at the fingertip, while recording position, interaction force and feedback from the user over a touch screen. These stimuli offer a novel platform to investigate sensory perception in healthy subjects and patients with sensory impairments, with the potential to assess deficits and actively train detection of specific sensory cues in a standardized manner. A preliminary study with eight healthy subjects demonstrates the feasibility of using the Robotic Sensory Trainer to assess the sensory perception threshold in MCP angular position. An average just noticeable difference (JND) in the MCP joint angle of 2.46° (14.47%) was found, which is in agreement with previous perception studies. © 2011 IEEE

Considerations for designing robotic upper limb rehabilitation devices

Science.gov (United States)

Nadas, I.; Vaida, C.; Gherman, B.; Pisla, D.; Carbone, G.

2017-12-01

The present study highlights the advantages of robotic systems for post-stroke rehabilitation of the upper limb. The latest demographic studies illustrate a continuous increase of the average life span, which leads to a continuous increase of stroke incidents and patients requiring rehabilitation. Some studies estimate that by 2030 the number of physical therapists will be insufficient for the patients requiring physical rehabilitation, imposing a shift in the current methodologies. A viable option is the implementation of robotic systems that assist the patient in performing rehabilitation exercises, the physical therapist role being to establish the therapeutic program for each patient and monitor their individual progress. Using a set of clinical measurements for the upper limb motions, the analysis of rehabilitation robotic systems provides a comparative study between the motions required by clinicians and the ones that robotic systems perform for different therapeutic exercises. A critical analysis of existing robots is performed using several classifications: mechanical design, assistance type, actuation and power transmission, control systems and human robot interaction (HRI) strategies. This classification will determine a set of pre-requirements for the definition of new concepts and efficient solutions for robotic assisted rehabilitation therapy.

Smart nanogrid systems for disaster mitigation employing deployable renewable energy harvesting devices

Science.gov (United States)

Ghasemi-Nejhad, Mehrdad N.; Menendez, Michael; Minei, Brenden; Wong, Kyle; Gabrick, Caton; Thornton, Matsu; Ghorbani, Reza

2016-04-01

This paper explains the development of smart nanogrid systems for disaster mitigation employing deployable renewable energy harvesting, or Deployable Disaster Devices (D3), where wind turbines and solar panels are developed in modular forms, which can be tied together depending on the needed power. The D3 packages/units can be used: (1) as a standalone unit in case of a disaster where no source of power is available, (2) for a remote location such as a farm, camp site, or desert (3) for a community that converts energy usage from fossil fuels to Renewable Energy (RE) sources, or (4) in a community system as a source of renewable energy for grid-tie or off-grid operation. In Smart D3 system, the power is generated (1) for consumer energy needs, (2) charge storage devices (such as batteries, capacitors, etc.), (3) to deliver power to the network when the smart D3 nano-grid is tied to the network and when the power generation is larger than consumption and storage recharge needs, or (4) to draw power from the network when the smart D3 nano-grid is tied to the network and when the power generation is less than consumption and storage recharge needs. The power generated by the Smart D3 systems are routed through high efficiency inverters for proper DC to DC or DC to AC for final use or grid-tie operations. The power delivery from the D3 is 220v AC, 110v AC and 12v DC provide proper power for most electrical and electronic devices worldwide. The power supply is scalable, using a modular system that connects multiple units together. This are facilitated through devices such as external Input-Output or I/O ports. The size of the system can be scaled depending on how many accessory units are connected to the I/O ports on the primary unit. The primary unit is the brain of the system allowing for smart switching and load balancing of power input and smart regulation of power output. The Smart D3 systems are protected by ruggedized weather proof casings allowing for operation

An Evaluation of the Design and Usability of a Novel Robotic Bilateral Arm Rehabilitation Device for Patients with Stroke

Directory of Open Access Journals (Sweden)

Yu-Cheng Pei

2017-07-01

Full Text Available Study designCase series.Evidence levelIV (case series.IntroductionRobot-assisted therapy for upper limb rehabilitation is an emerging research topic and its design process must integrate engineering, neurological pathophysiology, and clinical needs.Purpose of the studyThis study developed/evaluated the usefulness of a novel rehabilitation device, the MirrorPath, designed for the upper limb rehabilitation of patients with hemiplegic stroke.MethodsThe process follows Tseng’s methodology for innovative product design and development, namely two stages, device development and usability assessment. During the development process, the design was guided by patients’ rehabilitation needs as defined by patients and their therapists. The design applied synchronic movement of the bilateral upper limbs, an approach that is compatible with the bilateral movement therapy and proprioceptive neuromuscular facilitation theories. MirrorPath consists of a robotic device that guides upper limb movement linked to a control module containing software controlling the robotic movement.ResultsFive healthy subjects were recruited in the pretest, and 4 patients, 4 caregivers, and 4 therapists were recruited in the formal test for usability. All recruited subjects were allocated to the test group, completed the evaluation, and their data were all analyzed. The total system usability scale score obtained from the patients, caregivers, and therapists was 71.8 ± 11.9, indicating a high level of usability and product acceptance.Discussion and conclusionFollowing a standard development process, we could yield a design that meets clinical needs. This low-cost device provides a feasible platform for carrying out robot-assisted bilateral movement therapy of patients with hemiplegic stroke.Clinical Trial Registrationidentifier NCT02698605.

Lessons of nuclear robot history

International Nuclear Information System (INIS)

Oomichi, Takeo

2014-01-01

Severe accidents occurred at Fukushima Daiichi Nuclear Power Station stirred up people's great expectation of nuclear robot's deployment. However unexpected nuclear disaster, especially rupture of reactor building caused by core meltdown and hydrogen explosion, made it quite difficult to introduce nuclear robot under high radiation environment to cease accidents and dispose damaged reactor. Robotics Society of Japan (RSJ) set up committee to look back upon lessons learned from 50 year's past experience of nuclear robot development and summarized 'Lessons of nuclear robot history', which was shown on the home page website of RSJ. This article outlined it with personal comment. History of nuclear robot developed for inspection and maintenance at normal operation and for specific required response at nuclear accidents was reviewed with many examples at home and abroad for TMI, Chernobyl and JCO accidents. Present state of Fukushima accident response robot's introduction and development was also described with some comments on nuclear robot development from academia based on lessons. (T. Tanaka)

Designing the robot inclusive space challenge

Directory of Open Access Journals (Sweden)

Rajesh Elara Mohan

2015-11-01

Full Text Available A novel robotic challenge, namely the robot inclusive spaces (RIS challenge, is proposed in this paper, which is a cross disciplinary and design focused initiative. It aims to foster the roboticists, architects, and designers towards realizing robot friendly social spaces. Contrary to conventional robotics competitions focusing on designing robots and its component technologies, robot inclusive spaces challenge adopts an interdisciplinary “design for robots” strategy to overcome the traditional research problem in real world deployments of social robots. In order to realize the RIS, various architectural elements must be adapted including: design principles for inclusive spaces, lighting schemes, furniture choices and arrangement, wall and floor surfaces, pathways among others. This paper introduces the format and design principles of RIS challenge, presents a first run of the challenge, and gives the corresponding analysis.

Interactions of aquatic animals with the ORPC OCGen® in Cobscook Bay, Maine: Monitoring behavior change and assessing the probability of encounter with a deployed MHK device

Energy Technology Data Exchange (ETDEWEB)

Zydlewski, Gayle Barbin [Univ. of Maine, Orono, ME (United States). School of Marine Sciences; Staines, Garrett [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Viehman, Haley [Acadia Univ., Wolfville, NS (Canada); Shen, Haixue [Louisiana State Univ., Baton Rouge, LA (United States); Altenritter, Megan [Univ. of Maine, Orono, ME (United States)

2016-10-19

Commercial viability of the marine hydrokinetic (MHK) energy industry is contingent on numerous and diverse factors. A major factor is the effects deployed devices have on animals. This factor is multi-faceted since it is dependent on the availability of appropriate scientific approaches to detect these effects. One of the animal groups with overlapping distributions of MHK devices are fishes. As such, individual fish behavior is likely to be influenced by the presence and operation of MHK devices. Depending on the scale of deployment there are implications for changes to essential fish habitat and effects that can be explored during deployment of a single device yet most changes are likely to be realized when multiple devices are deployed over large areas. It is not only important to document these effects and examine the need for mitigation, but also determine whether the methods involved can be used within the economic constraints of this nascent industry. The results presented in this report benefit the MHK industry by providing transferrable environmental monitoring approaches for MHK projects, specifically related to the interactions between static and dynamic tidal turbines and fish. In addition, some of the data can be used to generalize conditions (e.g., the temporal periodicity of fish presence in tidal regions and probability of fish encountering a device) at other MHK sites with similar physical conditions and fish assemblages. Ocean Renewable Power Company, LLC (ORPC) deployed and tested a prototype OCGen® tidal module in Cobscook Bay, Maine, in the summer of 2014. University of Maine researchers proposed an approach to inform other researchers, regulators, and industry members of the effects of this deployment on fish. While the approach was specifically applied to the OCGen® module, results are applicable to other pilot projects and inform future array deployments. Research funded under this grant allowed us to quantify fish presence as well as

Evaluation of modular robot system for maintenance tasks in hot cell

Energy Technology Data Exchange (ETDEWEB)

Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

2014-10-15

Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

Brain-machine interfaces for controlling lower-limb powered robotic systems

Science.gov (United States)

He, Yongtian; Eguren, David; Azorín, José M.; Grossman, Robert G.; Phat Luu, Trieu; Contreras-Vidal, Jose L.

2018-04-01

Objective. Lower-limb, powered robotics systems such as exoskeletons and orthoses have emerged as novel robotic interventions to assist or rehabilitate people with walking disabilities. These devices are generally controlled by certain physical maneuvers, for example pressing buttons or shifting body weight. Although effective, these control schemes are not what humans naturally use. The usability and clinical relevance of these robotics systems could be further enhanced by brain-machine interfaces (BMIs). A number of preliminary studies have been published on this topic, but a systematic understanding of the experimental design, tasks, and performance of BMI-exoskeleton systems for restoration of gait is lacking. Approach. To address this gap, we applied standard systematic review methodology for a literature search in PubMed and EMBASE databases and identified 11 studies involving BMI-robotics systems. The devices, user population, input and output of the BMIs and robot systems respectively, neural features, decoders, denoising techniques, and system performance were reviewed and compared. Main results. Results showed BMIs classifying walk versus stand tasks are the most common. The results also indicate that electroencephalography (EEG) is the only recording method for humans. Performance was not clearly presented in most of the studies. Several challenges were summarized, including EEG denoising, safety, responsiveness and others. Significance. We conclude that lower-body powered exoskeletons with automated gait intention detection based on BMIs open new possibilities in the assistance and rehabilitation fields, although the current performance, clinical benefits and several key challenging issues indicate that additional research and development is required to deploy these systems in the clinic and at home. Moreover, rigorous EEG denoising techniques, suitable performance metrics, consistent trial reporting, and more clinical trials are needed to advance the

Acute limb ischemia caused by incorrect deployment of a clip-based arterial closure device

Directory of Open Access Journals (Sweden)

Łukasz Dzieciuchowicz

2016-04-01

Full Text Available Failure of a vascular closure device most commonly results in a hemorrhage or pseudoaneurysm formation. In this paper a rare case of severe acute limb ischemia following incorrect deployment of a clip-based closure device (Starclose SE, Abbott Vascular in a 31-year-old woman is presented. Symptoms of acute limb ischemia occurred at the start of the ambulation, 6 h after completion of the procedure. Because of the severity of ischemia the patient was treated surgically, and limb perfusion was successfully restored. An attempt of closure of an inadvertently punctured narrow superficial femoral artery was identified as the cause of this complication.

Human-Robot Planetary Exploration Teams

Science.gov (United States)

Tyree, Kimberly

2004-01-01

The EVA Robotic Assistant (ERA) project at NASA Johnson Space Center studies human-robot interaction and robotic assistance for future human planetary exploration. Over the past four years, the ERA project has been performing field tests with one or more four-wheeled robotic platforms and one or more space-suited humans. These tests have provided experience in how robots can assist humans, how robots and humans can communicate in remote environments, and what combination of humans and robots works best for different scenarios. The most efficient way to understand what tasks human explorers will actually perform, and how robots can best assist them, is to have human explorers and scientists go and explore in an outdoor, planetary-relevant environment, with robots to demonstrate what they are capable of, and roboticists to observe the results. It can be difficult to have a human expert itemize all the needed tasks required for exploration while sitting in a lab: humans do not always remember all the details, and experts in one arena may not even recognize that the lower level tasks they take for granted may be essential for a roboticist to know about. Field tests thus create conditions that more accurately reveal missing components and invalid assumptions, as well as allow tests and comparisons of new approaches and demonstrations of working systems. We have performed field tests in our local rock yard, in several locations in the Arizona desert, and in the Utah desert. We have tested multiple exploration scenarios, such as geological traverses, cable or solar panel deployments, and science instrument deployments. The configuration of our robot can be changed, based on what equipment is needed for a given scenario, and the sensor mast can even be placed on one of two robot bases, each with different motion capabilities. The software architecture of our robot is also designed to be as modular as possible, to allow for hardware and configuration changes. Two focus

Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.

Six axis force feedback input device

Science.gov (United States)

Ohm, Timothy (Inventor)

1998-01-01

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Open Issues in Evolutionary Robotics.

Science.gov (United States)

Silva, Fernando; Duarte, Miguel; Correia, Luís; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. In this article, we review and discuss the open issues in evolutionary robotics. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versus evolution on real robotic hardware. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1) the bootstrap problem, (2) deception, and (3) the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. Finally, we address the absence of standard research practices in the field. We also discuss promising avenues of research. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.

Design of a Simple and Modular 2-DOF Ankle Physiotherapy Device Relying on a Hybrid Serial-Parallel Robotic Architecture

Directory of Open Access Journals (Sweden)

Christos E. Syrseloudis

2011-01-01

Full Text Available The aim of this work is to propose a new 2-DOF robotic platform with hybrid parallel-serial structure and to undertake its parametric design so that it can follow the whole range of ankle related foot movements. This robot can serve as a human ankle rehabilitation device. The existing ankle rehabilitation devices present typically one or more of the following shortcomings: redundancy, large size, or high cost, hence the need for a device that could offer simplicity, modularity, and low cost of construction and maintenance. In addition, our targeted device must be safe during operation, disallow undesirable movements of the foot, while adaptable to any human foot. Our detailed study of foot kinematics has led us to a new hybrid architecture, which strikes a balance among all aforementioned goals. It consists of a passive serial kinematics chain with two adjustable screws so that the axes of the chain match the two main ankle-axes of typical feet. An active parallel chain, which consists of two prismatic actuators, provides the movement of the platform. Thus, the platform can follow the foot movements, thanks to the passive chain, and also possesses the advantages of parallel robots, including rigidity, high stiffness and force capabilities. The lack of redundancy yields a simpler device with lower size and cost. The paper describes the kinematics modelling of the platform and analyses the force and velocity transmission. The parametric design of the platform is carried out; our simulations confirm the platform's suitability for ankle rehabilitation.

Robot-assisted surgery in gynecological oncology

DEFF Research Database (Denmark)

Kristensen, Steffen E; Mosgaard, Berit J; Rosendahl, Mikkel

2017-01-01

INTRODUCTION: Robot-assisted surgery has become more widespread in gynecological oncology. The purpose of this systematic review is to present current knowledge on robot-assisted surgery, and to clarify and discuss controversies that have arisen alongside the development and deployment. MATERIAL...... was performed by screening of titles and abstracts, and by full text scrutiny. From 2001 to 2016, a total of 76 references were included. RESULTS: Robot-assisted surgery in gynecological oncology has increased, and current knowledge supports that the oncological safety is similar, compared with previous...

Lunar surface exploration using mobile robots

Science.gov (United States)

Nishida, Shin-Ichiro; Wakabayashi, Sachiko

2012-06-01

A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.

Robot-Aided Neurorehabilitation: A Pediatric Robot for Ankle Rehabilitation.

Science.gov (United States)

Michmizos, Konstantinos P; Rossi, Stefano; Castelli, Enrico; Cappa, Paolo; Krebs, Hermano Igo

2015-11-01

This paper presents the pediAnklebot, an impedance-controlled low-friction, backdriveable robotic device developed at the Massachusetts Institute of Technology that trains the ankle of neurologically impaired children of ages 6-10 years old. The design attempts to overcome the known limitations of the lower extremity robotics and the unknown difficulties of what constitutes an appropriate therapeutic interaction with children. The robot's pilot clinical evaluation is on-going and it incorporates our recent findings on the ankle sensorimotor control in neurologically intact subjects, namely the speed-accuracy tradeoff, the deviation from an ideally smooth ankle trajectory, and the reaction time. We used these concepts to develop the kinematic and kinetic performance metrics that guided the ankle therapy in a similar fashion that we have done for our upper extremity devices. Here we report on the use of the device in at least nine training sessions for three neurologically impaired children. Results demonstrated a statistically significant improvement in the performance metrics assessing explicit and implicit motor learning. Based on these initial results, we are confident that the device will become an effective tool that harnesses plasticity to guide habilitation during childhood.

Mine rescue robots requirements: Outcomes from an industry workshop

CSIR Research Space (South Africa)

Green, J

2013-10-01

Full Text Available and internationally. The paper identifies three definite robot deployments in South Africa as a) box hole deployment (vertical tunnels), b) flying drone reconnaissance and c) proto (rescue) team assistance. These represent applications where there is a market need...

Robot-assisted general surgery.

Science.gov (United States)

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.

Sociable mobile robots through self-maintained energy

DEFF Research Database (Denmark)

Ngo, Trung Dung; Schiøler, Henrik

2006-01-01

society, collecting and sharing are experimentally recognized as the highest property. This paper issues an approach to sociable robots using self-maintained energy in robot society, which is naturally inspired from swarm behavior of honey-bee and ant. Typically, autonomous mobile robots are usually......Research of sociable robots has emphasized interaction and coordination of mobile robots with inspiration from natural behavior of birds, insects, and fish: flocking, foraging, collecting, sharing and so forth. However, the animal behaviors are looking for food towards survival. In an animal...... equipped with a finite energy, thus they can operate in a finite time. To overcome the limitation, we describe practical deployment of a group of mobile robot with the possibility of carrying and exchanging fuel, e.g. battery to other robots. Early implementation that includes modular hardware and control...

Identifying Factors Reinforcing Robotization: Interactive Forces of Employment, Working Hour and Wage

OpenAIRE

Joonmo Cho; Jinha Kim

2018-01-01

Unlike previous studies on robotization approaching the future based on the cutting-edge technologies and adopting a framework where robotization is considered as an exogenous variable, this study considers that robotization occurs endogenously and uses it as a dependent variable for an objective examination of the effect of robotization on the labor market. To this end, a robotization indicator is created based on the actual number of industrial robots currently deployed in workplaces, and a...

A new approach to quantify safety benefits of disaster robots

Directory of Open Access Journals (Sweden)

Inn Seock Kim

2017-10-01

Full Text Available Remote response technology has advanced to the extent that a robot system, if properly designed and deployed, may greatly help respond to beyond-design-basis accidents at nuclear power plants. Particularly in the aftermath of the Fukushima accident, there is increasing interest in developing disaster robots that can be deployed in lieu of a human operator to the field to perform mitigating actions in the harsh environment caused by extreme natural hazards. The nuclear robotics team of the Korea Atomic Energy Research Institute (KAERI is also endeavoring to construct disaster robots and, first of all, is interested in finding out to what extent safety benefits can be achieved by such a disaster robotic system. This paper discusses a new approach based on the probabilistic risk assessment (PRA technique, which can be used to quantify safety benefits associated with disaster robots, along with a case study for seismic-induced station blackout condition. The results indicate that to avoid core damage in this special case a robot system with reliability > 0.65 is needed because otherwise core damage is inevitable. Therefore, considerable efforts are needed to improve the reliability of disaster robots, because without assurance of high reliability, remote response techniques will not be practically used.

7th International Robotic Sailing Conference

CERN Document Server

Tynan, Dermot

2015-01-01

An autonomous sailboat robot is a boat that only uses the wind on its sail as the propelling force, without remote control or human assistance to achieve its mission. Robotic sailing offers the potential of long range and long term autonomous wind propelled, solar or wave-powered carbon neutral devices. Robotic sailing devices could contribute to monitoring of environmental, ecological, meteorological, hydrographic and oceanographic data. These devices can also be used in traffic monitoring, border surveillance, security, assistance and rescue. The dependency on changing winds and sea conditions presents a considerable challenge for short and long term route and stability planning, collision avoidance and boat control. Building a robust and seaworthy sailing robot presents a truly complex and multi-disciplinary challenge for boat designers, naval architects, systems/electrical engineers and computer scientists. Over the last decade, several events such as Sailbot, World Robotic Sailing Championship and the In...

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

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

The Hopper: A Wearable Robotic Device Testbed for Micro-Gravity Bone-Loading Proof-of-Concept

Science.gov (United States)

Beck, C. E.; Rovekamp, R. N.; Neuhaus, P. D.

2015-01-01

Wearable robotic systems are showing increased potential for addressing crew countermeasures needs. Wearable robots offer a compactness, programmability, and eccentric loading capability not present in more conventional exercise equipment. Correspondingly, advancements in the man to machine interface has progressed, allowing for higher loads to be applied directly to the person in new and novel ways. Recently, the X1 exoskeleton, a lower extremity wearable robot originally designed for mobility assistance and rehabilitation, underwent human subject testing to assess its potential as a knee dynamometer. This was of interest to NASA physiologists because currently strength is not assessed in flight due to hardware limitations, and thus there is a poor understanding of the time course of in-flight changes to muscle strength. The study concluded that the X1 compared well with the Biodex, the "gold standard" in terrestrial dynamometry, with coefficients of variation less than 6.0%. In a following study, the X1 powered ankle was evaluated for its efficacy in exercising calf muscles. Current on-orbit countermeasures equipment does not adequately protect the calf from atrophy. The results of this study were also positive (targeted muscle activity demonstrated via comparing pre- and post-exercise magnetic resonance imaging T2 measurements), again showing the efficacy of wearable robotic devices for addressing the countermeasure needs of our astronauts. Based on these successes and lessons learned, the Grasshopper was co-developed between IHMC (Florida Institute for Human and Machine Cognition) and NASA. The Grasshopper, or the Hopper for short, is a wearable robotic device designed to address muscle and bone density loss for astronauts spending extended periods of time in micro-gravity. The Grasshopper connects to the user's torso like a hiking backpack, over the shoulders and around the waist. At the feet are footplates that strap to the user. There are two actuators, one

Robotics in hazardous waste management

International Nuclear Information System (INIS)

Mahalingam, R.J.; Jayaraman, K.M.; Cunningham, A.J.; Meieran, H.B.; Zafrir, H.; Kroitoru, L.

1994-01-01

This paper addresses the advent of mobile robotic systems into the earth sciences and environmental studies. It presents issues surrounding the rationale for employing stationary and mobile robots to assist in waste chemical site remediation and cleanup activities, missions that could be conducted, and the current availability status for these devices. This rationale is an extension of that being promoted by the US Department of Energy (DOE) to assist in resolving environmental restoration and waste management (ER and WM) issues associated with several DOE national laboratories, facilities, and other sites. DOE has also committed to restore the environment surrounding the existing storage facilities and sites to a safe state. Technologies that are expected to play a major role in these activities are stationary and mobile robotic devices, and in particular, mobile robots. Specific topics discussed in this article include: introduction to robotics: motivations for considering robots in HWM: incorporation of robotics into HWM methods--this subsection includes a rationale for performing a ''screening test'' to determine the advantages of using a robot; safety and performance factors; illustrations for robots in action and current and future trends

Soft Robotics.

Science.gov (United States)

Whitesides, George M

2018-04-09

This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

A Portable, Air-Jet-Actuator-Based Device for System Identification

Science.gov (United States)

Staats, Wayne; Belden, Jesse; Mazumdar, Anirban; Hunter, Ian

2010-11-01

System identification (ID) of human and robotic limbs could help in diagnosis of ailments and aid in optimization of control parameters and future redesigns. We present a self-contained actuator, which uses the Coanda effect to rapidly switch the direction of a high speed air jet to create a binary stochastic force input to a limb for system ID. The design of the actuator is approached with the goal of creating a portable device, which could deployed on robot or human limbs for in situ identification. The viability of the device is demonstrated by performing stochastic system ID on an underdamped elastic beam system with fixed inertia and stiffness, and variable damping. The non-parametric impulse response yielded from the stochastic system ID is modeled as a second order system, and the resultant parameters are found to be in excellent agreement with those found using more traditional system ID techniques. The current design could be further miniaturized and developed as a portable, wireless, on-site multi-axis system identification system for less intrusive and more widespread use.

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Directory of Open Access Journals (Sweden)

Kristel Knaepen

Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Science.gov (United States)

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Approach for a smart device for active vibration suppression as an add-on for robot-based systems

International Nuclear Information System (INIS)

Perner, Marcus; Krombholz, Christian; Monner, Hans Peter

2014-01-01

Robot-based systems are defined by the capabilities of links and joints that form the robot arm, the control including drive engines and the end effector. In particular, articulated robots have a serial structure. They have to carry the drive engine of each ongoing axis, which results in higher susceptibility to vibration. To compensate weak precision the German Aerospace Center (DLR) integrates a quality improving sensor system on the robot platform. A vibration monitoring system detects vibrations that affect the precision during motion tasks. Currently, higher precision is achieved by slowing down the speed in production. Therefore, a compromise is given between speed and precision. To push the limits for these two conflicting process properties, we propose an approach for an additional smart device to decouple the process-sensitive unit from disturbances arising through motion of the kinematic structure. The smart device enables active vibration suppression by use of a piezo-based actuator with a lever mechanism connected to a motion platform. The lever mechanism provides the required force and displacement adaption. The platform provides mounting and steering of the process-sensitive components. First, an insight into the automation task is given within this paper. Secondly, the system design is illustrated. Based on simulation results the characteristic of the proposed mechanism is shown. Besides the mechanical properties like stiffness and lever amplification, dynamical issues like the smallest eigenfrequency are discussed. To verify simulation results initial measurements are presented and discussed. The paper sums up with the discussion of an implementation of a closed-loop control system to achieve vibration-free and fast motion.

Approach for a smart device for active vibration suppression as an add-on for robot-based systems

Energy Technology Data Exchange (ETDEWEB)

Perner, Marcus; Krombholz, Christian; Monner, Hans Peter [Institute of Composite Structures and Adaptive Systems, Braunschweig (Germany)

2014-11-15

Robot-based systems are defined by the capabilities of links and joints that form the robot arm, the control including drive engines and the end effector. In particular, articulated robots have a serial structure. They have to carry the drive engine of each ongoing axis, which results in higher susceptibility to vibration. To compensate weak precision the German Aerospace Center (DLR) integrates a quality improving sensor system on the robot platform. A vibration monitoring system detects vibrations that affect the precision during motion tasks. Currently, higher precision is achieved by slowing down the speed in production. Therefore, a compromise is given between speed and precision. To push the limits for these two conflicting process properties, we propose an approach for an additional smart device to decouple the process-sensitive unit from disturbances arising through motion of the kinematic structure. The smart device enables active vibration suppression by use of a piezo-based actuator with a lever mechanism connected to a motion platform. The lever mechanism provides the required force and displacement adaption. The platform provides mounting and steering of the process-sensitive components. First, an insight into the automation task is given within this paper. Secondly, the system design is illustrated. Based on simulation results the characteristic of the proposed mechanism is shown. Besides the mechanical properties like stiffness and lever amplification, dynamical issues like the smallest eigenfrequency are discussed. To verify simulation results initial measurements are presented and discussed. The paper sums up with the discussion of an implementation of a closed-loop control system to achieve vibration-free and fast motion.

Development and control of a magnetorheological haptic device for robot assisted surgery.

Science.gov (United States)

Shokrollahi, Elnaz; Goldenberg, Andrew A; Drake, James M; Eastwood, Kyle W; Kang, Matthew

2017-07-01

A prototype magnetorheological (MR) fluid-based actuator has been designed for tele-robotic surgical applications. This device is capable of generating forces up to 47 N, with input currents ranging from 0 to 1.5 A. We begin by outlining the physical design of the device, and then discuss a novel nonlinear model of the device's behavior. The model was developed using the Hammerstein-Wiener (H-W) nonlinear black-box technique and is intended to accurately capture the hysteresis behavior of the MR-fluid. Several experiments were conducted on the device to collect estimation and validation datasets to construct the model and assess its performance. Different estimating functions were used to construct the model, and their effectiveness is assessed based on goodness-of-fit and final-prediction-error measurements. A sigmoid network was found to have a goodness-of-fit of 95%. The model estimate was then used to tune a PID controller. Two control schemes were proposed to eliminate the hysteresis behavior present in the MR fluid device. One method uses a traditional force feedback control loop and the other is based on measuring the magnetic field using a Hall-effect sensor embedded within the device. The Hall-effect sensor scheme was found to be superior in terms of cost, simplicity and real-time control performance compared to the force control strategy.

Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation

Science.gov (United States)

Burgner, Jessica; Swaney, Philip J.; Lathrop, Ray A.; Weaver, Kyle D.; Webster, Robert J.

2013-03-01

We present a novel robotic approach for the rapid, minimally invasive treatment of Intracerebral Hemorrhage (ICH), in which a hematoma or blood clot arises in the brain parenchyma. We present a custom image-guided robot system that delivers a steerable cannula into the lesion and aspirates it from the inside. The steerable cannula consists of an initial straight tube delivered in a manner similar to image-guided biopsy (and which uses a commercial image guidance system), followed by the sequential deployment of multiple individual precurved elastic tubes. Rather than deploying the tubes simultaneously, as has been done in nearly all prior studies, we deploy the tubes one at a time, using a compilation of their individual workspaces to reach desired points inside the lesion. This represents a new paradigm in active cannula research, defining a novel procedure-planning problem. A design that solves this problem can potentially save many lives by enabling brain decompression both more rapidly and less invasively than is possible through the traditional open surgery approach. Experimental results include a comparison of the simulated and actual workspaces of the prototype robot, and an accuracy evaluation of the system.

International Workshop and Summer School on Medical and Service Robotics

CERN Document Server

Bouri, Mohamed; Mondada, Francesco; Pisla, Doina; Rodic, Aleksandar; Helmer, Patrick

2016-01-01

Medical and Service Robotics integrate the most recent achievements in mechanics, mechatronics, computer science, haptic and teleoperation devices together with adaptive control algorithms. The book  includes topics such as surgery robotics, assist devices, rehabilitation technology, surgical instrumentation and Brain-Machine Interface (BMI) as examples for medical robotics. Autonomous cleaning, tending, logistics, surveying and rescue robots, and elderly and healthcare robots are typical examples of topics from service robotics. This is the Proceedings of the Third International Workshop on Medical and Service Robots, held in Lausanne, Switzerland in 2014. It presents an overview of current research directions and fields of interest. It is divided into three sections, namely 1) assistive and rehabilitation devices; 2) surgical robotics; and 3) educational and service robotics. Most contributions are strongly anchored on collaborations between technical and medical actors, engineers, surgeons and clinicians....

Virtual Sensors for Advanced Controllers in Rehabilitation Robotics.

Science.gov (United States)

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Portillo, Eva; Jung, Je Hyung

2018-03-05

In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

Virtual Sensors for Advanced Controllers in Rehabilitation Robotics

Directory of Open Access Journals (Sweden)

Aitziber Mancisidor

2018-03-01

Full Text Available In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error. Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

Understanding undulatory locomotion in fishes using an inertia-compensated flapping foil robotic device

International Nuclear Information System (INIS)

Wen, Li; Lauder, George

2013-01-01

Recent advances in understanding fish locomotion with robotic devices have included the use of flapping foil robots that swim at a constant swimming speed. However, the speed of even steadily swimming live fishes is not constant because the fish center of mass oscillates axially throughout a tail beat cycle. In this paper, we couple a linear motor that produces controlled oscillations in the axial direction to a robotic flapping foil apparatus to model both axial and side to side oscillatory motions used by freely-swimming fishes. This experimental arrangement allows us to compensate for the substantial inertia of the carriage and motors that drive the oscillating foils. We identify a ‘critically-oscillated’ amplitude of axial motion at which the cyclic oscillations in axial locomotor force are greatly reduced throughout the flapping cycle. We studied the midline kinematics, power consumption and wake flow patterns of non-rigid foils with different lengths and flexural stiffnesses at a variety of axial oscillation amplitudes. We found that ‘critically-oscillated’ peak-to-peak axial amplitudes on the order of 1.0 mm and at the correct phase are sufficient to mimic center of mass motion, and that such amplitudes are similar to center of mass oscillations recorded for freely-swimming live fishes. Flow visualization revealed differences in wake flows of flexible foils between the ‘non-oscillated’ and ‘critically-oscillated’ states. Inertia-compensating methods provide a novel experimental approach for studying aquatic animal swimming, and allow instrumented robotic swimmers to display center of mass oscillations similar to those exhibited by freely-swimming fishes. (paper)

Vision and Task Assistance using Modular Wireless In Vivo Surgical Robots

Science.gov (United States)

Platt, Stephen R.; Hawks, Jeff A.; Rentschler, Mark E.

2009-01-01

Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by non-medical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient. PMID:19237337

Vision and task assistance using modular wireless in vivo surgical robots.

Science.gov (United States)

Platt, Stephen R; Hawks, Jeff A; Rentschler, Mark E

2009-06-01

Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by nonmedical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient.

Robot-supported assessment of balance in standing and walking.

Science.gov (United States)

Shirota, Camila; van Asseldonk, Edwin; Matjačić, Zlatko; Vallery, Heike; Barralon, Pierre; Maggioni, Serena; Buurke, Jaap H; Veneman, Jan F

2017-08-14

Clinically useful and efficient assessment of balance during standing and walking is especially challenging in patients with neurological disorders. However, rehabilitation robots could facilitate assessment procedures and improve their clinical value. We present a short overview of balance assessment in clinical practice and in posturography. Based on this overview, we evaluate the potential use of robotic tools for such assessment. The novelty and assumed main benefits of using robots for assessment are their ability to assess 'severely affected' patients by providing assistance-as-needed, as well as to provide consistent perturbations during standing and walking while measuring the patient's reactions. We provide a classification of robotic devices on three aspects relevant to their potential application for balance assessment: 1) how the device interacts with the body, 2) in what sense the device is mobile, and 3) on what surface the person stands or walks when using the device. As examples, nine types of robotic devices are described, classified and evaluated for their suitability for balance assessment. Two example cases of robotic assessments based on perturbations during walking are presented. We conclude that robotic devices are promising and can become useful and relevant tools for assessment of balance in patients with neurological disorders, both in research and in clinical use. Robotic assessment holds the promise to provide increasingly detailed assessment that allows to individually tailor rehabilitation training, which may eventually improve training effectiveness.

Expert robots in nuclear plants

International Nuclear Information System (INIS)

Byrd, J.S.; Fisher, J.J.; DeVries, K.R.; Martin, T.P.

1987-01-01

Expert robots enhance a safety and operations in nuclear plants. E.I. du Pont de Nemours and Company, Savannah River Laboratory, is developing expert mobile robots for deployment in nuclear applications at the Savannah River Plant. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation and manipulation functions, and to analyze sensory information. Development work using two research vehicles is underway to demonstrate semiautonomous, intelligence, expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being used to allow mobile robots to autonomously navigate and perform tasks in known environments without the need for large computer systems

Expert robots in nuclear plants

International Nuclear Information System (INIS)

Byrd, J.S.; Fisher, J.J.; DeVries, K.R.; Martin, T.P.

1987-01-01

Expert robots will enhance safety and operations in nuclear plants. E. I. du Pont de Nemours and Company, Savannah River Laboratory, is developing expert mobile robots for deployment in nuclear applications at the Savannah River Plant. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation and manipulation functions, and to analyze sensory information. Development work using two research vehicles is underway to demonstrate semiautonomous, intelligent, expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being used to allow mobile robots to autonomously navigate and perform tasks in known environments without the need for large computer systems

Artificial heart for humanoid robot

Science.gov (United States)

Potnuru, Akshay; Wu, Lianjun; Tadesse, Yonas

2014-03-01

A soft robotic device inspired by the pumping action of a biological heart is presented in this study. Developing artificial heart to a humanoid robot enables us to make a better biomedical device for ultimate use in humans. As technology continues to become more advanced, the methods in which we implement high performance and biomimetic artificial organs is getting nearer each day. In this paper, we present the design and development of a soft artificial heart that can be used in a humanoid robot and simulate the functions of a human heart using shape memory alloy technology. The robotic heart is designed to pump a blood-like fluid to parts of the robot such as the face to simulate someone blushing or when someone is angry by the use of elastomeric substrates and certain features for the transport of fluids.

The effect of 'device-in-charge' support during robotic gait training on walking ability and balance in chronic stroke survivors: A systematic review

NARCIS (Netherlands)

Haarman, Juliet Albertina Maria; Reenalda, Jasper; Buurke, Jaap; van der Kooij, Herman; Rietman, Johan Swanik

2016-01-01

This review describes the effects of two control strategies – used in robotic gait-training devices for chronic stroke survivors – on gait speed, endurance and balance. Control strategies are classified as ‘patient-in-charge support’, where the device ‘empowers’ the patient, and ‘device-in-charge

Robotics Literacy Captivates Elementary Students.

Science.gov (United States)

Friedman, Madeleine

1986-01-01

Describes a robotics literacy course offered for elementary age children at Broward Community College (Florida) and discusses the motivation for offering such a course, the course philosophy and objectives, and participant reactions. A sampling of robots and robotics devices and some of their teaching applications are included. (MBR)

Modular robotic applications in nuclear power plant maintenance

International Nuclear Information System (INIS)

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

1996-01-01

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

Robotic approaches for rehabilitation of hand function after stroke.

Science.gov (United States)

Lum, Peter S; Godfrey, Sasha B; Brokaw, Elizabeth B; Holley, Rahsaan J; Nichols, Diane

2012-11-01

The goal of this review was to discuss the impairments in hand function after stroke and present previous work on robot-assisted approaches to movement neurorehabilitation. Robotic devices offer a unique training environment that may enhance outcomes beyond what is possible with conventional means. Robots apply forces to the hand, allowing completion of movements while preventing inappropriate movement patterns. Evidence from the literature is emerging that certain characteristics of the human-robot interaction are preferable. In light of this evidence, the robotic hand devices that have undergone clinical testing are reviewed, highlighting the authors' work in this area. Finally, suggestions for future work are offered. The ability to deliver therapy doses far higher than what has been previously tested is a potentially key advantage of robotic devices that needs further exploration. In particular, more efforts are needed to develop highly motivating home-based devices, which can increase access to high doses of assisted movement therapy.

Design of Piano -playing Robotic Hand

Directory of Open Access Journals (Sweden)

Lin Jen-Chang

2013-09-01

Full Text Available Unlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics reseach and market research agencies. In this study we developed a music playing robot (which can also work as a service robot for public performance. The research is mainly focused on the mechanical and electrical control of piano-playing robot, the exploration of correlations among music theory, rhythm and piano keys, and eventually the research on playing skill of keyboard instrument. The piano-playing robot is capable of control linear motor, servo-motor and pneumatic devices in accordance with the notes and rhythm in order to drive the mechanical structure to proper positions for pressing the keys and generating music. The devices used for this robot are mainly crucial components produced by HIWIN Technology Corp. The design of robotic hand is based on the direction of anthropomorphic hand such that five fingers will be used for playing piano. The finger actuations include actions of finger rotation, finger pressing, and finger lifting; time required for these 3 stages must meet the requirement of rhythm. The purpose of entertainment robot can be achieved by playing electric piano with robotic hand, and we hope this research can contribute to the development of domestic entertainment music playing robots.

Haptic Control with a Robotic Gripper

OpenAIRE

Rody, Morgan

2011-01-01

The Novint Falcon is a low cost, 3-axis, haptic device primarily designed and built for the gaming industry. Meant to replace the conventional mouse, the Novint Falcon has sub- millimeter accuracy and is capable of real time updates. The device itself has the potential to be used in telerobotics applications when coupled with a robotic gripper for example. Recently, the Intelligent Control Lab at Örebro University in Sweden built such a robotic gripper. The robotic gripper has three fingers a...

The use of robots for advanced intervention devices

International Nuclear Information System (INIS)

1981-01-01

The main purpose of robots is to improve working conditions and to protect operators. Robots also enable interventions to be carried out in environments inaccessible to man. Extensive work carried out by the CEA in this field has led to the realization of equipment and original materials. Although, a lot of the development activities were initially related to nuclear work, a great diversity of applications have been found in other fields. Several applications are cited in this article; they are related to computer assisted remote controlled manipulators, remote controlled exploratory vehicles, robot medical equipment, and oceanographic research equipment [fr

Deployment and Maintenance of Wave Energy Converters at the Lysekil Research Site: A Comparative Study on the Use of Divers and Remotely-Operated Vehicles

Directory of Open Access Journals (Sweden)

Flore Rémouit

2018-04-01

Full Text Available Ocean renewable technologies have been rapidly developing over the past years. However, current high installation, operation, maintenance, and decommissioning costs are hindering these offshore technologies to reach a commercialization stage. In this paper we focus on the use of divers and remotely-operated vehicles during the installation and monitoring phase of wave energy converters. Methods and results are based on the wave energy converter system developed by Uppsala University, and our experience in offshore deployments obtained during the past eleven years. The complexity of underwater operations, carried out by either divers or remotely-operated vehicles, is emphasized. Three methods for the deployment of wave energy converters are economically and technically analyzed and compared: one using divers alone, a fully-automated approach using remotely-operated vehicles, and an intermediate approach, involving both divers and underwater vehicles. The monitoring of wave energy converters by robots is also studied, both in terms of costs and technical challenges. The results show that choosing an autonomous deployment method is more advantageous than a diver-assisted method in terms of operational time, but that numerous factors prevent the wide application of robotized operations. Technical solutions are presented to enable the use of remotely-operated vehicles instead of divers in ocean renewable technology operations. Economically, it is more efficient to use divers than autonomous vehicles for the deployment of six or fewer wave energy converters. From seven devices, remotely-operated vehicles become advantageous.

Knowledge based systems for intelligent robotics

Science.gov (United States)

Rajaram, N. S.

1982-01-01

It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

Robot Tracer with Visual Camera

Science.gov (United States)

Jabbar Lubis, Abdul; Dwi Lestari, Yuyun; Dafitri, Haida; Azanuddin

2017-12-01

Robot is a versatile tool that can function replace human work function. The robot is a device that can be reprogrammed according to user needs. The use of wireless networks for remote monitoring needs can be utilized to build a robot that can be monitored movement and can be monitored using blueprints and he can track the path chosen robot. This process is sent using a wireless network. For visual robot using high resolution cameras to facilitate the operator to control the robot and see the surrounding circumstances.

Robotic Ankle for Omnidirectional Rock Anchors

Science.gov (United States)

Parness, Aaron; Frost, Matthew; Thatte, Nitish

2013-01-01

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a

RoboCup@Home Scientific Competition and Benchmarking for Domestic Service Robots

NARCIS (Netherlands)

Wisspeintner, Thomas; van der Zant, Tijn; Iocchi, Luca; Schiffer, Stefan

2009-01-01

Being part of the RoboCup initiative, the ROBOCUP@HOME league targets the development and deployment of autonomous service and assistive robot technology being essential for future personal domestic applications. The domain of domestic service and assistive robotics implicates a wide range of

Incore inspection and repairing device

International Nuclear Information System (INIS)

Ito, Arata; Kimura, Motohiko

1998-01-01

The present invention provides a device for inspecting and repairing the inside of a reactor container even if it is narrow, with no trouble by using a swimming-type operation robot. Namely, the device of the present invention conducts inspection and repairing operations for the inside of the reactor by introducing a swimming type operation robot into the reactor container. The swimming-type operation robot comprises a robot main body having a propeller, a balancer operably disposed to the robot main body and an inspection and repairing unit attached detachable to the balancer. In the device of the present invention, since the inspection and preparing unit is attached detachably to the swimming robot, a robot which transports tools is formed as a standard product. As a result, the production cost can be reduced, and the reliability of products can be improved. Appropriate operations can be conducted by using best tools. (I.S.)

Open core control software for surgical robots.

Science.gov (United States)

Arata, Jumpei; Kozuka, Hiroaki; Kim, Hyung Wook; Takesue, Naoyuki; Vladimirov, B; Sakaguchi, Masamichi; Tokuda, Junichi; Hata, Nobuhiko; Chinzei, Kiyoyuki; Fujimoto, Hideo

2010-05-01

In these days, patients and doctors in operation room are surrounded by many medical devices as resulting from recent advancement of medical technology. However, these cutting-edge medical devices are working independently and not collaborating with each other, even though the collaborations between these devices such as navigation systems and medical imaging devices are becoming very important for accomplishing complex surgical tasks (such as a tumor removal procedure while checking the tumor location in neurosurgery). On the other hand, several surgical robots have been commercialized, and are becoming common. However, these surgical robots are not open for collaborations with external medical devices in these days. A cutting-edge "intelligent surgical robot" will be possible in collaborating with surgical robots, various kinds of sensors, navigation system and so on. On the other hand, most of the academic software developments for surgical robots are "home-made" in their research institutions and not open to the public. Therefore, open source control software for surgical robots can be beneficial in this field. From these perspectives, we developed Open Core Control software for surgical robots to overcome these challenges. In general, control softwares have hardware dependencies based on actuators, sensors and various kinds of internal devices. Therefore, these control softwares cannot be used on different types of robots without modifications. However, the structure of the Open Core Control software can be reused for various types of robots by abstracting hardware dependent parts. In addition, network connectivity is crucial for collaboration between advanced medical devices. The OpenIGTLink is adopted in Interface class which plays a role to communicate with external medical devices. At the same time, it is essential to maintain the stable operation within the asynchronous data transactions through network. In the Open Core Control software, several

Mobile robotics for CANDU reactor maintenance: case studies and near-term improvements

International Nuclear Information System (INIS)

Lipsett, M. G.; Rody, K.H.

1995-01-01

Although robotics researchers have been promising that robotics would soon be performing tasks in hazardous environments, the reality has yet to live up to the hype. The presently available crop of robots suitable for deployment in industrial situations are remotely operated, requiring skilled users. This talk describes cases where mobile robots have been used successfully in CANDU stations, discusses the difficulties in using mobile robots for reactor maintenance, and provides near-term goals for achievable improvements in performance and usefulness. (author)

Toward humanoid robots for operations in complex urban environments

Science.gov (United States)

Pratt, Jerry E.; Neuhaus, Peter; Johnson, Matthew; Carff, John; Krupp, Ben

2010-04-01

Many infantry operations in urban environments, such as building clearing, are extremely dangerous and difficult and often result in high casualty rates. Despite the fast pace of technological progress in many other areas, the tactics and technology deployed for many of these dangerous urban operation have not changed much in the last 50 years. While robots have been extremely useful for improvised explosive device (IED) detonation, under-vehicle inspection, surveillance, and cave exploration, there is still no fieldable robot that can operate effectively in cluttered streets and inside buildings. Developing a fieldable robot that can maneuver in complex urban environments is challenging due to narrow corridors, stairs, rubble, doors and cluttered doorways, and other obstacles. Typical wheeled and tracked robots have trouble getting through most of these obstacles. A bipedal humanoid is ideally shaped for many of these obstacles because its legs are long and skinny. Therefore it has the potential to step over large barriers, gaps, rocks, and steps, yet squeeze through narrow passageways, and through narrow doorways. By being able to walk with one foot directly in front of the other, humanoids also have the potential to walk over narrow "balance beam" style objects and can cross a narrow row of stepping stones. We describe some recent advances in humanoid robots, particularly recovery from disturbances, such as pushes and walking over rough terrain. Our disturbance recovery algorithms are based on the concept of Capture Points. An N-Step Capture Point is a point on the ground in which a legged robot can step to in order to stop in N steps. The N-Step Capture Region is the set of all N-Step Capture Points. In order to walk without falling, a legged robot must step somewhere in the intersection between an N-Step Capture Region and the available footholds on the ground. We present results of push recovery using Capture Points on our humanoid robot M2V2.

Real-Time Augmented Reality for Robotic-Assisted Surgery

DEFF Research Database (Denmark)

Jørgensen, Martin Kibsgaard; Kraus, Martin

2015-01-01

Training in robotic-assisted minimally invasive surgery is crucial, but the training with actual surgery robots is relatively expensive. Therefore, improving the efficiency of this training is of great interest in robotic surgical education. One of the current limitations of this training is the ......-dimensional computer graphics in real time. Our system makes it possible to easily deploy new user interfaces for robotic-assisted surgery training. The system has been positively evaluated by two experienced instructors in robot-assisted surgery....... is the limited visual communication between the instructor and the trainee. As the trainee's view is limited to that of the surgery robot's camera, even a simple task such as pointing is difficult. We present a compact system to overlay the video streams of the da Vinci surgery systems with interactive three...

Deployment of Mobile Learning Course Materials to Android Powered Mobile Devices

Science.gov (United States)

Chao, Lee

2012-01-01

The objective of this article is to facilitate mobile teaching and learning by providing an alternative course material deployment method. This article suggests a course material deployment platform for small universities or individual instructors. Different from traditional course material deployment methods, the method discussed deploys course…

Prospects of robotics in food industry

Directory of Open Access Journals (Sweden)

Jamshed IQBAL

Full Text Available Abstract Technological advancements in various domains have broadened the application horizon of robotics to an incredible extent. Highlighting a very recent application area, this paper presents a comprehensive review of robotics application in food industry. Robots essentially have the potential to transform the processes in food processing and handling, palletizing and packing and food serving. Therefore, recent years witnessed tremendously increased trend of robots deployment in food sector. Consequently, the aspects related with robot kinematics, dynamics, hygiene, economic efficiency, human-robot interaction, safety and protection and operation and maintenance are of critical importance and are discussed in the present review. A comparison of actual robots being used in the industry is also presented. The review reveals that the food serving sector is the new potential area in which ample research opportunities exist by integrating advancements from various technology domains. It is anticipated that wider dissemination of research developments in ‘robo-food’ will stimulate more collaborations among the research community and contribute to further developments.

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.

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.

Physical interface dynamics alter how robotic exosuits augment human movement: implications for optimizing wearable assistive devices.

Science.gov (United States)

Yandell, Matthew B; Quinlivan, Brendan T; Popov, Dmitry; Walsh, Conor; Zelik, Karl E

2017-05-18

Wearable assistive devices have demonstrated the potential to improve mobility outcomes for individuals with disabilities, and to augment healthy human performance; however, these benefits depend on how effectively power is transmitted from the device to the human user. Quantifying and understanding this power transmission is challenging due to complex human-device interface dynamics that occur as biological tissues and physical interface materials deform and displace under load, absorbing and returning power. Here we introduce a new methodology for quickly estimating interface power dynamics during movement tasks using common motion capture and force measurements, and then apply this method to quantify how a soft robotic ankle exosuit interacts with and transfers power to the human body during walking. We partition exosuit end-effector power (i.e., power output from the device) into power that augments ankle plantarflexion (termed augmentation power) vs. power that goes into deformation and motion of interface materials and underlying soft tissues (termed interface power). We provide empirical evidence of how human-exosuit interfaces absorb and return energy, reshaping exosuit-to-human power flow and resulting in three key consequences: (i) During exosuit loading (as applied forces increased), about 55% of exosuit end-effector power was absorbed into the interfaces. (ii) However, during subsequent exosuit unloading (as applied forces decreased) most of the absorbed interface power was returned viscoelastically. Consequently, the majority (about 75%) of exosuit end-effector work over each stride contributed to augmenting ankle plantarflexion. (iii) Ankle augmentation power (and work) was delayed relative to exosuit end-effector power, due to these interface energy absorption and return dynamics. Our findings elucidate the complexities of human-exosuit interface dynamics during transmission of power from assistive devices to the human body, and provide insight into

Generative Programming for Functional Safety in Mobile Robots

DEFF Research Database (Denmark)

Adam, Marian Sorin

2018-01-01

execution environment. The effective usage of DeRoS to specify safetyrelated properties of mobile robots and generation of a runtime verification infrastructure for the different controllers has been experimentally demonstrated on ROS-based systems, safety PLCs and microcontrollers. The key issue of making......Safety is a major challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but the existing approaches for addressing safety do not provide a clearly defined and isolated programmatic safety...... layer, with an easily understandable specification for facilitating safety certification. Moreover, mobile robots are advanced systems often implemented using a distributed architecture where software components are deployed on heterogeneous hardware modules. Many components are key to the overall...

Human-robot interaction strategies for walker-assisted locomotion

CERN Document Server

Cifuentes, Carlos A

2016-01-01

This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed. .

Skill Based Instruction of Collaborative Robots in Industrial Settings

DEFF Research Database (Denmark)

Schou, Casper; Andersen, Rasmus Skovgaard; Chrysostomou, Dimitrios

2018-01-01

During the past decades increasing need for more flexible and agile manufacturing equipment has spawned a growing interest in collaborative robots. Contrary to traditional industrial robots, collaborative robots are intended for operating alongside the production personnel in dynamic or semi...... several user studies, the usability of SBS and the task level programming approach has been demonstrated. SBS has been utilized in several international research projects where SBS has been deployed and tested in three real manufacturing settings. Collectively, the industrial exploitations have...

A preliminary cyber-physical security assessment of the Robot Operating System (ROS)

Science.gov (United States)

McClean, Jarrod; Stull, Christopher; Farrar, Charles; Mascareñas, David

2013-05-01

Over the course of the last few years, the Robot Operating System (ROS) has become a highly popular software framework for robotics research. ROS has a very active developer community and is widely used for robotics research in both academia and government labs. The prevalence and modularity of ROS cause many people to ask the question: "What prevents ROS from being used in commercial or government applications?" One of the main problems that is preventing this increased use of ROS in these applications is the question of characterizing its security (or lack thereof). In the summer of 2012, a crowd sourced cyber-physical security contest was launched at the cyber security conference DEF CON 20 to begin the process of characterizing the security of ROS. A small-scale, car-like robot was configured as a cyber-physical security "honeypot" running ROS. DEFFCON-20 attendees were invited to find exploits and vulnerabilities in the robot while network traffic was collected. The results of this experiment provided some interesting insights and opened up many security questions pertaining to deployed robotic systems. The Federal Aviation Administration is tasked with opening up the civil airspace to commercial drones by September 2015 and driverless cars are already legal for research purposes in a number of states. Given the integration of these robotic devices into our daily lives, the authors pose the following question: "What security exploits can a motivated person with little-to-no experience in cyber security execute, given the wide availability of free cyber security penetration testing tools such as Metasploit?" This research focuses on applying common, low-cost, low-overhead, cyber-attacks on a robot featuring ROS. This work documents the effectiveness of those attacks.

Spinal plasticity in robot-mediated therapy for the lower limbs

DEFF Research Database (Denmark)

Stevenson, Andrew James Thomas; Mrachacz-Kersting, Natalie; van Asseldonk, Edwin

2015-01-01

of neural changes in the spinal cord. Here, we review the recent literature on spinal plasticity induced by robotic-based training in humans and propose recommendations for the measurement of spinal plasticity using robotic devices. Evidence for spinal plasticity in humans following robotic training...... but are not part of robotic devices used for training purposes. A further development of robotic devices that include the technology to elicit stretch reflexes would allow for the spinal circuitry to be routinely tested as a part of the training and evaluation protocols.......Robot-mediated therapy can help improve walking ability in patients following injuries to the central nervous system. However, the efficacy of this treatment varies between patients, and evidence for the mechanisms underlying functional improvements in humans is poor, particularly in terms...

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring.

Science.gov (United States)

Niewiadomska-Szynkiewicz, Ewa; Sikora, Andrzej; Marks, Michał

2016-09-14

Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper.

Toward understanding social cues and signals in human-robot interaction: effects of robot gaze and proxemic behavior.

Science.gov (United States)

Fiore, Stephen M; Wiltshire, Travis J; Lobato, Emilio J C; Jentsch, Florian G; Huang, Wesley H; Axelrod, Benjamin

2013-01-01

As robots are increasingly deployed in settings requiring social interaction, research is needed to examine the social signals perceived by humans when robots display certain social cues. In this paper, we report a study designed to examine how humans interpret social cues exhibited by robots. We first provide a brief overview of perspectives from social cognition in humans and how these processes are applicable to human-robot interaction (HRI). We then discuss the need to examine the relationship between social cues and signals as a function of the degree to which a robot is perceived as a socially present agent. We describe an experiment in which social cues were manipulated on an iRobot Ava(TM) mobile robotics platform in a hallway navigation scenario. Cues associated with the robot's proxemic behavior were found to significantly affect participant perceptions of the robot's social presence and emotional state while cues associated with the robot's gaze behavior were not found to be significant. Further, regardless of the proxemic behavior, participants attributed more social presence and emotional states to the robot over repeated interactions than when they first interacted with it. Generally, these results indicate the importance for HRI research to consider how social cues expressed by a robot can differentially affect perceptions of the robot's mental states and intentions. The discussion focuses on implications for the design of robotic systems and future directions for research on the relationship between social cues and signals.

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

International Nuclear Information System (INIS)

Don, S; Cormack, R; Viswanathan, A; Damato, A

2015-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2015-06-15

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

A survey of snake-inspired robot designs

International Nuclear Information System (INIS)

Hopkins, James K; Spranklin, Brent W; Gupta, Satyandra K

2009-01-01

Body undulation used by snakes and the physical architecture of a snake body may offer significant benefits over typical legged or wheeled locomotion designs in certain types of scenarios. A large number of research groups have developed snake-inspired robots to exploit these benefits. The purpose of this review is to report different types of snake-inspired robot designs and categorize them based on their main characteristics. For each category, we discuss their relative advantages and disadvantages. This review will assist in familiarizing a newcomer to the field with the existing designs and their distinguishing features. We hope that by studying existing robots, future designers will be able to create new designs by adopting features from successful robots. The review also summarizes the design challenges associated with the further advancement of the field and deploying snake-inspired robots in practice. (topical review)

USAR Robot Communication Using ZigBee Technology

Science.gov (United States)

Tsui, Charles; Carnegie, Dale; Pan, Qing Wei

This paper reports the successful development of an automatic routing wireless network for USAR (urban search and rescue) robots in an artificial rubble environment. The wireless network was formed using ZigBee modules and each module was attached to a micro-controller in order to model a wireless USAR robot. Proof of concept experiments were carried out by deploying the networked robots into artificial rubble. The rubble was simulated by connecting holes and trenches that were dug in 50 cm deep soil. The simulated robots were placed in the bottom of the holes. The holes and trenches were then covered up by various building materials and soil to simulate a real rubble environment. Experiments demonstrated that a monitoring computer placed 10 meters outside the rubble can establish proper communication with all robots inside the artificial rubble environment.

Applying a soft-robotic glove as assistive device and training tool with games to support hand function after stroke : Preliminary results on feasibility and potential clinical impact

NARCIS (Netherlands)

Prange, G.B.; Radder, Bob; Kottink, Anke I.R.; Melendez-Calderon, Alejandro; Buurke, Jaap H.; Rietman, Johan S.

2017-01-01

Recent technological developments regarding wearable soft-robotic devices extend beyond the current application of rehabilitation robotics and enable unobtrusive support of the arms and hands during daily activities. In this light, the HandinMind (HiM) system was developed, comprising a

TARZAN: A REMOTE TOOL DEPLOYMENT SYSTEM FOR THE WEST VALLEY DEVELOPMENT PROJECT

International Nuclear Information System (INIS)

Thompson, Bruce R.; Veri, James

1999-01-01

RedZone Robotics, Inc. undertook a development project to build Tarzan, a Remote Tool Delivery system to work inside nuclear waste storage tanks 8D-1 and 8D-2 at the West Valley Demonstration Project (WVDP). The removal of waste deposits from large storage tanks poses significant challenges during tank operations and closure. Limited access, the presence of chemical, radiological, and /or explosive hazards, and the need to deliver retrieval equipment to all regions of the tank exceed the capabilities of most conventional methods and equipment. Remotely operated devices for mobilizing and retrieving waste materials are needed. Some recent developments have been made in this area. However, none of these developments completely and cost-effectively address tanks that are congested with internal structures (e.g., support columns, cooling coils, fixed piping, etc.). The Tarzan system consists of the following parts: Locomotor which is deployed in the tank for inspection and cleanup; Hydraulic power unit providing system power for the locomotor and deployment unit; and Control system providing the man machine interface to control, coordinate and monitor the system. This document presents the final report on the Tarzan project

A Remotely Deployable Wind Sonic Anemometer

Directory of Open Access Journals (Sweden)

Muhammad Awais

2017-12-01

Full Text Available Communication and computing shape up base for explosion of Internet of Things (IoT era. Humans can efficiently control the devices around their environment as per requirements because of IoT, the communication between different devices brings more flexibility in surrounding. Useful data is also gathered from some of these devices to create Big Data; where, further analysis assist in making life easier by developing good business models corresponding to user needs, enhance scientific research, formulating weather prediction or monitoring systems and contributing in other relative fields as well. Thus, in this research a remotely deployable IoT enabled Wind Sonic Anemometer has been designed and deployed to calculate average wind speed, direction, and gust. The proposed design is remotely deployable, user-friendly, power efficient and cost-effective because of opted modules i.e., ultrasonic sensors, GSM module, and solar panel. The testbed was also deployed at the roof of Computer & Information Systems Engineering (CIS department, NED UET. Further, its calibration has been carried out by using long short-term memory (LSTM, a deep learning technique; where ground truth data has been gathered from mechanical wind speed sensor (NRG-40 H deployed at top of Industrial & Manufacturing (IM department of NED UET. The obtained results are satisfactory and the performance of designed sensor is also good under various weather conditions.

Mobile robot worksystem (Rosie). Innovative technology summary report

International Nuclear Information System (INIS)

1999-05-01

The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) have developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. Rosie is a mobile robot worksystem developed for nuclear facilities D and D. Rosie performs mechanical dismantlement of radiologically contaminated structures by remotely deploying other tools or systems. At the CP-5 reactor site, Rosie is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of a Kraft Predator dexterous manipulator arm. Rosie is a tethered, 50 m (165 ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator uses Rosie to move, lift or offload radioactive materials using its integral lifting hook or to position the Kraft Predator arm in locations where the arm can be used to dismantle parts of the CP-5 reactor. The specific operating areas were concentrated in two high radiation areas, one at the top of the reactor structure atop and within the reactor tank assembly and the second at a large opening on the west side of the reactor's biological shield called the west thermal column. In the first of these areas, low level radioactive waste size previously segmented or dismantled by the Dual Arm Work Platform (DAWP) and placed into a steel drum or transfer can were moved to a staging area for manual packaging. In the latter area, the manipulator arm removed and transferred shielding blocks from the west thermal column area of the reactor into waste containers. Rosie can also deploy up to twelve remotely controlled television cameras, some with microphones, which can be used

Design and Implementation of Fire Extinguisher Robot with Robotic Arm

Directory of Open Access Journals (Sweden)

Memon Abdul Waris

2018-01-01

Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.

Applying a soft-robotic glove as assistive device and training tool with games to support hand function after stroke: Preliminary results on feasibility and potential clinical impact.

Science.gov (United States)

Prange-Lasonder, Gerdienke B; Radder, Bob; Kottink, Anke I R; Melendez-Calderon, Alejandro; Buurke, Jaap H; Rietman, Johan S

2017-07-01

Recent technological developments regarding wearable soft-robotic devices extend beyond the current application of rehabilitation robotics and enable unobtrusive support of the arms and hands during daily activities. In this light, the HandinMind (HiM) system was developed, comprising a soft-robotic, grip supporting glove with an added computer gaming environment. The present study aims to gain first insight into the feasibility of clinical application of the HiM system and its potential impact. In order to do so, both the direct influence of the HiM system on hand function as assistive device and its therapeutic potential, of either assistive or therapeutic use, were explored. A pilot randomized clinical trial was combined with a cross-sectional measurement (comparing performance with and without glove) at baseline in 5 chronic stroke patients, to investigate both the direct assistive and potential therapeutic effects of the HiM system. Extended use of the soft-robotic glove as assistive device at home or with dedicated gaming exercises in a clinical setting was applicable and feasible. A positive assistive effect of the soft-robotic glove was proposed for pinch strength and functional task performance 'lifting full cans' in most of the five participants. A potential therapeutic impact was suggested with predominantly improved hand strength in both participants with assistive use, and faster functional task performance in both participants with therapeutic application.

Feasibility of interactive gesture control of a robotic microscope

Directory of Open Access Journals (Sweden)

Antoni Sven-Thomas

2015-09-01

Full Text Available Robotic devices become increasingly available in the clinics. One example are motorized surgical microscopes. While there are different scenarios on how to use the devices for autonomous tasks, simple and reliable interaction with the device is a key for acceptance by surgeons. We study, how gesture tracking can be integrated within the setup of a robotic microscope. In our setup, a Leap Motion Controller is used to track hand motion and adjust the field of view accordingly. We demonstrate with a survey that moving the field of view over a specified course is possible even for untrained subjects. Our results indicate that touch-less interaction with robots carrying small, near field gesture sensors is feasible and can be of use in clinical scenarios, where robotic devices are used in direct proximity of patient and physicians.

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

Molecular robots with sensors and intelligence.

Science.gov (United States)

Hagiya, Masami; Konagaya, Akihiko; Kobayashi, Satoshi; Saito, Hirohide; Murata, Satoshi

2014-06-17

CONSPECTUS: What we can call a molecular robot is a set of molecular devices such as sensors, logic gates, and actuators integrated into a consistent system. The molecular robot is supposed to react autonomously to its environment by receiving molecular signals and making decisions by molecular computation. Building such a system has long been a dream of scientists; however, despite extensive efforts, systems having all three functions (sensing, computation, and actuation) have not been realized yet. This Account introduces an ongoing research project that focuses on the development of molecular robotics funded by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). This 5 year project started in July 2012 and is titled "Development of Molecular Robots Equipped with Sensors and Intelligence". The major issues in the field of molecular robotics all correspond to a feedback (i.e., plan-do-see) cycle of a robotic system. More specifically, these issues are (1) developing molecular sensors capable of handling a wide array of signals, (2) developing amplification methods of signals to drive molecular computing devices, (3) accelerating molecular computing, (4) developing actuators that are controllable by molecular computers, and (5) providing bodies of molecular robots encapsulating the above molecular devices, which implement the conformational changes and locomotion of the robots. In this Account, the latest contributions to the project are reported. There are four research teams in the project that specialize on sensing, intelligence, amoeba-like actuation, and slime-like actuation, respectively. The molecular sensor team is focusing on the development of molecular sensors that can handle a variety of signals. This team is also investigating methods to amplify signals from the molecular sensors. The molecular intelligence team is developing molecular computers and is currently focusing on a new photochemical technology for accelerating DNA

Humanlike Robots - The Upcoming Revolution in Robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-01-01

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

Humanlike robots: the upcoming revolution in robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

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

Advanced Mechatronics and MEMS Devices

CERN Document Server

2013-01-01

Advanced Mechatronics and MEMS Devicesdescribes state-of-the-art MEMS devices and introduces the latest technology in electrical and mechanical microsystems. The evolution of design in microfabrication, as well as emerging issues in nanomaterials, micromachining, micromanufacturing and microassembly are all discussed at length in this volume. Advanced Mechatronics also provides a reader with knowledge of MEMS sensors array, MEMS multidimensional accelerometer, artificial skin with imbedded tactile components, as well as other topics in MEMS sensors and transducers. The book also presents a number of topics in advanced robotics and an abundance of applications of MEMS in robotics, like reconfigurable modular snake robots, magnetic MEMS robots for drug delivery and flying robots with adjustable wings, to name a few. This book also: Covers the fundamentals of advanced mechatronics and MEMS devices while also presenting new state-of-the-art methodology and technology used in the application of these devices Prese...

Robots testing robots: ALAN-Arm, a humanoid arm for the testing of robotic rehabilitation systems.

Science.gov (United States)

Brookes, Jack; Kuznecovs, Maksims; Kanakis, Menelaos; Grigals, Arturs; Narvidas, Mazvydas; Gallagher, Justin; Levesley, Martin

2017-07-01

Robotics is increasing in popularity as a method of providing rich, personalized and cost-effective physiotherapy to individuals with some degree of upper limb paralysis, such as those who have suffered a stroke. These robotic rehabilitation systems are often high powered, and exoskeletal systems can attach to the person in a restrictive manner. Therefore, ensuring the mechanical safety of these devices before they come in contact with individuals is a priority. Additionally, rehabilitation systems may use novel sensor systems to measure current arm position. Used to capture and assess patient movements, these first need to be verified for accuracy by an external system. We present the ALAN-Arm, a humanoid robotic arm designed to be used for both accuracy benchmarking and safety testing of robotic rehabilitation systems. The system can be attached to a rehabilitation device and then replay generated or human movement trajectories, as well as autonomously play rehabilitation games or activities. Tests of the ALAN-Arm indicated it could recreate the path of a generated slow movement path with a maximum error of 14.2mm (mean = 5.8mm) and perform cyclic movements up to 0.6Hz with low gain (<1.5dB). Replaying human data trajectories showed the ability to largely preserve human movement characteristics with slightly higher path length and lower normalised jerk.

Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor.

Science.gov (United States)

Rao, Akshay; Elara, Mohan Rajesh; Elangovan, Karthikeyan

This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.

Performance Evaluation Methods for Assistive Robotic Technology

Science.gov (United States)

Tsui, Katherine M.; Feil-Seifer, David J.; Matarić, Maja J.; Yanco, Holly A.

Robots have been developed for several assistive technology domains, including intervention for Autism Spectrum Disorders, eldercare, and post-stroke rehabilitation. Assistive robots have also been used to promote independent living through the use of devices such as intelligent wheelchairs, assistive robotic arms, and external limb prostheses. Work in the broad field of assistive robotic technology can be divided into two major research phases: technology development, in which new devices, software, and interfaces are created; and clinical, in which assistive technology is applied to a given end-user population. Moving from technology development towards clinical applications is a significant challenge. Developing performance metrics for assistive robots poses a related set of challenges. In this paper, we survey several areas of assistive robotic technology in order to derive and demonstrate domain-specific means for evaluating the performance of such systems. We also present two case studies of applied performance measures and a discussion regarding the ubiquity of functional performance measures across the sampled domains. Finally, we present guidelines for incorporating human performance metrics into end-user evaluations of assistive robotic technologies.

An accelerometry-based comparison of 2 robotic assistive devices for treadmill training of gait.

Science.gov (United States)

Regnaux, Jean-Philippe; Saremi, Kaveh; Marehbian, Jon; Bussel, Bernard; Dobkin, Bruce H

2008-01-01

Two commercial robotic devices, the Gait Trainer (GT) and the Lokomat (LOKO), assist task-oriented practice of walking. The gait patterns induced by these motor-driven devices have not been characterized and compared. A healthy participant chose the most comfortable gait pattern on each device and for treadmill (TM) walking at 1, 2 (maximum for the GT), and 3 km/h and over ground at similar speeds. A system of accelerometers on the thighs and feet allowed the calculation of spatiotemporal features and accelerations during the gait cycle. At the 1 and 2 km/h speed settings, single-limb stance times were prolonged on the devices compared with overground walking. Differences on the LOKO were decreased by adjusting the hip and knee angles and step length. At the 3 km/h setting, the LOKO approximated the participant's overground parameters. Irregular accelerations and decelerations from toe-off to heel contact were induced by the devices, especially at slower speeds. The LOKO and GT impose mechanical constraints that may alter leg accelerations-decelerations during stance and swing phases, as well as stance duration, especially at their slower speed settings, that are not found during TM and overground walking. The potential impact of these perturbations on training to improve gait needs further study.

Visual perception system and method for a humanoid robot

Science.gov (United States)

Wells, James W. (Inventor); Mc Kay, Neil David (Inventor); Chelian, Suhas E. (Inventor); Linn, Douglas Martin (Inventor); Wampler, II, Charles W. (Inventor); Bridgwater, Lyndon (Inventor)

2012-01-01

A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

Cell Selection Game for Densely-Deployed Sensor and Mobile Devices In 5G Networks Integrating Heterogeneous Cells and the Internet of Things.

Science.gov (United States)

Wang, Lusheng; Wang, Yamei; Ding, Zhizhong; Wang, Xiumin

2015-09-18

With the rapid development of wireless networking technologies, the Internet of Things and heterogeneous cellular networks (HCNs) tend to be integrated to form a promising wireless network paradigm for 5G. Hyper-dense sensor and mobile devices will be deployed under the coverage of heterogeneous cells, so that each of them could freely select any available cell covering it and compete for resource with others selecting the same cell, forming a cell selection (CS) game between these devices. Since different types of cells usually share the same portion of the spectrum, devices selecting overlapped cells can experience severe inter-cell interference (ICI). In this article, we study the CS game among a large amount of densely-deployed sensor and mobile devices for their uplink transmissions in a two-tier HCN. ICI is embedded with the traditional congestion game (TCG), forming a congestion game with ICI (CGI) and a congestion game with capacity (CGC). For the three games above, we theoretically find the circular boundaries between the devices selecting the macrocell and those selecting the picocells, indicated by the pure strategy Nash equilibria (PSNE). Meanwhile, through a number of simulations with different picocell radii and different path loss exponents, the collapse of the PSNE impacted by severe ICI (i.e., a large number of picocell devices change their CS preferences to the macrocell) is profoundly revealed, and the collapse points are identified.

Microscale soft robotics motivations, progress, and outlook

CERN Document Server

Kim, Jaeyoun (Jay)

2017-01-01

This book presents the technological basics and applications of small-scale (mm to sub-mm in length-scales) soft robots and devices, written for researchers in both academia and industry. Author Jaeyoun Kim presents technological motivations, enabling factors, and examples in an inter-linked fashion, making it easy for readers to understand and explore how microscale soft robots are a solution to researchers in search of technological platforms for safe, human-friendly biomedical devices. A compact and timely introduction, this book summarizes not only the enabling factors for soft robots and MEMS devices, but also provides a survey of progress in the field and looks to the future in terms of the material, design, and application aspects this new technology demonstrates.

Robotics in endoscopy.

Science.gov (United States)

Klibansky, David; Rothstein, Richard I

2012-09-01

The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

Robotics to Enable Older Adults to Remain Living at Home

OpenAIRE

Pearce, Alan J.; Adair, Brooke; Miller, Kimberly; Ozanne, Elizabeth; Said, Catherine; Santamaria, Nick; Morris, Meg E.

2012-01-01

Given the rapidly ageing population, interest is growing in robots to enable older people to remain living at home. We conducted a systematic review and critical evaluation of the scientific literature, from 1990 to the present, on the use of robots in aged care. The key research questions were as follows: (1) what is the range of robotic devices available to enable older people to remain mobile, independent, and safe? and, (2) what is the evidence demonstrating that robotic devices are effec...

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.

Technological Approaches for Neurorehabilitation: From Robotic Devices to Brain Stimulation and Beyond

Directory of Open Access Journals (Sweden)

Marianna Semprini

2018-04-01

Full Text Available Neurological diseases causing motor/cognitive impairments are among the most common causes of adult-onset disability. More than one billion of people are affected worldwide, and this number is expected to increase in upcoming years, because of the rapidly aging population. The frequent lack of complete recovery makes it desirable to develop novel neurorehabilitative treatments, suited to the patients, and better targeting the specific disability. To date, rehabilitation therapy can be aided by the technological support of robotic-based therapy, non-invasive brain stimulation, and neural interfaces. In this perspective, we will review the above methods by referring to the most recent advances in each field. Then, we propose and discuss current and future approaches based on the combination of the above. As pointed out in the recent literature, by combining traditional rehabilitation techniques with neuromodulation, biofeedback recordings and/or novel robotic and wearable assistive devices, several studies have proven it is possible to sensibly improve the amount of recovery with respect to traditional treatments. We will then discuss the possible applied research directions to maximize the outcome of a neurorehabilitation therapy, which should include the personalization of the therapy based on patient and clinician needs and preferences.

Actuation control of a PiezoMEMS biomimetic robotic jellyfish

Science.gov (United States)

Alejandre, Alvaro; Olszewski, Oskar; Jackson, Nathan

2017-06-01

Biomimetic micro-robots try to mimic the motion of a living system in the form of a synthetically developed microfabricated device. Dynamic motion of living systems have evolved through the years, but trying to mimic these motions is challenging. Micro-robotics are particular challenging as the fabrication of devices and controlling the motion in 3 dimensions is difficult. However, micro-scale robotics have potential to be used in a wide range of applications. MEMS based robots that can move and function in a liquid environment is of particular interest. This paper describes the development of a piezoMEMS based device that mimics the movement of a jellyfish. The paper focuses on the development of a finite element model that investigates a method of controlling the individual piezoelectric beams in order to create a jet propulsion motion, consisting of a quick excitation pulse followed by a slow recovery pulse in order to maximize thrust and velocity. By controlling the individual beams or legs of the jellyfish robot the authors can control the robot to move precisely in 3 dimensions.

Application of Robotics in Decommissioning and Decontamination - 12536

Energy Technology Data Exchange (ETDEWEB)

Banford, Anthony; Kuo, Jeffrey A. [National Nuclear Laboratory, Risley, Warrington (United Kingdom); Bowen, R.A. [National Nuclear Laboratory, Sellafield, Cumbria (United Kingdom); Szilagyi, Andrew; Kirk, Paula [U.S. Department of Energy, Washington, D.C. (United States)

2012-07-01

Decommissioning and dismantling of nuclear facilities is a significant challenge worldwide and one which is growing in size as more plants reach the end of their operational lives. The strategy chosen for individual projects varies from the hands-on approach with significant manual intervention using traditional demolition equipment at one extreme to bespoke highly engineered robotic solutions at the other. The degree of manual intervention is limited by the hazards and risks involved, and in some plants are unacceptable. Robotic remote engineering is often viewed as more expensive and less reliable than manual approaches, with significant lead times and capital expenditure. However, advances in robotics and automation in other industries offer potential benefits for future decommissioning activities, with the high probability of reducing worker exposure and other safety risks as well as reducing the schedule and costs required to complete these activities. Some nuclear decommissioning tasks and facility environments are so hazardous that they can only be accomplished by exclusive use of robotic and remote intervention. Less hazardous tasks can be accomplished by manual intervention and the use of PPE. However, PPE greatly decreases worker productivity and still exposes the worker to both risk and dose making remote operation preferable to achieve ALARP. Before remote operations can be widely accepted and deployed, there are some economic and technological challenges that must be addressed. These challenges will require long term investment commitments in order for technology to be: - Specifically developed for nuclear applications; - At a sufficient TRL for practical deployment; - Readily available as a COTS. Tremendous opportunities exist to reduce cost and schedule and improve safety in D and D activities through the use of robotic and/or tele-operated systems. - Increasing the level of remote intervention reduces the risk and dose to an operator. Better

Integration of Haptics in Agricultural Robotics

Science.gov (United States)

Kannan Megalingam, Rajesh; Sreekanth, M. M.; Sivanantham, Vinu; Sai Kumar, K.; Ghanta, Sriharsha; Surya Teja, P.; Reddy, Rajesh G.

2017-08-01

Robots can differentiate with open loop system and closed loop system robots. We face many problems when we do not have a feedback from robots. In this research paper, we are discussing all possibilities to achieve complete closed loop system for Multiple-DOF Robotic Arm, which is used in a coconut tree climbing and cutting robot by introducing a Haptic device. We are working on various sensors like tactile, vibration, force and proximity sensors for getting feedback. For monitoring the robotic arm achieved by graphical user interference software which simulates the working of the robotic arm, send the feedback of all the real time analog values which are produced by various sensors and provide real-time graphs for estimate the efficiency of the Robot.

Trainer variability during step training after spinal cord injury: Implications for robotic gait-training device design

OpenAIRE

Jose A. Galvez, PhD; Amy Budovitch, PT; Susan J. Harkema, PhD; David J. Reinkensmeyer, PhD

2011-01-01

Robotic devices are being developed to automate repetitive aspects of walking retraining after neurological injuries, in part because they might improve the consistency and quality of training. However, it is unclear how inconsistent manual training actually is or whether stepping quality depends strongly on the trainers' manual skill. The objective of this study was to quantify trainer variability of manual skill during step training using body-weight support on a treadmill and assess factor...

International Conference on Wearable Sensors and Robots 2015

CERN Document Server

Virk, G; Yang, Huayong

2017-01-01

These proceedings present the latest information on regulations and standards for medical and non-medical devices, including wearable robots for gait training and support, design of exoskeletons for the elderly, innovations in assistive robotics, and analysis of human–machine interactions taking into account ergonomic considerations. The rapid development of key mechatronics technologies in recent years has shown that human living standards have significantly improved, and the International Conference on Wearable Sensor and Robot was held in Hangzhou, China from October 16 to 18, 2015, to present research mainly focused on personal-care robots and medical devices. The aim of the conference was to bring together academics, researchers, engineers and students from across the world to discuss state-of-the-art technologies related to various aspects of wearable sensors and robots. .

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

Directory of Open Access Journals (Sweden)

Jie eMa

2016-04-01

Full Text Available This article presents the core elements of a cross-platform tactile capabilities interface (TCI for humanoid arms. The aim of the interface is to reduce the cost of developing humanoid robot capabilities by supporting reuse through cross-platform deployment. The article presents a comparative analysis of existing robot middleware frameworks, as well as the technical details of the TCI framework that builds on the the existing YARP platform. The TCI framework currently includes robot arm actuators with robot skin sensors. It presents such hardware in a platform independent manner, making it possible to write robot control software that can be executed on different robots through the TCI frameworks. The TCI framework supports multiple humanoid platforms and this article also presents a case study of a cross-platform implementation of a set of tactile protective withdrawal reflexes that have been realised on both the Nao and iCub humanoid robot platforms using the same high-level source code.

Toward understanding social cues and signals in human–robot interaction: effects of robot gaze and proxemic behavior

Science.gov (United States)

Fiore, Stephen M.; Wiltshire, Travis J.; Lobato, Emilio J. C.; Jentsch, Florian G.; Huang, Wesley H.; Axelrod, Benjamin

2013-01-01

As robots are increasingly deployed in settings requiring social interaction, research is needed to examine the social signals perceived by humans when robots display certain social cues. In this paper, we report a study designed to examine how humans interpret social cues exhibited by robots. We first provide a brief overview of perspectives from social cognition in humans and how these processes are applicable to human–robot interaction (HRI). We then discuss the need to examine the relationship between social cues and signals as a function of the degree to which a robot is perceived as a socially present agent. We describe an experiment in which social cues were manipulated on an iRobot AvaTM mobile robotics platform in a hallway navigation scenario. Cues associated with the robot’s proxemic behavior were found to significantly affect participant perceptions of the robot’s social presence and emotional state while cues associated with the robot’s gaze behavior were not found to be significant. Further, regardless of the proxemic behavior, participants attributed more social presence and emotional states to the robot over repeated interactions than when they first interacted with it. Generally, these results indicate the importance for HRI research to consider how social cues expressed by a robot can differentially affect perceptions of the robot’s mental states and intentions. The discussion focuses on implications for the design of robotic systems and future directions for research on the relationship between social cues and signals. PMID:24348434

Towards understanding social cues and signals in human-robot interaction: Effects of robot gaze and proxemic behavior

Directory of Open Access Journals (Sweden)

Stephen M. Fiore

2013-11-01

Full Text Available As robots are increasingly deployed in settings requiring social interaction, research is needed to examine the social signals perceived by humans when robots display certain social cues. In this paper, we report a study designed to examine how humans interpret social cues exhibited by robots. We first provide a brief overview of perspectives from social cognition in humans and how these processes are applicable to human-robot interaction (HRI. We then discuss the need to examine the relationship between social cues and signals as a function of the degree to which a robot is perceived as a socially present agent. We describe an experiment in which social cues were manipulated on an iRobot Ava™ Mobile Robotics Platform in a hallway navigation scenario. Cues associated with the robot’s proxemic behavior were found to significantly affect participant perceptions of the robot’s social presence and emotional state while cues associated with the robot’s gaze behavior were not found to be significant. Further, regardless of the proxemic behavior, participants attributed more social presence and emotional states to the robot over repeated interactions than when they first interacted with it. Generally, these results indicate the importance for HRI research to consider how social cues expressed by a robot can differentially affect perceptions of the robot’s mental states and intentions. The discussion focuses on implications for the design of robotic systems and future directions for research on the relationship between social cues and signals.

Building a grid-semantic map for the navigation of service robots through human–robot interaction

Directory of Open Access Journals (Sweden)

Cheng Zhao

2015-11-01

Full Text Available This paper presents an interactive approach to the construction of a grid-semantic map for the navigation of service robots in an indoor environment. It is based on the Robot Operating System (ROS framework and contains four modules, namely Interactive Module, Control Module, Navigation Module and Mapping Module. Three challenging issues have been focused during its development: (i how human voice and robot visual information could be effectively deployed in the mapping and navigation process; (ii how semantic names could combine with coordinate data in an online Grid-Semantic map; and (iii how a localization–evaluate–relocalization method could be used in global localization based on modified maximum particle weight of the particle swarm. A number of experiments are carried out in both simulated and real environments such as corridors and offices to verify its feasibility and performance.

Pyrotechnic robot - constructive design and command

Directory of Open Access Journals (Sweden)

Ionel A. Staretu

2013-10-01

Full Text Available Pyrotechnic robots are service robots used to reduce the time for intervention of pyrotechnic troops and to diminish the danger for the operators. Pyrotechnic robots are used to inspect dangerous areas or/and to remove and to distroy explosive or suspicious devices/objects. These robots can be used to make corridors through mined battle fields, for manipulation and neutralization of unexploded ammunition, for inspection of vehicles, trains, airplanes and buildings. For these robots, a good functional activity is determined with regard to work space dimensions,, robotic arm kinematics and gripper characteristics. The paper shows the structural, kinematic, static synthesis and analysis as well as the design and functional simulation of the robotic arm and the grippers attached on the pyrotechnic robot designed by the authors.

Cell Selection Game for Densely-Deployed Sensor and Mobile Devices In 5G Networks Integrating Heterogeneous Cells and the Internet of Things

Science.gov (United States)

Wang, Lusheng; Wang, Yamei; Ding, Zhizhong; Wang, Xiumin

2015-01-01

With the rapid development of wireless networking technologies, the Internet of Things and heterogeneous cellular networks (HCNs) tend to be integrated to form a promising wireless network paradigm for 5G. Hyper-dense sensor and mobile devices will be deployed under the coverage of heterogeneous cells, so that each of them could freely select any available cell covering it and compete for resource with others selecting the same cell, forming a cell selection (CS) game between these devices. Since different types of cells usually share the same portion of the spectrum, devices selecting overlapped cells can experience severe inter-cell interference (ICI). In this article, we study the CS game among a large amount of densely-deployed sensor and mobile devices for their uplink transmissions in a two-tier HCN. ICI is embedded with the traditional congestion game (TCG), forming a congestion game with ICI (CGI) and a congestion game with capacity (CGC). For the three games above, we theoretically find the circular boundaries between the devices selecting the macrocell and those selecting the picocells, indicated by the pure strategy Nash equilibria (PSNE). Meanwhile, through a number of simulations with different picocell radii and different path loss exponents, the collapse of the PSNE impacted by severe ICI (i.e., a large number of picocell devices change their CS preferences to the macrocell) is profoundly revealed, and the collapse points are identified. PMID:26393617

Cell Selection Game for Densely-Deployed Sensor and Mobile Devices In 5G Networks Integrating Heterogeneous Cells and the Internet of Things

Directory of Open Access Journals (Sweden)

Lusheng Wang

2015-09-01

Full Text Available With the rapid development of wireless networking technologies, the Internet of Things and heterogeneous cellular networks (HCNs tend to be integrated to form a promising wireless network paradigm for 5G. Hyper-dense sensor and mobile devices will be deployed under the coverage of heterogeneous cells, so that each of them could freely select any available cell covering it and compete for resource with others selecting the same cell, forming a cell selection (CS game between these devices. Since different types of cells usually share the same portion of the spectrum, devices selecting overlapped cells can experience severe inter-cell interference (ICI. In this article, we study the CS game among a large amount of densely-deployed sensor and mobile devices for their uplink transmissions in a two-tier HCN. ICI is embedded with the traditional congestion game (TCG, forming a congestion game with ICI (CGI and a congestion game with capacity (CGC. For the three games above, we theoretically find the circular boundaries between the devices selecting the macrocell and those selecting the picocells, indicated by the pure strategy Nash equilibria (PSNE. Meanwhile, through a number of simulations with different picocell radii and different path loss exponents, the collapse of the PSNE impacted by severe ICI (i.e., a large number of picocell devices change their CS preferences to the macrocell is profoundly revealed, and the collapse points are identified.

Remote Lab for Robotics Applications

Directory of Open Access Journals (Sweden)

Robinson Jiménez

2018-01-01

Full Text Available This article describes the development of a remote lab environment used to test and training sessions for robotics tasks. This environment is made up of the components and devices based on two robotic arms, a network link, Arduino card and Arduino shield for Ethernet, as well as an IP camera. The remote laboratory is implemented to perform remote control of the robotic arms with visual feedback by camera, of the robots actions, where, with a group of test users, it was possible to obtain performance ranges in tasks of telecontrol of up to 92%.

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring

Directory of Open Access Journals (Sweden)

Ewa Niewiadomska-Szynkiewicz

2016-09-01

Full Text Available Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper.

The safety of domestic robotics: A survey of various safety-related publications

OpenAIRE

Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano

2014-01-01

Different branches of technology are striving to come up with new advancements that will enhance civilization and ultimately improve the quality of life. In the robotics community, strides have been made to bring the use of personal robots in office and home environments on the horizon. Safety is one of the critical issues that must be guaranteed for the successful acceptance, deployment, and utilization of domestic robots. Unlike the barrier-based operational safety guarantee that is widely ...

Robotics for waste storage inspection: A user's perspective

International Nuclear Information System (INIS)

Hazen, F.B.

1994-01-01

Self-navigating robotic vehicles are now commercially available, and the technology supporting other important system components has also matured. Higher reliability and the obtainability of system support now make it practical to consider robotics as a way of addressing the growing operational requirement for the periodic inspection and maintenance of radioactive, hazardous, and mixed waste inventories. This paper describes preparations for the first field deployment of an autonomous container inspection robot at a Department of Energy (DOE) site. The Stored Waste Autonomous Mobile Inspector (SWAMI) is presently being completed by engineers at the Savannah River Technology Center (SRTC). It is a modified version of a commercially available robot. It has been outfitted with sensor suites and cognition that allow it to perform inspections of drum inventories and their storage facilities

Spatial and temporal benthic species assemblage responses with a deployed marine tidal energy device: a small scaled study.

Science.gov (United States)

Broadhurst, Melanie; Orme, C David L

2014-08-01

The addition of man-made structures to the marine environment is known to increase the physical complexity of the seafloor, which can influence benthic species community patterns and habitat structure. However, knowledge of how deployed tidal energy device structures influence benthic communities is currently lacking. Here we examined species biodiversity, composition and habitat type surrounding a tidal energy device within the European Marine Energy Centre test site, Orkney. Commercial fishing and towed video camera techniques were used over three temporal periods, from 2009 to 2010. Our results showed increased species biodiversity and compositional differences within the device site, compared to a control site. Both sites largely comprised of crustacean species, omnivore or predatory feeding regimes and marine tide-swept EUNIS habitat types, which varied over the time. We conclude that the device could act as a localised artificial reef structure, but that further in-depth investigations are required. Copyright © 2014 Elsevier Ltd. All rights reserved.

Deployment Effects of Marin Renewable Energy Technologies

Energy Technology Data Exchange (ETDEWEB)

Brian Polagye; Mirko Previsic

2010-06-17

Identifying Key Environmental Concerns This is the second report in the sequence and describes the results of conceptual feasibility studies of tidal power plants deployed in Tacoma Narrows, Washington. The Narrows contain many of the same competing stakeholder interactions identified at other tidal power sites and serves as a representative case study. Tidal power remains at an early stage of development. As such, a wide range of different technologies are being pursued by different manufacturers. In order to properly characterize impacts, it is useful to characterize the range of technologies that could be deployed at the site of interest. An industry survey informs the process of selecting representative tidal power devices. The selection criteria is that such devices are at an advanced stage of development to reduce technical uncertainties and that enough data are available from the manufacturers to inform the conceptual design process of this study. Further, an attempt is made to cover the range of different technologies under development to capture variations in potential environmental effects. A number of other developers are also at an advanced stage of development including Verdant Power, which has demonstrated an array of turbines in the East River of New York, Clean Current, which has demonstrated a device off Race Rocks, BC, and OpenHydro, which has demonstrated a device at the European Marine Energy Test Center and is on the verge of deploying a larger device in the Bay of Fundy. MCT demonstrated their device both at Devon (UK) and Strangford Narrows (Northern Ireland). Furthermore OpenHydro, CleanCurrent, and MCT are the three devices being installed at the Minas Passage (Canada). Environmental effects will largely scale with the size of tidal power development. In many cases, the effects of a single device may not be measurable, while larger scale device arrays may have cumulative impacts that differ significantly from smaller scale deployments. In order to

Robotic Fish to Aid Animal Behavior Studies and Informal Science Learning

Science.gov (United States)

Phamduy, Paul

The application of robotic fish in the fields of animal behavior and informal science learning are new and relatively untapped. In the context of animal behavior studies, robotic fish offers a consistent and customizable stimulus that could contribute to dissect the determinants of social behavior. In the realm of informal science learning, robotic fish are gaining momentum for the possibility of educating the general public simultaneously on fish physiology and underwater robotics. In this dissertation, the design and development of a number of robotic fish platforms and prototypes and their application in animal behavioral studies and informal science learning settings are presented. Robotic platforms for animal behavioral studies focused on the utilization replica or same scale prototypes. A novel robotic fish platform, featuring a three-dimensional swimming multi-linked robotic fish, was developed with three control modes varying in the level of robot autonomy offered. This platform was deployed at numerous science festivals and science centers, to obtain data on visitor engagement and experience.

Robotics and nuclear power. Report by the Technology Transfer Robotics Task Team

International Nuclear Information System (INIS)

1985-06-01

A task team was formed at the request of the Department of Energy to evaluate and assess technology development needed for advanced robotics in the nuclear industry. The mission of these technologies is to provide the nuclear industry with the support for the application of advanced robotics to reduce nuclear power generating costs and enhance the safety of the personnel in the industry. The investigation included robotic and teleoperated systems. A robotic system is defined as a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. A teleoperated system includes an operator who remotely controls the system by direct viewing or through a vision system

Robotics for Computer Scientists: What's the Big Idea?

Science.gov (United States)

Touretzky, David S.

2013-01-01

Modern robots, like today's smartphones, are complex devices with intricate software systems. Introductory robot programming courses must evolve to reflect this reality, by teaching students to make use of the sophisticated tools their robots provide rather than reimplementing basic algorithms. This paper focuses on teaching with Tekkotsu, an open…

Assessment of Laparoscopic Skills Performance: 2D Versus 3D Vision and Classic Instrument Versus New Hand-Held Robotic Device for Laparoscopy.

Science.gov (United States)

Leite, Mariana; Carvalho, Ana F; Costa, Patrício; Pereira, Ricardo; Moreira, Antonio; Rodrigues, Nuno; Laureano, Sara; Correia-Pinto, Jorge; Vilaça, João L; Leão, Pedro

2016-02-01

Laparoscopic surgery has undeniable advantages, such as reduced postoperative pain, smaller incisions, and faster recovery. However, to improve surgeons' performance, ergonomic adaptations of the laparoscopic instruments and introduction of robotic technology are needed. The aim of this study was to ascertain the influence of a new hand-held robotic device for laparoscopy (HHRDL) and 3D vision on laparoscopic skills performance of 2 different groups, naïve and expert. Each participant performed 3 laparoscopic tasks-Peg transfer, Wire chaser, Knot-in 4 different ways. With random sequencing we assigned the execution order of the tasks based on the first type of visualization and laparoscopic instrument. Time to complete each laparoscopic task was recorded and analyzed with one-way analysis of variance. Eleven experts and 15 naïve participants were included. Three-dimensional video helps the naïve group to get better performance in Peg transfer, Wire chaser 2 hands, and Knot; the new device improved the execution of all laparoscopic tasks (P < .05). For expert group, the 3D video system benefited them in Peg transfer and Wire chaser 1 hand, and the robotic device in Peg transfer, Wire chaser 1 hand, and Wire chaser 2 hands (P < .05). The HHRDL helps the execution of difficult laparoscopic tasks, such as Knot, in the naïve group. Three-dimensional vision makes the laparoscopic performance of the participants without laparoscopic experience easier, unlike those with experience in laparoscopic procedures. © The Author(s) 2015.

Ethical challenges in the use of social service robots for elderly people.

Science.gov (United States)

Körtner, T

2016-06-01

Socially assistive robots are increasingly discussed as solutions in care and domestic use for the support of senior adults; however, this raises ethical questions which hitherto have not been considered or were not predictable. The most important questions are those of privacy and data protection, safety and responsibility as well as involvement of vulnerable persons and deception. Consequently, the ethical principles of nonmaleficence, beneficence, autonomy and fairness should be transposed to robotics. Clear answers and solutions are not yet available for every ethical challenge in robotics; however, the development of ethical guidelines for deployment of robots and research in the field of social service robots (SSR) are essential steps in order to embed ethics into dealing with socially assistive robots. This article provides some practical suggestions on this issue from a robotics project.

Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.

Science.gov (United States)

Raj, Aditi; Thakur, Atul

2016-04-13

Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of fish-inspired robot designs. The purpose of this review is to report different types of fish-inspired robot designs based upon their intended locomotion patterns. We present a detailed comparison of various design features like sensing, actuation, autonomy, waterproofing, and morphological structure of fish-inspired robots reported in the past decade. We believe that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots. The review also summarizes the open research issues that need to be taken up for the further advancement of the field and also for the deployment of fish-inspired robots in practice.

Towards robot-assisted anchor deployment in beating-heart mitral valve surgery.

Science.gov (United States)

Cheng, Lingbo; Sharifi, Mojtaba; Tavakoli, Mahdi

2018-06-01

Beating-heart intracardiac surgery promises significant benefits for patients compared with cardiopulmonary bypass based procedures. However, the fast motions of the heart introduce serious challenges for surgeons. In this work, a new impedance-controlled master-slave telerobotic system is developed to help perform anchor deployment for mitral valve annuloplasty under the guidance of live ultrasound images of the heart. The proposed bilateral teleoperation system can both reflect the non-oscillatory portion of slave-heart tissue interaction force on the surgeon's hand as haptic feedback and implement rapid compensation for the beating heart's motion. The surgical task involves performing anchor deployment on a simulated moving heart tissue to evaluate the effectiveness of the proposed strategy for safely interacting with a moving organ. The results obtained show that the telerobotic system increases the success rate of anchor deployment by 100% and reduces the excess force application rate by 70% compared with manual attempts. Copyright © 2018 John Wiley & Sons, Ltd.

Deployment of a Prototype Plant GFP Imager at the Arthur Clarke Mars Greenhouse of the Haughton Mars Project

Directory of Open Access Journals (Sweden)

Robert J. Ferl

2008-04-01

Full Text Available The use of engineered plants as biosensors has made elegant strides in the past decades, providing keen insights into the health of plants in general and particularly in the nature and cellular location of stress responses. However, most of the analytical procedures involve laboratory examination of the biosensor plants. With the advent of the green fluorescence protein (GFP as a biosensor molecule, it became at least theoretically possible for analyses of gene expression to occur telemetrically, with the gene expression information of the plant delivered to the investigator over large distances simply as properly processed fluorescence images. Spaceflight and other extraterrestrial environments provide unique challenges to plant life, challenges that often require changes at the gene expression level to accommodate adaptation and survival. Having previously deployed transgenic plant biosensors to evaluate responses to orbital spaceflight, we wished to develop the plants and especially the imaging devices required to conduct such experiments robotically, without operator intervention, within extraterrestrial environments. This requires the development of an autonomous and remotely operated plant GFP imaging system and concomitant development of the communications infrastructure to manage dataflow from the imaging device. Here we report the results of deploying a prototype GFP imaging system within the Arthur Clarke Mars Greenhouse (ACMG an autonomously operated greenhouse located within the Haughton Mars Project in the Canadian High Arctic. Results both demonstrate the applicability of the fundamental GFP biosensor technology and highlight the difficulties in collecting and managing telemetric data from challenging deployment environments.

micROS: a morphable, intelligent and collective robot operating system.

Science.gov (United States)

Yang, Xuejun; Dai, Huadong; Yi, Xiaodong; Wang, Yanzhen; Yang, Shaowu; Zhang, Bo; Wang, Zhiyuan; Zhou, Yun; Peng, Xuefeng

2016-01-01

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe-orient-decide-act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.

Modelling multi-rotor UAVs swarm deployment using virtual pheromones

Science.gov (United States)

Pujol, Mar; Rizo, Ramón; Rizo, Carlos

2018-01-01

In this work, a swarm behaviour for multi-rotor Unmanned Aerial Vehicles (UAVs) deployment will be presented. The main contribution of this behaviour is the use of a virtual device for quantitative sematectonic stigmergy providing more adaptable behaviours in complex environments. It is a fault tolerant highly robust behaviour that does not require prior information of the area to be covered, or to assume the existence of any kind of information signals (GPS, mobile communication networks …), taking into account the specific features of UAVs. This behaviour will be oriented towards emergency tasks. Their main goal will be to cover an area of the environment for later creating an ad-hoc communication network, that can be used to establish communications inside this zone. Although there are several papers on robotic deployment it is more difficult to find applications with UAV systems, mainly because of the existence of various problems that must be overcome including limitations in available sensory and on-board processing capabilities and low flight endurance. In addition, those behaviours designed for UAVs often have significant limitations on their ability to be used in real tasks, because they assume specific features, not easily applicable in a general way. Firstly, in this article the characteristics of the simulation environment will be presented. Secondly, a microscopic model for deployment and creation of ad-hoc networks, that implicitly includes stigmergy features, will be shown. Then, the overall swarm behaviour will be modeled, providing a macroscopic model of this behaviour. This model can accurately predict the number of agents needed to cover an area as well as the time required for the deployment process. An experimental analysis through simulation will be carried out in order to verify our models. In this analysis the influence of both the complexity of the environment and the stigmergy system will be discussed, given the data obtained in the

A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting

OpenAIRE

Su, Hao; Li, Gang; Rucker, D. Caleb; Webster, Robert J.; Fischer, Gregory S.

2016-01-01

This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system. This system enables MRI-guided deployment of a precurved and steerable concentric tube continuum mechanism, and is suitable for clinical applications where a curved trajectory is needed. This compact 6 degree-of-freedom (DOF) robotic system is piezoelectrically-actuated, and allows simultaneous robot motion and imaging with no visually...

A CORBA Wrapper for Applications with Multiple Robots

Directory of Open Access Journals (Sweden)

Ekaitz Zulueta

2011-11-01

Full Text Available This paper presents a CORBA wrapper which encapsulates a generic anthropomorphic industrial robot. Since this wrapper abstracts the communications, building applications that require remote manipulation or coordination of several devices may be easily achieved by using it. This article describes an implementation of this wrapper over a real-time operating system (RTOS, namely RTAI. This type of OS ensures determinism in the movement operations of the robot. Also, a low resource consuming implementation of the CORBA specification, namely ORBit, has been used to wrap the robot and implement the communications with other devices. Finally, as a matter of example, we present how this wrapper is used to coordinate the operation of several robots in a typical 'pick & place' operation.

Controller design for Robotic hand through Electroencephalogram

OpenAIRE

Pandelidis P.; Kiriazis N.; Orgianelis K.; Koulios N.

2016-01-01

- This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the con...

Attitudinal Change in Elderly Citizens Toward Social Robots

DEFF Research Database (Denmark)

Damholdt, Malene Flensborg; Nørskov, Marco; Yamazaki, Ryuji

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three...... relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may...

Development of haptic system for surgical robot

Science.gov (United States)

Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo

2017-04-01

In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.

ARIES NDA Robot operators' manual

International Nuclear Information System (INIS)

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

1998-05-01

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

[Research of joint-robotics-based design of biomechanics testing device on human spine].

Science.gov (United States)

Deng, Guoyong; Tian, Lianfang; Mao, Zongyuan

2009-12-01

This paper introduces the hardware and software of a biomechanical robot-based testing device. The bottom control orders, posture and torque data transmission, and the control algorithms are integrated in a unified visual control platform by Visual C+ +, with easy control and management. By using hybrid force-displacement control method to load the human spine, we can test the organizational structure and the force state of the FSU (Functional spinal unit) well, which overcomes the shortcomings due to the separation of the force and displacement measurement, thus greatly improves the measurement accuracy. Also it is esay to identify the spinal degeneration and the load-bearing impact on the organizational structure of the FSU after various types of surgery.

ELRA: The exposure limiting robotic apparatus

International Nuclear Information System (INIS)

Knighton, G.C.; Rosenberg, K.E.; Henslee, S.P.; Michelbacher, J.A.; Wilkes, C.W.

1992-09-01

A problem situation involving the handling of radioactive material at Argonne National Laboratory -- West (ANL-W) was solved through the use of remote handling techniques, providing significant exposure reduction to personnel. Robotic devices can be useful, but the cost of a robot is often prohibitive for many jobs. A low cost, disposable robot was built which successfully removed a highly radioactive and potentially explosive system from a hot cell at ANL-W

Hydro-Quebec inspection robot RIT-LRG

International Nuclear Information System (INIS)

Champagne, D.; Rinfret, F.; Bourgault, Y.G.

2008-01-01

Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

Hydro-Quebec inspection robot RIT-LRG

Energy Technology Data Exchange (ETDEWEB)

Champagne, D., E-mail: champagne.dominique@ireq.ca [Inst. de recherche d' Hydro-Quebec, Quebec (Canada); Rinfret, F.; Bourgault, Y.G., E-mail: rinfret.francois@hydro.qc.ca, E-mail: bourgault.yves.g@hydro.qc.ca [Hydro-Quebec, Becancour, Quebec (Canada)

2008-07-01

Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

Simultaneous scheduling of machines and mobile robots

DEFF Research Database (Denmark)

Dang, Vinh Quang; Nielsen, Izabela Ewa

2013-01-01

This paper deals with the problem of simultaneously scheduling machines and a number of autonomous mobile robots in a flexible manufacturing system (FMS). Besides capability of transporting materials between machines, the considered mobile robots are different from other material handling devices...

Robot Work Platform for Large Hot Cell Deactivation

International Nuclear Information System (INIS)

BITTEN, E.J.

2000-01-01

The 324 Building, located at the Hanford Site near Richland, Washington, is being deactivated to meet state and federal cleanup commitments. The facility is currently in its third year of a nine-year project to complete deactivation and closure for long-term surveillance and maintenance. The 324 building contains large hot cells that were used for high-radiation, high-contamination chemical process development and demonstrations. A major obstacle for the 324 deactivation project is the inability to effectively perform deactivation tasks within highly radioactive, contaminated environments. Current strategies use inefficient, resource intensive technologies that significantly impact the cost and schedule for deactivation. To meet mandated cleanup commitments, there is a need to deploy rapid, more efficient remote/robot technologies to minimize worker exposure, accelerate work tasks, and eliminate the need for multiple specialized tool design and procurement efforts. This paper describes the functions and performance requirements for a crane-deployed remote/robot Work Platform possessing full access capabilities. The remote/robot Work Platform will deploy commercially available off-the-shelf tools and end effectors to support Project cleanup goals and reduce overall project risk and cost. The intent of this system is to maximize the use of off-the-shelf technologies that minimize additional new, unproven, or novel designs. This paper further describes procurement strategy, the selection process, the selected technology, and the current status of the procurement and lessons learned. Funding, in part, has been provided by the US Department of Energy, Office of Science and Technology, Deactivation and Decommissioning Focus Area

Robots in pipe and vessel inspection: past, present, and future

International Nuclear Information System (INIS)

Mueller, T.A.; Tyndall, J.F.

1984-01-01

Over the past several decades, remotely operated scanners have been employed to inspect piping and pressure vessels. These devices in their early forms were manually controlled manipulators functioning as mere extensions of the operator. With the addition of limit sensing, speed control, and positional feedback and display, the early manipulators became primitive robots. By adding computer controls with their degree of intelligence to the devices, they achieved the status of robots. Future applications of vision, adaptive control, proximity sensing, and pattern recognition will bring these devices to a level of intelligence that will make automated robotic inspection of pipes and pressure vessels a true reality

Development of a SG Tube Inspection/maintenance Robot

International Nuclear Information System (INIS)

Shin, Ho Cheol; Jung, Kyung Min; Choi, Chang Hwan; Kim, Seung Ho

2005-01-01

A radiation hardened robot system is developed which assists in an automatic non-destructive testing and the repair of nuclear steam generator tubes. And a control system is developed. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water chamber entering and leaving device of the manipulator and a manipulator base pose adjusting device. The kinematic analysis using the grid method was performed to search for the optimal manipulator's link parameters, and the stress analysis of the robotic system was also carried out for a structural safety verification. The robotic control system consists of a main personal computer placed near the operator and a local robotic position controller placed near the steam generator. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3- D graphic simulation function which offers a remote reality to operators and so on. The image information acquired from the camera attached to the end-effector is used to calibrate the end-effector pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. Eddy-current probe guide devices, a brushing tool, a motorized plugging tool and a U-tube internal visual inspection system have been developed. A data acquisition system was built to acquire and process the eddy-current signals, and a software program for eddy-current signal acquisition and processing. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory. The final function test was carried out at the Kori Npp type steam generator mockup in the Kori training center

Robots that can adapt like animals.

Science.gov (United States)

Cully, Antoine; Clune, Jeff; Tarapore, Danesh; Mouret, Jean-Baptiste

2015-05-28

Robots have transformed many industries, most notably manufacturing, and have the power to deliver tremendous benefits to society, such as in search and rescue, disaster response, health care and transportation. They are also invaluable tools for scientific exploration in environments inaccessible to humans, from distant planets to deep oceans. A major obstacle to their widespread adoption in more complex environments outside factories is their fragility. Whereas animals can quickly adapt to injuries, current robots cannot 'think outside the box' to find a compensatory behaviour when they are damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. A promising approach to reducing robot fragility involves having robots learn appropriate behaviours in response to damage, but current techniques are slow even with small, constrained search spaces. Here we introduce an intelligent trial-and-error algorithm that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans. Before the robot is deployed, it uses a novel technique to create a detailed map of the space of high-performing behaviours. This map represents the robot's prior knowledge about what behaviours it can perform and their value. When the robot is damaged, it uses this prior knowledge to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a behaviour that compensates for the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new algorithm will enable more robust, effective, autonomous robots, and may shed light on the principles

Evaluation of teleoperated surgical robots in an enclosed undersea environment.

Science.gov (United States)

Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

2009-05-01

The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

A Modular Architecture for Developing Robots for Industrial Applications

DEFF Research Database (Denmark)

Faina, Andres; Orjales, Felix; Souto, Daniel

2015-01-01

addresses the problem the other way around. In this line, we start by defining the industrial settings the architecture is aimed at and then extract the main features that would be required from a modular robotic architecture to operate successfully in this context. Finally, a particular heterogeneous......This chapter is concerned with proposing ways to make feasible the use of robots in many sectors characterized by dynamic and unstructured environments. In particular, we are interested in addressing the problem through a new approach, based on modular robotics, to allow the fast deployment...... modular robotic architecture is designed from these requirements and a laboratory implementation of it is built in order to test its capabilities and show its versatility using a set of different configurations including manipulators, climbers and walkers....

Applications of Dynamic Deployment of Services in Industrial Automation

Science.gov (United States)

Candido, Gonçalo; Barata, José; Jammes, François; Colombo, Armando W.

Service-oriented Architecture (SOA) is becoming a de facto paradigm for business and enterprise integration. SOA is expanding into several domains of application envisioning a unified solution suitable across all different layers of an enterprise infrastructure. The application of SOA based on open web standards can significantly enhance the interoperability and openness of those devices. By embedding a dynamical deployment service even into small field de- vices, it would be either possible to allow machine builders to place built- in services and still allow the integrator to deploy on-the-run the services that best fit his current application. This approach allows the developer to keep his own preferred development language, but still deliver a SOA- compliant application. A dynamic deployment service is envisaged as a fundamental framework to support more complex applications, reducing deployment delays, while increasing overall system agility. As use-case scenario, a dynamic deployment service was implemented over DPWS and WS-Management specifications allowing designing and programming an automation application using IEC61131 languages, and deploying these components as web services into devices.

Biological Soft Robotics.

Science.gov (United States)

Feinberg, Adam W

2015-01-01

In nature, nanometer-scale molecular motors are used to generate force within cells for diverse processes from transcription and transport to muscle contraction. This adaptability and scalability across wide temporal, spatial, and force regimes have spurred the development of biological soft robotic systems that seek to mimic and extend these capabilities. This review describes how molecular motors are hierarchically organized into larger-scale structures in order to provide a basic understanding of how these systems work in nature and the complexity and functionality we hope to replicate in biological soft robotics. These span the subcellular scale to macroscale, and this article focuses on the integration of biological components with synthetic materials, coupled with bioinspired robotic design. Key examples include nanoscale molecular motor-powered actuators, microscale bacteria-controlled devices, and macroscale muscle-powered robots that grasp, walk, and swim. Finally, the current challenges and future opportunities in the field are addressed.

From Autonomous Robots to Artificial Ecosystems

Science.gov (United States)

Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

During the past few years, starting from the two mainstream fields of Ambient Intelligence [2] and Robotics [17], several authors recognized the benefits of the socalled Ubiquitous Robotics paradigm. According to this perspective, mobile robots are no longer autonomous, physically situated and embodied entities adapting themselves to a world taliored for humans: on the contrary, they are able to interact with devices distributed throughout the environment and get across heterogeneous information by means of communication technologies. Information exchange, coupled with simple actuation capabilities, is meant to replace physical interaction between robots and their environment. Two benefits are evident: (i) smart environments overcome inherent limitations of mobile platforms, whereas (ii) mobile robots offer a mobility dimension unknown to smart environments.

Controller design for Robotic hand through Electroencephalogram

Directory of Open Access Journals (Sweden)

Pandelidis P.

2016-01-01

Full Text Available - This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the concentration of the brain

Grasp Algorithms For Optotactile Robotic Sample Acquisition, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Robotic sample acquisition is basically grasping. Multi-finger robot sample grasping devices are controlled to securely pick up samples. While optimal grasps for...

Optimal and Approximate Approaches for Deployment of Heterogeneous Sensing Devices

Directory of Open Access Journals (Sweden)

Rabie Ramadan

2007-04-01

Full Text Available A modeling framework for the problem of deploying a set of heterogeneous sensors in a field with time-varying differential surveillance requirements is presented. The problem is formulated as mixed integer mathematical program with the objective to maximize coverage of a given field. Two metaheuristics are used to solve this problem. The first heuristic adopts a genetic algorithm (GA approach while the second heuristic implements a simulated annealing (SA algorithm. A set of experiments is used to illustrate the capabilities of the developed models and to compare their performance. The experiments investigate the effect of parameters related to the size of the sensor deployment problem including number of deployed sensors, size of the monitored field, and length of the monitoring horizon. They also examine several endogenous parameters related to the developed GA and SA algorithms.

Technological advances in robotic-assisted laparoscopic surgery.

Science.gov (United States)

Tan, Gerald Y; Goel, Raj K; Kaouk, Jihad H; Tewari, Ashutosh K

2009-05-01

In this article, the authors describe the evolution of urologic robotic systems and the current state-of-the-art features and existing limitations of the da Vinci S HD System (Intuitive Surgical, Inc.). They then review promising innovations in scaling down the footprint of robotic platforms, the early experience with mobile miniaturized in vivo robots, advances in endoscopic navigation systems using augmented reality technologies and tracking devices, the emergence of technologies for robotic natural orifice transluminal endoscopic surgery and single-port surgery, advances in flexible robotics and haptics, the development of new virtual reality simulator training platforms compatible with the existing da Vinci system, and recent experiences with remote robotic surgery and telestration.

Remotely deployable aerial inspection using tactile sensors

Science.gov (United States)

MacLeod, C. N.; Cao, J.; Pierce, S. G.; Sullivan, J. C.; Pipe, A. G.; Dobie, G.; Summan, R.

2014-02-01

For structural monitoring applications, the use of remotely deployable Non-Destructive Evaluation (NDE) inspection platforms offer many advantages, including improved accessibility, greater safety and reduced cost, when compared to traditional manual inspection techniques. The use of such platforms, previously reported by researchers at the University Strathclyde facilitates the potential for rapid scanning of large areas and volumes in hazardous locations. A common problem for both manual and remote deployment approaches lies in the intrinsic stand-off and surface coupling issues of typical NDE probes. The associated complications of these requirements are obviously significantly exacerbated when considering aerial based remote inspection and deployment, resulting in simple visual techniques being the preferred sensor payload. Researchers at Bristol Robotics Laboratory have developed biomimetic tactile sensors modelled on the facial whiskers (vibrissae) of animals such as rats and mice, with the latest sensors actively sweeping their tips across the surface in a back and forth motion. The current work reports on the design and performance of an aerial inspection platform and the suitability of tactile whisking sensors to aerial based surface monitoring applications.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

Science.gov (United States)

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

Intelligent agents such as robots can form ad hoc networks and replace human being in many dangerous scenarios such as a complicated disaster relief site. This project prototypes and builds a computer simulator to simulate robot kinetics, unsupervised learning using Kohonen networks, as well as group intelligence when an ad hoc network is formed. Each robot is modeled using an object with a simple set of attributes and methods that define its internal states and possible actions it may take under certain circumstances. As the result, simple, reliable, and affordable robots can be deployed to form the network. The simulator simulates a group of robots as an unsupervised learning unit and tests the learning results under scenarios with different complexities. The simulation results show that a group of robots could demonstrate highly collaborative behavior on a complex terrain. This study could potentially provide a software simulation platform for testing individual and group capability of robots before the design process and manufacturing of robots. Therefore, results of the project have the potential to reduce the cost and improve the efficiency of robot design and building.

Current Capabilities and Development Potential in Surgical Robotics

Directory of Open Access Journals (Sweden)

Mathias Hoeckelmann

2015-05-01

Full Text Available Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperated manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

Robotics in medicine

Science.gov (United States)

Kuznetsov, D. N.; Syryamkin, V. I.

2015-11-01

Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

Rule-Based vs. Behavior-Based Self-Deployment for Mobile Wireless Sensor Networks.

Science.gov (United States)

Urdiales, Cristina; Aguilera, Francisco; González-Parada, Eva; Cano-García, Jose; Sandoval, Francisco

2016-07-07

In mobile wireless sensor networks (MWSN), nodes are allowed to move autonomously for deployment. This process is meant: (i) to achieve good coverage; and (ii) to distribute the communication load as homogeneously as possible. Rather than optimizing deployment, reactive algorithms are based on a set of rules or behaviors, so nodes can determine when to move. This paper presents an experimental evaluation of both reactive deployment approaches: rule-based and behavior-based ones. Specifically, we compare a backbone dispersion algorithm with a social potential fields algorithm. Most tests are done under simulation for a large number of nodes in environments with and without obstacles. Results are validated using a small robot network in the real world. Our results show that behavior-based deployment tends to provide better coverage and communication balance, especially for a large number of nodes in areas with obstacles.

An Exoskeleton Robot for Human Forearm and Wrist Motion Assist

Science.gov (United States)

Ranathunga Arachchilage Ruwan Chandra Gopura; Kiguchi, Kazuo

The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for different fundamental applications; a human-amplifier, haptic interface, rehabilitation device and assistive device sharing a portion of the external load with the operator. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper, we propose a three degree of freedom (3DOF) exoskeleton robot (W-EXOS) for the forearm pronation/ supination motion, wrist flexion/extension motion and ulnar/radial deviation. The paper describes the wrist anatomy toward the development of the exoskeleton robot, the hardware design of the exoskeleton robot and EMG-based control method. The skin surface electromyographic (EMG) signals of muscles in forearm of the exoskeletons' user and the hand force/forearm torque are used as input information for the controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipulating any other equipment. Fuzzy control method has been applied to realize the natural and flexible motion assist. Experiments have been performed to evaluate the proposed exoskeleton robot and its control method.

The Robots Are Coming! Training Tomorrow's High-Tech Workers.

Science.gov (United States)

Zemke, Ron

1983-01-01

The United States, running second to Japan in the robot race, is employing 19 percent of the world's robots. This article presents six classes of robots that were defined by the Japanese trade association. All are multifunctional, equipped with a memory device, capable of rotation, and able to replace human workers. (SSH)

DOE EM industry programs robotics development

International Nuclear Information System (INIS)

Staubly, R.; Kothari, V.

1998-01-01

The Office of Science and Technology (OST) manages an aggressive program for RD and D, as well as testing and evaluation for the Department of Energy's (DOE's) Environmental Management (EM) organization. The goal is to develop new and improved environmental restoration and waste management technologies to clean up the inventory of the DOE weapons complex faster, safer, and cheaper than is possible with currently available technologies. Robotic systems reduce worker exposure to the absolute minimum, while providing proven, cost-effective, and, for some applications, the only acceptable technique for addressing challenging problems. Development of robotic systems for remote operations occurs in three main categories: tank waste characterization and retrieval; decontamination and dismantlement; and characterization, mapping, and inspection systems. In addition, the Federal Energy Technology Center (FETC) has some other projects which fall under the heading of supporting R and D. The central objective of all FETC robotic projects is to make robotic systems more attractive by reducing costs and health risks associated with the deployment of robotic technologies in the cleanup of the nuclear weapons complex. This will be accomplished through development of robots that are cheaper, faster, safer, and more reliable, as well as more straightforward to modify/adapt and more intuitive to operate with autonomous capabilities and intelligent controls that prevent accidents and optimize task execution

Modular Robotics in an African Context

DEFF Research Database (Denmark)

Lund, Henrik Hautop

2011-01-01

In this paper, we review the concept, development and use of modular robotic devices for education, health improvements, and business in Africa. The modular robotics inspired technology has the advantage of allowing any user easy access to a physical construction of new and advanced technology. We...... conceptualized several educational tools inspired by modular robotics for contextualized IT education in Tanzania, leading to a novel IT degree program and the development of East Africa’s first science and business park in Iringa, Tanzania. The prototypes inspired by modular robotics were developed in the local......, rural context and tested by local users in hospitals and rehabilitation centres. In this paper, we review the development of both modular building blocks for education and modular robotic tiles for rehabilitation in Tanzania....

The Affordance Template ROS Package for Robot Task Programming

Science.gov (United States)

Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

2015-01-01

This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

Using Social Robots in Health Settings: Implications of Personalization on Human-Machine Communication

Directory of Open Access Journals (Sweden)

Lisa Tam and Rajiv Khosla

2016-09-01

Full Text Available In view of the shortage of healthcare workers and a growing aging population, it is worthwhile to explore the applicability of new technologies in improving the quality of healthcare and reducing its cost. However, it remains a challenge to deploy such technologies in environments where individuals have limited knowledge about how to use them. Thus, this paper explores how the social robots designed for use in health settings in Australia have sought to overcome some of the limitations through personalization. Deployed in aged care and home-based care facilities, the social robots are person-centered, emphasizing the personalization of care with human-like attributes (e.g., human appearances to engage in reciprocal communication with users. While there have been debates over the advantages and disadvantages of personalization, this paper discusses the implications of personalization on the design of the robots for enhancing engagement, empowerment and enablement in health settings.

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation.

Science.gov (United States)

Low, Jin-Huat; Yeow, Chen-Hua

2016-08-02

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

Development of a remote tank inspection robotic system

International Nuclear Information System (INIS)

Knape, B.P.; Bares, L.C.

1990-01-01

RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation

Emergency response mobile robot for operations in combustible atmospheres

Science.gov (United States)

Stone, Henry W. (Inventor); Ohm, Timothy R. (Inventor)

1995-01-01

A mobile, self-powered, self-contained, and remote-controlled robot is presented. The robot is capable of safely operating in a combustible atmosphere and providing information about the atmosphere to the operator. The robot includes non-sparking and non-arcing electro-mechanical and electronic components designed to prevent the robot from igniting the combustible atmosphere. The robot also includes positively pressurized enclosures that house the electromechanical and electronic components of the robot and prevent intrusion of the combustible atmosphere into the enclosures. The enclosures are interconnected such that a pressurized gas injected into any one of the enclosures is routed to all the other enclosures through the interconnections. It is preferred that one or more sealed internal channels through structures intervening between the enclosures be employed. Pressure transducers for detecting if the pressure within the enclosures falls below a predetermined level are included. The robot also has a sensing device for determining the types of combustible substances in the surrounding atmosphere, as well as the concentrations of each type of substance relative to a pre-determined lower explosive limit (LEL). In addition, the sensing device can determine the percent level of oxygen present in the surrounding atmosphere.

Robots accelerate into new roles

International Nuclear Information System (INIS)

Meieran, H.B.

1993-01-01

Although robotics and remote controlled devices have been employed in the nuclear industry for more than 30 years, the rate of their application is beginning to increase rapidly. The largest group of prospective robotic activities will be those supporting Environmental Restoration and Waste Management (ER and WM) programmes to be conducted at several of the US DoE's national laboratories and facilities. Robots can assist in: transferring hazardous radioactive chemicals from older into newer storage tanks; decontaminating and decommissioning hundreds of obsolete facilities and buildings; and determining the specific locations of buried wastes before removal. (Author)

Latest developments, by Taylor Hitec Ltd, in power manipulators and deployed robots for the nuclear industry and elsewhere

International Nuclear Information System (INIS)

Lowe, D.B.

1985-01-01

Taylor Hitec recently achieved a major advancement in remote manipulator engineering with the successful commissioning of the 'Advanced Manipulator' - a high precision tool for remote working, commanded by powerful computerised control developed in partnership with CEGB Marchwood. In the progression of the technology involved a second manipulator has been designed, with significant changes in mechanisms and is now in manufacture. A radically different implement has been conceived and pursued through to the prototype stage in the form of a 'vertebrate' limb for deploying remote inspection apparatus. The designs and capabilities of these three devices are presented here in essence and consideration is given to wider applications. (author)

Rehabilitation robotics for the upper extremity: review with new directions for orthopaedic disorders.

Science.gov (United States)

Hakim, Renée M; Tunis, Brandon G; Ross, Michael D

2017-11-01

The focus of research using technological innovations such as robotic devices has been on interventions to improve upper extremity function in neurologic populations, particularly patients with stroke. There is a growing body of evidence describing rehabilitation programs using various types of supportive/assistive and/or resistive robotic and virtual reality-enhanced devices to improve outcomes for patients with neurologic disorders. The most promising approaches are task-oriented, based on current concepts of motor control/learning and practice-induced neuroplasticity. Based on this evidence, we describe application and feasibility of virtual reality-enhanced robotics integrated with current concepts in orthopaedic rehabilitation shifting from an impairment-based focus to inclusion of more intense, task-specific training for patients with upper extremity disorders, specifically emphasizing the wrist and hand. The purpose of this paper is to describe virtual reality-enhanced rehabilitation robotic devices, review evidence of application in patients with upper extremity deficits related to neurologic disorders, and suggest how this technology and task-oriented rehabilitation approach can also benefit patients with orthopaedic disorders of the wrist and hand. We will also discuss areas for further research and development using a task-oriented approach and a commercially available haptic robotic device to focus on training of grasp and manipulation tasks. Implications for Rehabilitation There is a growing body of evidence describing rehabilitation programs using various types of supportive/assistive and/or resistive robotic and virtual reality-enhanced devices to improve outcomes for patients with neurologic disorders. The most promising approaches using rehabilitation robotics are task-oriented, based on current concepts of motor control/learning and practice-induced neuroplasticity. Based on the evidence in neurologic populations, virtual reality-enhanced robotics

Cooperative Robots to Observe Moving Targets: Review.

Science.gov (United States)

Khan, Asif; Rinner, Bernhard; Cavallaro, Andrea

2018-01-01

The deployment of multiple robots for achieving a common goal helps to improve the performance, efficiency, and/or robustness in a variety of tasks. In particular, the observation of moving targets is an important multirobot application that still exhibits numerous open challenges, including the effective coordination of the robots. This paper reviews control techniques for cooperative mobile robots monitoring multiple targets. The simultaneous movement of robots and targets makes this problem particularly interesting, and our review systematically addresses this cooperative multirobot problem for the first time. We classify and critically discuss the control techniques: cooperative multirobot observation of multiple moving targets, cooperative search, acquisition, and track, cooperative tracking, and multirobot pursuit evasion. We also identify the five major elements that characterize this problem, namely, the coordination method, the environment, the target, the robot and its sensor(s). These elements are used to systematically analyze the control techniques. The majority of the studied work is based on simulation and laboratory studies, which may not accurately reflect real-world operational conditions. Importantly, while our systematic analysis is focused on multitarget observation, our proposed classification is useful also for related multirobot applications.

Foraging behavior analysis of swarm robotics system

Directory of Open Access Journals (Sweden)

Sakthivelmurugan E.

2018-01-01

Full Text Available Swarm robotics is a number of small robots that are synchronically works together to accomplish a given task. Swarm robotics faces many problems in performing a given task. The problems are pattern formation, aggregation, Chain formation, self-assembly, coordinated movement, hole avoidance, foraging and self-deployment. Foraging is most essential part in swarm robotics. Foraging is the task to discover the item and get back into the shell. The researchers conducted foraging experiments with random-movement of robots and they have end up with unique solutions. Most of the researchers have conducted experiments using the circular arena. The shell is placed at the centre of the arena and environment boundary is well known. In this study, an attempt is made to different strategic movements like straight line approach, parallel line approach, divider approach, expanding square approach, and parallel sweep approach. All these approaches are to be simulated by using player/stage open-source simulation software based on C and C++ programming language in Linux operating system. Finally statistical comparison will be done with task completion time of all these strategies using ANOVA to identify the significant searching strategy.

Operation of an ITER relevant inspection robot on Tore Supra tokamak

Energy Technology Data Exchange (ETDEWEB)

Gargiulo, Laurent [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Hatchressian, Jean-Claude; Hernandez, Caroline; Houry, Michael [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Keller, Delphine [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Martins, Jean-Pierre [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Measson, Yvan; Perrot, Yann [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Samaille, Frank [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)

2009-06-15

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. CEA has developed a multipurpose carrier able to realize deployments in the plasma vessel without breaking the Ultra High Vacuum (UHV) and temperature conditioning. A 6 years R and D programme was jointly conducted by CEA-LIST Interactive Robotics Unit and the Institute for Magnetic Fusion Research (IRFM) in order to demonstrate the feasibility and reliability of an in-vessel inspection robot relevant to ITER requirements. The Articulated Inspection Arm robot (AIA) is an 8-m long multilink carrier with a payload up to 10 kg operable between plasma under tokamak conditioning environment; its geometry allows a complete close inspection of Plasma Facing Components (PFCs) of the Tore Supra vessel. Different tools are being developed by CEA to be plugged at the front head of the carrier. The diagnostic presently in operation consists in a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon co-deposited layers characterizations or treatments are also considered for demonstration. In April 2008, the AIA robot equipped with its vision diagnostic has realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. During the upcoming experimental campaign, the same operation will be performed under relevant conditions (10{sup -6} Pa and 120 deg. C) after a conditioning phase at 200 deg. C to avoid outgassing pollution of the chamber. This paper describes the different steps of the project development, robot capabilities with the present operations conducted on Tore Supra and future requirements for making the robot a tool for tokamak routine operation.

The Age of Human-Robot Collaboration: Deep Sea Exploration

KAUST Repository

Khatib, Oussama

2018-01-18

The promise of oceanic discovery has intrigued scientists and explorers for centuries, whether to study underwater ecology and climate change, or to uncover natural resources and historic secrets buried deep at archaeological sites. Reaching these depth is imperative since factors such as pollution and deep-sea trawling increasingly threaten ecology and archaeological sites. These needs demand a system deploying human-level expertise at the depths, and yet remotely operated vehicles (ROVs) are inadequate for the task. To meet the challenge of dexterous operation at oceanic depths, in collaboration with KAUSTﾒs Red Sea Research Center and MEKA Robotics, Oussama Khatib and the team developed Ocean One, a bimanual humanoid robot that brings immediate and intuitive haptic interaction to oceanic environments. Introducing Ocean One, the haptic robotic avatar During this lecture, Oussama Khatib will talk about how teaming with the French Ministry of Cultureﾒs Underwater Archaeology Research Department, they deployed Ocean One in an expedition in the Mediterranean to Louis XIVﾒs flagship Lune, lying off the coast of Toulon at ninety-one meters. In the spring of 2016, Ocean One became the first robotic avatar to embody a humanﾒs presence at the seabed. Ocean Oneﾒs journey in the Mediterranean marks a new level of marine exploration: Much as past technological innovations have impacted society, Ocean Oneﾒs ability to distance humans physically from dangerous and unreachable work spaces while connecting their skills, intuition, and experience to the task promises to fundamentally alter remote work. Robotic avatars will search for and acquire materials, support equipment, build infrastructure, and perform disaster prevention and recovery operations - be it deep in oceans and mines, at mountain tops, or in space.

Deployment Testing of the De-Orbit Sail Flight Hardware

OpenAIRE

Hillebrandt, Martin; Meyer, Sebastian; Zander, Martin; Hühne, Christian

2015-01-01

The paper describes the results of the deployment testing of the De-Orbit Sail flight hardware, a drag sail for de-orbiting applications, performed by DLR. It addresses in particular the deployment tests of the fullscale sail subsystem and deployment force tests performed on the boom deployment module. For the fullscale sail testing a gravity compensation device is used which is described in detail. It allows observations of the in-plane interaction of the booms with the sail membrane and the...

Design, implementation and testing of master slave robotic surgical system

International Nuclear Information System (INIS)

Ali, S.A.

2015-01-01

The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom) haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system. (author)

Design, Implementation and Testing of Master Slave Robotic Surgical System

Directory of Open Access Journals (Sweden)

Syed Amjad Ali

2015-01-01

Full Text Available The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system

Design and analysis on robotic arm for serving hazard container

Science.gov (United States)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Yi, Khoo Zern; Daud, Mohd Hisam

2017-09-01

This paper presents about design, analyses development and fabrication of robotic arm for sorting multi-material. The major problem that urges the initiation of the project is the fact that manufacturing industry is growing at relatively faster rate. Most of the company produce high load robotic arm. Less company creates light weight, and affordable robotic arm. As the result, light weight and affordable robot is developing to cover this issue. Plastic material was used to construct the body of the robotic arm, and an optical sensor was implemented to provide basic recognition of object to be carried. The robotic arm used five servomotors for overall operation; four for its joints, and one for the gripping mechanism. The gripper was designed and fabricated using Perspex due to the light weight and high strength of the material. The operation of the robotic arm was governed by Basic Stamp programming sequence and the device was expected to differentiate material and other objects based on reflective theory, and perform subsequent operations afterwards. The SolidWorks was used to model the detail design of the robotic arm, and to simulate the motion of the device.

Design and control of a bio-inspired soft wearable robotic device for ankle–foot rehabilitation

International Nuclear Information System (INIS)

Park, Yong-Lae; Chen, Bor-rong; Pérez-Arancibia, Néstor O; Young, Diana; Wood, Robert J; Nagpal, Radhika; Stirling, Leia; Goldfield, Eugene C

2014-01-01

We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle–foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle–tendon–ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27° (14° dorsiflexion and 13° plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments. (paper)

Identifying Factors Reinforcing Robotization: Interactive Forces of Employment, Working Hour and Wage

Directory of Open Access Journals (Sweden)

Joonmo Cho

2018-02-01

Full Text Available Unlike previous studies on robotization approaching the future based on the cutting-edge technologies and adopting a framework where robotization is considered as an exogenous variable, this study considers that robotization occurs endogenously and uses it as a dependent variable for an objective examination of the effect of robotization on the labor market. To this end, a robotization indicator is created based on the actual number of industrial robots currently deployed in workplaces, and a multiple regression analysis is performed using the robotization indicator and labor variables such as employment, working hours, and wage. The results using the multiple regression considering the triangular relationship of employment–working-hours–wages show that job destruction due to robotization is not too remarkable yet that use. Our results show the complementary relation between employment and robotization, but the substituting relation between working hour and robotization. The results also demonstrate the effects of union, the size of the company and the proportion of production workers and simple labor workers etc. These findings indicate that the degree of robotization may vary with many factors of the labor market. Limitations of this study and implications for future research are also discussed.

Tool-change coupling for robots

International Nuclear Information System (INIS)

Cooper, C.

1988-01-01

A coupling device for use in enabling a robotic unit to couple automatically with any one of a number of tools, comprises two coupling parts connected respectively to the tool and the arm. The two parts can be brought into interengaged relationship by appropriate manipulation of the arm and can be locked together by means of a locking element, controlled by piston and cylinder assembly which enters a tapered bore in a spigot after the spigot, which is mounted on the coupling part, has entered a bore in the other coupling part. The parts also incorporate registering passages for providing continuity of pressurised air supply between the robotic unit and a fluid-powered device incorporated in the tool. (author)

Interacting with Multi-Robot Systems Using BML

Science.gov (United States)

2013-06-01

presented to the operator. 1. Introduction There are many operations in which a multi-robot system (MRS) can be deployed to support the human forces...within the MRS easily. © Fraunhofer FKIE Communication Architecture ~ ~ Fraunhofer FKIE © Fraunhofer FKIE Battle Mangement Language BML...Fraunhofer FKIE Battle Mangement Language Orders Orders move patrol observe distribute guard recce imagery intelligence gathering

Virtual and Remote Robotic Laboratory Using EJS, MATLAB and LabVIEW

Directory of Open Access Journals (Sweden)

Jose Antonio Lopez-Orozco

2013-02-01

Full Text Available This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory or with a real robot (remote laboratory, with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

Virtual and remote robotic laboratory using EJS, MATLAB and LabVIEW.

Science.gov (United States)

Chaos, Dictino; Chacón, Jesús; Lopez-Orozco, Jose Antonio; Dormido, Sebastián

2013-02-21

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

Predicting efficacy of robot-aided rehabilitation in chronic stroke patients using an MRI-compatible robotic device.

Science.gov (United States)

Sergi, Fabrizio; Krebs, Hermano Igo; Groissier, Benjamin; Rykman, Avrielle; Guglielmelli, Eugenio; Volpe, Bruce T; Schaechter, Judith D

2011-01-01

We are investigating the neural correlates of motor recovery promoted by robot-mediated therapy in chronic stroke. This pilot study asked whether efficacy of robot-aided motor rehabilitation in chronic stroke could be predicted by a change in functional connectivity within the sensorimotor network in response to a bout of motor rehabilitation. To address this question, two stroke patients participated in a functional connectivity MRI study pre and post a 12-week robot-aided motor rehabilitation program. Functional connectivity was evaluated during three consecutive scans before the rehabilitation program: resting-state; point-to-point reaching movements executed by the paretic upper extremity (UE) using a newly developed MRI-compatible sensorized passive manipulandum; resting-state. A single resting-state scan was conducted after the rehabilitation program. Before the program, UE movement reduced functional connectivity between the ipsilesional and contralesional primary motor cortex. Reduced interhemispheric functional connectivity persisted during the second resting-state scan relative to the first and during the resting-state scan after the rehabilitation program. Greater reduction in interhemispheric functional connectivity during the resting-state was associated with greater gains in UE motor function induced by the 12-week robotic therapy program. These findings suggest that greater reduction in interhemispheric functional connectivity in response to a bout of motor rehabilitation may predict greater efficacy of the full rehabilitation program.

A multimodal interface for real-time soldier-robot teaming

Science.gov (United States)

Barber, Daniel J.; Howard, Thomas M.; Walter, Matthew R.

2016-05-01

Recent research and advances in robotics have led to the development of novel platforms leveraging new sensing capabilities for semantic navigation. As these systems becoming increasingly more robust, they support highly complex commands beyond direct teleoperation and waypoint finding facilitating a transition away from robots as tools to robots as teammates. Supporting future Soldier-Robot teaming requires communication capabilities on par with human-human teams for successful integration of robots. Therefore, as robots increase in functionality, it is equally important that the interface between the Soldier and robot advances as well. Multimodal communication (MMC) enables human-robot teaming through redundancy and levels of communications more robust than single mode interaction. Commercial-off-the-shelf (COTS) technologies released in recent years for smart-phones and gaming provide tools for the creation of portable interfaces incorporating MMC through the use of speech, gestures, and visual displays. However, for multimodal interfaces to be successfully used in the military domain, they must be able to classify speech, gestures, and process natural language in real-time with high accuracy. For the present study, a prototype multimodal interface supporting real-time interactions with an autonomous robot was developed. This device integrated COTS Automated Speech Recognition (ASR), a custom gesture recognition glove, and natural language understanding on a tablet. This paper presents performance results (e.g. response times, accuracy) of the integrated device when commanding an autonomous robot to perform reconnaissance and surveillance activities in an unknown outdoor environment.

Robotic Technology Efforts at the NASA/Johnson Space Center

Science.gov (United States)

Diftler, Ron

2017-01-01

The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

A Middleware Based Approach to Dynamically Deploy Location Based Services onto Heterogeneous Mobile Devices Using Bluetooth in Indoor Environment

Science.gov (United States)

Sadhukhan, Pampa; Sen, Rijurekha; Das, Pradip K.

Several methods for providing location based service (LBS) to mobile devices in indoor environment using wireless technologies like WLAN, RFID and Bluetooth have been proposed, implemented and evaluated. However, most of them do not focus on heterogeneity of mobile platforms, memory constraint of mobile devices, the adaptability of client or device to the new services it discovers whenever it reaches a new location. In this paper, we have proposed a Middleware based approach of LBS provision in the indoor environment, where a Bluetooth enabled Base Station (BS) detects Bluetooth enabled mobile devices and pushes a proper client application only to those devices that belong to some registered subscriber of LBS. This dynamic deployment enables the mobile clients to access any new service without having preinstalled interface to that service beforehand and thus the client's memory consumption is reduced. Our proposed work also addresses the other issues like authenticating the clients before providing them LBSs and introducing paid services. We have evaluated its performance in term of file transfer time with respect to file size and throughput with respect to distance. Experimental results on service consumption time by the mobile client for different services are also presented.

Trend of development of robots for nuclear facilities

International Nuclear Information System (INIS)

Maki, Hideo; Sasaki, Masayoshi

1984-01-01

Robot technology becomes more and more important in the field of atomic energy industries. Hitachi Ltd. has energetically engaged in the development of the robot technology for nuclear facilities, recognizing these situations. The course of the development of robot technology and the robots for nuclear facilities is described. As the practical examples of the robots for nuclear facilities, there have been automatic fuel exchangers, the remotely operated automatic exchangers for control rod driving mechanism, automatic and semi-automatic ultrasonic flaw detectors and so on. As the robots for nuclear facilities under development, control rod driving mechanism disassembling and cleaning system, the volume reduction device for spent fuel channel boxes and control rods and others are reported. (Kako, I.)

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.

Simulation of Robot Kinematics Using Interactive Computer Graphics.

Science.gov (United States)

Leu, M. C.; Mahajan, R.

1984-01-01

Development of a robot simulation program based on geometric transformation softwares available in most computer graphics systems and program features are described. The program can be extended to simulate robots coordinating with external devices (such as tools, fixtures, conveyors) using geometric transformations to describe the…

Innovation in Robotic Surgery: The Indian Scenario

Directory of Open Access Journals (Sweden)

Suresh V Deshpande

2015-01-01

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

Innovation in robotic surgery: the Indian scenario.

Science.gov (United States)

Deshpande, Suresh V

2015-01-01

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

Design and testing of a model CELSS chamber robot

Science.gov (United States)

Davis, Mark; Dezego, Shawn; Jones, Kinzy; Kewley, Christopher; Langlais, Mike; McCarthy, John; Penny, Damon; Bonner, Tom; Funderburke, C. Ashley; Hailey, Ruth

1994-08-01

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system

IPv6 deployment and management

CERN Document Server

Dooley, Michael

2013-01-01

A guide for understanding, deploying, and managing Internet Protocol version 6 The growth of the Internet has created a need for more addresses than are available with Internet Protocol version 4 (IPv4)-the protocol currently used to direct almost all Internet traffic. Internet Protocol version 6 (IPv6)-the new IP version intended to ultimately succeed IPv4-will expand the addressing capacity of the Internet to support the explosive growth of users and devices on the Internet as well as add flexibility to allocating addresses and efficiency for routing traffic. IPv6 Deploy

Practical design for robot operating in radiation condition

International Nuclear Information System (INIS)

Oomichi, Takeo; Isozaki, Yoshifumi

2002-01-01

It is proposed systematic design for radiation resistance robot based on irradiation test and estimating damage lifetime by reliable technology. Reducing design time and cost, key device IC is classified to non-exchange, no use and use after radiation test by analyzing robot function and IC function. Since the damage lifetime verified normal distribution under radiation test of IC, the proposed design method is effective for practical radiation resistance robot. (author)

Introduction of robotics in the maintenance of nuclear power plants

International Nuclear Information System (INIS)

Gonzalez, S.A.; Capparelli, I.J; Schmidt, D.J.; Estevez, G.E.

2009-01-01

In this paper we show and discuss advantages of robotic technologies on predecessor systems, showing the advantages and limitations, which are mainly mechanical. Also are listed the tasks that will be applied to service and maintain CAREM type reactors. A description of the tasks that can develop the robotic arms is presented. The example of the automotive industry is used to describe these devices in car assembly. There are also discussed current opportunities presented by various programming tools for these devices to solve specific problems. Finally, it briefly discusses the role of the school of robotics and its relation to current problems. (author)

Epicardial deployment of right ventricular disk during perventricular device closure in a child with apical muscular ventricular septal defect

Directory of Open Access Journals (Sweden)

Nageswara Rao Koneti

2013-01-01

Full Text Available We report a successful perventricular closure of an apical muscular ventricular septal defect (mVSD by a modified technique. An eight-month-old infant, weighing 6.5 kilograms, presented with refractory heart failure. The transthoracic echocardiogram showed multiple apical mVSDs with the largest one measuring 10 mm. perventricular device closure using a 12 mm Amplatzer mVSD occluder was planned. The left ventricular disk was positioned approximating the interventricular septum; however, the right ventricular (RV disk was deployed on the free wall of the RV due to an absent apical muscular septum and a small cavity at the apex. The RV disk of the device was covered using an autologous pericardium. His heart failure improved during follow-up.

DRAGON - 8U Nanosatellite Orbital Deployer

Science.gov (United States)

Dobrowolski, Marcin; Grygorczuk, Jerzy; Kedziora, Bartosz; Tokarz, Marta; Borys, Maciej

2014-01-01

The Space Research Centre of the Polish Academy of Sciences (SRC PAS) together with Astronika company have developed an Orbital Deployer called DRAGON for ejection of the Polish scientific nanosatellite BRITE-PL Heweliusz (Fig. 1). The device has three unique mechanisms including an adopted and scaled lock and release mechanism from the ESA Rosetta mission MUPUS instrument. This paper discusses major design restrictions of the deployer, unique design features, and lessons learned from development through testing.

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

Science.gov (United States)

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

2017-01-01

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

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

Science.gov (United States)

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

2017-01-01

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

Conceptual design of EAST multi-purpose maintenance deployer system

International Nuclear Information System (INIS)

Pan, Hongtao; He, Kaihui; Cheng, Yong; Song, Yuntao; Yang, Yang; Villedieu, Eric; Shi, Shanshuang; Yang, Songzhu

2017-01-01

Highlights: • A redundant 11-DOF articulated robot for EAST in-vessel maintenance is presented. • A new modular joint developed to optimize the yaw joint actuator for the robot is described. • A 3-DOF gripper integrated with cameras and torque sensor is developed. - Abstract: EAST multi-purpose maintenance deployer (EMMD) system, being collaboratively developed by ASIPP and CEA-IRFM, is built as upgrades for EAMA. Updated kinematics parameters such as DOF distribution and joint angle for EMMD robot are performed and verified in a simulation platform. A new modular joint has been developed to optimize the yaw joint actuator for easy assembly and flexibility reduction. A 3-DOF gripper with cameras and torque sensor has been designed to provide inspection and dexterous handling of small fragments inside the EAST chamber. A conceptual upgrade for EAMA-CASK has been developed for the purpose of protecting the end-effector's sensors which do not have temperature-resistant qualification. The high temperature and vacuum compatible solutions and validation experiments have been presented in this paper.

Conceptual design of EAST multi-purpose maintenance deployer system

Energy Technology Data Exchange (ETDEWEB)

Pan, Hongtao [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); University of Science and Technology of China, Hefei, Anhui 230022 (China); He, Kaihui, E-mail: hekh@iterchina.cn [China International Nuclear Fusion Energy Program Execution Center, Beijing 100862 (China); Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); University of Science and Technology of China, Hefei, Anhui 230022 (China); Yang, Yang [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Villedieu, Eric [CEA-IRFM, F-13108 Saint-Paul-Lez-Durance (France); Shi, Shanshuang; Yang, Songzhu [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China)

2017-05-15

Highlights: • A redundant 11-DOF articulated robot for EAST in-vessel maintenance is presented. • A new modular joint developed to optimize the yaw joint actuator for the robot is described. • A 3-DOF gripper integrated with cameras and torque sensor is developed. - Abstract: EAST multi-purpose maintenance deployer (EMMD) system, being collaboratively developed by ASIPP and CEA-IRFM, is built as upgrades for EAMA. Updated kinematics parameters such as DOF distribution and joint angle for EMMD robot are performed and verified in a simulation platform. A new modular joint has been developed to optimize the yaw joint actuator for easy assembly and flexibility reduction. A 3-DOF gripper with cameras and torque sensor has been designed to provide inspection and dexterous handling of small fragments inside the EAST chamber. A conceptual upgrade for EAMA-CASK has been developed for the purpose of protecting the end-effector's sensors which do not have temperature-resistant qualification. The high temperature and vacuum compatible solutions and validation experiments have been presented in this paper.

Exoskeleton robots for upper-limb rehabilitation: state of the art and future prospects.

Science.gov (United States)

Lo, Ho Shing; Xie, Sheng Quan

2012-04-01

Current health services are struggling to provide optimal rehabilitation therapy to victims of stroke. This has motivated researchers to explore the use of robotic devices to provide rehabilitation therapy for strokepatients. This paper reviews the recent progress of upper limb exoskeleton robots for rehabilitation treatment of patients with neuromuscular disorders. Firstly, a brief introduction to rehabilitation robots will be given along with examples of existing commercial devices. The advancements in upper limb exoskeleton technology and the fundamental challenges in developing these devices are described. Potential areas for future research are discussed. Copyright © 2011 IPEM. Published by Elsevier Ltd. All rights reserved.

Remote Viewing End Effectors for Light Duty Utility Arm Robot (U)

International Nuclear Information System (INIS)

Heckendorn, F.M.; Robinson, C.W.; Haynes, H.B.; Anderosn, E.K.; Pardini, A.F.

1996-01-01

The Robotics Development Groups at the Savannah River Site (SRS) and at the Hanford site have developed remote video and photography systems for deployment in underground radioactive-waste storage tanks at the Department of Energy (DOE) sites as a part of the Office of Science and Technology (OST) program within DOE. Viewing and documenting the tank interiors and their associated annular spaces is an extremely valuable tool in characterizing their condition and contents and in controlling their remediation. Several specialized video/photography systems and robotic End Effectors have been fabricated that provide remote viewing and lighting. All are remotely deployable into and out of the tank, with all viewing functions remotely operated. Positioning all control components away from the facility prevents the potential for personnel exposure to radiation and contamination. Only the remote video systems are discussed in this paper

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)

Inspection and repairing method and device for inside of nuclear reactor

International Nuclear Information System (INIS)

Ito, Shin; Yuguchi, Yasuhiro; Sato, Katsuhiko

1996-01-01

A swimming robot handling device is disposed on a floor of a reactor pit floor or a reactor floor. A swimming robot is connected to a winding device of a composite cable incorporating optical fibers. The swimming robot comprises a robot propulsion device for propelling the robot itself, a laser beam irradiating optical device for irradiating pulsative laser beams introduced by an optical fiber and an antenna mechanism having ultrasonic probe in an antenna-like shape. The swimming robot is lowered in a reactor filled with water and caused to swim to a portion to be welded, and pulsative laser beams are irradiated to the portion to be welded in a state where the antenna mechanism is brought into contact with the portion to be welded to improve the state of stresses on the surface. Further, the ultrasonic oscillations generated upon irradiation of the laser beams are measured using the ultrasonic probe to perform physical inspection. The surface of the portion to be welded can be modified or repaired stably and efficiently by remote control. (N.H.)

Fully automated MRI-guided robotics for prostate brachytherapy

International Nuclear Information System (INIS)

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

2008-01-01

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

An emergency response mobile robot for operations in combustible atmospheres

Science.gov (United States)

Stone, Henry W. (Inventor); Ohm, Timothy R. (Inventor)

1993-01-01

A mobile, self-powered, self-contained, and remote-controlled robot is presented. The robot is capable of safely operating in a combustible atmosphere and providing information about the atmosphere to the operator. The robot includes non-sparking and non-arcing electro-mechanical and electronic components designed to prevent the robot from igniting the combustible atmosphere. The robot also includes positively pressurized enclosures that house the electromechanical and electronic components of the robot and prevent intrusion of the combustible atmosphere into the enclosures. The enclosures are interconnected such that a pressurized gas injected into any one of the enclosures is routed to all the other enclosures through the interconnections. It is preferred that one or more sealed internal channels through structures intervening between the enclosures be employed. Pressure transducers for detecting if the pressure within the enclosures falls below a predetermined level are included. The robot also has a sensing device for determining the types of combustible substances in the surrounding atmosphere, as well as the concentrations of each type of substance relative to a pre-determined lower explosive limit (LEL). In addition, the sensing device can determine the percent level of oxygen present in the surrounding atmosphere.

3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots

CERN Document Server

Kong, Xianwen; Dai, Jian; ReMAR 2015; Advances in Reconfigurable Mechanisms and Robots II

2016-01-01

This book presents the most recent advances in the research and applications of reconfigurable mechanisms and robots. It collects 93 independently reviewed papers presented at the Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) held in Beijing, China, 20-22 July 2015. The conference papers are organized into seven parts to cover the reconfiguration theory, topology, kinematics and design of reconfigurable mechanisms including reconfigurable parallel mechanisms. The most recent results on reconfigurable robots are presented including their analysis, design, simulation and control. Bio-inspired mechanisms are also explored in the challenging fields of rehabilitation and minimally invasive surgery. This book further addresses deployable mechanisms and origami-inspired mechanisms and showcases a wide range of successful applications of reconfigurable mechanisms and robots. Advances in Reconfigurable Mechanisms and Robots II should be of interest for researchers, eng...

Robotic cleaning of a spent fuel pool

International Nuclear Information System (INIS)

Roman, H.T.; Marian, F.A.; Silverman, E.B.; Barkley, V.P.

1987-01-01

Spent fuel pools at nuclear power plants are not cleaned routinely, other than by purifying the water that they contain. Yet, debris can collect on the bottom of a pool and should be removed prior to fuel transfer. At Public Service Electric and Gas Company's Hope Creek Nuclear Power Plant, a submersible mobile robot - ARD Corporation's SCAVENGER - was used to clean the bottom of the spent fuel pool prior to initial fuel loading. The robotic device was operated remotely (as opposed to autonomously) with a simple forward/reverse control, and it cleaned 70-80% of the pool bottom. This paper reports that a simple cost-benefit analysis shows that the robotic device would be less expensive, on a per mission basis, than other cleaning alternatives, especially if it were used for other similar cleaning operations throughout the plant

Real Time Mapping and Dynamic Navigation for Mobile Robots

Directory of Open Access Journals (Sweden)

Maki K. Habib

2008-11-01

Full Text Available This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.

Robotic Hand with Flexible Fingers for Grasping Cylindrical Objects

OpenAIRE

柴田, 瑞穂

2015-01-01

In this manuscript, a robotic hand for grasping a cylindrical object is proposed. This robotic hand has flexible fingers that can hold a cylindrical object during moving. We introduce a grasping strategy for a cylindrical object in terms of state transition graph. In this strategy the robotic hand picks up the cylindrical object utilizing a suction device before the hand grasp the object. We also design the flexible fingers; then, we investigate the validity of this robotic hand via several e...

Design of 3-D Printed Concentric Tube Robots

OpenAIRE

Morimoto, Tania K.; Okamura, Allison M.

2016-01-01

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient’s body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In ...

Gesture-Based Robot Control with Variable Autonomy from the JPL Biosleeve

Science.gov (United States)

Wolf, Michael T.; Assad, Christopher; Vernacchia, Matthew T.; Fromm, Joshua; Jethani, Henna L.

2013-01-01

This paper presents a new gesture-based human interface for natural robot control. Detailed activity of the user's hand and arm is acquired via a novel device, called the BioSleeve, which packages dry-contact surface electromyography (EMG) and an inertial measurement unit (IMU) into a sleeve worn on the forearm. The BioSleeve's accompanying algorithms can reliably decode as many as sixteen discrete hand gestures and estimate the continuous orientation of the forearm. These gestures and positions are mapped to robot commands that, to varying degrees, integrate with the robot's perception of its environment and its ability to complete tasks autonomously. This flexible approach enables, for example, supervisory point-to-goal commands, virtual joystick for guarded teleoperation, and high degree of freedom mimicked manipulation, all from a single device. The BioSleeve is meant for portable field use; unlike other gesture recognition systems, use of the BioSleeve for robot control is invariant to lighting conditions, occlusions, and the human-robot spatial relationship and does not encumber the user's hands. The BioSleeve control approach has been implemented on three robot types, and we present proof-of-principle demonstrations with mobile ground robots, manipulation robots, and prosthetic hands.

Device-Centric Monitoring for Mobile Device Management

OpenAIRE

Chircop, Luke; Colombo, Christian; Pace, Gordon J.

2016-01-01

The ubiquity of computing devices has led to an increased need to ensure not only that the applications deployed on them are correct with respect to their specifications, but also that the devices are used in an appropriate manner, especially in situations where the device is provided by a party other than the actual user. Much work which has been done on runtime verification for mobile devices and operating systems is mostly application-centric, resulting in global, device-centri...

Zero-G experimental validation of a robotics-based inertia identification algorithm

Science.gov (United States)

Bruggemann, Jeremy J.; Ferrel, Ivann; Martinez, Gerardo; Xie, Pu; Ma, Ou

2010-04-01

The need to efficiently identify the changing inertial properties of on-orbit spacecraft is becoming more critical as satellite on-orbit services, such as refueling and repairing, become increasingly aggressive and complex. This need stems from the fact that a spacecraft's control system relies on the knowledge of the spacecraft's inertia parameters. However, the inertia parameters may change during flight for reasons such as fuel usage, payload deployment or retrieval, and docking/capturing operations. New Mexico State University's Dynamics, Controls, and Robotics Research Group has proposed a robotics-based method of identifying unknown spacecraft inertia properties1. Previous methods require firing known thrusts then measuring the thrust, and the velocity and acceleration changes. The new method utilizes the concept of momentum conservation, while employing a robotic device powered by renewable energy to excite the state of the satellite. Thus, it requires no fuel usage or force and acceleration measurements. The method has been well studied in theory and demonstrated by simulation. However its experimental validation is challenging because a 6- degree-of-freedom motion in a zero-gravity condition is required. This paper presents an on-going effort to test the inertia identification method onboard the NASA zero-G aircraft. The design and capability of the test unit will be discussed in addition to the flight data. This paper also introduces the design and development of an airbearing based test used to partially validate the method, in addition to the approach used to obtain reference value for the test system's inertia parameters that can be used for comparison with the algorithm results.

Enhancing the effectiveness of human-robot teaming with a closed-loop system.

Science.gov (United States)

Teo, Grace; Reinerman-Jones, Lauren; Matthews, Gerald; Szalma, James; Jentsch, Florian; Hancock, Peter

2018-02-01

With technological developments in robotics and their increasing deployment, human-robot teams are set to be a mainstay in the future. To develop robots that possess teaming capabilities, such as being able to communicate implicitly, the present study implemented a closed-loop system. This system enabled the robot to provide adaptive aid without the need for explicit commands from the human teammate, through the use of multiple physiological workload measures. Such measures of workload vary in sensitivity and there is large inter-individual variability in physiological responses to imposed taskload. Workload models enacted via closed-loop system should accommodate such individual variability. The present research investigated the effects of the adaptive robot aid vs. imposed aid on performance and workload. Results showed that adaptive robot aid driven by an individualized workload model for physiological response resulted in greater improvements in performance compared to aid that was simply imposed by the system. Copyright © 2017 Elsevier Ltd. All rights reserved.

Survey of advanced general-purpose software for robot manipulators

International Nuclear Information System (INIS)

Latombe, J.C.

1983-01-01

Computer-controlled sensor-based robots will more and more common in industry. This paper attempts to survey the main trends of the development of advanced general-purpose software for robot manipulators. It is intended to make clear that robots are not only mechanical devices. They are truly programmable machines, and their programming, which occurs in an imperfectly modelled world,is somewhat different from conventional computer programming. (orig.)

A Meta-Analysis of Factors Affecting Trust in Human-Robot Interaction

Science.gov (United States)

2011-10-01

directly affects the willingness of people to accept robot -produced information, follow robots ’ suggestions, and thus benefit from the advantages inherent...perceived complexity of operation). Consequently, if the perceived risk of using the robot exceeds its perceived benefit , practical operators almost...necessary presence of a human caregiver (Graf, Hans, & Schraft, 2004). Other robotic devices, such as wheelchairs (Yanco, 2001) and exoskeletons (e.g

Electroactive Polymer (EAP) Actuation of Mechanisms and Robotic Devices

Science.gov (United States)

Bar-Cohen, Y.; Leary, S.; Harrison, J.; Smith, J.

1999-01-01

Actuators are responsible to the operative capability of manipulation systems and robots. In recent years, electroactive polymers (EAP) have emerged as potential alternative to conventional actuators.

Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

Energy Technology Data Exchange (ETDEWEB)

Dudenhoeffer, Donald Dean

2001-04-01

Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

Acceptance of an assistive robot in older adults: a mixed-method study of human-robot interaction over a 1-month period in the Living Lab setting.

Science.gov (United States)

Wu, Ya-Huei; Wrobel, Jérémy; Cornuet, Mélanie; Kerhervé, Hélène; Damnée, Souad; Rigaud, Anne-Sophie

2014-01-01

There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot. Six older adults with mild cognitive impairment (MCI) and five cognitively intact healthy (CIH) older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used. Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults' uneasiness with technology, feeling of stigmatization, and ethical/societal issues associated with robot use. It is important to destigmatize images of assistive robots to facilitate their acceptance. Universal design aiming to increase the market for and production of products that are usable by everyone (to the greatest extent possible) might help to destigmatize assistive devices.

CIRSE Vascular Closure Device Registry

International Nuclear Information System (INIS)

Reekers, Jim A.; Müller-Hülsbeck, Stefan; Libicher, Martin; Atar, Eli; Trentmann, Jens; Goffette, Pierre; Borggrefe, Jan; Zeleňák, Kamil; Hooijboer, Pieter; Belli, Anna-Maria

2011-01-01

Purpose: Vascular closure devices are routinely used after many vascular interventional radiology procedures. However, there have been no major multicenter studies to assess the safety and effectiveness of the routine use of closure devices in interventional radiology. Methods: The CIRSE registry of closure devices with an anchor and a plug started in January 2009 and ended in August 2009. A total of 1,107 patients were included in the registry. Results: Deployment success was 97.2%. Deployment failure specified to access type was 8.8% [95% confidence interval (95% CI) 5.0–14.5] for antegrade access and 1.8% (95% CI 1.1–2.9) for retrograde access (P = 0.001). There was no difference in deployment failure related to local PVD at the access site. Calcification was a reason for deployment failure in only 5.9 cm, and two vessel occlusions. Conclusion: The conclusion of this registry of closure devices with an anchor and a plug is that the use of this device in interventional radiology procedures is safe, with a low incidence of serious access site complications. There seems to be no difference in complications between antegrade and retrograde access and other parameters.

Usage of industrial robots in nuclear power industry

International Nuclear Information System (INIS)

Matsuo, Yoshio; Hamada, Kenjiro

1982-01-01

Japan is now at the top level in the world in robot technology.Its application to nuclear power field is one of the most expected. However, their usage spreads over various types of nuclear power plants, their manufacture and operation, and other areas such as fuel reprocessing plants and reactor plant decommissioning. The robots as used for the operation of BWR nuclear power plants, already developed and under development, are described: features in the nuclear-power usage of robots, the robots used currently for automatic fuel exchange, the replacement of control rod drives and in-service inspection; the robots under development for travelling inspection device and the inspection of main steam-relief safety valves, future development of robots. By robot usage, necessary personnel, work period and radiation exposure can be greatly reduced, and safety and reliability are also raised. (Mori, K.)

Ocean robotics: 21st century sustainable science & marine resource management

CSIR Research Space (South Africa)

Swart, S

2015-10-01

Full Text Available marine robots? Swart et al., 2012 The CSIR Glider Fleet 14 GLIDERS: 5 PROFILING & 4 SURFACE GLIDERS = Glider deployment & ship CTD station = ship based underway measurements September 2012 – March 2013 Gough&Is. STF SAF APF G o u g h / T r i...

Trainer variability during step training after spinal cord injury: Implications for robotic gait-training device design.

Science.gov (United States)

Galvez, Jose A; Budovitch, Amy; Harkema, Susan J; Reinkensmeyer, David J

2011-01-01

Robotic devices are being developed to automate repetitive aspects of walking retraining after neurological injuries, in part because they might improve the consistency and quality of training. However, it is unclear how inconsistent manual training actually is or whether stepping quality depends strongly on the trainers' manual skill. The objective of this study was to quantify trainer variability of manual skill during step training using body-weight support on a treadmill and assess factors of trainer skill. We attached a sensorized orthosis to one leg of each patient with spinal cord injury and measured the shank kinematics and forces exerted by different trainers during six training sessions. An expert trainer rated the trainers' skill level based on videotape recordings. Between-trainer force variability was substantial, about two times greater than within-trainer variability. Trainer skill rating correlated strongly with two gait features: better knee extension during stance and fewer episodes of toe dragging. Better knee extension correlated directly with larger knee horizontal assistance force, but better toe clearance did not correlate with larger ankle push-up force; rather, it correlated with better knee and hip extension. These results are useful to inform robotic gait-training design.

[Simulation-based robot-assisted surgical training].

Science.gov (United States)

Kolontarev, K B; Govorov, A V; Rasner, P I; Sheptunov, S A; Prilepskaya, E A; Maltsev, E G; Pushkar, D Yu

2015-12-01

Since the first use of robotic surgical system in 2000, the robot-assisted technology has gained wide popularity throughout the world. Robot-assisted surgical training is a complex issue that requires significant efforts from students and teacher. During the last two decades, simulation-based training had received active development due to wide-spread occurrence and popularization of laparoscopic and robot-assisted surgical techniques. We performed a systematic review to identify the currently available simulators for robot-assisted surgery. We searched the Medline and Pubmed, English sources of literature data, using the following key words and phrases: "robotics", "robotic surgery", "computer assisted surgery", "simulation", "computer simulation", "virtual reality", "surgical training", and "surgical education". There were identified 565 publications, which meet the key words and phrases; 19 publications were selected for the final analysis. It was established that simulation-based training is the most promising teaching tool that can be used in the training of the next generation robotic surgeons. Today the use of simulators to train surgeons is validated. Price of devices is an obvious barrier for inclusion in the program for training of robotic surgeons, but the lack of this tool will result in a sharp increase in the duration of specialists training.

Robots cut maintenance costs at PSE and G

International Nuclear Information System (INIS)

Roman, H.T.

1992-01-01

This paper reports that teleoperated robots are routinely used for cleaning, sampling, and remote inspections at PSE and G's nuclear and fossil power plants. Robots are rapidly becoming a strategic technology in the electric utility industry. Since 1983, more than 200 applications of these devices have been documented, often resulting in significant time and manpower savings. In nuclear plants, these devices have reduced radiation exposure to human workers. Public Service Electric and Gas Co. (PSE and G) has been evaluating, testing, and applying robotic technology since 1984. The work has been characterized by a two-step approach - interdepartmental task forces identify and assess potential applications, then five-year plans are developed to introduce the technology, apply it, and measure cost effectiveness. Throughout this effort, PSE and G has maintained a strong partnership with robot vendors/developers, making them an integral part of the program. Work on robotics at PSE and G's Salem and Hope Creek plants has been a pioneering effort. From 1987 through 1991, in the company's first five-year plan, it spent $1.6 million on robotic applications. Savings to date exceed $5 million, Figure 1. It is projected that by 1993 the savings will increase to $6-7 million. Applications for the next five-year plan, 1992-1996, are being finalized. These will concentrate on the development of robots for operation and maintenance applications. The first five-year plan concentrated on inspection, surveillance, and monitoring tasks

Optimization of Power Utilization in Multimobile Robot Foraging Behavior Inspired by Honeybees System

Science.gov (United States)

Ahmad, Faisul Arif; Ramli, Abd Rahman; Samsudin, Khairulmizam; Hashim, Shaiful Jahari

2014-01-01

Deploying large numbers of mobile robots which can interact with each other produces swarm intelligent behavior. However, mobile robots are normally running with finite energy resource, supplied from finite battery. The limitation of energy resource required human intervention for recharging the batteries. The sharing information among the mobile robots would be one of the potentials to overcome the limitation on previously recharging system. A new approach is proposed based on integrated intelligent system inspired by foraging of honeybees applied to multimobile robot scenario. This integrated approach caters for both working and foraging stages for known/unknown power station locations. Swarm mobile robot inspired by honeybee is simulated to explore and identify the power station for battery recharging. The mobile robots will share the location information of the power station with each other. The result showed that mobile robots consume less energy and less time when they are cooperating with each other for foraging process. The optimizing of foraging behavior would result in the mobile robots spending more time to do real work. PMID:24949491

3D printing of soft robotic systems

Science.gov (United States)

Wallin, T. J.; Pikul, J.; Shepherd, R. F.

2018-06-01

Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges.

TEXPLORE temporal difference reinforcement learning for robots and time-constrained domains

CERN Document Server

Hester, Todd

2013-01-01

This book presents and develops new reinforcement learning methods that enable fast and robust learning on robots in real-time. Robots have the potential to solve many problems in society, because of their ability to work in dangerous places doing necessary jobs that no one wants or is able to do. One barrier to their widespread deployment is that they are mainly limited to tasks where it is possible to hand-program behaviors for every situation that may be encountered. For robots to meet their potential, they need methods that enable them to learn and adapt to novel situations that they were not programmed for. Reinforcement learning (RL) is a paradigm for learning sequential decision making processes and could solve the problems of learning and adaptation on robots. This book identifies four key challenges that must be addressed for an RL algorithm to be practical for robotic control tasks. These RL for Robotics Challenges are: 1) it must learn in very few samples; 2) it must learn in domains with continuou...

Robots take a hand in inspection, maintenance and repair

International Nuclear Information System (INIS)

Cruickshank, A.

1985-01-01

In the search for better economic performance through higher availability, utilities are beginning to look with interest at the uses of robotics. However, while some routine surveillance jobs may be amenable to existing commercial robot technology, most maintenance and repair tasks are not. A lot of work still needs to be done to develop robotic devices that can be employed effectively in the sometimes congested and inaccessible environments inside containments. (author)

Robots take a hand in inspection, maintenance and repair

Energy Technology Data Exchange (ETDEWEB)

Cruickshank, A

1985-04-01

In the search for better economic performance through higher availability, utilities are beginning to look with interest at the uses of robotics. However, while some routine surveillance jobs may be amenable to existing commercial robot technology, most maintenance and repair tasks are not. A lot of work still needs to be done to develop robotic devices that can be employed effectively in the sometimes congested and inaccessible environments inside containments.

Hybrid Control of Long-Endurance Aerial Robotic Vehicles for Wireless Sensor Networks

Directory of Open Access Journals (Sweden)

Deok-Jin Lee

2011-06-01

Full Text Available This paper presents an effective hybrid control approach for building stable wireless sensor networks between heterogeneous unmanned vehicles using long‐ endurance aerial robotic vehicles. For optimal deployment of the aerial vehicles in communication networks, a gradient climbing based self‐estimating control algorithm is utilized to locate the aerial platforms to maintain maximum communication throughputs between distributed multiple nodes. The autonomous aerial robots, which function as communication relay nodes, extract and harvest thermal energy from the atmospheric environment to improve their flight endurance within specified communication coverage areas. The rapidly‐deployable sensor networks with the high‐endurance aerial vehicles can be used for various application areas including environment monitoring, surveillance, tracking, and decision‐making support. Flight test and simulation studies are conducted to evaluate the effectiveness of the proposed hybrid control technique for robust communication networks.

Experiences with a Barista Robot, FusionBot

Science.gov (United States)

Limbu, Dilip Kumar; Tan, Yeow Kee; Wong, Chern Yuen; Jiang, Ridong; Wu, Hengxin; Li, Liyuan; Kah, Eng Hoe; Yu, Xinguo; Li, Dong; Li, Haizhou

In this paper, we describe the implemented service robot, called FusionBot. The goal of this research is to explore and demonstrate the utility of an interactive service robot in a smart home environment, thereby improving the quality of human life. The robot has four main features: 1) speech recognition, 2) object recognition, 3) object grabbing and fetching and 4) communication with a smart coffee machine. Its software architecture employs a multimodal dialogue system that integrates different components, including spoken dialog system, vision understanding, navigation and smart device gateway. In the experiments conducted during the TechFest 2008 event, the FusionBot successfully demonstrated that it could autonomously serve coffee to visitors on their request. Preliminary survey results indicate that the robot has potential to not only aid in the general robotics but also contribute towards the long term goal of intelligent service robotics in smart home environment.

A Location-Aware Service Deployment Algorithm Based on K-Means for Cloudlets

Directory of Open Access Journals (Sweden)

Tyng-Yeu Liang

2017-01-01

Full Text Available Cloudlet recently was proposed to push data centers towards network edges for reducing the network latency of delivering cloud services to mobile devices. For the sake of user mobility, it is necessary to deploy and hand off services anytime anywhere for achieving the minimal network latency for users’ service requests. However, the cost of this solution usually is too high for service providers and is not effective for resource exploitation. To resolve this problem, we propose a location-aware service deployment algorithm based on K-means for cloudlets in this paper. Simply speaking, the proposed algorithm divides mobile devices into a number of device clusters according to the geographical location of mobile devices and then deploys service instances onto the edge cloud servers nearest to the centers of device clusters. Our performance evaluation has shown that the proposed algorithm can effectively reduce not only the network latency of edge cloud services but also the number of service instances used for satisfying the condition of tolerable network latency.

Robot operating system (ROS) the complete reference

CERN Document Server

The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.   ...

Mechanically-Deployed Hypersonic Decelerator and Conformal Ablator Technologies for Mars Missions

Science.gov (United States)

Venkatapathy, Ethiraj; Wercinski, Paul F.; Beck, Robin A. S.; Hamm, Kenneth R.; Yount, Bryan C.; Makino, A.; Smith, B.; Gage, P.; Prabhu, D.

2012-01-01

The concept of a mechanically deployable hypersonic decelerator, developed initially for high mass (40 MT) human Mars missions, is currently funded by OCT for technology maturation. The ADEPT (Adaptive, Deployable Entry and Placement Technology) project has broad, game-changing applicability to in situ science missions to Venus, Mars, and the Outer Planets. Combined with maturation of conformal ablator technology (another current OCT investment), the two technologies provide unique low mass mission enabling capabilities otherwise not achievable by current rigid aeroshell or by inflatables. If this abstract is accepted, we will present results that illustrate the mission enabling capabilities of the mechanically deployable architecture for: (1) robotic Mars (Discovery or New Frontiers class) in the near term; (2) alternate approaches to landing MSL-class payloads, without the need for supersonic parachute or lifting entry, in the mid-term; and (3) Heavy mass and human missions to Mars in the long term.

Selected Topics in MicroNano-robotics for Biomedical Applications

CERN Document Server

2013-01-01

Selected Topics in Micro/Nano-robotics for Biomedical Applications features a system approach and incorporates modern methodologies in autonomous mobile robots for programmable and controllable micro/nano-robots aiming at biomedical applications. The book provides chapters of instructional materials and cutting-edge research results in micro/nanorobotics for biomedical applications. The book presents new sensing technology on nanofibers, new power supply techniques including miniature fuel cells and energy harvesting devices, and manipulation techniques including AFM-based nano-robotic manipulation, robot-aided optical tweezers, and robot-assisted catheter surgery systems. It also contains case studies on using micro/nano-robots in biomedical environments and in biomedicine, as well as a design example to conceptually develop a Vitamin-pill sized robot to enter human’s gastrointestinal tract. Each chapter covers a different topic of the highly interdisciplinary area. Bring together the selected topics into ...

Robotic-assisted surgery in ophthalmology.

Science.gov (United States)

de Smet, Marc D; Naus, Gerrit J L; Faridpooya, Koorosh; Mura, Marco

2018-05-01

Provide an overview of the current landscape of robotics in ophthalmology, including the pros and cons of system designs, the clinical development path, and the likely future direction of the field. Robots designed for eye surgery should meet certain basic requirements. Three designs are currently being developed: smart surgical tools such as the steady hand, comanipulation devices and telemanipulators using either a fixed or virtual remote center of motion. Successful human intraocular surgery is being performed using the Preceyes surgical system. Another telemanipulation robot, the da Vinci Surgical System, has been used to perform a pterygium repair in humans and was successful in ex-vivo corneal surgery despite its nonophthalmic design. Apart from Preceyes' BV research platform, none of the currently eye-specific systems has reached a commercial stage. Systems are likely to evolve from robotic assistance during specific procedural steps to semiautonomous surgery, as smart sensors are introduced to enhance the basic functionalities of robotic systems. Robotics is still in its infancy in ophthalmology but is rapidly reaching a stage wherein it will be introduced into everyday ophthalmic practice. It will most likely be introduced first for demanding vitreo-retinal procedures, followed by anterior segment applications.

Here today, gone tomorrow: biodegradable soft robots

Science.gov (United States)

Rossiter, Jonathan; Winfield, Jonathan; Ieropoulos, Ioannis

2016-04-01

One of the greatest challenges to modern technologies is what to do with them when they go irreparably wrong or come to the end of their productive lives. The convention, since the development of modern civilisation, is to discard a broken item and then procure a new one. In the 20th century enlightened environmentalists campaigned for recycling and reuse (R and R). R and R has continued to be an important part of new technology development, but there is still a huge problem of non-recyclable materials being dumped into landfill and being discarded in the environment. The challenge is even greater for robotics, a field which will impact on all aspects of our lives, where discards include motors, rigid elements and toxic power supplies and batteries. One novel solution is the biodegradable robot, an active physical machine that is composed of biodegradable materials and which degrades to nothing when released into the environment. In this paper we examine the potential and realities of biodegradable robotics, consider novel solutions to core components such as sensors, actuators and energy scavenging, and give examples of biodegradable robotics fabricated from everyday, and not so common, biodegradable electroactive materials. The realisation of truly biodegradable robots also brings entirely new deployment, exploration and bio-remediation capabilities: why track and recover a few large non-biodegradable robots when you could speculatively release millions of biodegradable robots instead? We will consider some of these exciting developments and explore the future of this new field.

An EMG Interface for the Control of Motion and Compliance of a Supernumerary Robotic Finger

Science.gov (United States)

Hussain, Irfan; Spagnoletti, Giovanni; Salvietti, Gionata; Prattichizzo, Domenico

2016-01-01

In this paper, we propose a novel electromyographic (EMG) control interface to control motion and joints compliance of a supernumerary robotic finger. The supernumerary robotic fingers are a recently introduced class of wearable robotics that provides users additional robotic limbs in order to compensate or augment the existing abilities of natural limbs without substituting them. Since supernumerary robotic fingers are supposed to closely interact and perform actions in synergy with the human limbs, the control principles of extra finger should have similar behavior as human’s ones including the ability of regulating the compliance. So that, it is important to propose a control interface and to consider the actuators and sensing capabilities of the robotic extra finger compatible to implement stiffness regulation control techniques. We propose EMG interface and a control approach to regulate the compliance of the device through servo actuators. In particular, we use a commercial EMG armband for gesture recognition to be associated with the motion control of the robotic device and surface one channel EMG electrodes interface to regulate the compliance of the robotic device. We also present an updated version of a robotic extra finger where the adduction/abduction motion is realized through ball bearing and spur gears mechanism. We have validated the proposed interface with two sets of experiments related to compensation and augmentation. In the first set of experiments, different bimanual tasks have been performed with the help of the robotic device and simulating a paretic hand since this novel wearable system can be used to compensate the missing grasping abilities in chronic stroke patients. In the second set, the robotic extra finger is used to enlarge the workspace and manipulation capability of healthy hands. In both sets, the same EMG control interface has been used. The obtained results demonstrate that the proposed control interface is intuitive and can

User-centered design of a patient’s work station for haptic robot-based telerehabilitation after stroke

Directory of Open Access Journals (Sweden)

Ivanova Ekaterina

2017-03-01

Full Text Available Robotic therapy devices have been an important part of clinical neurological rehabilitation for several years. Until now such devices are only available for patients receiving therapy inside rehabilitation hospitals. Since patients should continue rehabilitation training after hospital discharge at home, intelligent robotic rehab devices could help to achieve this goal. This paper presents therapeutic requirements and early phases of the user-centered design process of the patient’s work station as part of a novel robot-based system for motor telerehabilitation.

New trends in medical and service robots human centered analysis, control and design

CERN Document Server

Chevallereau, Christine; Pisla, Doina; Bleuler, Hannes; Rodić, Aleksandar

2016-01-01

Medical and service robotics integrates several disciplines and technologies such as mechanisms, mechatronics, biomechanics, humanoid robotics, exoskeletons, and anthropomorphic hands. This book presents the most recent advances in medical and service robotics, with a stress on human aspects. It collects the selected peer-reviewed papers of the Fourth International Workshop on Medical and Service Robots, held in Nantes, France in 2015, covering topics on: exoskeletons, anthropomorphic hands, therapeutic robots and rehabilitation, cognitive robots, humanoid and service robots, assistive robots and elderly assistance, surgical robots, human-robot interfaces, BMI and BCI, haptic devices and design for medical and assistive robotics. This book offers a valuable addition to existing literature.

Future of robotic surgery in urology.

Science.gov (United States)

Rassweiler, Jens J; Autorino, Riccardo; Klein, Jan; Mottrie, Alex; Goezen, Ali Serdar; Stolzenburg, Jens-Uwe; Rha, Koon H; Schurr, Marc; Kaouk, Jihad; Patel, Vipul; Dasgupta, Prokar; Liatsikos, Evangelos

2017-12-01

To provide a comprehensive overview of the current status of the field of robotic systems for urological surgery and discuss future perspectives. A non-systematic literature review was performed using PubMed/Medline search electronic engines. Existing patents for robotic devices were researched using the Google search engine. Findings were also critically analysed taking into account the personal experience of the authors. The relevant patents for the first generation of the da Vinci platform will expire in 2019. New robotic systems are coming onto the stage. These can be classified according to type of console, arrangement of robotic arms, handles and instruments, and other specific features (haptic feedback, eye-tracking). The Telelap ALF-X robot uses an open console with eye-tracking, laparoscopy-like handles with haptic feedback, and arms mounted on separate carts; first clinical trials with this system were reported in 2016. The Medtronic robot provides an open console using three-dimensional high-definition video technology and three arms. The Avatera robot features a closed console with microscope-like oculars, four arms arranged on one cart, and 5-mm instruments with six degrees of freedom. The REVO-I consists of an open console and a four-arm arrangement on one cart; the first experiments with this system were published in 2016. Medicaroid uses a semi-open console and three robot arms attached to the operating table. Clinical trials of the SP 1098-platform using the da Vinci Xi for console-based single-port surgery were reported in 2015. The SPORT robot has been tested in animal experiments for single-port surgery. The SurgiBot represents a bedside solution for single-port surgery providing flexible tube-guided instruments. The Avicenna Roboflex has been developed for robotic flexible ureteroscopy, with promising early clinical results. Several console-based robots for laparoscopic multi- and single-port surgery are expected to come to market within the

Programming industrial robots using advanced input-output devices: test-case example using a CAD package and a digital pen based on the Anoto technology

Directory of Open Access Journals (Sweden)

J. Norberto Pires

2007-08-01

Full Text Available Interaction with robot systems for specification of manufacturing tasks and motions needs to be simple, to enable wide-spread use of robots in SMEs. In the best case, existing practices from manual work could be used, to smoothly let current employees start using robot technology as a natural part of their work. Our aim is to simplify the robot programming task by allowing the user to simply make technical drawings on a sheet of paper. Craftsman use paper and raw sketches for several situations; to share ideas, to get a better imagination or to remember the customer situation. Currently these sketches have either to be interpreted by the worker when producing the final product by hand, or transferred into CAD file using an according tool. The former means that no automation is included, the latter means extra work and much experience in using the CAD tool. Our approach is to use the digital pen and paper from Anoto as input devices for SME robotic tasks, thereby creating simpler and more user friendly alternatives for programming, parameterization and commanding actions. To this end, the basic technology has been investigated and fully working prototypes have been developed to explore the possibilities and limitation in the context of typical SME applications. Based on the encouraging experimental results, we believe that drawings on digital paper will, among other means of human-robot interaction, play

Rehabilitation robotics: an academic engineer perspective.

Science.gov (United States)

Krebs, Hermano I

2011-01-01

In this paper, we present a retrospective review of our efforts to revolutionize the way physical medicine is practiced by developing and deploying rehabilitation robots. We present a sample of our clinical results with well over 600 stroke patients, both inpatients and outpatients. We discuss the different robots developed at our laboratory over the past 20 years and their unique characteristics. All are configured both to deliver reproducible interactive therapy and also to measure outcomes with minimal encumbrance, thus providing critical measurement tools to help unravel the key remaining question: what constitutes "best practice"? While success to date indicates that this therapeutic application of robots has opened an emerging new frontier in physical medicine and rehabilitation, the barrier to further progress lies not in developing new hardware but rather in finding the most effective way to enhance neuro-recovery. We close this manuscript discussing some of the tools required for advancing the effort beyond the present state to what we believe will be the central feature of research during the next 10 years.

Mobile Robots in Human Environments

DEFF Research Database (Denmark)

Svenstrup, Mikael

intelligent mobile robotic devices capable of being a more natural and sociable actor in a human environment. More specific the emphasis is on safe and natural motion and navigation issues. First part of the work focus on developing a robotic system, which estimates human interest in interacting......, lawn mowers, toy pets, or as assisting technologies for care giving. If we want robots to be an even larger and more integrated part of our every- day environments, they need to become more intelligent, and behave safe and natural to the humans in the environment. This thesis deals with making...... as being able to navigate safely around one person, the robots must also be able to navigate in environments with more people. This can be environments such as pedestrian streets, hospital corridors, train stations or airports. The developed human-aware navigation strategy is enhanced to formulate...

A Robot with Complex Facial Expressions

Directory of Open Access Journals (Sweden)

J. Takeno

2009-08-01

Full Text Available The authors believe that the consciousness of humans basically originates from languages and their association-like flow of consciousness, and that feelings are generated accompanying respective languages. We incorporated artificial consciousness into a robot; achieved an association flow of language like flow of consciousness; and developed a robot called Kansei that expresses its feelings according to the associations occurring in the robot. To be able to fully communicate with humans, robots must be able to display complex expressions, such as a sense of being thrilled. We therefore added to the Kansei robot a device to express complex feelings through its facial expressions. The Kansei robot is actually an artificial skull made of aluminum, with servomotors built into it. The face is made of relatively soft polyethylene, which is formed to appear like a human face. Facial expressions are generated using 19 servomotors built into the skull, which pull metal wires attached to the facial “skin” to create expressions. The robot at present is capable of making six basic expressions as well as complex expressions, such as happiness and fear combined.

Introducing autonomy to robotic manipulators in the nuclear industry

International Nuclear Information System (INIS)

Boddy, C.L.; Webster, A.W.

1991-01-01

The National Advanced Robotics Research Centre was set up in 1988 to provide a forum for the development and transfer to industry of the technology of Advanced Robotics. In the area of robot manipulators, research has been carried out into increasing the low-level autonomy of such devices e.g. reactive collision avoidance, gross base disturbance rejection. This groundwork has proven the feasibility of using advanced control concepts in robotic manipulators, and, indeed, indicated new areas of robot kinematic design which can now be successfully exploited. Within the newly defined BNFL Integrated Robotics Programme a number of joint projects have been defined to demonstrate this technology in realistic environments, including the use of advanced interactive computer simulation and kinematically redundant manipulators. (author)

Development of robotic mobile platform with the universal chassis system

Science.gov (United States)

Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

2018-02-01

The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

A Review on Sensor Network Issues and Robotics

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Ji Hyoung Ryu

2015-01-01

Full Text Available The interaction of distributed robotics and wireless sensor networks has led to the creation of mobile sensor networks. There has been an increasing interest in building mobile sensor networks and they are the favored class of WSNs in which mobility plays a key role in the execution of an application. More and more researches focus on development of mobile wireless sensor networks (MWSNs due to its favorable advantages and applications. In WSNs robotics can play a crucial role, and integrating static nodes with mobile robots enhances the capabilities of both types of devices and enables new applications. In this paper we present an overview on mobile sensor networks in robotics and vice versa and robotic sensor network applications.

CIRSE Vascular Closure Device Registry

Science.gov (United States)

Müller-Hülsbeck, Stefan; Libicher, Martin; Atar, Eli; Trentmann, Jens; Goffette, Pierre; Borggrefe, Jan; Zeleňák, Kamil; Hooijboer, Pieter; Belli, Anna-Maria

2010-01-01

Purpose Vascular closure devices are routinely used after many vascular interventional radiology procedures. However, there have been no major multicenter studies to assess the safety and effectiveness of the routine use of closure devices in interventional radiology. Methods The CIRSE registry of closure devices with an anchor and a plug started in January 2009 and ended in August 2009. A total of 1,107 patients were included in the registry. Results Deployment success was 97.2%. Deployment failure specified to access type was 8.8% [95% confidence interval (95% CI) 5.0–14.5] for antegrade access and 1.8% (95% CI 1.1–2.9) for retrograde access (P = 0.001). There was no difference in deployment failure related to local PVD at the access site. Calcification was a reason for deployment failure in only 5.9 cm, and two vessel occlusions. Conclusion The conclusion of this registry of closure devices with an anchor and a plug is that the use of this device in interventional radiology procedures is safe, with a low incidence of serious access site complications. There seems to be no difference in complications between antegrade and retrograde access and other parameters. PMID:20981425

Device for Automated Cutting and Transfer of Plant Shoots

Science.gov (United States)

Cipra, Raymond; Das, Hari; Ali, Khaled; Hong, Dennis

2003-01-01

A device that enables the automated cutting and transfer of plant shoots is undergoing development for use in the propagation of plants in a nursery or laboratory. At present, it is standard practice for a human technician to use a knife and forceps to cut, separate, and grasp a plant shoot. The great advantage offered by the present device is that its design and operation are simpler than would be those of a device based on the manual cutting/separation/grasping procedure. [The present device should not be confused with a prior device developed for partly the same purpose and described in Compliant Gripper for a Robotic Manipulator (NPO-21104), NASA Tech Briefs, Vol. 27, No. 3 (March 2003), page 59.]. The device (see figure) includes a circular tube sharpened at its open (lower) end and mounted on a robotic manipulator at its closed (upper) end. The robotic manipulator simply pushes the sharpened open end of the tube down onto a bed of plants and rotates a few degrees clockwise then counterclockwise about the vertical axis, causing the tube to cut a cylindrical plug of plant material. Exploiting the natural friction between the tube and plug, the tube retains the plug, without need for a gripping mechanism and control. The robotic manipulator then retracts the tube, translates it to a new location over a plant-growth tray, and inserts the tube part way into the growth medium at this location in the tray. A short burst of compressed air is admitted to the upper end of the tube to eject the plug of plant material and drive it into the growth medium. A prototype has been tested and verified to function substantially as intended. It is projected that in the fully developed robotic plant-propagation system, the robot control system would include a machine- vision subsystem that would automatically guide the robotic manipulator in choosing the positions from which to cut plugs of plant material. Planned further development efforts also include more testing and

ANDROID BASED TELEOPERATION FOR THE FINCH ROBOT

Directory of Open Access Journals (Sweden)

Oliver Faust

2016-09-01

Full Text Available The act of creating a robot involves systems engineering and creative problem solutions. It is about using established components to create a system that works in the natural or at least in the human environment. The current project is no exception, we have used the Robot Operating System (ROS to create an android based teleoperator application for the Finch robot. A Raspberry Pi processing platform establishes the link between the android device and the Finch robot. The most creative task, during the system design, was to translate the commands from the teleoperator application into wheel movements of the Finch robot. The translation must take into account the physical setup of the robot, including unintended negative influences, such as drag. The command translation involved a nonlinear coordinate transformation. The ROS framework enabled us to focus on that nonstandard coordinate translation task by offering a high level of abstraction and the ability to create component functionalities independently.

A motion sensing-based framework for robotic manipulation.

Science.gov (United States)

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

A Review of Mobile Robotic Telepresence

Directory of Open Access Journals (Sweden)

Annica Kristoffersson

2013-01-01

Full Text Available Mobile robotic telepresence (MRP systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.

Bio-inspired motion planning algorithms for autonomous robots facilitating greater plasticity for security applications

Science.gov (United States)

Guo, Yi; Hohil, Myron; Desai, Sachi V.

2007-10-01

Proposed are techniques toward using collaborative robots for infrastructure security applications by utilizing them for mobile sensor suites. A vast number of critical facilities/technologies must be protected against unauthorized intruders. Employing a team of mobile robots working cooperatively can alleviate valuable human resources. Addressed are the technical challenges for multi-robot teams in security applications and the implementation of multi-robot motion planning algorithm based on the patrolling and threat response scenario. A neural network based methodology is exploited to plan a patrolling path with complete coverage. Also described is a proof-of-principle experimental setup with a group of Pioneer 3-AT and Centibot robots. A block diagram of the system integration of sensing and planning will illustrate the robot to robot interaction to operate as a collaborative unit. The proposed approach singular goal is to overcome the limits of previous approaches of robots in security applications and enabling systems to be deployed for autonomous operation in an unaltered environment providing access to an all encompassing sensor suite.

Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface

OpenAIRE

Blomdell, Anders; Bolmsjö, Gunnar; Brogårdh, Torgny; Cederberg, Per; Isaksson, Mats; Johansson, Rolf; Haage, Mathias; Nilsson, Klas; Olsson, Magnus; Olsson, Tomas; Robertsson, Anders; Wang, Jianjun

2005-01-01

Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that w...

Design and implementation air quality monitoring robot

Science.gov (United States)

Chen, Yuanhua; Li, Jie; Qi, Chunxue

2017-01-01

Robot applied in environmental protection can break through the limitations in working environment, scope and mode of the existing environmental monitoring and pollution abatement equipments, which undertake the innovation and improvement in the basin, atmosphere, emergency and pollution treatment facilities. Actually, the relevant technology is backward with limited research and investment. Though the device companies have achieved some results in the study on the water quality monitoring, pipeline monitoring and sewage disposal, this technological progress on the whole is still much slow, and the mature product has not been formed. As a result, the market urges a demand of a new type of device which is more suitable for environmental protection on the basis of robot successfully applied in other fields. This paper designs and realizes a tracked mobile robot of air quality monitoring, which can be used to monitor air quality for the pollution accident in industrial parks and regular management.

Autonomous stair-climbing with miniature jumping robots.

Science.gov (United States)

Stoeter, Sascha A; Papanikolopoulos, Nikolaos

2005-04-01

The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Automatic Battery Swap System for Home Robots

Directory of Open Access Journals (Sweden)

Juan Wu

2012-12-01

Full Text Available This paper presents the design and implementation of an automatic battery swap system for the prolonged activities of home robots. A battery swap station is proposed to implement battery off-line recharging and on-line exchanging functions. It consists of a loading and unloading mechanism, a shifting mechanism, a locking device and a shell. The home robot is a palm-sized wheeled robot with an onboard camera and a removable battery case in the front. It communicates with the battery swap station wirelessly through ZigBee. The influences of battery case deflection and robot docking deflection on the battery swap operations have been investigated. The experimental results show that it takes an average time of 84.2s to complete the battery swap operations. The home robot does not have to wait several hours for the batteries to be fully charged. The proposed battery swap system is proved to be efficient in home robot applications that need the robots to work continuously over a long period.

Electroencephalography (EEG) Based Control in Assistive Mobile Robots: A Review

International Nuclear Information System (INIS)

Krishnan, N Murali; Mariappan, Muralindran; Muthukaruppan, Karthigayan; Hijazi, Mohd Hanafi Ahmad; Kitt, Wong Wei

2016-01-01

Recently, EEG based control in assistive robot usage has been gradually increasing in the area of biomedical field for giving quality and stress free life for disabled and elderly people. This study reviews the deployment of EGG based control in assistive robots, especially for those who in need and neurologically disabled. The main objective of this paper is to describe the methods used for (i) EEG data acquisition and signal preprocessing, (ii) feature extraction and (iii) signal classification methods. Besides that, this study presents the specific research challenges in the designing of these control systems and future research directions. (paper)

Acceptance of an assistive robot in older adults: a mixed-method study of human–robot interaction over a 1-month period in the Living Lab setting

Science.gov (United States)

Wu, Ya-Huei; Wrobel, Jérémy; Cornuet, Mélanie; Kerhervé, Hélène; Damnée, Souad; Rigaud, Anne-Sophie

2014-01-01

Background There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot. Subjects and methods Six older adults with mild cognitive impairment (MCI) and five cognitively intact healthy (CIH) older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used. Results Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults’ uneasiness with technology, feeling of stigmatization, and ethical/societal issues associated with robot use. Conclusion It is important to destigmatize images of assistive robots to facilitate their acceptance. Universal design aiming to increase the market for and production of products that are usable by everyone (to the greatest extent possible) might help to

A pilot study of robotic-assisted exercise for hand weakness after stroke.

Science.gov (United States)

Stein, Joel; Bishop, Joel; Gillen, Glen; Helbok, Raimund

2011-01-01

Upper limb paresis is a major source of disability in stroke survivors, and robotic aided exercise therapy is a promising approach to enhance motor abilities. Few devices have been available to provide robotic therapy to the fingers and hand. We report an open-label pilot study of 12 individuals with chronic moderate hemiparesis after stroke who underwent a six-week training program using a hand robotic device. Participants received a total of 18 hours of robotic therapy. Improvements were found in multiple measures of motor performance, including the Upper Extremity Fugl-Meyer, the Motor Activity Log, the Manual Ability Measure-36, and the Jebsen Hand Function Test. All subjects tolerated the treatment well and no complications were observed. We conclude that robotic therapy for hand paresis after stroke is safe and feasible, and that further studies of efficacy are justified by these preliminary results. © 2011 IEEE

4th IFToMM International Symposium on Robotics and Mechatronics

CERN Document Server

Laribi, Med; Gazeau, Jean-Pierre

2016-01-01

This volume contains papers that have been selected after review for oral presentation at ISRM 2015, the Fourth IFToMM International Symposium on Robotics and Mechatronics held in Poitiers, France 23-24 June 2015. These papers  provide a vision of the evolution of the disciplines of robotics and mechatronics, including but not limited to: mechanism design; modeling and simulation; kinematics and dynamics of multibody systems; control methods; navigation and motion planning; sensors and actuators; bio-robotics; micro/nano-robotics; complex robotic systems; walking machines, humanoids-parallel kinematic structures: analysis and synthesis; smart devices; new design; application and prototypes. The book can be used by researchers and engineers in the relevant areas of robotics and mechatronics.

A trend of robotics in nuclear facilities

International Nuclear Information System (INIS)

Nakayama, Ryoichi

1993-01-01

In order to operate stably nuclear power stations, the periodic inspection determined by the law has been carried out once every year in Japan. For reducing the radiation exposure of workers and improving work efficiency and work quality, the automation and the use of robots have been promoted. Also in fuel reprocessing plants and the facilities for storing radioactive wastes, the remotely operated devices for handling uranium and plutonium are indispensable. The course of the development of the robots for nuclear power plants classified by ages is shown. The research and development have been advanced from special automatic machines of first generation since 1965, through versatile robots of second generation since 1980 to intellectual robots of third generation since 1985. Automatic fuel exchanger, control rod moving mechanism and the ultrasonic flaw detector for pipings are those of first generation. As those of second generation, various movable inspection robots and the manipulators for them were developed. The ultimate working robot completed in 1990 is that of third generation. As the trend of the practical use, monorail type inspection robots and underwater inspection robots and various manipulators are reported. (K.I.)

Developing glovebox robotics to meet the national robot safety standard and nuclear safety criteria

International Nuclear Information System (INIS)

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

1991-09-01

Development of a glove box based robotic system by the Lawrence Livermore National Laboratory (LLNL) is reported. Safety issues addressed include planning to meet the special constraints of operations within a hazardous material glove box and with hostile environments, compliance with the current and draft national robotic system safety standards, and eventual satisfaction of nuclear material handling requirements. Special attention has been required for the revision to the robot and control system models which antedate adoption of the present national safety standard. A robotic test bed, using non-radioactive surrogates is being activated at the Lawrence Livermore National Laboratory to develop the material handling system and the process interfaces for future special nuclear material processing applications. Part of this effort is to define, test, and revise adequate safety controls to ensure success when the system is eventually deployed at a DOE site. The current system is primarily for demonstration and testing, but will evolve into the baseline configuration from which the production system is to be derived. This results in special hazards associated with research activities which may not be present on a production line. Nuclear safety is of paramount importance and has been successfully addressed for 50 years in the DOE weapons production complex. It carries its particular requirements for robot systems and manual operations, as summarized below: Criticality must be avoided (materials cannot consolidate or accumulate to approach a critical mass). Radioactive materials must be confined. The public and workers must be protected from accountable radiation exposure. Nuclear material must be readily retrievable. Nuclear safety must be conclusively demonstrated through hazards analysis. 7 refs

Augmented Robotics Dialog System for Enhancing Human–Robot Interaction

Science.gov (United States)

Alonso-Martín, Fernando; Castro-González, Aívaro; de Gorostiza Luengo, Francisco Javier Fernandez; Salichs, Miguel Ángel

2015-01-01

Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human–robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text; and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human–robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications. PMID:26151202

Rapid world modelling for robotics

International Nuclear Information System (INIS)

Littile, C.Q.; Wilson, C.W.

1996-01-01

The ability to use an interactive world model, whether it is for robotics simulation or most other virtual graphical environments, relies on the users ability to create an accurate world model. Typically this is a tedious process, requiring many hours to create 3-D CAD models of the surfaces within a workspace. The goal of this ongoing project is to develop usable methods to rapidly build world models of real world workspaces. This brings structure to an unstructured environment and allows graphical based robotics control to be accomplished in a reasonable time frame when traditional CAD modelling is not enough. To accomplish this, 3D range sensors are deployed to capture surface data within the workspace. This data is then transformed into surface maps, or models. A 3D world model of the workspace is built quickly and accurately, without ever having to put people in the environment

Control desacoplado de un actuador de rigidez variable para robots asistenciales

Directory of Open Access Journals (Sweden)

J. Medina

2016-01-01

Full Text Available Resumen: Los actuadores de rigidez variable son dispositivos que permiten cambiar la posición y rigidez articular de un robot en forma simultánea. En los últimos años se han diseñado y desarrollado muchos dispositivos de este tipo, con la esperanza de favorecer la seguridad en la interacción humano-robot y mejorar el rendimiento dinámico de los robots. En este artículo se presenta el desarrollo de un controlador para un actuador de rigidez variable de configuración serie. La estrategia de control se basa en la linealización por realimentación y el ajuste de dos controladores lineales. Esta estrategia permite el seguimiento de referencias de posición y rigidez articular de forma simultánea y desacoplada. Además, se realizan simulaciones en las que se incorpora este dispositivo dentro del robot asistencial ASIBOT, a fin de evaluar el desempeño del controlador, los cambios en la dinámica del robot y las posibles ventajas que tendrá la inclusión del mismo a nivel de seguridad en la interacción física humano-robot. Abstract: The variable stiffness actuators are devices that change the position and stiffness of a robot simultaneously. In recent years have been designed and developed many devices of this type, hoping to ensure safety in human-robot interaction and improve the dynamic performance of robots. In this article, we present the control of a variable stiffness actuator with serial configuration. The control strategy is based on feedback linearization and adjustment of two linear controllers. This allows the control, independently, of the stiffness and the equilibrium position of the joint. Finally, the behavior of this device within the assistive robot ASIBOT, is simulated in order to assess: the controller performance, changes in the dynamics of the robot and possible advantages of a level of safety during physical interaction human-robot. Palabras clave: control de robot

Robotic training and kinematic analysis of arm and hand after incomplete spinal cord injury: a case study.

Science.gov (United States)

Kadivar, Z; Sullivan, J L; Eng, D P; Pehlivan, A U; O'Malley, M K; Yozbatiran, N; Francisco, G E

2011-01-01

Regaining upper extremity function is the primary concern of persons with tetraplegia caused by spinal cord injury (SCI). Robotic rehabilitation has been inadequately tested and underutilized in rehabilitation of the upper extremity in the SCI population. Given the acceptance of robotic training in stroke rehabilitation and SCI gait training, coupled with recent evidence that the spinal cord, like the brain, demonstrates plasticity that can be catalyzed by repetitive movement training such as that available with robotic devices, it is probable that robotic upper-extremity training of persons with SCI could be clinically beneficial. The primary goal of this pilot study was to test the feasibility of using a novel robotic device for the upper extremity (RiceWrist) and to evaluate robotic rehabilitation using the RiceWrist in a tetraplegic person with incomplete SCI. A 24-year-old male with incomplete SCI participated in 10 sessions of robot-assisted therapy involving intensive upper limb training. The subject successfully completed all training sessions and showed improvements in movement smoothness, as well as in the hand function. Results from this study provide valuable information for further developments of robotic devices for upper limb rehabilitation in persons with SCI. © 2011 IEEE

Robotic Prostate Biopsy in Closed MRI Scanner

National Research Council Canada - National Science Library

Fischer, Gregory

2008-01-01

.... This work enables prostate brachytherapy and biopsy procedures in standard high-field diagnostic MRI scanners through the development of a robotic needle placement device specifically designed...

A Grammatical Approach to the Modeling of an Autonomous Robot

Directory of Open Access Journals (Sweden)

Gabriel López-García

2012-06-01

Full Text Available Virtual Worlds Generator is a grammatical model that is proposed to define virtual worlds. It integrates the diversity of sensors and interaction devices, multimodality and a virtual simulation system. Its grammar allows the definition and abstraction in symbols strings of the scenes of the virtual world, independently of the hardware that is used to represent the world or to interact with it. A case study is presented to explain how to use the proposed model to formalize a robot navigation system with multimodal perception and a hybrid control scheme of the robot. The result is an instance of the model grammar that implements the robotic system and is independent of the sensing devices used for perception and interaction. As a conclusion the Virtual Worlds Generator adds value in the simulation of virtual worlds since the definition can be done formally and independently of the peculiarities of the supporting devices

A remote assessment system with a vision robot and wearable sensors.

Science.gov (United States)

Zhang, Tong; Wang, Jue; Ren, Yumiao; Li, Jianjun

2004-01-01

This paper describes an ongoing researched remote rehabilitation assessment system that has a 6-freedom double-eyes vision robot to catch vision information, and a group of wearable sensors to acquire biomechanical signals. A server computer is fixed on the robot, to provide services to the robot's controller and all the sensors. The robot is connected to Internet by wireless channel, and so do the sensors to the robot. Rehabilitation professionals can semi-automatically practise an assessment program via Internet. The preliminary results show that the smart device, including the robot and the sensors, can improve the quality of remote assessment, and reduce the complexity of operation at a distance.

Innovative Robot Archetypes for In-Space Construction and Maintenance

Science.gov (United States)

Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling Joshua; Brigwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Christopher

2005-01-01

The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

A receptionist robot for Brazilian people: study on interaction involving illiterates

Directory of Open Access Journals (Sweden)

Trovato Gabriele

2017-04-01

Full Text Available The receptionist job, consisting in providing useful indications to visitors in a public office, is one possible employment of social robots. The design and the behaviour of robots expected to be integrated in human societies are crucial issues, and they are dependent on the culture and society in which the robot should be deployed. We study the factors that could be used in the design of a receptionist robot in Brazil, a country with a mix of races and considerable gaps in economic and educational level. This inequality results in the presence of functional illiterate people, unable to use reading, writing and numeracy skills. We invited Brazilian people, including a group of functionally illiterate subjects, to interact with two types of receptionists differing in physical appearance (agent v mechanical robot and in the sound of the voice (human like v mechanical. Results gathered during the interactions point out a preference for the agent, for the human-like voice and a more intense reaction to stimuli by illiterates. These results provide useful indications that should be considered when designing a receptionist robot, as well as insights on the effect of illiteracy in the interaction.

Cyclone: A laser scanner for mobile robot navigation

Science.gov (United States)

Singh, Sanjiv; West, Jay

1991-09-01

Researchers at Carnegie Mellon's Field Robotics Center have designed and implemented a scanning laser rangefinder. The device uses a commercially available time-of-flight ranging instrument that is capable of making up to 7200 measurements per second. The laser beam is reflected by a rotating mirror, producing up to a 360 degree view. Mounted on a robot vehicle, the scanner can be used to detect obstacles in the vehicle's path or to locate the robot on a map. This report discusses the motivation, design, and some applications of the scanner.

Ultrasound probe and needle-guide calibration for robotic ultrasound scanning and needle targeting.

Science.gov (United States)

Kim, Chunwoo; Chang, Doyoung; Petrisor, Doru; Chirikjian, Gregory; Han, Misop; Stoianovici, Dan

2013-06-01

Image-to-robot registration is a typical step for robotic image-guided interventions. If the imaging device uses a portable imaging probe that is held by a robot, this registration is constant and has been commonly named probe calibration. The same applies to probes tracked by a position measurement device. We report a calibration method for 2-D ultrasound probes using robotic manipulation and a planar calibration rig. Moreover, a needle guide that is attached to the probe is also calibrated for ultrasound-guided needle targeting. The method is applied to a transrectal ultrasound (TRUS) probe for robot-assisted prostate biopsy. Validation experiments include TRUS-guided needle targeting accuracy tests. This paper outlines the entire process from the calibration to image-guided targeting. Freehand TRUS-guided prostate biopsy is the primary method of diagnosing prostate cancer, with over 1.2 million procedures performed annually in the U.S. alone. However, freehand biopsy is a highly challenging procedure with subjective quality control. As such, biopsy devices are emerging to assist the physician. Here, we present a method that uses robotic TRUS manipulation. A 2-D TRUS probe is supported by a 4-degree-of-freedom robot. The robot performs ultrasound scanning, enabling 3-D reconstructions. Based on the images, the robot orients a needle guide on target for biopsy. The biopsy is acquired manually through the guide. In vitro tests showed that the 3-D images were geometrically accurate, and an image-based needle targeting accuracy was 1.55 mm. These validate the probe calibration presented and the overall robotic system for needle targeting. Targeting accuracy is sufficient for targeting small, clinically significant prostatic cancer lesions, but actual in vivo targeting will include additional error components that will have to be determined.

Shape memory alloy fracture as a deployment actuator

International Nuclear Information System (INIS)

Buban, Darrick M; Frantziskonis, George N

2013-01-01

The paper reports an experimental investigation into using shape memory alloy (SMA) as a deployment actuator. SMA specimens were heated and pulled to failure or pulled and heated to failure, thus developing an environmental and structural operating envelope for application as deployment mechanisms. The experimental results strongly suggest that SMAs can be implemented as deployment actuators. Recorded data shows that SMA fracture is possible over a wide range of temperatures and strains, filling a material performance gap not found in the literature. The obtained information allows design engineers to appropriately size SMAs given the design requirements for achieving the desired deployment effects. The major conclusion of the reported work is that SMAs as actuators are strong competitors to typical existing deployment efforts that use explosive or non-explosive actuators having implementation drawbacks such as the expense associated with special handling and the volume encountered in mounting the devices. (paper)

Design of multifunction anti-terrorism robotic system based on police dog

Science.gov (United States)

You, Bo; Liu, Suju; Xu, Jun; Li, Dongjie

2007-11-01

Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system combines police dogs' biological intelligence with micro robot. Not only does it avoid the complexity of general anti-terrorism robots' mechanical structure and the control algorithm, but it also widens the working scope of police dog, which meets the requirements of anti-terrorism in the new era.

Robotics to enable older adults to remain living at home.

Science.gov (United States)

Pearce, Alan J; Adair, Brooke; Miller, Kimberly; Ozanne, Elizabeth; Said, Catherine; Santamaria, Nick; Morris, Meg E

2012-01-01

Given the rapidly ageing population, interest is growing in robots to enable older people to remain living at home. We conducted a systematic review and critical evaluation of the scientific literature, from 1990 to the present, on the use of robots in aged care. The key research questions were as follows: (1) what is the range of robotic devices available to enable older people to remain mobile, independent, and safe? and, (2) what is the evidence demonstrating that robotic devices are effective in enabling independent living in community dwelling older people? Following database searches for relevant literature an initial yield of 161 articles was obtained. Titles and abstracts of articles were then reviewed by 2 independent people to determine suitability for inclusion. Forty-two articles met the criteria for question 1. Of these, 4 articles met the criteria for question 2. Results showed that robotics is currently available to assist older healthy people and people with disabilities to remain independent and to monitor their safety and social connectedness. Most studies were conducted in laboratories and hospital clinics. Currently limited evidence demonstrates that robots can be used to enable people to remain living at home, although this is an emerging smart technology that is rapidly evolving.

Robotics to Enable Older Adults to Remain Living at Home

Directory of Open Access Journals (Sweden)

Alan J. Pearce

2012-01-01

Full Text Available Given the rapidly ageing population, interest is growing in robots to enable older people to remain living at home. We conducted a systematic review and critical evaluation of the scientific literature, from 1990 to the present, on the use of robots in aged care. The key research questions were as follows: (1 what is the range of robotic devices available to enable older people to remain mobile, independent, and safe? and, (2 what is the evidence demonstrating that robotic devices are effective in enabling independent living in community dwelling older people? Following database searches for relevant literature an initial yield of 161 articles was obtained. Titles and abstracts of articles were then reviewed by 2 independent people to determine suitability for inclusion. Forty-two articles met the criteria for question 1. Of these, 4 articles met the criteria for question 2. Results showed that robotics is currently available to assist older healthy people and people with disabilities to remain independent and to monitor their safety and social connectedness. Most studies were conducted in laboratories and hospital clinics. Currently limited evidence demonstrates that robots can be used to enable people to remain living at home, although this is an emerging smart technology that is rapidly evolving.

Some considerations on robotics for environmental friendliness

International Nuclear Information System (INIS)

Pin, F.G.

1993-01-01

This paper presents a series of considerations regarding the use and potential of robotic devices for supporting humans in a variety of tasks, while maintaining, if not improving, environmental friendliness. One of the main considerations brought forward here relates to the type of human-support functions which the robots are, or will be, expected to perform, and from this, a clear differentiation appears between robots designed to replace humans in environments that were engineered in the past for best human functionality, and robots designed to take functions in the future, in environments which could be better engineered for large-scale human-robot synergy. Other considerations discussed involve the ''life-cycle'' cleanliness of robotic systems, including the materials needs for their construction, their operation, their disposal and, more importantly, their energy consumption which will impact the cycle of natural resources utilization. These considerations are discussed using a variety of possible robotic systems applications in contexts varied as manufacturing, energy recovery and production, emergency situations handling, traffic improvement, waste management, agriculture, and space exploration. In all these applications, the operation costs and complexity of the robots seem to vary in inverse proportion to the amount of engineering that is feasible to make the task environment more robot-friendly, but with no seemingly direct impact on the potential for environmental friendliness of the robots

Some considerations on robotics for environmental friendliness

Energy Technology Data Exchange (ETDEWEB)

Pin, F.G.

1993-12-01

This paper presents a series of considerations regarding the use and potential of robotic devices for supporting humans in a variety of tasks, while maintaining, if not improving, environmental friendliness. One of the main considerations brought forward here relates to the type of human-support functions which the robots are, or will be, expected to perform, and from this, a clear differentiation appears between robots designed to replace humans in environments that were engineered in the past for best human functionality, and robots designed to take functions in the future, in environments which could be better engineered for large-scale human-robot synergy. Other considerations discussed involve the ``life-cycle`` cleanliness of robotic systems, including the materials needs for their construction, their operation, their disposal and, more importantly, their energy consumption which will impact the cycle of natural resources utilization. These considerations are discussed using a variety of possible robotic systems applications in contexts varied as manufacturing, energy recovery and production, emergency situations handling, traffic improvement, waste management, agriculture, and space exploration. In all these applications, the operation costs and complexity of the robots seem to vary in inverse proportion to the amount of engineering that is feasible to make the task environment more robot-friendly, but with no seemingly direct impact on the potential for environmental friendliness of the robots.

A Magnetic Resonance Compatible Soft Wearable Robotic Glove for Hand Rehabilitation and Brain Imaging.

Science.gov (United States)

Hong Kai Yap; Kamaldin, Nazir; Jeong Hoon Lim; Nasrallah, Fatima A; Goh, James Cho Hong; Chen-Hua Yeow

2017-06-01

In this paper, we present the design, fabrication and evaluation of a soft wearable robotic glove, which can be used with functional Magnetic Resonance imaging (fMRI) during the hand rehabilitation and task specific training. The soft wearable robotic glove, called MR-Glove, consists of two major components: a) a set of soft pneumatic actuators and b) a glove. The soft pneumatic actuators, which are made of silicone elastomers, generate bending motion and actuate finger joints upon pressurization. The device is MR-compatible as it contains no ferromagnetic materials and operates pneumatically. Our results show that the device did not cause artifacts to fMRI images during hand rehabilitation and task-specific exercises. This study demonstrated the possibility of using fMRI and MR-compatible soft wearable robotic device to study brain activities and motor performances during hand rehabilitation, and to unravel the functional effects of rehabilitation robotics on brain stimulation.

Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance

Directory of Open Access Journals (Sweden)

Anil K. Raj

2011-01-01

Full Text Available While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC has developed the Mina, a prototype sensorimotor robotic orthosis for mobility assistance that provides mobility capability for paraplegic and paraparetic users. This paper describes the initial concept, design goals, and methods of this wearable overground robotic mobility device, which uses compliant actuation to power the hip and knee joints. Paralyzed users can balance and walk using the device over level terrain with the assistance of forearm crutches employing a quadrupedal gait. We have initiated sensory substitution feedback mechanisms to augment user sensory perception of his or her lower extremities. Using this sensory feedback, we hypothesize that users will ambulate with a more natural, upright gait and will be able to directly control the gait parameters and respond to perturbations. This may allow bipedal (with minimal support gait in future prototypes.

Active Elastic Skins for Soft Robotics

Data.gov (United States)

National Aeronautics and Space Administration — The use of the word robotic implies a rigid, bulky, and complex device. However, a confluence of factors now makes it possible to shed this stereotype and build...

Use of Lower-Limb Robotics to Enhance Practice and Participation in Individuals With Neurological Conditions.

Science.gov (United States)

Jayaraman, Arun; Burt, Sheila; Rymer, William Zev

2017-07-01

To review lower-limb technology currently available for people with neurological disorders, such as spinal cord injury, stroke, or other conditions. We focus on 3 emerging technologies: treadmill-based training devices, exoskeletons, and other wearable robots. Efficacy for these devices remains unclear, although preliminary data indicate that specific patient populations may benefit from robotic training used with more traditional physical therapy. Potential benefits include improved lower-limb function and a more typical gait trajectory. Use of these devices is limited by insufficient data, cost, and in some cases size of the machine. However, robotic technology is likely to become more prevalent as these machines are enhanced and able to produce targeted physical rehabilitation. Therapists should be aware of these technologies as they continue to advance but understand the limitations and challenges posed with therapeutic/mobility robots.

A highly articulated robotic surgical system for minimally invasive surgery.

Science.gov (United States)

Ota, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; McGarvey, Jeremy; Choset, Howie; Zenati, Marco A

2009-04-01

We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation. CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field. In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional ("linear") left atrial ablation was successfully achieved without complications. Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.

Application requirements for Robotic Nursing Assistants in hospital environments

Science.gov (United States)

Cremer, Sven; Doelling, Kris; Lundberg, Cody L.; McNair, Mike; Shin, Jeongsik; Popa, Dan

2016-05-01

In this paper we report on analysis toward identifying design requirements for an Adaptive Robotic Nursing Assistant (ARNA). Specifically, the paper focuses on application requirements for ARNA, envisioned as a mobile assistive robot that can navigate hospital environments to perform chores in roles such as patient sitter and patient walker. The role of a sitter is primarily related to patient observation from a distance, and fetching objects at the patient's request, while a walker provides physical assistance for ambulation and rehabilitation. The robot will be expected to not only understand nurse and patient intent but also close the decision loop by automating several routine tasks. As a result, the robot will be equipped with sensors such as distributed pressure sensitive skins, 3D range sensors, and so on. Modular sensor and actuator hardware configured in the form of several multi-degree-of-freedom manipulators, and a mobile base are expected to be deployed in reconfigurable platforms for physical assistance tasks. Furthermore, adaptive human-machine interfaces are expected to play a key role, as they directly impact the ability of robots to assist nurses in a dynamic and unstructured environment. This paper discusses required tasks for the ARNA robot, as well as sensors and software infrastructure to carry out those tasks in the aspects of technical resource availability, gaps, and needed experimental studies.

First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping.

Science.gov (United States)

Fuerst, Bernhard; Sprung, Julian; Pinto, Francisco; Frisch, Benjamin; Wendler, Thomas; Simon, Hervé; Mengus, Laurent; van den Berg, Nynke S; van der Poel, Henk G; van Leeuwen, Fijs W B; Navab, Nassir

2016-03-01

In this paper we present the usage of a drop-in gamma probe for intra-operative Single-Photon Emission Computed Tomography (SPECT) imaging in the scope of minimally invasive robot-assisted interventions. The probe is designed to be inserted and reside inside the abdominal cavity during the intervention. It is grasped during the procedure using a robotic laparoscopic gripper enabling full six degrees of freedom handling by the surgeon. We demonstrate the first deployment of the tracked probe for intra-operative in-patient robotic SPECT enabling augmented-reality image guidance. The hybrid mechanical- and image-based in-patient probe tracking is shown to have an accuracy of 0.2 mm. The overall system performance is evaluated and tested with a phantom for gynecological sentinel lymph node interventions and compared to ground-truth data yielding a mean reconstruction accuracy of 0.67 mm.

Optimised design and development of a bio-medical healthcare device through quality function deployment (QFD).

Science.gov (United States)

Sharma, Jitendra

2012-01-01

Technology is major stimulus for change and is imbibed in various forms; especially in the field of medical devices and bio-medical instruments used in life and death situations. Cardiotocograph (CTG), a foetal heart rate and uterine contraction monitoring and measurement machine, is a valuable tool in the process of childbirth. The Quality Function Deployment (QFD) is an engineering technique with the number one priority being to satisfy the customer. The aim of using QFD in this paper is to highlight the limitations and complexities of the present instrument. The paper attempts to first discuss out the operational details of the instrument along with a brief review of the relevant literature. Following this, its functional analysis is carried out through QFD - a TQM tool. The resultant outcome enlists CTG functions with their Raw Weight and Priority Score. A detailed theoretical analysis of results pinpoints basic functional limitation of exiting machine.

Pen force emulating robotic writing device and its application

NARCIS (Netherlands)

Franke, Katrin; Schomaker, Lambert; Koppen, Mario

2005-01-01

The paper describes our studies on the influence of physical and biomechanical processes on the ink trace and aims at providing a solid foundation for enhanced signature analysis procedures. By means of a writing robot, simulated human handwriting movements are considered to study the relation

Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance

OpenAIRE

Raj, Anil K.; Neuhaus, Peter D.; Moucheboeuf, Adrien M.; Noorden, Jerryll H.; Lecoutre, David V.

2011-01-01

While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC) has developed the Mina, a prototype sensorimotor robotic ort...

3D printing for soft robotics - a review.

Science.gov (United States)

Gul, Jahan Zeb; Sajid, Memoon; Rehman, Muhammad Muqeet; Siddiqui, Ghayas Uddin; Shah, Imran; Kim, Kyung-Hwan; Lee, Jae-Wook; Choi, Kyung Hyun

2018-01-01

Soft robots have received an increasing attention due to their advantages of high flexibility and safety for human operators but the fabrication is a challenge. Recently, 3D printing has been used as a key technology to fabricate soft robots because of high quality and printing multiple materials at the same time. Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities. This review comprises a detailed survey of 3D printing in soft robotics. The development of key 3D printing technologies and new materials along with composites for soft robotic applications is investigated. A brief summary of 3D-printed soft devices suitable for medical to industrial applications is also included. The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose.

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.

A Finger Exoskeleton Robot for Finger Movement Rehabilitation

Directory of Open Access Journals (Sweden)

Tzu-Heng Hsu

2017-07-01

Full Text Available In this study, a finger exoskeleton robot has been designed and presented. The prototype device was designed to be worn on the dorsal side of the hand to assist in the movement and rehabilitation of the fingers. The finger exoskeleton is 3D-printed to be low-cost and has a transmission mechanism consisting of rigid serial links which is actuated by a stepper motor. The actuation of the robotic finger is by a sliding motion and mimics the movement of the human finger. To make it possible for the patient to use the rehabilitation device anywhere and anytime, an Arduino™ control board and a speech recognition board were used to allow voice control. As the robotic finger follows the patients voice commands the actual motion is analyzed by Tracker image analysis software. The finger exoskeleton is designed to flex and extend the fingers, and has a rotation range of motion (ROM of 44.2°.

Tracking Mobile Robot in Indoor Wireless Sensor Networks

Directory of Open Access Journals (Sweden)

Liping Zhang

2014-01-01

Full Text Available This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs. Our approach is based on a localization scheme with RSSI (received signal strength indication which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot’s trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion scheme is used to estimate the robot’s trajectory. Moreover, a Kalman filter is designed to improve tracking accuracy. Experiments are provided to assess the performance of the proposed scheme.

Deployable reflector configurations

Science.gov (United States)

Meinel, A. B.; Meinel, M. P.; Woolf, N. J.

Both the theoretical reasons for considering a non-circular format for the Large Deployable Reflector, and a potentially realizable concept for such a device, are discussed. The optimum systems for diffraction limited telescopes with incoherent detection have either a single filled aperture, or two such apertures as an interferometer to synthesize a larger aperture. For a single aperture of limited area, a reflector in the form of a slot can be used to give increased angular resolution. It is shown how a 20 x 8 meter telescope can be configured to fit the Space Shuttle bay, and deployed with relatively simple operations. The relationship between the sunshield design and the inclination of the orbit is discussed. The possible use of the LDR as a basic module to permit the construction of supergiant space telescopes and interferometers both for IR/submm studies and for the entire ultraviolet through mm wave spectral region is discussed.

The decisive role of the patient-side surgeon in robotic surgery.

Science.gov (United States)

Sgarbura, Olivia; Vasilescu, Catalin

2010-12-01

Minimally invasive technology literature is mainly concerned about the feasibility of the robotic procedures and the performance of the console surgeon. However, few of these technologies could be applied without a well-trained team. Our goal was to demonstrate that robotic surgery depends more on the patient-side assistant surgeon's abilities than has been previously reported. In our department, 280 interventions in digestive, thoracic, and gynecological surgery were performed since the acquisition of the robotic equipment. There are three teams trained in robotic surgery with three console surgeons and four certified patient-side surgeons. Four more patient-side assistants were trained at our center. Trocar placement, docking and undocking of the robot, insertion of the laparoscopic instruments, and hemostatic maneuvers with various devices were quantified and compared. Assistants trained by using animal or cadaver surgery are more comfortable with the robotic instruments handling and with docking and undocking of the robot. Assistants who finalized their residency or attend their final year are more accurate with the insertion of the laparoscopic instrument to the targeted organ and more skillful with LigaSure or clip applier devices. Interventions that require vivid participation of the assistants have shorter assistant-depending time intervals at the end of the learning curve than at the beginning. Robotic surgery is a team effort and is greatly dependant on the performance of assistant surgeons. Interventions that have the benefit of a trained team are more rapid and secure.

Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality.

Science.gov (United States)

Damholdt, Malene F; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions