WorldWideScience

Sample records for electric direct-drive robot

  1. Electrical drives for direct drive renewable energy systems

    CERN Document Server

    Mueller, Markus

    2013-01-01

    Wind turbine gearboxes present major reliability issues, leading to great interest in the current development of gearless direct-drive wind energy systems. Offering high reliability, high efficiency and low maintenance, developments in these direct-drive systems point the way to the next generation of wind power, and Electrical drives for direct drive renewable energy systems is an authoritative guide to their design, development and operation. Part one outlines electrical drive technology, beginning with an overview of electrical generators for direct drive systems. Principles of electrical design for permanent magnet generators are discussed, followed by electrical, thermal and structural generator design and systems integration. A review of power electronic converter technology and power electronic converter systems for direct drive renewable energy applications is then conducted. Part two then focuses on wind and marine applications, beginning with a commercial overview of wind turbine drive systems and a...

  2. Experimentally supported control design for a direct drive robot

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.

    2002-01-01

    We promote the idea of an experimentally supported control design as a successful way to achieve accurate tracking of reference robot motions, under disturbance conditions and given the uncertainties arising from modeling errors. The Hinf robust control theory is used for design of motion

  3. High Torque, Direct Drive Electric Motor, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Bear Engineering proposes to advance the development of an innovative high torque, low speed, direct drive motor in order to meet NASA's requirements for such...

  4. High Torque, Direct Drive Electric Motor, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Bear Engineering proposes to develop an innovative high torque, low speed, direct drive motor in order to meet NASA's requirements for such devices. Fundamentally,...

  5. Learning-based identification and iterative learning control of direct-drive robots

    NARCIS (Netherlands)

    Bukkems, B.H.M.; Kostic, D.; Jager, de A.G.; Steinbuch, M.

    2005-01-01

    A combination of model-based and Iterative Learning Control is proposed as a method to achieve high-quality motion control of direct-drive robots in repetitive motion tasks. We include both model-based and learning components in the total control law, as their individual properties influence the

  6. Hybrid propulsion testing using direct-drive electrical machines for super yacht and inland shipping

    NARCIS (Netherlands)

    Paulides, J.J.H.; Djukic, N.; de Roon, J.A.; Encica, L.

    2016-01-01

    Hybrid or full electric propulsions for inland ships are becoming more popular. In these application, direct-drive PM propulsion motors are a preferred machine configuration. This paper discusses the challenges to determine the losses, as estimated with simulations, during the testing procedures of

  7. Optimization of the Robotic Joint Equipped with Epicyloidal Gear and Direct Drive for Space Applications

    Science.gov (United States)

    Seweryn, Karol; Grassmann, Kamil; Ciesielska, Monika; Rybus, Tomasz; Turek, Michal

    2013-09-01

    One of the most critical element in the orbital manipulators are kinematic joints. Joints must be adapted to work in tough conditions of space environment and must ensure the greatest efficiency and work without backlash. At the Space Mechatronics and Robotics Laboratory (LMRS) of the Space Research Centre, PAS our team designed and built a lightweight kinematic pair based on a new concept. The new concept is based on the epicycloid two-stage gearbox with torque motor. In this paper we have focused on optimization of the joint design for space application. The optimization was focused on the minimization of the mass and backlash effects and on maximizing the joint efficiency.

  8. System Efficiency Improvement for Electric Vehicles Adopting a Permanent Magnet Synchronous Motor Direct Drive System

    Directory of Open Access Journals (Sweden)

    Chengming Zhang

    2017-12-01

    Full Text Available To improve the endurance mileage of electric vehicles (EVs, it is important to decrease the energy consumption of the Permanent Magnet Synchronous Motor (PMSM drive system. This paper proposes a novel loss optimization control strategy named system efficiency improvement control which can optimize both inverter and motor losses. A nonlinear power converter loss model is built to fit the nonlinear characteristics of power devices. This paper uses double Fourier integral analysis to analytically calculate the fundamental and harmonic components of motor current by which the fundamental motor loss and harmonic motor loss can be accurately analyzed. From these loss models, a whole-frequency-domain system loss model is derived and presented. Based on the system loss model, the system efficiency improvement control method applies the genetic algorithm to adjust the motor current and PWM frequency together to optimize the inverter and motor losses by which the system efficiency can be significantly improved without seriously influence on the system stability over the whole operation range of EVs. The optimal effects of system efficiency is verified by the experimental results in both Si-IGBT-based PMSM system and SiC-MOSFET-based system.

  9. Overview of condition monitoring and operation control of electric power conversion systems in direct-drive wind turbines under faults

    Science.gov (United States)

    Huang, Shoudao; Wu, Xuan; Liu, Xiao; Gao, Jian; He, Yunze

    2017-09-01

    Electric power conversion system (EPCS), which consists of a generator and power converter, is one of the most important subsystems in a direct-drive wind turbine (DD-WT). However, this component accounts for the most failures (approximately 60% of the total number) in the entire DD-WT system according to statistical data. To improve the reliability of EPCSs and reduce the operation and maintenance cost of DD-WTs, numerous researchers have studied condition monitoring (CM) and fault diagnostics (FD). Numerous CM and FD techniques, which have respective advantages and disadvantages, have emerged. This paper provides an overview of the CM, FD, and operation control of EPCSs in DD-WTs under faults. After introducing the functional principle and structure of EPCS, this survey discusses the common failures in wind generators and power converters; briefly reviewed CM and FD methods and operation control of these generators and power converters under faults; and discussed the grid voltage faults related to EPCSs in DD-WTs. These theories and their related technical concepts are systematically discussed. Finally, predicted development trends are presented. The paper provides a valuable reference for developing service quality evaluation methods and fault operation control systems to achieve high-performance and high-intelligence DD-WTs.

  10. The use of an axial flux permanent magnet in-wheel direct drive in an electric bicycle

    Energy Technology Data Exchange (ETDEWEB)

    Johansen, P.R. [Norwegian University of Science and Technology, Trondheim (Norway). Dept. of Electrical Power Engineering; Patterson, D.; O' Keefe, C.; Swenson, J. [Northern Territory University, Darwin (Australia). NT Centre for Energy Research

    2001-03-01

    The research described in this paper concentrates on the development of an electronic converter. Successful completion of this converter provides the final component for the larger electric bicycle project. The controller developed for the bicycle is rated at 400 W and is hard-switched. It uses MOSFETs as power switching devices. There are three Hall effect sensors placed 120 electrical degrees apart from each other in the motor for velocity and position sensing. The torque generated by the machine is controlled by hysteresis band current control. In order for the motor/controller to be commercially viable, particular attention was paid to the costs of the controller. The result, an efficient yet cheap controller. Measurement of efficiency is difficult in high performance power electronic controllers (Patterson DJA very high efficiency controller for an axial flux permanent magnet wheel drive in a solar powered vehicle. 2nd IEEE International Conference on Power Electronics Drives and Energy Systems for Industrial Growth, IEEE PEDES '98, Perth, 30th November-3rd December, 1998). The paper includes discussion of a calorimetric method for measurement. (author)

  11. ROMO - The Robotic Electric Vehicle

    OpenAIRE

    Brembeck, Jonathan; Ho, Lok Man; Schaub, Alexander; Satzger, Clemens; Tobolar, Jakub; Bals, Johann; Hirzinger, Gerhard

    2011-01-01

    This paper outlines the development of the ROboMObil, an innovative electro-mobility concept based on intelligent central control of four Wheel Robots, which integrate the drivetrain, brakes, steering and dampers. The motivation behind the Wheel Robot concept, the implementation details together with the suspension design are described. The electric power system, consisting of a Li-Ion battery cluster to provide high-voltage power for propulsion and a low-voltage supply for vehicle control, i...

  12. Lunar Robotic Precursor Missions Using Electric Propulsion

    OpenAIRE

    Winski, Richard G.

    2006-01-01

    A trade study is carried out for the design of electric propulsion based lunar robotic precursor missions. The focus is to understand the relationships between payload mass delivered, electric propulsion power, and trip time. The results are compared against a baseline system using chemical propulsion with LOX/H2. The major differences between the chemical propulsion based and electric propulsion based systems are presented in terms of the payload mass and trip time. It is shown that solar e...

  13. Electrical power technology for robotic planetary rovers

    Science.gov (United States)

    Bankston, C. P.; Shirbacheh, M.; Bents, D. J.; Bozek, J. M.

    1993-01-01

    Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.

  14. Low backlash direct drive actuator

    Science.gov (United States)

    Kuklo, Thomas C.

    1994-01-01

    A low backlash direct drive actuator is described which comprises a motor such as a stepper motor having at least 200 steps per revolution; a two part hub assembly comprising a drive hub coaxially attached to the shaft of the motor and having a plurality of drive pins; a driven hub having a plurality of bores in one end thereof in alignment with the drive pins in the drive hub and a threaded shaft coaxially mounted in an opposite end of the driven hub; and a housing having a central bore therein into which are fitted the drive hub and driven hub, the housing having a motor mount on one end thereof to which is mounted the stepper motor, and a closed end portion with a threaded opening therein coaxial with the central bore in the housing and receiving therein the threaded shaft attached to the driven hub. Limit switches mounted to the housing cooperate with an enlarged lip on the driven hub to limit the lateral travel of the driven hub in the housing, which also acts to limit the lateral travel of the threaded shaft which functions as a lead screw.

  15. Design Preliminaries for Direct Drive under Water Wind Turbine Generator

    DEFF Research Database (Denmark)

    Leban, Krisztina Monika; Ritchie, Ewen; Argeseanu, Alin

    2012-01-01

    This paper focuses on the preliminary design process of a 20 MW electric generator. The application calls for an offshore, vertical axis, direct drive wind turbine. Arguments for selecting the type of electric machine for the application are presented and discussed. Comparison criteria for deciding...... on a type of machine are listed. Additional constraints emerging from the direct drive, vertical axis concepts are considered. General rules and a preliminary algorithm are discussed for the machine selected to be most suitable for the imposed conditions....

  16. Configuring NIF for direct drive experiments

    International Nuclear Information System (INIS)

    Eimerl, D.; Rothenberg, J.; Key, M.

    1995-01-01

    The National Ignition Facility (NIF) is a proposed 1.8 MJ laser facility for carrying out experiments in inertial confinement fusion, currently designed for indirect drive experiments. The direct drive approach is being pursued at the 30 kJ Omega facility at the University of Rochester. In this paper we discuss the modifications to the NIF laser that would be required for both indirect and direct drive experiments. A primary concern is the additional cost of adding direct drive capability to the facility

  17. Electric drive motors for industrial robots

    Science.gov (United States)

    Fichtner, K.

    1985-04-01

    In robotized industrial plants it is possible to use electric motors in the technological process and also for control, assembly, transport, testing, and measurements. Particularly suitable for these applications are permanent-magnet d.c. motors. A new special series was developed for industrial robots with hinge joints in kinematic pairs. The complete drive includes thyristors or transistor controls with regulators and, if necessary, a line transformer as well as a servomotor with tachometer and odometer for speed, current, and position control. The drive is coupled to a robot tong through mechanical torque and force converters. In addition to a 0 to 4000 rpm speed regulation, without wobble at low speeds, and a high torque-to-weight ratio for repetitive short-time heavy duty, these low-inertia motors develop high starting and accelerating torques over the entire speed range. They operate from a 1 to O 220 V a.c. line through a rectifier. The motors are totally enclosed, or of open construction for better ventilation. Their windings have class F insulation for operation at ambient temperatures up to 40 C.

  18. Progress toward ignition with direct-drive

    International Nuclear Information System (INIS)

    McCrory, R.L. Jr.

    1993-01-01

    The goal of the direct-drive laser fusion program is to validate high-performance, direct-drive targets. A decision to construct a direct-drive capability on the proposed 1-to-2-MJ National Ignition Facility (NIF) in the USA will be based on target physics experiments conducted on the OMEGA Upgrade laser system now under construction at the LLE. The OMEGA Upgrade will provide up to 30 kJ of UV laser energy in precisely shaped pulses with irradiation nonuniformities in the range of 1 pc. to 2 pc. An understanding and predictive capability for direct-drive targets are required to assure reliable estimates of ignition and gain with 1-2 MJ of incident laser energy. This paper reviews the target physics efforts currently underway to assess the critical physics issues of direct-drive ICF; plans for the experimental program to be carried out on the OMEGA Upgrade laser are also presented. 14 figs., 15 refs

  19. Dynamic parameter identification of robot arms with servo-controlled electrical motors

    Science.gov (United States)

    Jiang, Zhao-Hui; Senda, Hiroshi

    2005-12-01

    This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

  20. Bio-robots automatic navigation with electrical reward stimulation.

    Science.gov (United States)

    Sun, Chao; Zhang, Xinlu; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

    2012-01-01

    Bio-robots that controlled by outer stimulation through brain computer interface (BCI) suffer from the dependence on realtime guidance of human operators. Current automatic navigation methods for bio-robots focus on the controlling rules to force animals to obey man-made commands, with animals' intelligence ignored. This paper proposes a new method to realize the automatic navigation for bio-robots with electrical micro-stimulation as real-time rewards. Due to the reward-seeking instinct and trial-and-error capability, bio-robot can be steered to keep walking along the right route with rewards and correct its direction spontaneously when rewards are deprived. In navigation experiments, rat-robots learn the controlling methods in short time. The results show that our method simplifies the controlling logic and realizes the automatic navigation for rat-robots successfully. Our work might have significant implication for the further development of bio-robots with hybrid intelligence.

  1. Design Tool for 5-20 MW Direct Drive Generators

    DEFF Research Database (Denmark)

    Leban, Krisztina Monika; Ritchie, Ewen; Argeseanu, Alin

    2014-01-01

    This paper reports on a machine design tool for large (5-10MW) direct drive electrical generator. The aim of the work is to construct a flexible calculation tool that enables the analysis of different ideas and concepts for generator design. The tool is intended for engineers that are involved...... in the design of wind turbine systems. The design tool comprises calculation modules that are kept as independent as possible from each other so that new machine geometries and types can be modelled by reusing, recombining and modifying the different modules. Choice of the most suitable candidates...

  2. Present status and future prospects for direct drive laser fusion

    International Nuclear Information System (INIS)

    Bodner, S.E.

    1986-01-01

    If one assumes that the best short wavelength laser will have an efficiency of 5--7%, and if one assumes that reasonable cost electricity requires that the product of laser efficiency and pellet gain be greater than 10--15, then pellet grains for laser fusion must be at least 150--300. The only laser fusion concept with any potential for energy applications then seems to be directly driven targets with moderately thin shells and 1/4 micron KrF laser light. This direct drive concept has potential pellet energy gains of 200--300

  3. Polar-Direct-Drive Experiments on OMEGA

    International Nuclear Information System (INIS)

    Marshall, F.J.; Craxton, R.S.; Bonino, M.J.; Epstein, R.; Glebov, V.Yu.; Jacobs-Perkins, D.; Knauer, J.P.; Marozas, J.A.; McKenty, P.W.; Noyes, S.G.; Radha, P.B.; Seka, W.; Skupsky, S.; Smalyuk

    2006-01-01

    Polar direct drive (PDD), a promising ignition path for the NIF while the beams are in the indirect-drive configuration, is currently being investigated on the OMEGA laser system by using 40 beams in six rings repointed to more uniformly illuminate the target. The OMEGA experiments are being performed with standard, ''warm'' targets with and without the use of an equatorial ''Saturn-like'' toroidally shaped CH ring. Target implosion symmetry is diagnosed with framed x-ray backlighting using additional OMEGA beams and by time-integrated x-ray imaging of the stagnating core

  4. Raytracing and Direct-Drive Targets

    Science.gov (United States)

    Schmitt, Andrew J.; Bates, Jason; Fyfe, David; Eimerl, David

    2013-10-01

    Accurate simulation of the effects of laser imprinting and drive asymmetries in directly driven targets requires the ability to distinguish between raytrace noise and the intensity structure produced by the spatial and temporal incoherence of optical smoothing. We have developed and implemented a smoother raytrace algorithm for our mpi-parallel radiation hydrodynamics code, FAST3D. The underlying approach is to connect the rays into either sheets (in 2D) or volume-enclosing chunks (in 3D) so that the absorbed energy distribution continuously covers the propagation area illuminated by the laser. We will describe the status and show the different scalings encountered in 2D and 3D problems as the computational size, parallelization strategy, and number of rays is varied. Finally, we show results using the method in current NIKE experimental target simulations and in proposed symmetric and polar direct-drive target designs. Supported by US DoE/NNSA.

  5. Voltage directive drive with claw pole motor and control without rotor position indicator

    Science.gov (United States)

    Stroenisch, Volker Ewald

    Design and testing of a voltage directive drive for synchronous variable speed claw pole motor and control without rotor position indicator is described. Economic analysis of the designed regulation is performed. Computations of stationary and dynamic behavior are given and experimental operational behavior is determined. The motors can be used for electric transportation vehicles, diesel motors, and electric railway engines.

  6. Testing of a direct drive generator for wind turbines

    Energy Technology Data Exchange (ETDEWEB)

    Sondergaard, L.M. [Riso National Laboratory, Roskilde (Denmark)

    1996-12-31

    The normal drive train of a wind turbine consists a gearbox and a 4 to 8 poles asynchronous generator. The gearbox is an expensive and unreliable components and this paper deals with testing of a direct drive synchronous generator for a gearless wind turbine. The Danish company Belt Electric has constructed and manufactured a 27 kW prototype radial flux PM-generator (DD600). They have used cheap hard ferrite magnets in the rotor of this PM-generator. This generator has been tested at Riso and the test results are investigated and analyzed in this paper. The tests have been done with three different load types (1: resistance; 2: diode rectifier, DC-capacitor, resistance; 3: AC-capacitor, diode rectifier, DC-capacitor, resistance). 1 ref., 9 figs., 5 tabs.

  7. Adaptation of the IBM ECR [electric cantilever robot] robot to plutonium processing applications

    International Nuclear Information System (INIS)

    Armantrout, G.A.; Pedrotti, L.R.; Halter, E.A.; Crossfield, M.

    1990-12-01

    The changing regulatory climate in the US is adding increasing incentive to reduce operator dose and TRU waste for DOE plutonium processing operations. To help achieve that goal the authors have begun adapting a small commercial overhead gantry robot, the IBM electric cantilever robot (ECR), to plutonium processing applications. Steps are being taken to harden this robot to withstand the dry, often abrasive, environment within a plutonium glove box and to protect the electronic components against alpha radiation. A mock-up processing system for the reduction of the oxide to a metal was prepared and successfully demonstrated. Design of a working prototype is now underway using the results of this mock-up study. 7 figs., 4 tabs

  8. 3D stroke rehabilitation using electrical stimulation and robotics

    OpenAIRE

    Tong, Daisy; Cai, Zhonglun; Meadmore, Katie; Hughes, Anne-Marie; Freeman, Christopher; Burridge, Jane; Rogers, E

    2011-01-01

    Stroke is the third leading cause of death and foremost cause of adult disability in the UK. A third of the surviving patients suffer from some degree of motor disability and depend on others to undertake daily activities. Conventional rehabilitation can mitigate this disability, but only 5% of the severely paralysed patients regain full upper limb function. Past studies have shown evidence of more effective technologies such as rehabilitation robotics and functional electrical stimulation (F...

  9. Power electronic converter systems for direct drive renewable energy applications

    DEFF Research Database (Denmark)

    Chen, Zhe

    2013-01-01

    This chapter presents power electronic conversion systems for wind and marine energy generation applications, in particular, direct drive generator energy conversion systems. Various topologies are presented and system design optimization and reliability are briefly discussed....

  10. Electron-beam direct drive for rf accelerator cavities

    International Nuclear Information System (INIS)

    Nahemow, M.D.; Humphries, S. Jr.

    1987-01-01

    This paper describes a Program to Demonstrate Electron-Beam Direct Drive for Radio Frequency (RF) Linear Accelerators at the Westinghouse R and D Center. The experimental program was undertaken using an existing electron beam facility at the Westinghouse R and C Center to demonstrate the potential of the Direct Drive RF Cavities for High Power Beams concept discussed as part of a program to develop a viable alternate concept for driving RF linear accelerators

  11. WARRIOR II, a high performance modular electric robot system

    International Nuclear Information System (INIS)

    Downton, G.C.

    1996-01-01

    Initially designed for in-reactor welding by the Central Electricity Generating Board, WARRIOR has been developed using the concept of modular technology to become a light-weight, high performance robotic system. Research work on existing machines for in-reactor inspection and repair and heavy duty hydraulic manipulators was progressed in order to develop WARRIOR II, a versatile in-reactor welding system usable at any nuclear power station light enough to be deployed by existing remote handling equipment. WARRIOR II can be significantly reconfigured quickly to pursue different ends. (UK)

  12. WARRIOR II, a high performance modular electric robot system

    International Nuclear Information System (INIS)

    Downton, G.C.

    1996-01-01

    A high performance electric robot, WARRIOR, was built for in-reactor welding at the Oldbury nuclear power plant in the United Kingdom in the mid 1980s. WARRIOR II has been developed as a lighter, smaller diameter articulated welding robot which can be deployed on its umbilical down a stand pipe for remote docking with the manipulator system which delivers it to its work site. A key feature of WARRIOR II has been the development of a prototype spherical modular joint. The module provides the drive torque necessary to motivate the robot arm, acts as the joint bearing, has standard mechanical interfaces for the limb sections, accurately measures the joint angle and has cable services running through the centre. It can act either as a bend or rotate joint and the interconnecting limb sections need only to be simple tubular sections. A wide range of manipulator configurations to suit the access constraints of particular problems can be achieved with a set of joint modules and limb sections. A general purpose motion controller has also been developed which is capable of kinematically controlling any configuration of WARRIOR II thus contributing to the realisation of the concept of a general purpose tool which can be used over and over again, at short notice, in any situation where a high precision, light weight, versatile manipulator is required. (UK)

  13. Robotics

    Indian Academy of Sciences (India)

    netic induction to detect an object. The development of ... end effector, inclination of object, magnetic and electric fields, etc. The sensors described ... In the case of a robot, the various actuators and motors have to be modelled. The major ...

  14. Direct Drive Generator for Renewable Power Conversion from Water Currents

    International Nuclear Information System (INIS)

    Segergren, Erik

    2005-01-01

    In this thesis permanent magnet direct drive generator for power conversion from water currents is studied. Water currents as a power source involves a number of constrains as well as possibilities, especially when direct drive and permanent magnets are considered. The high power fluxes and low current velocities of a water current, in combination with its natural variations, will affect the way the generator is operated and, flowingly, the appearance of the generator. The work in this thesis can, thus, be categorized into two general topics, generator technology and optimization. Under the first topic, fundamental generator technology is used to increase the efficiency of a water current generator. Under the latter topic, water current generators are optimized to a specific environment. The conclusion drawn from this work is that it is possible to design very low speed direct drive generators with good electromagnetic properties and wide efficiency peak

  15. Advanced Direct-Drive Generator for Improved Availability of Oscillating Wave Surge Converter Power Generation Systems Final Technical Report

    Energy Technology Data Exchange (ETDEWEB)

    Englebretson, Steven [ABB Inc., Cary, NC (United States); Ouyang, Wen [ABB Inc., Cary, NC (United States); Tschida, Colin [ABB Inc., Cary, NC (United States); Carr, Joseph [ABB Inc., Cary, NC (United States); Ramanan, V.R. [ABB Inc., Cary, NC (United States); Johnson, Matthew [Texas A& M Univ., College Station, TX (United States); Gardner, Matthew [Texas A& M Univ., College Station, TX (United States); Toliyat, Hamid [Texas A& M Univ., College Station, TX (United States); Staby, Bill [Resolute Marine Energy, Inc., Boston, MA (United States); Chertok, Allan [Resolute Marine Energy, Inc., Boston, MA (United States); Hazra, Samir [ABB Inc., Cary, NC (United States); Bhattacharya, Subhashish [ABB Inc., Cary, NC (United States)

    2017-05-13

    This report summarizes the activities conducted under the DOE-EERE funded project DE-EE0006400, where ABB Inc. (ABB), in collaboration with Texas A&M’s Advanced Electric Machines & Power Electronics (EMPE) Lab and Resolute Marine Energy (RME) designed, derisked, developed, and demonstrated a novel magnetically geared electrical generator for direct-drive, low-speed, high torque MHK applications The project objective was to investigate a novel and compact direct-drive electric generator and its system aspects that would enable elimination of hydraulic components in the Power Take-Off (PTO) of a Marine and Hydrokinetic (MHK) system with an oscillating wave surge converter (OWSC), thereby improving the availability of the MHK system. The scope of this project was limited to the development and dry lab demonstration of a low speed generator to enable future direct drive MHK systems.

  16. Downhole water management and robotic valve manipulation on electric wireline

    Energy Technology Data Exchange (ETDEWEB)

    Schwanitz, Brian [Welltec, Alleroed (Denmark); Petersen, Erik; Farias, Eduardo [Welltec do Brasil Ltda., Rio de Janeiro, RJ (Brazil)

    2008-07-01

    Due to high operating cost and challenging environments, the oil and gas industry is facing an increasing demand to identify areas where new intervention solutions can be applied. Down hole water management and robotic valve manipulation are some of the areas where new approaches are finding critical success. A new technology has enabled increased recovery rates by managing produced water and allowing remote mechanical manipulation of down hole valves on wireline. These services are possible when applying a robotic stroking device and a wireline key tool.This paper will examine the challenges and present case histories illustrating how advanced technological solutions were applied to overcome operational problem in order to enhance reservoir performance and well productivity. Specifically the paper will illustrate both how isolating sliding side door and setting bridge plug in high x-flow using wireline stroker and tractor technologies water cut were reduced from 85% to 5% and from 90% to 45% respectively and shifting isolation sleeve and open and close sliding sleeve replacing conventional methods with a solution that runs on electrical wireline meant a revolution within the oil and gas industry. (author)

  17. Nuclear Electric Propulsion Application: RASC Mission Robotic Exploration of Venus

    Science.gov (United States)

    McGuire, Melissa L.; Borowski, Stanley K.; Packard, Thomas W.

    2004-01-01

    The following paper documents the mission and systems analysis portion of a study in which Nuclear Electric Propulsion (NEP) is used as the in-space transportation system to send a series of robotic rovers and atmospheric science airplanes to Venus in the 2020 to 2030 timeframe. As part of the NASA RASC (Revolutionary Aerospace Systems Concepts) program, this mission analysis is meant to identify future technologies and their application to far reaching NASA missions. The NEP systems and mission analysis is based largely on current technology state of the art assumptions. This study looks specifically at the performance of the NEP transfer stage when sending a series of different payload package point design options to Venus orbit.

  18. Multi-Pole HTS Generators for Direct Drive Wind Turbines

    DEFF Research Database (Denmark)

    Jensen, Bogi Bech; Abrahamsen, Asger Bech; Seiler, Eugen

    or the performance of the coated conductor has to improve significantly (by a factor of 10 or more) in order for HTS generators to become feasible in direct drive offshore wind turbines. This price/performance improvement is not unrealistic in the coming decade. Additionally the reliability of such machines...

  19. Structural Flexibility of Large Direct Drive Generators for Wind Turbines

    NARCIS (Netherlands)

    Shrestha, G.

    2013-01-01

    The trend in wind energy is towards large offshore wind farms. This trend has led to the demand for high reliability and large single unit wind turbines. Different energy conversion topologies such as multiple stage geared generators, single stage geared generators and gearless (direct drive)

  20. Induction Generators for Direct-Drive Wind Turbines

    DEFF Research Database (Denmark)

    Henriksen, Matthew Lee; Jensen, Bogi Bech

    2011-01-01

    This paper considers the use of a squirrel cage induction generator for a direct-drive wind turbine. Advantages of this topology include a simple/rugged construction, and no need for permanent magnets. A major focus of this paper is the choice of an appropriate pole number. An iterative, analytical...

  1. OMEGA ICF experiments and preparations for direct drive on NIF

    International Nuclear Information System (INIS)

    McCrory, R.L.; Bahr, R.E.; Betti, R.

    2001-01-01

    Direct-drive laser-fusion ignition experiments rely on detailed understanding and control of irradiation uniformity, the Rayleigh-Taylor instability, and target fabrication. LLE is investigating various theoretical aspects of a direct-drive NIF ignition target based on an 'all-DT' design: a spherical target of ∼3.4-mm diameter, 1 to 2 μm of CH wall thickness, and an ∼340-μm DT-ice layer near the triple point of DT (∼19 K). OMEGA experiments are designed to address the critical issues related to direct-drive laser fusion and to provide the necessary data to validate the predictive capability of LLE computer codes. The cryogenic targets to be used on OMEGA are hydrodynamically equivalent to those planned for the NIF. The current experimental studies on OMEGA address the essential components of direct-drive laser fusion: irradiation uniformity and laser imprinting, Rayleigh-Taylor growth and saturation, compressed core performance and shell fuel mixing, laser plasma interactions and their effect on target performance, and cryogenic target fabrication and handling. (author)

  2. Position measurement of the direct drive motor of Large Aperture Telescope

    Science.gov (United States)

    Li, Ying; Wang, Daxing

    2010-07-01

    Along with the development of space and astronomy science, production of large aperture telescope and super large aperture telescope will definitely become the trend. It's one of methods to solve precise drive of large aperture telescope using direct drive technology unified designed of electricity and magnetism structure. A direct drive precise rotary table with diameter of 2.5 meters researched and produced by us is a typical mechanical & electrical integration design. This paper mainly introduces position measurement control system of direct drive motor. In design of this motor, position measurement control system requires having high resolution, and precisely aligning the position of rotor shaft and making measurement, meanwhile transferring position information to position reversing information corresponding to needed motor pole number. This system has chosen high precision metal band coder and absolute type coder, processing information of coders, and has sent 32-bit RISC CPU making software processing, and gained high resolution composite coder. The paper gives relevant laboratory test results at the end, indicating the position measurement can apply to large aperture telescope control system. This project is subsidized by Chinese National Natural Science Funds (10833004).

  3. Passive reach and grasp with functional electrical stimulation and robotic arm support

    NARCIS (Netherlands)

    Westerveld, Ard J.; Schouten, Alfred C.; Veltink, Peter H.; van der Kooij, Herman

    2014-01-01

    Rehabilitation of arm and hand function is crucial to increase functional independence of stroke subjects. Here, we investigate the technical feasibility of an integrated training system combining robotics and functional electrical stimulation (FES) to support reach and grasp during functional

  4. Direct drive digital servo press with high parallel control

    Science.gov (United States)

    Murata, Chikara; Yabe, Jun; Endou, Junichi; Hasegawa, Kiyoshi

    2013-12-01

    Direct drive digital servo press has been developed as the university-industry joint research and development since 1998. On the basis of this result, 4-axes direct drive digital servo press has been developed and in the market on April of 2002. This servo press is composed of 1 slide supported by 4 ball screws and each axis has linearscale measuring the position of each axis with high accuracy less than μm order level. Each axis is controlled independently by servo motor and feedback system. This system can keep high level parallelism and high accuracy even with high eccentric load. Furthermore the 'full stroke full power' is obtained by using ball screws. Using these features, new various types of press forming and stamping have been obtained by development and production. The new stamping and forming methods are introduced and 'manufacturing' need strategy of press forming with high added value and also the future direction of press forming are also introduced.

  5. Design and simulation of the direct drive servo system

    Science.gov (United States)

    Ren, Changzhi; Liu, Zhao; Song, Libin; Yi, Qiang; Chen, Ken; Zhang, Zhenchao

    2010-07-01

    As direct drive technology is finding their way into telescope drive designs for its many advantages, it would push to more reliable and cheaper solutions for future telescope complex motion system. However, the telescope drive system based on the direct drive technology is one high integrated electromechanical system, which one complex electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. The telescope is one ultra-exact, ultra-speed, high precision and huge inertial instrument, which the direct torque motor adopted by the telescope drive system is different from traditional motor. This paper explores the design process and some simulation results are discussed.

  6. Robotics

    Science.gov (United States)

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

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

  7. Towards an ankle neuroprosthesis for hybrid robotics: Concepts and current sources for functional electrical stimulation.

    Science.gov (United States)

    Casco, S; Fuster, I; Galeano, R; Moreno, J C; Pons, J L; Brunetti, F

    2017-07-01

    Hybrid rehabilitation robotics combine neuro-prosthetic devices (close-loop functional electrical stimulation systems) and traditional robotic structures and actuators to explore better therapies and promote a more efficient motor function recovery or compensation. Although hybrid robotics and ankle neuroprostheses (NPs) have been widely developed over the last years, there are just few studies on the use of NPs to electrically control both ankle flexion and extension to promote ankle recovery and improved gait patterns in paretic limbs. The aim of this work is to develop an ankle NP specifically designed to work in the field of hybrid robotics. This article presents early steps towards this goal and makes a brief review about motor NPs and Functional Electrical Stimulation (FES) principles and most common devices used to aid the ankle functioning during the gait cycle. It also shows a current sources analysis done in this framework, in order to choose the best one for this intended application.

  8. Direct-drive inertial confinement fusion: A review

    International Nuclear Information System (INIS)

    Craxton, R. S.; Anderson, K. S.; Boehly, T. R.; Goncharov, V. N.; Harding, D. R.; Knauer, J. P.; McKenty, P. W.; Myatt, J. F.; Short, R. W.; Skupsky, S.; Theobald, W.; Collins, T. J. B.; Delettrez, J. A.; Hu, S. X.; Marozas, J. A.; Maximov, A. V.; Michel, D. T.; Radha, P. B.; Regan, S. P.; Sangster, T. C.

    2015-01-01

    The direct-drive, laser-based approach to inertial confinement fusion (ICF) is reviewed from its inception following the demonstration of the first laser to its implementation on the present generation of high-power lasers. The review focuses on the evolution of scientific understanding gained from target-physics experiments in many areas, identifying problems that were demonstrated and the solutions implemented. The review starts with the basic understanding of laser–plasma interactions that was obtained before the declassification of laser-induced compression in the early 1970s and continues with the compression experiments using infrared lasers in the late 1970s that produced thermonuclear neutrons. The problem of suprathermal electrons and the target preheat that they caused, associated with the infrared laser wavelength, led to lasers being built after 1980 to operate at shorter wavelengths, especially 0.35 μm—the third harmonic of the Nd:glass laser—and 0.248 μm (the KrF gas laser). The main physics areas relevant to direct drive are reviewed. The primary absorption mechanism at short wavelengths is classical inverse bremsstrahlung. Nonuniformities imprinted on the target by laser irradiation have been addressed by the development of a number of beam-smoothing techniques and imprint-mitigation strategies. The effects of hydrodynamic instabilities are mitigated by a combination of imprint reduction and target designs that minimize the instability growth rates. Several coronal plasma physics processes are reviewed. The two-plasmon–decay instability, stimulated Brillouin scattering (together with cross-beam energy transfer), and (possibly) stimulated Raman scattering are identified as potential concerns, placing constraints on the laser intensities used in target designs, while other processes (self-focusing and filamentation, the parametric decay instability, and magnetic fields), once considered important, are now of lesser concern for mainline

  9. Direct-drive inertial confinement fusion: A review

    Energy Technology Data Exchange (ETDEWEB)

    Craxton, R. S.; Anderson, K. S.; Boehly, T. R.; Goncharov, V. N.; Harding, D. R.; Knauer, J. P.; McKenty, P. W.; Myatt, J. F.; Short, R. W.; Skupsky, S.; Theobald, W.; Collins, T. J. B.; Delettrez, J. A.; Hu, S. X.; Marozas, J. A.; Maximov, A. V.; Michel, D. T.; Radha, P. B.; Regan, S. P.; Sangster, T. C. [Laboratory for Laser Energetics, University of Rochester, Rochester, New York 14623-1299 (United States); and others

    2015-11-15

    The direct-drive, laser-based approach to inertial confinement fusion (ICF) is reviewed from its inception following the demonstration of the first laser to its implementation on the present generation of high-power lasers. The review focuses on the evolution of scientific understanding gained from target-physics experiments in many areas, identifying problems that were demonstrated and the solutions implemented. The review starts with the basic understanding of laser–plasma interactions that was obtained before the declassification of laser-induced compression in the early 1970s and continues with the compression experiments using infrared lasers in the late 1970s that produced thermonuclear neutrons. The problem of suprathermal electrons and the target preheat that they caused, associated with the infrared laser wavelength, led to lasers being built after 1980 to operate at shorter wavelengths, especially 0.35 μm—the third harmonic of the Nd:glass laser—and 0.248 μm (the KrF gas laser). The main physics areas relevant to direct drive are reviewed. The primary absorption mechanism at short wavelengths is classical inverse bremsstrahlung. Nonuniformities imprinted on the target by laser irradiation have been addressed by the development of a number of beam-smoothing techniques and imprint-mitigation strategies. The effects of hydrodynamic instabilities are mitigated by a combination of imprint reduction and target designs that minimize the instability growth rates. Several coronal plasma physics processes are reviewed. The two-plasmon–decay instability, stimulated Brillouin scattering (together with cross-beam energy transfer), and (possibly) stimulated Raman scattering are identified as potential concerns, placing constraints on the laser intensities used in target designs, while other processes (self-focusing and filamentation, the parametric decay instability, and magnetic fields), once considered important, are now of lesser concern for mainline

  10. 5MW Direct Drive Wind Turbine Generator Design

    DEFF Research Database (Denmark)

    Zaidi, Arsalan; Senn, Lucile; Ortega, Iratxe

    2012-01-01

    A 5MW direct drive offshore wind turbine generator was studied and simulated using Vector Fields OPERA. This software allows calculation of the flux density, force, torque, and eddy currents in the machine at different rotor positions. Based on the data obtained from the model, initial assumptions...... for the suitable machine are listed and the modelling process presented. The model of the generator was improved by changing design parameters, e.g the position of the magnets or fitting additional I-Cores, and analyse the effect of it....

  11. Design Tool for Direct Drive Wind Turbine Generators

    DEFF Research Database (Denmark)

    Leban, Krisztina Monika

    . A comparison of the selected machine types in view of up-scaling to 20 [MW] was performed. As an example fitness criterion, the use of active materials for the generators was considered. Based on this, suggestions for 20 [MW] generators were made. The results are discussed and future work, directions......The current work offers a comparison of the proposed machine geometries for 6 [MW] direct drive wind generator candidates with the prospective of up scaling to 20MW. The suggestions are based on a design tool especially built for this investigation. The in-built flexibility of the design tool gives...

  12. Wrist Rehabilitation Assisted by an Electromyography-Driven Neuromuscular Electrical Stimulation Robot After Stroke.

    Science.gov (United States)

    Hu, Xiao-Ling; Tong, Raymond Kai-yu; Ho, Newmen S K; Xue, Jing-jing; Rong, Wei; Li, Leonard S W

    2015-09-01

    Augmented physical training with assistance from robot and neuromuscular electrical stimulation (NMES) may introduce intensive motor improvement in chronic stroke. To compare the rehabilitation effectiveness achieved by NMES robot-assisted wrist training and that by robot-assisted training. This study was a single-blinded randomized controlled trial with a 3-month follow-up. Twenty-six hemiplegic subjects with chronic stroke were randomly assigned to receive 20-session wrist training with an electromyography (EMG)-driven NMES robot (NMES robot group, n = 11) and with an EMG-driven robot (robot group, n = 15), completed within 7 consecutive weeks. Clinical scores, Fugl-Meyer Assessment (FMA), Modified Ashworth Score (MAS), and Action Research Arm Test (ARAT) were used to evaluate the training effects before and after the training, as well as 3 months later. An EMG parameter, muscle co-contraction index, was also applied to investigate the session-by-session variation in muscular coordination patterns during the training. The improvement in FMA (shoulder/elbow, wrist/hand) obtained in the NMES robot group was more significant than the robot group (P rehabilitation progress. © The Author(s) 2014.

  13. Polar Direct Drive-Ignition at 1 MJ

    International Nuclear Information System (INIS)

    Skupsky, S.; Craxton, R.S.; Marshall, F.J.; Betti, R.; Collins, T.J.B.; Epstein, R.; Goncharov, V.N.; Igumenshchev, I.V.; Marozas, J.A.; McKenty, P.W.; Radha, P.B.; Kilkenny, J.D.; Meyerhofer, D.D.; Sangster, T.C.; McCrory, R.L.

    2006-01-01

    Target designs to achieve direct-drive ignition on the NIF using the x-ray-drive beam configuration are examined. This approach, known as polar direct drive (PDD), achieves the required irradiation uniformity by repointing some of the beams toward the target equator, and by increasing the laser intensity at the equator to compensate for the reduced laser coupling from oblique irradiation. Techniques to increase the equatorial intensity can include using phase plates that produce elliptical spot shapes, increasing the power in beams directed toward the equator, and using a ring offset from the equator to redirect rays toward the target normal. The requirements for beam pointing, power balance, single-beam smoothing, and inner-ice-surface roughness are examined. Designs with an incident laser energy of 1.0 MJ are presented. The simulations use the 2-D hydrocode DRACO with 3-D ray trace to model the laser irradiation and Monte Carlo alpha particle transport to model the thermonuclear burn

  14. Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot

    Directory of Open Access Journals (Sweden)

    Hong-Chao Zhuang

    2017-03-01

    Full Text Available Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically driven large-load-ratio six-legged robot. First, the configuration and walking gait of the electrically driven large-load-ratio six-legged robot are designed. The higher-stable swing sequences of legs and typical walking modes are respectively obtained. Based on the Denavit–Hartenberg (D–H method, the analyses of the forward and inverse kinematics are implemented. The mathematical models of the articulated rotation angles are respectively established. In view of the buffer device installed at the end of shin to decrease the impact force between the foot and the ground, an initial lift height of the leg is brought into gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. Finally, a prototype of the electrically driven large-load-ratio six-legged robot is developed. The experiments of the prototype are carried out regarding the aspects of the walking speed and surmounting obstacle. Then, the reasonableness of gait planning is verified based on the experimental results. The proposed strategies of gait planning lay the foundation for effectively reducing the foot–ground impact force and can provide a reference for other large-load-ratio multi-legged robots.

  15. Direct drive acceleration of planar liquid deuterium targets

    International Nuclear Information System (INIS)

    Sethian, J.D.; Bodner, S.E.; Colombant, D.G.; Dahlburg, J.P.; Obenschain, S.P.; Pawley, C.J.; Serlin, V.; Gardner, J.H.; Aglitskiy, Y.; Chan, Y.; Deniz, A.V.; Lehecka, T.; Klapisch, M.

    1999-01-01

    The Nike laser (∼2 - 3 kJ, ∼10 14 W/cm 2 ) has been used to ablatively accelerate planar liquid deuterium targets. These experiments are designed to test some aspects of a high gain direct drive target design. The target consists of a low-density foam that is filled with liquid deuterium and covered with a thin polyimide membrane. The measured target trajectory agrees well with one-dimensional (1D) simulations. The growth of the areal mass modulations were measured with a new, 1.26 keV x-ray backlighter. The modulations appear later and grow to a smaller amplitude when the foot of the laser pulse is made spatially smoother. A thin layer of gold on the front of the target reduces the modulations. The results are compared with 2D modeling

  16. Direct-drive laser-fusion in the US

    International Nuclear Information System (INIS)

    McCrory, R.L.; Soures, J.M.; Audebert, P.

    1986-01-01

    Direct-drive experiments at the University of Rochester's Laboratory for Laser Energetics (LLE) and the Naval Research Laboratory (NRL) are presently addressing issues in pellet compression and heating: efficiency of coupling of laser energy to the target and the coupling of absorbed energy to the fuel, drive uniformity, hydrodynamic stability, preheat arising from laser plasma instabilities and x-rays, and target diagnostics. The 24-beam, 2500-Joule, 351 nm OMEGA laser system at LLE has been used in an experimental effort to achieve high compressed DT fuel densities. Detailed hydrodynamic computer simulations at NRL predict that the growth rate of the ablative Rayleigh-Taylor instability is less than the classical values. Recent Rayleigh-Taylor experiments ar NRL are testing these predictions

  17. Polar-direct-drive experiments on the National Ignition Facility

    Energy Technology Data Exchange (ETDEWEB)

    Hohenberger, M.; Radha, P. B.; Myatt, J. F.; Marozas, J. A.; Marshall, F. J.; Michel, D. T.; Regan, S. P.; Seka, W.; Shvydky, A.; Sangster, T. C.; Betti, R.; Boehly, T. R.; Bonino, M. J.; Collins, T. J. B.; Craxton, R. S.; Delettrez, J. A.; Edgell, D. H.; Epstein, R.; Fiksel, G.; Froula, D. H. [Laboratory for Laser Energetics, University of Rochester, Rochester, New York 14623-1299 (United States); and others

    2015-05-15

    To support direct-drive inertial confinement fusion experiments at the National Ignition Facility (NIF) [G. H. Miller, E. I. Moses, and C. R. Wuest, Opt. Eng. 43, 2841 (2004)] in its indirect-drive beam configuration, the polar-direct-drive (PDD) concept [S. Skupsky et al., Phys. Plasmas 11, 2763 (2004)] has been proposed. Ignition in PDD geometry requires direct-drive–specific beam smoothing, phase plates, and repointing the NIF beams toward the equator to ensure symmetric target irradiation. First experiments to study the energetics and preheat in PDD implosions at the NIF have been performed. These experiments utilize the NIF in its current configuration, including beam geometry, phase plates, and beam smoothing. Room-temperature, 2.2-mm-diam plastic shells filled with D{sub 2} gas were imploded with total drive energies ranging from ∼500 to 750 kJ with peak powers of 120 to 180 TW and peak on-target irradiances at the initial target radius from 8 × 10{sup 14} to 1.2 × 10{sup 15 }W/cm{sup 2}. Results from these initial experiments are presented, including measurements of shell trajectory, implosion symmetry, and the level of hot-electron preheat in plastic and Si ablators. Experiments are simulated with the 2-D hydrodynamics code DRACO including a full 3-D ray-trace to model oblique beams, and models for nonlocal electron transport and cross-beam energy transport (CBET). These simulations indicate that CBET affects the shell symmetry and leads to a loss of energy imparted onto the shell, consistent with the experimental data.

  18. Comparison of 10 MW superconducting generator topologies for direct-drive wind turbines

    DEFF Research Database (Denmark)

    Liu, Dong; Polinder, Henk; Abrahamsen, Asger Bech

    2015-01-01

    Large wind turbines of 10 MW or higher power levels are desirable for reducing the cost of energy of offshore wind power conversion. Conventional wind generator systems will be costly if scaled up to 10 MW due to rather large size and weight. Direct drive superconducting generators have been...... magnetic field excitation allows for lightweight non-magnetic composite materials for machine cores instead of iron. A topology would probably not be a good option for an offshore wind turbine generator if it demands a far more expensive active material cost than others, even if it has other advantages...... proposed to address the problem with generator size, because the electrical machines with superconducting windings are capable of achieving a higher torque density of an electrical machine. However, the topology to be adopted for superconducting wind generators has not yet been settled, since the high...

  19. An Optimal Control Method for Maximizing the Efficiency of Direct Drive Ocean Wave Energy Extraction System

    Science.gov (United States)

    Chen, Zhongxian; Yu, Haitao; Wen, Cheng

    2014-01-01

    The goal of direct drive ocean wave energy extraction system is to convert ocean wave energy into electricity. The problem explored in this paper is the design and optimal control for the direct drive ocean wave energy extraction system. An optimal control method based on internal model proportion integration differentiation (IM-PID) is proposed in this paper though most of ocean wave energy extraction systems are optimized by the structure, weight, and material. With this control method, the heavy speed of outer heavy buoy of the energy extraction system is in resonance with incident wave, and the system efficiency is largely improved. Validity of the proposed optimal control method is verified in both regular and irregular ocean waves, and it is shown that IM-PID control method is optimal in that it maximizes the energy conversion efficiency. In addition, the anti-interference ability of IM-PID control method has been assessed, and the results show that the IM-PID control method has good robustness, high precision, and strong anti-interference ability. PMID:25152913

  20. Design Considerations of a Transverse Flux Machine for Direct-Drive Wind Turbine Applications: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Husain, Tausif; Hasan, Iftekhar; Sozer, Yilmaz; Husain, Iqbal; Muljadi, Eduard

    2017-01-01

    This paper presents the design considerations of a double-sided transverse flux machine (TFM) for direct-drive wind turbine applications. The TFM has a modular structure with quasi-U stator cores and ring windings. The rotor is constructed with ferrite magnets in a flux-concentrating arrangement to achieve high air gap flux density. The design considerations for this TFM with respect to initial sizing, pole number selection, key design ratios, and pole shaping are presented in this paper. Pole number selection is critical in the design process of a TFM because it affects both the torque density and power factor under fixed magnetic and changing electrical loading. Several key design ratios are introduced to facilitate the design procedure. The effect of pole shaping on back-emf and inductance is also analyzed. These investigations provide guidance toward the required design of a TFM for direct-drive applications. The analyses are carried out using analytical and three-dimensional finite element analysis. A prototype is under construction for experimental verification.

  1. An optimal control method for maximizing the efficiency of direct drive ocean wave energy extraction system.

    Science.gov (United States)

    Chen, Zhongxian; Yu, Haitao; Wen, Cheng

    2014-01-01

    The goal of direct drive ocean wave energy extraction system is to convert ocean wave energy into electricity. The problem explored in this paper is the design and optimal control for the direct drive ocean wave energy extraction system. An optimal control method based on internal model proportion integration differentiation (IM-PID) is proposed in this paper though most of ocean wave energy extraction systems are optimized by the structure, weight, and material. With this control method, the heavy speed of outer heavy buoy of the energy extraction system is in resonance with incident wave, and the system efficiency is largely improved. Validity of the proposed optimal control method is verified in both regular and irregular ocean waves, and it is shown that IM-PID control method is optimal in that it maximizes the energy conversion efficiency. In addition, the anti-interference ability of IM-PID control method has been assessed, and the results show that the IM-PID control method has good robustness, high precision, and strong anti-interference ability.

  2. Bio-robots automatic navigation with graded electric reward stimulation based on Reinforcement Learning.

    Science.gov (United States)

    Zhang, Chen; Sun, Chao; Gao, Liqiang; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

    2013-01-01

    Bio-robots based on brain computer interface (BCI) suffer from the lack of considering the characteristic of the animals in navigation. This paper proposed a new method for bio-robots' automatic navigation combining the reward generating algorithm base on Reinforcement Learning (RL) with the learning intelligence of animals together. Given the graded electrical reward, the animal e.g. the rat, intends to seek the maximum reward while exploring an unknown environment. Since the rat has excellent spatial recognition, the rat-robot and the RL algorithm can convergent to an optimal route by co-learning. This work has significant inspiration for the practical development of bio-robots' navigation with hybrid intelligence.

  3. Uniformity analysis for a direct-drive laser fusion reactor

    International Nuclear Information System (INIS)

    Lund, L.D.; Skupsky, S.; Goldman, L.M.

    1983-01-01

    We show the results of an analysis of the uniformity for a direct-drive reactor using 20, 32, 60, or 96 beams. Several of these options achieve less than the 1% nonuniformity that is required. These options are considered for the cases where the solid angle fraction of the beam ports is 2% and 8%. The analysis is facilitated by separating the contributions due to the geometrical effects related to the number and orientation of the beams from those due to the spatial profile of the individual beams. Emphasis is placed on the wavelength of the nonuniformities, as the shorter wavelength nonuniformities are more easily smoothed by thermal conduction within the target. The analysis demonstrates that the longer wavelengths can be minimized by suitable choices of geometry and by maintaining beam balance, whereas the shorter wavelength nonuniformities can be reduced by optimizing parameters such as the focal position and the spatial intensity profile of each beam. The tolerances required for beam-to-beam energy balance will be discussed

  4. Direct drive: Simulations and results from the National Ignition Facility

    Energy Technology Data Exchange (ETDEWEB)

    Radha, P. B., E-mail: rbah@lle.rochester.edu; Hohenberger, M.; Edgell, D. H.; Marozas, J. A.; Marshall, F. J.; Michel, D. T.; Rosenberg, M. J.; Seka, W.; Shvydky, A.; Boehly, T. R.; Collins, T. J. B.; Campbell, E. M.; Craxton, R. S.; Delettrez, J. A.; Froula, D. H.; Goncharov, V. N.; Hu, S. X.; Knauer, J. P.; McCrory, R. L.; McKenty, P. W. [Laboratory for Laser Energetics, University of Rochester, Rochester, New York 14623 (United States); and others

    2016-05-15

    Direct-drive implosion physics is being investigated at the National Ignition Facility. The primary goal of the experiments is twofold: to validate modeling related to implosion velocity and to estimate the magnitude of hot-electron preheat. Implosion experiments indicate that the energetics is well-modeled when cross-beam energy transfer (CBET) is included in the simulation and an overall multiplier to the CBET gain factor is employed; time-resolved scattered light and scattered-light spectra display the correct trends. Trajectories from backlit images are well modeled, although those from measured self-emission images indicate increased shell thickness and reduced shell density relative to simulations. Sensitivity analyses indicate that the most likely cause for the density reduction is nonuniformity growth seeded by laser imprint and not laser-energy coupling. Hot-electron preheat is at tolerable levels in the ongoing experiments, although it is expected to increase after the mitigation of CBET. Future work will include continued model validation, imprint measurements, and mitigation of CBET and hot-electron preheat.

  5. Design method for marine direct drive volume control ahead actuator

    Directory of Open Access Journals (Sweden)

    WANG Haiyang

    2018-02-01

    Full Text Available [Objectives] In order to reduce the size, weight and auxiliary system configuration of marine ahead actuators, this paper proposes a kind of direct drive volume control electro-hydraulic servo ahead actuator. [Methods] The protruding and indenting control of the servo oil cylinder are realized through the forward and reverse of the bidirectional working gear pump, and the flow matching valve implements the self-locking of the ahead actuator in the target position. The mathematical model of the ahead actuator is established, and an integral separation fuzzy PID controller designed. On this basis, using AMESim software to build a simulation model of the ahead actuator, and combined with testing, this paper completes an analysis of the control strategy research and dynamic and static performance of the ahead actuator. [Results] The experimental results agree well with the simulation results and verify the feasibility of the ahead actuator's design. [Conclusions] The research results of this paper can provide valuable references for the integration and miniaturization design of marine ahead actuators.

  6. 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

  7. Testing of an Arcjet Thruster with Capability of Direct-Drive Operation

    Science.gov (United States)

    Martin, Adam K.; Polzin, Kurt A.; Eskridge, Richard H.; Smith, James W.; Schoenfeld, Michael P.; Riley, Daniel P.

    2015-01-01

    Electric thrusters typically require a power processing unit (PPU) to convert the spacecraft provided power to the voltage-current that a thruster needs for operation. Testing has been initiated to study whether an arcjet thruster can be operated directly with the power produced by solar arrays without any additional conversion. Elimination of the PPU significantly reduces system-level complexity of the propulsion system, and lowers developmental cost and risk. The work aims to identify and address technical questions related to power conditioning and noise suppression in the system and heating of the thruster in long-duration operation. The apparatus under investigation has a target power level from 400-1,000 W. However, the proposed direct-drive arcjet is potentially a highly scalable concept, applicable to solar-electric spacecraft with up to 100's of kW and beyond. A direct-drive electric propulsion system would be comprised of a thruster that operates with the power supplied directly from the power source (typically solar arrays) with no further power conditioning needed between those two components. Arcjet thrusters are electric propulsion devices, with the power supplied as a high current at low voltage; of all the different types of electric thruster, they are best suited for direct drive from solar arrays. One advantage of an arcjet over Hall or gridded ion thrusters is that for comparable power the arcjet is a much smaller device and can provide more thrust and orders of magnitude higher thrust density (approximately 1-10 N/sq m), albeit at lower I(sub sp) (approximately 800-1000 s). In addition, arcjets are capable of operating on a wide range of propellant options, having been demonstrated on H2, ammonia, N2, Ar, Kr, Xe, while present SOA Hall and ion thrusters are primarily limited to Xe propellant. Direct-drive is often discussed in terms of Hall thrusters, but they require 250-300 V for operation, which is difficult even with high-voltage solar

  8. Elimination of torque pulsations in a direct drive EV wheel motor

    Energy Technology Data Exchange (ETDEWEB)

    Hredzak, B.; Gair, S. [Napier Univ., Edinburgh (United Kingdom); Eastham, J.F. [Univ. of Bath (United Kingdom)

    1996-09-01

    Double sided axial field machines are attractive for direct wheel drives in electric vehicles. This is due to the fact that stator/rotor misalignments can be accommodated. In this case the stator of the machine is envisaged mounted on the chassis of the car while the rotor directly drives the road wheel. Since the wheel is perturbed by the road surface the rotor will move vertically between the outside stator assemblies and thus give rise to torque pulsations. A vector control scheme has been implemented whereby the torque pulsations are eliminated by (i) calculation of the flux variation due to the rotor perturbation and (ii) using this signal for the modulation of the motor input current.

  9. Test Results from a Direct Drive Gas Reactor Simulator Coupled to a Brayton Power Conversion Unit

    Science.gov (United States)

    Hervol, David S.; Briggs, Maxwell H.; Owen, Albert K.; Bragg-Sitton, Shannon M.; Godfroy, Thomas J.

    2010-01-01

    Component level testing of power conversion units proposed for use in fission surface power systems has typically been done using relatively simple electric heaters for thermal input. These heaters do not adequately represent the geometry or response of proposed reactors. As testing of fission surface power systems transitions from the component level to the system level it becomes necessary to more accurately replicate these reactors using reactor simulators. The Direct Drive Gas-Brayton Power Conversion Unit test activity at the NASA Glenn Research Center integrates a reactor simulator with an existing Brayton test rig. The response of the reactor simulator to a change in Brayton shaft speed is shown as well as the response of the Brayton to an insertion of reactivity, corresponding to a drum reconfiguration. The lessons learned from these tests can be used to improve the design of future reactor simulators which can be used in system level fission surface power tests.

  10. Early Poststroke Rehabilitation Using a Robotic Tilt-Table Stepper and Functional Electrical Stimulation

    Directory of Open Access Journals (Sweden)

    Alexey N. Kuznetsov

    2013-01-01

    Full Text Available Background. Stroke frequently leaves survivors with hemiparesis. To prevent persistent deficits, rehabilitation may be more effective if started early. Early training is often limited because of orthostatic reactions. Tilt-table stepping robots and functional electrical stimulation (FES may prevent these reactions. Objective. This controlled convenience sample study compares safety and feasibility of robotic tilt-table training plus FES (ROBO-FES and robotic tilt-table training (ROBO against tilt-table training alone (control. A preliminary assessment of efficacy is performed. Methods. Hemiparetic ischemic stroke survivors (age years, days after stroke were assigned to 30 days of ROBO-FES (, ROBO (, or control ( in addition to conventional physical therapy. Impedance cardiography and transcranial doppler sonography were performed before, during, and after training. Hemiparesis was assessed using the British Medical Research Council (MRC strength scale. Results. No serious adverse events occurred; 8 patients in the tilt-table group prematurely quit the study because of orthostatic reactions. Blood pressure and CBFV dipped % during robot training. In 52% of controls mean arterial pressure decreased by %. ROBO-FES increased leg strength by points, ROBO by more than control (, . CBFV increased in both robotic groups more than in controls (. Conclusions. Robotic tilt-table exercise with or without FES is safe and may be more effective in improving leg strength and cerebral blood flow than tilt table alone.

  11. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  12. Electric Agricultural Robot with Multi-Layer-Control

    DEFF Research Database (Denmark)

    Griepentrog, Hans W.; Jæger-Hansen, Claes Lund; Dühring, Karina

    Research within agricultural technology focuses mainly on increasing the efficiency of crop production. Electric powered machines have several advantages. The machine control is much easier in terms of sensor integration, active navigation and task application compared with traditional machine ty...

  13. Self-generated magnetic fields in direct-drive implosion experiments

    Energy Technology Data Exchange (ETDEWEB)

    Igumenshchev, I. V.; Nilson, P. M.; Goncharov, V. N. [Laboratory for Laser Energetics, University of Rochester, 250 East River Road, Rochester, New York 14623 (United States); Zylstra, A. B.; Li, C. K.; Petrasso, R. D. [Plasma Science and Fusion Center, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139 (United States)

    2014-06-15

    Electric and self-generated magnetic fields in direct-drive implosion experiments on the OMEGA Laser Facility were investigated employing radiography with ∼10- to 60-MeV protons. The experiment used plastic-shell targets with imposed surface defects (glue spots, wires, and mount stalks), which enhance self-generated fields. The fields were measured during the 1-ns laser drive with an on-target intensity ∼10{sup 15} W/cm{sup 2}. Proton radiographs show multiple ring-like structures produced by electric fields ∼10{sup 7} V/cm and fine structures from surface defects, indicating self-generated fields up to ∼3 MG. These electric and magnetic fields show good agreement with two-dimensional magnetohydrodynamic simulations when the latter include the ∇T{sub e} × ∇n{sub e} source, Nernst convection, and anisotropic resistivity. The simulations predict that self-generated fields affect heat fluxes in the conduction zone and, through this, affect the growth of local perturbations.

  14. Investigation on the Possible Use of Magnetic Bearings in Large Direct Drive Wind Turbines

    NARCIS (Netherlands)

    Shrestha, G.; Polinder, H.; Bang, D.; Jassal, A.K.; Ferreira, J.A.

    2009-01-01

    A direct drive generator used in wind turbine has high energy yield compared to other drivetrain topologies and low maintenance is expected as the technology matures. On the other hand direct drive generator weight and size increases rapidly when scaled up to larger units. This paper will

  15. Robotic planetary mission benefits from nuclear electric propulsion

    International Nuclear Information System (INIS)

    Kelley, J.H.; Yen, C.L.

    1992-01-01

    Several interesting planetary missions are either enabled or significantly enhanced by nuclear electric propulsion (NEP) in the 50 to 100 kW power range. These missions include a Pluto Orbiter/Probe with an 11-year flight time and several years of operational life in orbit versus a ballistic very fast (13 km/s) flyby which would take longer to get to Pluto and would have a very short time to observe the planet. (A ballistic orbiter would take about 40 years to get to Pluto.) Other missions include a Neptune Orbiter/Probe, a Jupiter Grand Tour orbiting each of the major moons in order, a Uranus Orbiter/Probe, a Multiple Mainbelt Asteroid Rendezvous orbiting six selected asteroids, and a Comet Nucleus Sample Return. This paper discusses potential missions and compares the nuclear electric propulsion option to the conventional ballistic approach on a parametric basis

  16. Cost Modeling for Fabrication of Direct Drive Inertial Fusion Energy Targets

    International Nuclear Information System (INIS)

    Rickman, William Samuel; Goodin, Daniel T.

    2003-01-01

    Chemical engineering analyses are underway for a commercial-scale [1000-MW(electric)] divinyl benzene foam-based Inertial Fusion Energy (IFE) Target Fabrication Facility (TFF). This facility is designed to supply 500,000, 4-mm-outer diameter targets per day - coated via interfacial polycondensation, dried with supercritical CO 2 , sputter coated with Au and/or Pd, and filled with deuterium-tritium layered at cryogenic temperatures and injected into the fusion chamber. Such targets would be used in a direct-drive IFE power plant.The work uses manufacturing processes being developed in the laboratory, chemical engineering scaleup principles, and established cost-estimating methods. The plant conceptual design includes a process flow diagram, mass and energy balances, equipment sizing and sketches, storage tanks, and facility views.The cost estimate includes both capital and operating costs. Initial results for a TFF dedicated to one 1000-MW(electric) plant indicate that the costs per target are well within the commercially viable range. Larger TFF plants [3000 MW(electric)] are projected to lead to significantly reduced costs per injected target. Additional cost reductions are possible by producing dried, sputter-coated empty shells at a central facility that services multiple power plants.The results indicate that the installed capital cost is about $100 million and the annual operating costs will be about $20 million, for a cost per target of about $0.17 each. These design and cost projections assume that a significant process development and scaleup program is successfully completed for all of the basic unit operations included in the facility

  17. A performance study on a direct drive hydro turbine for wave energy converter

    International Nuclear Information System (INIS)

    Choi, Young Do; Kim, Chang Goo; Kim, You Taek; Lee, Young Ho; Song, Jung Il

    2010-01-01

    Clean and renewable energy technologies using ocean energy give us non-polluting alternatives to fossil-fueled power plants as a countermeasure against global warming and growing demand for electrical energy. Among the ocean energy resources, wave power takes a growing interest because of its enormous amount of potential energy in the world. Therefore, various types of wave power systems to capture the energy of ocean waves have been developed. However, a suitable turbine type is not yet normalized because of relatively low efficiency of the turbine systems. The purpose of this study is to investigate the performance of a newly developed direct drive hydro turbine (DDT), which will be built in a caisson for a wave power plant. Experiment and CFD analysis are conducted to clarify the turbine performance and internal flow characteristics. The results show that the DDT obtains fairly good turbine efficiency in cases with and without wave conditions. Most of the output power is generated at the runner passage of Stage 2. Relatively larger amount of the decreased tangential velocity at Stage 2 produces more angular momentum than that at Stage 1 and thus, the larger angular momentum at the Stage 2 makes a greater contribution to the generation of total output power in comparison with that at Stage 1. Large vortex existing in the upper-left region of the runner passage forms a large recirculation region in the runner passage, and the recirculating flow consumes the output power at Region 2

  18. An optimal design of coreless direct-drive axial flux permanent magnet generator for wind turbine

    International Nuclear Information System (INIS)

    Ahmed, D; Ahmad, A

    2013-01-01

    Different types of generators are currently being used in wind power technology. The commonly used are induction generator (IG), doubly-fed induction generator (DFIG), electrically excited synchronous generator (EESG) and permanent magnet synchronous generator (PMSG). However, the use of PMSG is rapidly increasing because of advantages such as higher power density, better controllability and higher reliability. This paper presents an innovative design of a low-speed modular, direct-drive axial flux permanent magnet (AFPM) generator with coreless stator and rotor for a wind turbine power generation system that is developed using mathematical and analytical methods. This innovative design is implemented in MATLAB / Simulink environment using dynamic modelling techniques. The main focus of this research is to improve efficiency of the wind power generation system by investigating electromagnetic and structural features of AFPM generator during its operation in wind turbine. The design is validated by comparing its performance with standard models of existing wind power generators. The comparison results demonstrate that the proposed model for the wind power generator exhibits number of advantages such as improved efficiency with variable speed operation, higher energy yield, lighter weight and better wind power utilization.

  19. An optimal design of coreless direct-drive axial flux permanent magnet generator for wind turbine

    Science.gov (United States)

    Ahmed, D.; Ahmad, A.

    2013-06-01

    Different types of generators are currently being used in wind power technology. The commonly used are induction generator (IG), doubly-fed induction generator (DFIG), electrically excited synchronous generator (EESG) and permanent magnet synchronous generator (PMSG). However, the use of PMSG is rapidly increasing because of advantages such as higher power density, better controllability and higher reliability. This paper presents an innovative design of a low-speed modular, direct-drive axial flux permanent magnet (AFPM) generator with coreless stator and rotor for a wind turbine power generation system that is developed using mathematical and analytical methods. This innovative design is implemented in MATLAB / Simulink environment using dynamic modelling techniques. The main focus of this research is to improve efficiency of the wind power generation system by investigating electromagnetic and structural features of AFPM generator during its operation in wind turbine. The design is validated by comparing its performance with standard models of existing wind power generators. The comparison results demonstrate that the proposed model for the wind power generator exhibits number of advantages such as improved efficiency with variable speed operation, higher energy yield, lighter weight and better wind power utilization.

  20. Design and Experiment Analysis of a Direct-Drive Wave Energy Converter with a Linear Generator

    Directory of Open Access Journals (Sweden)

    Jing Zhang

    2018-03-01

    Full Text Available Coastal waves are an abundant nonpolluting and renewable energy source. A wave energy converter (WEC must be designed for efficient and steady operation in highly energetic ocean environments. A direct-drive wave energy conversion (D-DWEC system with a tubular permanent magnet linear generator (TPMLG on a wind and solar photovoltaic complementary energy generation platform is proposed to improve the conversion efficiency and reduce the complexity and device volume of WECs. The operating principle of D-DWECs is introduced, and detailed analyses of the proposed D-DWEC’s floater system, wave force characteristics, and conversion efficiency conducted using computational fluid dynamics are presented. A TPMLG with an asymmetric slot structure is designed to increase the output electric power, and detailed analyses of the magnetic field distribution, detent force characteristics, and no-load and load performances conducted using finite element analysis are discussed. The TPMLG with an asymmetric slot, which produces the same power as the TPMLG with a symmetric slot, has one fifth detent force of the latter. An experiment system with a prototype of the TPMLG with a symmetric slot is used to test the simulation results. The experiment and analysis results agree well. Therefore, the proposed D-DWEC fulfills the requirements of WEC systems.

  1. A performance study on a direct drive hydro turbine for wave energy converter

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Young Do [Mokpo National University, Muan (Korea, Republic of); Kim, Chang Goo; Kim, You Taek; Lee, Young Ho [Korea Maritime University, Busan (Korea, Republic of); Song, Jung Il [Changwon National University, Changwon (Korea, Republic of)

    2010-11-15

    Clean and renewable energy technologies using ocean energy give us non-polluting alternatives to fossil-fueled power plants as a countermeasure against global warming and growing demand for electrical energy. Among the ocean energy resources, wave power takes a growing interest because of its enormous amount of potential energy in the world. Therefore, various types of wave power systems to capture the energy of ocean waves have been developed. However, a suitable turbine type is not yet normalized because of relatively low efficiency of the turbine systems. The purpose of this study is to investigate the performance of a newly developed direct drive hydro turbine (DDT), which will be built in a caisson for a wave power plant. Experiment and CFD analysis are conducted to clarify the turbine performance and internal flow characteristics. The results show that the DDT obtains fairly good turbine efficiency in cases with and without wave conditions. Most of the output power is generated at the runner passage of Stage 2. Relatively larger amount of the decreased tangential velocity at Stage 2 produces more angular momentum than that at Stage 1 and thus, the larger angular momentum at the Stage 2 makes a greater contribution to the generation of total output power in comparison with that at Stage 1. Large vortex existing in the upper-left region of the runner passage forms a large recirculation region in the runner passage, and the recirculating flow consumes the output power at Region 2

  2. Performance of a direct drive hydro turbine for wave power generation

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Y-H; Kim, C-G [Division of Mechanical and Information Engineering, Korea Maritime University Dongsam-dong 1, Youngdo-ku, Busan, 606-791 (Korea, Republic of); Choi, Y-D; Kim, I-S [Department of Mechanical Engineering, Mokpo National University Muan-ro 560, Chunggye-myun, Jeonnam, 534-729 (Korea, Republic of); Hwang, Y-C, E-mail: lyh@hhu.ac.k [R and D Institute, Shinhan Precision Co. Ltd. Gomo-ri 313, Jinle-myun, Kimhae, 621-881 (Korea, Republic of)

    2010-08-15

    Clean and renewable energy technologies using ocean energy give us non-polluting alternatives to fossil-fueled power plants as a countermeasure against the global warming and growing demand for electrical energy. Among the ocean energy resources, wave power takes a growing interest because of its enormous amount of potential energy in the world. Therefore, various types of wave power system to capture the energy of ocean waves have been developed. However, suitable turbine type is not normalized yet because of relatively low efficiency of the turbine systems. The purpose of this study is to investigate the performance of a newly developed direct drive hydro turbine (DDT), which will be built in a caisson for wave power plant. Experiment and CFD analysis are conducted to clarify the turbine performance and internal flow characteristics. The results show that the DDT obtains fairly good turbine efficiency in both cases of with wave and no wave conditions. As the turbine performance is influenced considerably by the wave condition, designed point of the turbine should be determined according to the wave condition at an expected installation site. Most of the output power generates at the runner passage of the Stage 2.

  3. Design Optimization and Site Matching of Direct-Drive Permanent Magnet Wind Generator Systems

    DEFF Research Database (Denmark)

    Li, H.; Chen, Zhe

    2009-01-01

    This paper investigates the possible site matching of the direct-drive wind turbine concepts based on the electromagnetic design optimization of permanent magnet (PM) generator systems. Firstly, the analytical models of a three-phase radial-flux PM generator with a back-to-back power converter...... of the maximum wind energy capture, the rotor diameter and the rated wind speed of a direct-drive wind turbine with the optimum PM generator are determined. The annual energy output (AEO) is also presented using the Weibull density function. Finally, the maximum AEO per cost (AEOPC) of the optimized wind...... are presented. The optimum design models of direct-drive PM wind generation system are developed with an improved genetic algorithm, and a 500-kW direct-drive PM generator for the minimal generator active material cost is compared to demonstrate the effectiveness of the design optimization. Forty-five PM...

  4. Wind turbine having a direct-drive drivetrain

    Science.gov (United States)

    Bevington, Christopher M.; Bywaters, Garrett L.; Coleman, Clint C.; Costin, Daniel P.; Danforth, William L.; Lynch, Jonathan A.; Rolland, Robert H.

    2008-10-07

    A wind turbine (100) comprising an electrical generator (108) that includes a rotor assembly (112). A wind rotor (104) that includes a wind rotor hub (124) is directly coupled to the rotor assembly via a simplified connection. The wind rotor and generator rotor assembly are rotatably mounted on a central spindle (160) via a bearing assembly (180). The wind rotor hub includes an opening (244) having a diameter larger than the outside diameter of the central spindle adjacent the bearing assembly so as to allow access to the bearing assembly from a cavity (380) inside the wind rotor hub. The spindle is attached to a turret (140) supported by a tower (136). Each of the spindle, turret and tower has an interior cavity (172, 176, 368) that permits personnel to traverse therethrough to the cavity of the wind rotor hub. The wind turbine further includes a frictional braking system (276) for slowing, stopping or keeping stopped the rotation of the wind rotor and rotor assembly.

  5. SIRIUS-P: An inertially confined direct drive laser fusion power reactor

    International Nuclear Information System (INIS)

    Sviatoslavsky, I.N.; Kulcinski, G.L.; Moses, G.A.; Bruggink, D.; Engelstad, R.L.; Khater, H.Y.; Larsen, E.M.; Lovell, E.G.; MacFarlane, J.J.; Mogahed, E.A.; Peterson, R.R.; Sawan, M.E.; Wang, P.; Wittenberg, L.J.

    1993-03-01

    The SIRIUS-P conceptual design study is of a 1000 MWe laser driven inertial confinement fusion power reactor utilizing near symmetric illumination of direct drive targets. The reference driver is a KrF laser; however, any other laser capable of delivering short wavelength energy can be substituted. Sixty beams providing a total of 3.4 MJ of energy are used at a repetition rate of 6.7 Hz and a target gain of 118. The spherical chamber has an internal diameter of 6.5 m and consists of two independent components, a first wall assembly fabricated from a c/c composite and a blanket assembly made of SiC. First wall protection is provided by a xenon buffer gas at a pressure of 0.5 torr. The chamber is cooled by a flowing granular bed of solid ceramic material, TiO 2 for the first wall assembly and Li 2 O for the blanket assembly. The chamber is housed within a 42 m radius cylindrical reactor building which is 86 m high and which shares the same vacuum space as the chamber. All the laser beams are brought in at the bottom of the building, first onto a dielectrically coated final focusing mirror and finally onto a metallic grazing incidence mirror which reflects them into the chamber through beam ports open to the building. Neutron traps behind the grazing incidence mirrors are used to prolong the lifetimes of the final focusing optics. The nominal cost of electricity from this system is 65 mills/kwh assuming an 8% interest rate on capital

  6. Radioisotope electric propulsion for robotic science missions to near-interstellar space

    International Nuclear Information System (INIS)

    Noble, R.J.

    1994-10-01

    The use of radioisotope electric propulsion for sending small robotic probes on fast science missions several hundred astronomical units (AU) from the Sun is investigated. Such missions would address a large variety of solar, interstellar, galactic and cosmological science themes from unique vantage points at 100 to 600 AU, including parallax distance measurements for the entire Milky Way Galaxy, sampling of the interstellar medium and imaging of cosmological objects at the gravitational lens foci of the Sun (≥ 550 AU). Radioisotope electric propulsion (REP) systems are low-thrust, ion propulsion units based on multi-hundred watt, radioisotope electric generators and ion thrusters. In a previous work, the flight times for rendezvous missions to the outer planets (< 30 AU) using REP were found to be less than fifteen years. However fast prestellar missions to several hundred AU are not possible unless the probe's energy can be substantially increased in the inner Solar System so as to boost the final hyperbolic excess velocity. In this paper an economical hybrid propulsion scheme combining chemical propulsion and gravity assist in the inner Solar System and radioisotope electric propulsion in the outer Solar System is studied which enables fast prestellar missions. Total hyperbolic excess velocities of 15 AU/year and flight times to 550 AU of about 40 years are possible using REP technology that may be available in the next decade

  7. Symmetry issues in a class of ion beam targets using short direct drive pulses

    International Nuclear Information System (INIS)

    Mark, J.W.K.; Lindl, J.D.

    1986-01-01

    We address a class of modified ion beam targets where the symmetry issues are ameliorated in the regime of short bursts of direct drive pulses. Short pulses are here defined so that the fractional change in target radii of peak beam energy deposition are assumed to be small (during each such direct drive burst with a fixed beam focal radius). This requirement is actually not stringent on the temporal pulse-length. In fact we show an explicit example where this can be satisfied by a ≥ 60 ns direct drive pulse-train. A new beam placement scheme is used which systematically eliminated low order spherical harmonic asymmetries. The residual asymmetries of such pulses are studied with both simple model and numerical simulations

  8. A Comprehensive Review of Permanent Magnet Transverse Flux Machines for Direct Drive Applications

    Energy Technology Data Exchange (ETDEWEB)

    Muljadi, Eduard [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Husain, Tausif [University of Akron; Hasan, Iftekhar [University of Akron; Sozer, Yilmaz [University of Akron; Husain, Iqbal [North Carolina State University

    2017-11-07

    The use of direct drive machines in renewable and industrial applications are increasing at a rapid rate. Transverse flux machines (TFM) are ideally suited for direct drive applications due to their high torque density. In this paper, a comprehensive review of the permanent magnet (PM) TFMs for direct drive applications is presented. The paper introduces TFMs and their operating principle and then reviews the different type of TFMs proposed in the literature. The TFMs are categorized according to the number of stator sides, types of stator cores and magnet arrangement in the rotor. The review covers different design topologies, materials used for manufacturing, structural and thermal analysis, modeling and design optimization and cogging torque minimization in TFMs. The paper also reviews various applications and comparisons for TFMs that have been presented in the literature.

  9. Comparison of superconducting generators and permanent magnet generators for 10-MW direct-drive wind turbines

    DEFF Research Database (Denmark)

    Liu, Dong; Polinder, Henk; Abrahamsen, Asger Bech

    2016-01-01

    Large offshore direct-drive wind turbines of 10-MW power levels are being extensively proposed and studied because of a reduced cost of energy. Conventional permanent magnet generators currently dominating the direct-drive wind turbine market are still under consideration for such large wind...... turbines. In the meantime, superconducting generators (SCSGs) have been of particular interest to become a significant competitor because of their compactness and light weight. This paper compares the performance indicators of these two direct-drive generator types in the same 10-MW wind turbine under...... the same design and optimization method. Such comparisons will be interesting and insightful for commercialization of superconducting generators and for development of future wind energy industry, although SCSGs are still far from a high technology readiness level. The results show that the SCSGs may...

  10. Progress in direct-drive inertial confinement fusion research at the Laboratory for Laser Energetics

    International Nuclear Information System (INIS)

    McCrory, R.L.

    2002-01-01

    Significant theoretical and experimental progress towards the validation of direct-drive inertial confinement fusion (ICF) has been recently made at the Laboratory for Laser Energetics (LLE). Direct-drive ICF offers the potential for high-gain implosions and is a leading candidate for an inertial fusion energy power plant. LLE's base-line direct-drive ignition design for NIF is an 'all-DT' design that has a 1-D gain of ∼45. Recent calculations show that targets composed of foam shells, wicked with DT, can potentially achieve 1-D gains of ∼100. LLE experiments are conducted on the OMEGA 60-beam, 30-kJ, UV laser system. Beam smoothing of OMEGA includes 1-THz, 2-D SSD and polarization smoothing. Cryogenic D2 and plastic shell (warm) spherical targets and a comprehensive suite of x-ray, nuclear, charged particle and optical diagnostics are used in these experiments. Future experiments will use cryogenic DT targets. (author)

  11. Application of Solar-Electric Propulsion to Robotic Missions in Near-Earth Space

    Science.gov (United States)

    Woodcock, Gordon R.; Dankanich, John

    2007-01-01

    Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science and robotic exploration, and planetary science. These missions span SEP power range from 10 kWe to about 100 kWe. A SEP design compatible with small inexpensive launch vehicles, and capable of lunar science missions, is presented. Modes of use and benefits are described, and potential SEP evolution is discussed.

  12. Precision increase in electric drive speed loop of robotic complexes and process lines

    Science.gov (United States)

    Tulegenov, E.; Imanova, A. A.; Platonov, V. V.

    2018-05-01

    The article presents the principles of synthesis of control structures for highprecision electric drives of robotic complexes and manipulators. It has been theoretically shown and experimentally confirmed that improved characteristics of speed maintenance in the zone of significant overloads are achieved in systems of series excitation. They are achieved due to the redistribution of control signals both in the zone of setting the armature current and in the excitation currents. At the same time, the characteristic of the electromagnetic torque becomes linear because the demagnetizing effect of the armature response is compensated by the setting of the excitation current. It is recommended in those cases when it is necessary to extend the range of speed control with a significant reduction in load to apply structures with two-zone speed control. The regulation of the weakening of the excitation flow is more convenient as a function of the voltage in the armature windings.

  13. Design of Transverse Flux Permanent Magnet Machines for Large Direct-Drive Wind Turbines

    NARCIS (Netherlands)

    Bang, D.

    2010-01-01

    In order to maximize the energy harnessed, to minimize the cost, to improve the power quality and to ensure safety together with the growth of the size, various wind turbine concepts have been developed during last three decades. Different generator systems such as geared and direct-drive generator

  14. Design study of coated conductor direct drive wind turbine generator for small scale demonstration

    DEFF Research Database (Denmark)

    Abrahamsen, Asger Bech; Jensen, Bogi Bech

    2012-01-01

    We have investigated the properties of a superconducting direct drive generator suitable for demonstration in a small scale 11 kW wind turbine. The engineering current density of the superconducting field windings is based on properties of coated conductors wound into coils holding of the order 68...

  15. Direct drive TFPM wind generator analytical design optimised for minimum active mass usage

    DEFF Research Database (Denmark)

    Nica, Florin Valentin Traian; Leban, Krisztina Monika; Ritchie, Ewen

    2013-01-01

    The paper focuses of the Transverse Flux Permanent (TFPM) Generator as a solution for offshore direct drive wind turbines. A complex design algorithm is presented. Two topologies (U core and C core) of TFPM were considered. The analytical design is optimised using a combination of genetic...

  16. Design considerations for permanent magnet direct drive generators for wind energy applications

    NARCIS (Netherlands)

    Jassal, A.K.; Polinder, H.; Damen, M.E.C.; Versteegh, K.

    2012-01-01

    Permanent Magnet Direct Drive (PMDD) generators offer very high force density, high efficiency and low number of components. Due to these advantages, PMDD generators are getting popular in the wind energy industry especially for offshore application. Presence of permanent magnets gives magnetic

  17. Direct-drive electromagnetic active suspension system with integrated eddy current damping for automotive applications

    NARCIS (Netherlands)

    Gysen, B.L.J.; Paulides, J.J.H.; Lomonova, E.

    2011-01-01

    A direct-drive electromagnetic active suspension system is considered which consists of a tubular permanent magnet actuator in parallel with a coil spring. This system has the ability of improving the ride comfort while maintaining optimum handling and stability. Since safety is of major concern,

  18. Omega experiments and preparation for moderate-gain direct-drive experiments on Nif

    International Nuclear Information System (INIS)

    Mr Crory, R.L.; Bahr, R.E.; Boehly, T.R.

    2000-01-01

    Direct-drive laser-fusion ignition experiments rely on detailed understanding and control of irradiation uniformity, Rayleigh-Taylor instability, and target fabrication. LLE is investigating various theoretical aspects of a direct-drive NIF ignition target based on an 'all-DT' design: a spherical target of ∼ 3.5 mm diameter, 1 to 2 μm if CH wall thickness, and a ∼ 350 μm DT-ice layer near the triple point of DT (μ19K). OMEGA experiments are designed to address the critical issues related to direct-drive laser fusion and to provide the necessary data to validate the predictive capability of LLE computer codes. The future cryogenic targets used on OMEGA are hydrodynamically equivalent to those planned for the NIF. The current experimental studies on OMEGA address all of the essential components of direct-drive laser fusion: irradiation uniformity and laser imprinting, Rayleigh-Taylor growth and saturation, compressed core performance and shell-fuel mixing, laser-plasma interactions and their effect on target performance, and cryogenic target fabrication and handling. (authors)

  19. Feedback error learning controller for functional electrical stimulation assistance in a hybrid robotic system for reaching rehabilitation

    Directory of Open Access Journals (Sweden)

    Francisco Resquín

    2016-07-01

    Full Text Available Hybrid robotic systems represent a novel research field, where functional electrical stimulation (FES is combined with a robotic device for rehabilitation of motor impairment. Under this approach, the design of robust FES controllers still remains an open challenge. In this work, we aimed at developing a learning FES controller to assist in the performance of reaching movements in a simple hybrid robotic system setting. We implemented a Feedback Error Learning (FEL control strategy consisting of a feedback PID controller and a feedforward controller based on a neural network. A passive exoskeleton complemented the FES controller by compensating the effects of gravity. We carried out experiments with healthy subjects to validate the performance of the system. Results show that the FEL control strategy is able to adjust the FES intensity to track the desired trajectory accurately without the need of a previous mathematical model.

  20. Laser imprint and implications for direct drive ignition with the National Ignition Facility

    International Nuclear Information System (INIS)

    Weber, S.V.; Glendinning, S.G.; Kalantar, D.H.; Remington, B.A.; Rothenberg, J.E.

    1996-01-01

    For direct drive ICF, nonuniformities in laser illumination can seed ripples at the ablation front in a process called imprint. Such nonuniformities will grow during the capsule implosion and can penetrate the capsule shell impede ignition, or degrade burn. We have simulated imprint for a number of experiments on tile Nova laser. Results are in generally good agreement with experimental data. We leave also simulated imprint upon National Ignition Facility (NIF) direct drive ignition capsules. Imprint modulation amplitude comparable to the intrinsic surface finish of ∼40 nm is predicted for a laser bandwidth of 0.5 THz. Ablation front modulations experience growth factors up to several thousand, carrying modulation well into the nonlinear regime. Saturation modeling predicts that the shell should remain intact at the time of peak velocity, but penetration at earlier times appears more marginal

  1. Potential of Partially Superconducting Generators for Large Direct-Drive Wind Turbines

    DEFF Research Database (Denmark)

    Liu, Dong; Polinder, Henk; Abrahamsen, Asger Bech

    2017-01-01

    This paper aims at assessing the potential of partially superconducting generators for 10 MW direct-drive wind turbines by investigating their performance for a very wide range of excitation currents. Performance indicators such as shear stress and efficiency and other generator characteristics...... are compared for 12 different generator topologies. To be sufficiently attractive, superconducting generators must have significant advantages over permanent magnet direct-drive generators, which typically have shear stresses of the order of 53 kPa and efficiencies of 96%. Therefore, we investigate what...... they achieve this performance. By examining the maximum magnetic flux density at the location of the superconducting field winding, feasible superconductors can be chosen according to their engineering current density capabilities. It is found that high- and low-temperature superconductors can meet...

  2. Scaling model for high-aspect-ratio microballoon direct-drive implosions at short laser wavelengths

    International Nuclear Information System (INIS)

    Schirmann, D.; Juraszek, D.; Lane, S.M.; Campbell, E.M.

    1992-01-01

    A scaling model for hot spherical ablative implosions in direct-drive mode is presented. The model results have been compared with experiments from LLE, ILE, and LLNL. Reduction of the neutron yield due to illumination nonuniformities is taken into account by the assumption that the neutron emission is cut off when the gas shock wave reflected off the center meets the incoming pusher, i.e., at a time when the probability of shell breakup is greatly enhanced. The main advantage of this semiempirical scaling model is that it elucidates the principal features of these simple implosions and permits one to estimate very quickly the performance of a high-aspect-ratio direct-drive target illuminated by short-wavelength laser light. (Author)

  3. Direct drive acceleration of planar targets with the Nike KrF laser

    International Nuclear Information System (INIS)

    Pawley, C.J.; Sethian, J.D.; Bodner, S.E.

    1999-01-01

    Nike is a multi-kilojoule KrF laser with very high beam uniformity (ΔI/I<0.2% with all 36 overlapped beams), and the capability to accelerate relatively thick targets on a low adiabat under conditions scalable to direct drive ICF. In a first set of experiments we determined the effect of the imprinting by varying the uniformity of the foot of the laser pulse and measuring the growth of the subsequent Rayleigh-Taylor instability. We found that the lower the imprint, the longer the mass modulations take to reach a given level. This is in quantitative agreement with our 2-D hydrodynamics simulations. The results are promising for direct drive with a very uniform laser. (orig.)

  4. Direct drive acceleration of planar targets with the Nike KrF laser

    Energy Technology Data Exchange (ETDEWEB)

    Pawley, C.J.; Sethian, J.D.; Bodner, S.E. [Naval Research Lab., Washington, DC (United States). Plasma Physics Div.] [and others

    1999-02-01

    Nike is a multi-kilojoule KrF laser with very high beam uniformity ({Delta}I/I<0.2% with all 36 overlapped beams), and the capability to accelerate relatively thick targets on a low adiabat under conditions scalable to direct drive ICF. In a first set of experiments we determined the effect of the imprinting by varying the uniformity of the foot of the laser pulse and measuring the growth of the subsequent Rayleigh-Taylor instability. We found that the lower the imprint, the longer the mass modulations take to reach a given level. This is in quantitative agreement with our 2-D hydrodynamics simulations. The results are promising for direct drive with a very uniform laser. (orig.) 4 refs.

  5. Potential of MgB2 superconductors in direct drive generators for wind turbines

    DEFF Research Database (Denmark)

    Abrahamsen, Asger Bech; Liu, Dong; Magnusson, Niklas

    2015-01-01

    Topologies of superconducting direct drive wind turbine generators are based on a combination of superconducting wires wound into field coils, copper armature windings, steel laminates to shape the magnetic flux density and finally structural materials as support. But what is the most optimal...... by using the current cost of 4 €/m for the MgB2 wire from Columbus Superconductors and also a possible future cost of 1 €/m if a superconducting offshore wind power capacity of 10 GW has been introduced by 2030 as suggested in a roadmap. The obtained topologies are compared to what is expected from...... a permanent magnet direct drive generators and the further development directions are discussed. Finally an experimental INNWIND.EU demonstration showing that the current commercial MgB2 wires can be wound into functional field coils for wind turbine generators is discussed....

  6. Direct-drive shock-ignition for the Laser MégaJoule

    Directory of Open Access Journals (Sweden)

    Canaud B.

    2013-11-01

    Full Text Available We present a review of direct-drive shock ignition studies done as an alternative for the Laser MégaJoule (LMJ. One and two dimensional systematic analyses of HiPER-like shock-ignited target designs are performed for the fuel assembly irradiation uniformity using the whole LMJ configuration or a part of the facility, and for the uniformity of the ignitor spike. High-gain shock-ignition is shown to be possible with intensity of each quad less than 1015 W/cm2 but low modes asymmetries displace the power required in the ignitor spike towards higher powers. Shock-ignition of Direct-Drive Double-Shell non-cryogenic targets is also addressed.

  7. Design and Experiment Analysis of a Direct-Drive Wave Energy Converter with a Linear Generator

    OpenAIRE

    Jing Zhang; Haitao Yu; Zhenchuan Shi

    2018-01-01

    Coastal waves are an abundant nonpolluting and renewable energy source. A wave energy converter (WEC) must be designed for efficient and steady operation in highly energetic ocean environments. A direct-drive wave energy conversion (D-DWEC) system with a tubular permanent magnet linear generator (TPMLG) on a wind and solar photovoltaic complementary energy generation platform is proposed to improve the conversion efficiency and reduce the complexity and device volume of WECs. The operating pr...

  8. Design study of a 10 MW MgB2 superconductor direct drive wind turbine generator

    DEFF Research Database (Denmark)

    Abrahamsen, Asger Bech; Magnusson, Niklas; Liu, Dong

    2014-01-01

    A design study of a 10 MW direct drive wind turbine generator based on MgB2 superconducting wires is presented and the cost of the active materials of the generator is estimated to be between 226 €/kW and 84 €/kw, which is lower than the threshold values of 300 €/kW of the INNWIND.EU project. A n...

  9. Direct Drive Synchronous Machine Models for Stability Assessment of Wind Farms

    Energy Technology Data Exchange (ETDEWEB)

    Poeller, Markus; Achilles, Sebastian [DIgSILENT GmbH, Gomaringen (Germany)

    2003-11-01

    The increasing size of wind farms requires power system stability analysis including dynamic wind generator models. For turbines above 1MW doubly-fed induction machines are the most widely used concept. However, especially in Germany, direct-drive wind generators based on converter-driven synchronous generator concepts have reached considerable market penetration. This paper presents converter driven synchronous generator models of various order that can be used for simulating transients and dynamics in a very wide time range.

  10. Linear stability analysis of double ablation fronts in direct-drive inertial confinement fusion

    International Nuclear Information System (INIS)

    Yanez, C.; Sanz, J.; Ibanez, L. F.; Olazabal-Loume, M.

    2011-01-01

    A linear stability theory of double ablation fronts is developed for direct-drive inertial confinement fusion targets. The so-called electron radiative ablation front [S. Fujioka et al., Phys. Rev. Lett. 92, 195001 (2004)] is studied with a self-consistent model. Numerical results are presented as well as an analytical approach for the radiation dominated regime of very steep double ablation front structure. Dispersion relation formula is tackled by means of a sharp boundary model.

  11. Fault diagnosis of direct-drive wind turbine based on support vector machine

    International Nuclear Information System (INIS)

    An, X L; Jiang, D X; Li, S H; Chen, J

    2011-01-01

    A fault diagnosis method of direct-drive wind turbine based on support vector machine (SVM) and feature selection is presented. The time-domain feature parameters of main shaft vibration signal in the horizontal and vertical directions are considered in the method. Firstly, in laboratory scale five experiments of direct-drive wind turbine with normal condition, wind wheel mass imbalance fault, wind wheel aerodynamic imbalance fault, yaw fault and blade airfoil change fault are carried out. The features of five experiments are analyzed. Secondly, the sensitive time-domain feature parameters in the horizontal and vertical directions of vibration signal in the five conditions are selected and used as feature samples. By training, the mapping relation between feature parameters and fault types are established in SVM model. Finally, the performance of the proposed method is verified through experimental data. The results show that the proposed method is effective in identifying the fault of wind turbine. It has good classification ability and robustness to diagnose the fault of direct-drive wind turbine.

  12. An autonomously electrically self-healing liquid metal-elastomer composite for robust soft-matter robotics and electronics.

    Science.gov (United States)

    Markvicka, Eric J; Bartlett, Michael D; Huang, Xiaonan; Majidi, Carmel

    2018-07-01

    Large-area stretchable electronics are critical for progress in wearable computing, soft robotics and inflatable structures. Recent efforts have focused on engineering electronics from soft materials-elastomers, polyelectrolyte gels and liquid metal. While these materials enable elastic compliance and deformability, they are vulnerable to tearing, puncture and other mechanical damage modes that cause electrical failure. Here, we introduce a material architecture for soft and highly deformable circuit interconnects that are electromechanically stable under typical loading conditions, while exhibiting uncompromising resilience to mechanical damage. The material is composed of liquid metal droplets suspended in a soft elastomer; when damaged, the droplets rupture to form new connections with neighbours and re-route electrical signals without interruption. Since self-healing occurs spontaneously, these materials do not require manual repair or external heat. We demonstrate this unprecedented electronic robustness in a self-repairing digital counter and self-healing soft robotic quadruped that continue to function after significant damage.

  13. Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton

    Directory of Open Access Journals (Sweden)

    Dingguo Zhang

    2017-12-01

    Full Text Available Functional electrical stimulation (FES and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton. Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization.

  14. Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton.

    Science.gov (United States)

    Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

    2017-01-01

    Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization.

  15. W4E HYDROPOWER DIRECT DRIVE IN-LINE HYDROTURBINE GENERATOR FULL SCALE PROTOTYPE VALIDATION TESTING REPORT MAY 2013 ALDEN LABORATORIES

    Energy Technology Data Exchange (ETDEWEB)

    Cox, Chad W [GZA GeoEnvironmental,Inc.

    2013-09-24

    The W4E is a patent-pending, direct-drive, variable force turbine/generator. The equipment generates electricity through the water dependent engagement of a ring of rotating magnets with coils mounted on a stator ring. Validation testing of the W4e was performed at Alden Laboratories in the Spring of 2013. The testing was independently observed and validated by GZA GeoEnvironmental, Inc. The observations made during testing and the results of the testing are included in the Test Summary Report

  16. Development of the robot for pressurizer electric heater inspection and repairing

    International Nuclear Information System (INIS)

    Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

    1999-01-01

    In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heaters. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraints such as its weight and collision with pressurized wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code

  17. Development of the robot for pressurizer electric heater inspection and repairing

    International Nuclear Information System (INIS)

    Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

    1998-01-01

    In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heater. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraint such as its weight and collision with pressurizer wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code. For gripping the rod heater the passive self-locking mechanism is adopted, which is made up three balls and springs. Because the mechanism is very simple, it is very hardly defected than that adopted motor. (author). 11 refs., 8 tabs., 13 figs

  18. Direct drive target survival during injection in an inertial fusion energy power plant

    International Nuclear Information System (INIS)

    Petzoldt, R.W.; Goodin, D.T.; Nikroo, A.; Stephens, E.; Alexander, N.B.; Gallix, R.; Siegel, N.; Raffray, A.R.; Mau, T.K.; Tillack, M.; Najmabadi, F.; Krasheninnikov, S.I.

    2002-01-01

    In inertial fusion energy (IFE) power plant designs, the fuel is a spherical layer of frozen DT contained in a target that is injected at high velocity into the reaction chamber. For direct drive, typically laser beams converge at the centre of the chamber (CC) to compress and heat the target to fusion conditions. To obtain the maximum energy yield from the fusion reaction, the frozen DT layer must be at about 18.5 K and the target must maintain a high degree of spherical symmetry and surface smoothness when it reaches the CC. During its transit in the chamber the cryogenic target is heated by radiation from the hot chamber wall. The target is also heated by convection as it passes through the rarefied fill-gas used to control chamber wall damage by x-rays and debris from the target explosion. This article addresses the temperature limits at the target surface beyond which target uniformity may be damaged. It concentrates on direct drive targets because fuel warm up during injection is not currently thought to be an issue for present indirect drive designs and chamber concepts. Detailed results of parametric radiative and convective heating calculations are presented for direct-drive targets during injection into a dry-wall reaction chamber. The baseline approach to target survival utilizes highly reflective targets along with a substantially lower chamber wall temperature and fill-gas pressure than previously assumed. Recently developed high-Z material coatings with high heat reflectivity are discussed and characterized. The article also presents alternate target protection methods that could be developed if targets with inherent survival features cannot be obtained within a reasonable time span. (author)

  19. Progress in direct-drive inertial confinement fusion research at the laboratory for laser energetics

    International Nuclear Information System (INIS)

    McCrory, R.L.; Meyerhofer, D.D.; Loucks, S.J.

    2003-01-01

    Significant theoretical and experimental progress toward the validation of direct-drive inertial confinement fusion (ICF) has been made at the Laboratory for Laser Energetics (LLE). Direct-drive ICF offers the potential for high-gain implosions and is a leading candidate for an inertial fusion energy power plant. LLE's base-line direct-drive ignition design for the National Ignition Facility (NIF) is an 'all-DT' design that has a 1-D gain of ∼45 (∼30 when two-dimensional calculations are performed). The 'all-DT target' consists of a thin (∼3 μm) plastic shell enclosing a thick (∼330 μm) DT-ice layer. Recent calculations show that targets composed of foam shells, wicked with DT, can potentially achieve 1-D gains ∼100 at NIF energy levels (∼1.5 MJ). The addition of a 'picket' pulse to the beginning of the all-DT pulse shape reduces the target sensitivity to laser nonuniformities, increasing the potentially achievable gains. LLE experiments are conducted on the OMEGA 60-beam, 30-kJ, UV laser system. Beam smoothing includes 1-THz, 2-D SSD and polarization smoothing. Ignition-scaled cryogenic D 2 and plastic-shell spherical targets and a comprehensive suite of x-ray, nuclear, charged-particle, and optical diagnostics are used to understand the characteristics of the implosions. Recent cryogenic D 2 implosions with high adiabat (α ∼ 25) perform as predicted by one-dimensional (perfectly symmetric) simulations. Moderateconvergence- ratio (CR ∼ 15), high-adiabat (α ∼ 25), warm-capsule (surrogates for cryogenic capsules) implosions produce >30% of the 1-D predicted neutron yield and nearly 100% of the predicted fuel and shell areal densities. From a combination of x-ray, nuclear, and particle spectroscopy, a 'Lawson' fusion parameter (n i T i τi) of ∼7 x 10 20 m -3 keV was measured, the highest directly measured in inertial confinement fusion experiments to date. Estimates from cryogenic target performance give similar Lawson conditions. Future

  20. Initial Validation of Robotic Operations for In-Space Assembly of a Large Solar Electric Propulsion Transport Vehicle

    Science.gov (United States)

    Komendera, Erik E.; Dorsey, John T.

    2017-01-01

    Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series of robotic assembly experiments were recently completed at Langley Research Center (LaRC) that demonstrate most of the assembly steps for the SEP tug concept. The assembly experiments used a core set of robotic capabilities: long-reach manipulation and dexterous manipulation. This paper describes cross-cutting capabilities and technologies for in-space assembly (ISA), applies the ISA approach to a SEP tug, describes the design and development of two assembly demonstration concepts, and summarizes results of two sets of assembly experiments that validate the SEP tug assembly steps.

  1. A Neuromuscular Electrical Stimulation (NMES) and robot hybrid system for multi-joint coordinated upper limb rehabilitation after stroke.

    Science.gov (United States)

    Rong, Wei; Li, Waiming; Pang, Mankit; Hu, Junyan; Wei, Xijun; Yang, Bibo; Wai, Honwah; Zheng, Xiaoxiang; Hu, Xiaoling

    2017-04-26

    It is a challenge to reduce the muscular discoordination in the paretic upper limb after stroke in the traditional rehabilitation programs. In this study, a neuromuscular electrical stimulation (NMES) and robot hybrid system was developed for multi-joint coordinated upper limb physical training. The system could assist the elbow, wrist and fingers to conduct arm reaching out, hand opening/grasping and arm withdrawing by tracking an indicative moving cursor on the screen of a computer, with the support from the joint motors and electrical stimulations on target muscles, under the voluntary intention control by electromyography (EMG). Subjects with chronic stroke (n = 11) were recruited for the investigation on the assistive capability of the NMES-robot and the evaluation of the rehabilitation effectiveness through a 20-session device assisted upper limb training. In the evaluation, the movement accuracy measured by the root mean squared error (RMSE) during the tracking was significantly improved with the support from both the robot and NMES, in comparison with those without the assistance from the system (P joint and inter-joint muscular co-contractions measured by EMG were significantly released when the NMES was applied to the agonist muscles in the different phases of the limb motion (P < 0.05). After the physical training, significant improvements (P < 0.05) were captured by the clinical scores, i.e., Modified Ashworth Score (MAS, the elbow and the wrist), Fugl-Meyer Assessment (FMA), Action Research Arm Test (ARAT), and Wolf Motor Function Test (WMFT). The EMG-driven NMES-robotic system could improve the muscular coordination at the elbow, wrist and fingers. ClinicalTrials.gov. NCT02117089 ; date of registration: April 10, 2014.

  2. Power Extraction Control of Variable Speed Wind Turbine Systems Based on Direct Drive Synchronous Generator in All Operating Regimes

    Directory of Open Access Journals (Sweden)

    Youssef Errami

    2018-01-01

    Full Text Available Due to the increased penetration of wind energy into the electrical power systems in recent years, the turbine controls are actively occupied in the research. This paper presents a nonlinear backstepping strategy to control the generators and the grid sides of a Wind Farm System (WFS based Direct Drive Synchronous Generator (DDSG. The control objectives such as Tracking the Maximum Power (TMP from the WFS, pitch control, regulation of dc-link voltage, and reactive and active power generation at varying wind velocity are included. To validate the proposed control strategy, simulation results for 6-MW-DDSG based Wind Farm System are carried out by MATLAB-Simulink. Performance comparison and evaluation with Vector Oriented Control (VOC are provided under a wide range of functioning conditions, three-phase voltage dips, and the probable occurrence of uncertainties. The proposed control strategy offers remarkable characteristics such as excellent dynamic and steady state performance under varying wind speed and robustness to parametric variations in the WFS and under severe faults of grid voltage.

  3. Computational modeling of direct-drive fusion pellets and KrF-driven foil experiments

    International Nuclear Information System (INIS)

    Gardner, J.H.; Schmitt, A.J.; Dahlburg, J.P.; Pawley, C.J.; Bodner, S.E.; Obenschain, S.P.; Serlin, V.; Aglitskiy, Y.

    1998-01-01

    FAST is a radiation transport hydrodynamics code that simulates laser matter interactions of relevance to direct-drive laser fusion target design. FAST solves the Euler equations of compressible flow using the Flux-Corrected Transport finite volume method. The advection algorithm provides accurate computation of flows from nearly incompressible vortical flows to those that are highly compressible and dominated by strong pressure and density gradients. In this paper we describe the numerical techniques and physics packages. FAST has also been benchmarked with Nike laser facility experiments in which linearly perturbed, low adiabat planar plastic targets are ablatively accelerated to velocities approaching 10 7 cm/s. Over a range of perturbation wavelengths, the code results agree with the measured Rayleigh endash Taylor growth from the linear through the deeply nonlinear regimes. FAST has been applied to the two-dimensional spherical simulation design to provide surface finish and laser bandwidth tolerances for a promising new direct-drive pellet that uses a foam ablator

  4. Progress in indirect and direct-drive planar experiments on hydrodynamic instabilities at the ablation front

    Energy Technology Data Exchange (ETDEWEB)

    Casner, A., E-mail: alexis.casner@cea.fr; Masse, L.; Huser, G.; Galmiche, D.; Liberatore, S.; Riazuelo, G. [CEA, DAM, DIF, F-91297 Arpajon (France); Delorme, B. [CEA, DAM, DIF, F-91297 Arpajon (France); CELIA, University of Bordeaux-CNRS-CEA, F-33400 Talence (France); Martinez, D.; Remington, B.; Smalyuk, V. A. [Lawrence Livermore National Laboratory, Livermore, California 94550 (United States); Igumenshchev, I.; Michel, D. T.; Froula, D.; Seka, W.; Goncharov, V. N. [Laboratory of Laser Energetics, Rochester, New York 14623-1299 (United States); Olazabal-Loumé, M.; Nicolaï, Ph.; Breil, J.; Tikhonchuk, V. T. [CELIA, University of Bordeaux-CNRS-CEA, F-33400 Talence (France); Fujioka, S. [Institute of Laser Engineering, Osaka University, Suita, Osaka 565 (Japan); and others

    2014-12-15

    Understanding and mitigating hydrodynamic instabilities and the fuel mix are the key elements for achieving ignition in Inertial Confinement Fusion. Cryogenic indirect-drive implosions on the National Ignition Facility have evidenced that the ablative Rayleigh-Taylor Instability (RTI) is a driver of the hot spot mix. This motivates the switch to a more flexible higher adiabat implosion design [O. A. Hurricane et al., Phys. Plasmas 21, 056313 (2014)]. The shell instability is also the main candidate for performance degradation in low-adiabat direct drive cryogenic implosions [Goncharov et al., Phys. Plasmas 21, 056315 (2014)]. This paper reviews recent results acquired in planar experiments performed on the OMEGA laser facility and devoted to the modeling and mitigation of hydrodynamic instabilities at the ablation front. In application to the indirect-drive scheme, we describe results obtained with a specific ablator composition such as the laminated ablator or a graded-dopant emulator. In application to the direct drive scheme, we discuss experiments devoted to the study of laser imprinted perturbations with special phase plates. The simulations of the Richtmyer-Meshkov phase reversal during the shock transit phase are challenging, and of crucial interest because this phase sets the seed of the RTI growth. Recent works were dedicated to increasing the accuracy of measurements of the phase inversion. We conclude by presenting a novel imprint mitigation mechanism based on the use of underdense foams. The foams induce laser smoothing by parametric instabilities thus reducing the laser imprint on the CH foil.

  5. Coordinated Low Voltage Ride through strategies for Permanent Magnet Direct Drive Synchronous Generators

    Directory of Open Access Journals (Sweden)

    Zhang Ge

    2016-01-01

    Full Text Available By analyzing the mechanism of the low voltage ride through on the permanent magnet direct drive synchronous wind power generating units, this paper proposes a coordinated control strategy for permanent magnet synchronous generator. In order to avoid over speed operation of the generation units, over voltage on DC capacitor and over current on convert, the improved pitch angle control and inverter control are used. When the grid voltage drops, the captured wind power is cut down by the variable pitch system, which limits the speed of the generator, the generator side converter keeps the DC capacitor voltage stabile; and the grid side converter provides reactive power to the grid to help the grid voltage recover. The control strategy does not require any additional hardware equipment, with existing control means, the unit will be able to realize low voltage ride through. Finally, based on Matlab/Simulink to build permanent magnet direct drive wind power generation system, the simulation results verify the correctness and effectiveness of the control strategy.

  6. A Lightweight, Direct-Drive, Fully Superconducting Generator for Large Wind Turbines

    Energy Technology Data Exchange (ETDEWEB)

    Meinke, Rainer [Advanced Magnet Lab, Palm Bay, FL (United States); Morrison, Darrell [Emerson Inc., St. Louis, MO (United States); Prince, Vernon Gregory [Advanced Magnet Lab, Palm Bay, FL (United States)

    2014-12-31

    The current trend in the offshore wind turbine industry favors direct-drive generators based on permanent magnets, as they allow for a simple and reliable drivetrain without a gearbox. These generators, however, do not scale very well to high power levels beneficial for offshore wind, and their use in wind turbines over 6 MW is questionable in terms of mass and economic feasibility. Moreover, rare earth materials composing the permanent magnets are becoming less available, more costly and potentially unavailable in the foreseeable future. A stated goal of the DOE is a critical materials strategy that pursues the development of substitute materials and technology for rare earth materials to improve supply chain flexibility and meet the needs of the clean energy economy.Therefore, alternative solutions are needed, in terms of both favorable up-scaling and minimizing or eliminating the use of permanent magnets. The generator design presented in this document addresses both these issues with the development of a fully superconducting generator (FSG) with unprecedented high specific torque. A full-scale, 10-MW, 10-rpm generator will weigh less about 150 metric tons, compared to 300 metric tons for an equivalent direct-drive, permanent magnet generator. The developed concept does not use any rare earth materials in its critical drive components, but rather relies on a superconductor composed of mainly magnesium and boron (MgB2), both of which are in abundant supply from multiple global sources.

  7. Long-duration planar direct-drive hydrodynamics experiments on the NIF

    Science.gov (United States)

    Casner, A.; Mailliet, C.; Khan, S. F.; Martinez, D.; Izumi, N.; Kalantar, D.; Di Nicola, P.; Di Nicola, J. M.; Le Bel, E.; Igumenshchev, I.; Tikhonchuk, V. T.; Remington, B. A.; Masse, L.; Smalyuk, V. A.

    2018-01-01

    The advent of high-power lasers facilities such as the National Ignition Facility (NIF) and the laser megajoule provide unique platforms to study the physics of turbulent mixing flows in high energy density plasmas. We report here on the commissioning of a novel planar direct-drive platform on the NIF, which allows the acceleration of targets during 30 ns. Planar plastic samples were directly irradiated by 300-450 kJ of UV laser light (351 nm) and a very good planarity of the laser drive is demonstrated. No detrimental effect of imprint is observed in the case of these thick plastic targets (300 μm), which is beneficial for future academic experiments requesting similar irradiation conditions. The long-duration direct-drive (DD) platform is thereafter harnessed to study the ablative Rayleigh-Taylor instability (RTI) in DD. The growth of two-dimensional pre-imposed perturbations is quantified through time-resolved face-on x-ray radiography and used as a benchmark for radiative hydrocode simulations. The ablative RTI is then quantified in its highly nonlinear stage starting from intentionally large 3D imprinted broadband modulations. Two generations of bubble mergers is observed for the first time in DD, as a result of the unprecedented long laser acceleration.

  8. Direct-Drive Inertial Fusion Research at the University of Rochester's Laboratory for Laser Energetics: A Review

    International Nuclear Information System (INIS)

    McCrory, R.L.; Meyerhofer, D.D.; Loucks, S.J.; Skupsky, S.; Bahr, R.E.; Betti, R.; Boehly, T.R.; Craxton, R.S.; Collins, T.J.B.; Delettrez, J.A.; Donaldson, W.R.; Epstein, R.; Fletcher, K.A.; Freeman, C.; Frenje, J.A.; Glebov, V.Yu.; Goncharov, V.N.; Harding, D.R.; Jaanimagi, P.A.; Keck, R.L.; Kelly, J.H.; Kessler, T.J.; Kilkenny, J.D.; Knauer, J.P.; Li, C.K.; Lund, L.D.; Marozas, J.A.; McKenty, P.W.; Marshall, F.J.; Morse, S.F.B.; Padalino, S.; Petrasso, R.D.; Radha, P.B.; Regan, S.P.; Roberts, S.; Sangster, T.C.; Seguin, F.H.; Seka, W.; Smalyuk, V.A.; Soures, J.M.; Stoeckl, C.; Thorp, K.A.; Yaakobi, B.; Zuegel, J.D.

    2010-01-01

    This paper reviews the status of direct-drive inertial confinement fusion (ICF) research at the University of Rochester's Laboratory for Laser Energetics (LLE). LLE's goal is to demonstrate direct-drive ignition on the National Ignition Facility (NIF) by 2014. Baseline 'all-DT' NIF direct-drive ignition target designs have been developed that have a predicted gain of 45 (1-D) at a NIF drive energy of ∼1.6 MJ. Significantly higher gains are calculated for targets that include a DT-wicked foam ablator. This paper also reviews the results of both warm fuel and initial cryogenic-fuel spherical target implosion experiments carried out on the OMEGA UV laser. The results of these experiments and design calculations increase confidence that the NIF direct-drive ICF ignition goal will be achieved.

  9. Distinctive Steady-State Heart Rate and Blood Pressure Responses to Passive Robotic Leg Exercise and Functional Electrical Stimulation During Head-up Tilt

    OpenAIRE

    Amirehsan Sarabadani Tafreshi; Amirehsan Sarabadani Tafreshi; Robert Riener; Robert Riener; Verena Klamroth-Marganska; Verena Klamroth-Marganska

    2016-01-01

    Tilt tables enable early mobilization of patients by providing verticalization. But there is a high risk of orthostatic hypotension provoked by verticalization, especially after neurological diseases such as spinal cord injury. Robot-assisted tilt tables might be an alternative as they add passive robotic leg exercise (PE) that can be enhanced with functional electrical stimulation (FES) to the verticalization, thus reducing the risk of orthostatic hypotension. We hypothesized that the influe...

  10. Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

    Science.gov (United States)

    Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

    2016-02-01

    Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

  11. A Novel Maximum Power Point Tracking Control for Permanent Magnet Direct Drive Wind Energy Conversion Systems

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2012-05-01

    Full Text Available This paper proposes a novel optimal current given (OCG maximum power point tracking (MPPT control strategy based on the theory of power feedback and hill climb searching (HCS for a permanent magnet direct drive wind energy conversion system (WECS. The presented strategy not only has the advantages of not needing the wind speed and wind turbine characteristics of the traditional HCS method, but it also improves the stability and accuracy of MPPT by estimating the exact loss torque. The OCG MPPT control strategy is first carried out by simulation, then an experimental platform based on the dSPACE1103 controller is built and a 5.5 kW permanent magnet synchronous generator (PMSG is tested. Furthermore, the proposed method is compared experimentally with the traditional optimum tip speed ratio (TSR MPPT control. The experiments verify the effectiveness of the proposed OCG MPPT strategy and demonstrate its better performance than the traditional TSR MPPT control.

  12. Present status of direct drive inertial confinement fusion research at ILE Osaka University

    International Nuclear Information System (INIS)

    Yamanaka, Tatsuhiko; Nakai, Sadao

    1993-01-01

    The activities of direct drive implosion experiments at ILE of Osaka Univ. are focused on the planar- and spherical-target experiments relating to Rayleigh-Taylor instability and the implosion experiments of cryogenic targets with low density plastic foam shell overcoated by a solid plastic layer. In the spherical shell target implosions a very early x-ray emission (refer as pre-emission hereafter) has been observed at the center of the target. The appearance of the pre-emission is related to the illumination nonuniformity. The appearance time of the pre-emission, the electron temperature of the source plasma of the pre-emission and the possibility of Rayleigh-Taylor instability have been studied experimentally to understand the mechanism of the pre-emission. Shell break up by Rayleigh-Taylor instability has been concluded to be the most probable mechanism of the pre-emission

  13. Low-density carbonized composite foams for direct-drive laser ICF targets

    International Nuclear Information System (INIS)

    Kong, Fung-Ming.

    1989-03-01

    The design for a direct-drive, high-gain laser inertial confinement fusion target calls for the use of a low-density, low-atomic-number foam to confine and stabilize liquid deuterium-tritium (DT) in a spherical-shell configuration. Over the past two years, we have successfully developed polystyrene foams (PS) and carbonized resorcinol-formaldehyde foams (CRF) for that purpose. Both candidates are promising materials with unique characteristics. PS has superior mechanical strength and machinability, but its relatively large thermal contraction is a significant disadvantage. CRF has outstanding wettability and dimensional stability in liquid DT; yet it is much more fragile than PS. To combine the strengths of both materials, we have recently developed a polymer composite foam which exceeds PS in mechanical strength, but retains the wettability and dimension stability of CRF. This paper will discuss the preparation, structure, and properties of the polymer composite foams. 5 refs., 1 fig., 1 tab

  14. Experimental configuration of direct drive cylindrical implosions on the Omega Laser

    International Nuclear Information System (INIS)

    Barnes, C.W.; Tubbs, D.L.; Beck, J.B.

    1998-01-01

    Details about the cylindrical implosions using direct-drive irradiation on the OMEGA Laser facility are provided. The experimental configuration, including orientation, construction, and mounting of the targets is described. An attempt to characterize the modulation transfer function of the primary x-ray framing camera diagnostic results in insufficient exposure contrast but relative agreement with other determinations. The x-ray intensity of the titanium backlighter driven by the 2.5-nsec linear ramp of the laser beams is described, and the relative intensity on film is compared to similar Nova experiments. The parallax effects of different length marker layers of high-opacity dichloropolystyrene is measured, resulting in the conclusion that the marker layer length should be matched to the laser drive illumination profile

  15. Direct-drive high-convergence-ratio implosion studies on the OMEGA laser system

    International Nuclear Information System (INIS)

    Marshall, F. J.; Delettrez, J. A.; Epstein, R.; Glebov, V. Yu.; Harding, D. R.; McKenty, P. W.; Meyerhofer, D. D.; Radha, P. B.; Seka, W.; Skupsky, S.

    2000-01-01

    A series of direct-drive implosion experiments, using room-temperature, gas-filled CH targets, are performed on the University of Rochester's OMEGA laser system [T. R. Boehly et al., Opt. Commun. 133, 495 (1997)]. The target performance at stagnation and its dependence on beam smoothing and pulse shaping is investigated. Compressed core conditions are diagnosed using x-ray and neutron spectroscopy, and x-ray imaging. The individual beams of OMEGA are smoothed by spectral dispersion in two dimensions (2D SSD) with laser bandwidths up to ∼0.3 THz, with 1 ns square to 2.5 ns shaped pulses. A clear dependence of target performance on pulse shape and beam smoothing is seen, with the target performance (yield, areal density, and shell integrity) improving as SSD bandwidth is applied. (c)

  16. Numerical simulation of direct-drive ICF ignition in spherical geometry

    International Nuclear Information System (INIS)

    Yu Xiaojin

    2006-01-01

    The basic condition required for achieving central ignition is producing a hot spot with 10 keV temperature and 0.3 g/cm 2 surface density. Growth of hydrodynamic instability during deceleration phase will destroy the symmetric-drive, reduce the volume of central hot spot and make a harmful effect on ignition. Based on the LARED-S code, considering the thermonuclear reaction and α-particle heating, a numerical study of direct-drive ICF in spherical geometry is made. One-dimensional results agree well with the NIF ignition target designs, and show that the α-particle heating plays an important role in marginal ignition. Two-dimensional results show that the growth of hydrodynamic instability during deceleration phase makes a harmful effect on ignition. (authors)

  17. Structural Mass Saving Potential of a 5-MW Direct-Drive Generator Designed for Additive Manufacturing

    Energy Technology Data Exchange (ETDEWEB)

    Sethuraman, Latha [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Fingersh, Lee J [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Dykes, Katherine L [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Hayes, Austin [Rochester Institute of Technology

    2017-11-09

    As wind turbine blade diameters and tower height increase to capture more energy in the wind, higher structural loads results in more structural support material increasing the cost of scaling. Weight reductions in the generator transfer to overall cost savings of the system. Additive manufacturing facilitates a design-for-functionality approach, thereby removing traditional manufacturing constraints and labor costs. The most feasible additive manufacturing technology identified for large, direct-drive generators in this study is powder-binder jetting of a sand cast mold. A parametric finite element analysis optimization study is performed, optimizing for mass and deformation. Also, topology optimization is employed for each parameter-optimized design.The optimized U-beam spoked web design results in a 24 percent reduction in structural mass of the rotor and 60 percent reduction in radial deflection.

  18. Multidimensional Analysis of Direct-Drive Plastic-Shell Implosions on OMEGA

    Science.gov (United States)

    Radha, P. B.

    2004-11-01

    Direct-drive implosions of plastic shells with the OMEGA laser are used as energy-scaled warm surrogates for ignition cryogenic targets designed for use on the National Ignition Facility. Plastic targets involve varying shell thickness (15 to 33 μm), fill pressures (3 to 15 atm), and shell adiabats. The multidimensional hydrodynamics code DRACO is used to evaluate the effects of capsule-surface roughness and illumination nonuniformities on target performance. These simulations indicate that shell stability during the acceleration phase plays a critical role in determining fusion yields. For shells that are thick enough to survive the Rayleigh--Taylor growth, target yields are significantly reduced by growth of the long (ℓ surrogacy between these plastic-shell implosions and the cryogenic ignition designs.

  19. Demonstrating ignition hydrodynamic equivalence in direct-drive cryogenic implosions on OMEGA

    International Nuclear Information System (INIS)

    Goncharov, V N; Regan, S P; Sangster, T C; Betti, R; Boehly, T R; Campbell, E M; Delettrez, J A; Edgell, D H; Epstein, R; Forrest, C J; Froula, D H; Glebov, V Yu; Harding, D R; Hu, S X; Igumenshchev, I V; Marshall, F J; McCrory, R L; Michel, D T; Myatt, J F; Radha, P B

    2016-01-01

    Achieving ignition in a direct-drive cryogenic implosion at the National Ignition Facility (NIF) requires reaching central stagnation pressures in excess of 100 Gbar, which is a factor of 3 to 4 less than what is required for indirect-drive designs. The OMEGA Laser System is used to study the physics of cryogenic implosions that are hydrodynamically equivalent to the spherical ignition designs of the NIF. Current cryogenic implosions on OMEGA have reached 56 Gbar, and implosions with shell convergence CR< 17 and fuel adiabat α > 3.5 proceed close to 1-D predictions. Demonstrating hydrodynamic equivalence on OMEGA will require reducing coupling losses caused by cross-beam energy transfer (CBET), minimizing long- wavelength nonuniformity seeded by power imbalance and target offset, and removing target debris occumulated during cryogenic target production. (paper)

  20. MECHANICAL PROPERTIES OF THIN GDP SHELLS USED AS CRYOGENIC DIRECT DRIVE TARGETS AT OMEGA

    International Nuclear Information System (INIS)

    NIKROO, A.; CZECHOWICZ, D.; CHEN, K.C.; DICKEN, M.; MORRIS, C.; ANDREWS, R.; GREENWOOD, A.L; CASTILLO, E.

    2003-09-01

    OAK-B135 Thin glow discharge polymer (GDP) shells are currently used as the targets for cryogenic direct drive laser fusion experiments. These shells need to be filled with nearly 1000 atm of D 2 and cooled to cryogenic temperatures without failing due to buckling and bursting pressures they experience in this process. Therefore, the mechanical and permeation properties of these shells are of utmost importance in successful and rapid filling with D 2 . In this paper, they present an overview of buckle and burst pressures of several different types of GDP shells. These include those made using traditional GDP deposition parameters (standard GDP) using a high deposition pressure and using modified parameters (strong GDP) of low deposition pressure that leads to more robust shells

  1. State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.

    Science.gov (United States)

    Yu, Jue; Zhuang, Jian; Yu, Dehong

    2015-01-01

    This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  2. 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.

  3. Design of High-Efficiency and Low-Cost Six-Phase Permanent Magnet Synchronous Generator for Direct-Drive Small-Scale Wind Power Application

    Directory of Open Access Journals (Sweden)

    M. E. Moazzen

    2017-06-01

    Full Text Available Permanent magnet synchronous generators (PMSG have a huge potential for direct-drive wind power applications. Therefore, optimal design of these generators is necessary to maximize their efficiency and to reduce their manufacturing cost and total volume. In this paper, an optimal design of a six-phase 3.5 KW direct-drive PMSG to generate electricity for domestic needs is performed. The aim of optimal design is to reduce the manufacturing cost, losses and total volume of PMSG. To find the best design, single/multi-objective design optimization is carried out. Cuckoo optimization algorithm (COA is adopted to solve the optimization problem. Comparison between the results of the single-objective and multi-objective models shows that simultaneous optimization of manufacturing cost, losses and total volume leads to more suitable design for PMSG. Finally, finite-element method (FEM is employed to validate the optimal design, which show a good agreement between the theoretical work and simulation results.

  4. Early Stroke Rehabilitation of the Upper Limb Assisted with an Electromyography-Driven Neuromuscular Electrical Stimulation-Robotic Arm

    Directory of Open Access Journals (Sweden)

    Qiuyang Qian

    2017-09-01

    Full Text Available BackgroundEffective poststroke motor rehabilitation depends on repeated limb practice with voluntary efforts. An electromyography (EMG-driven neuromuscular electrical stimulation (NMES-robot arm was designed for the multi-joint physical training on the elbow, the wrist, and the fingers.ObjectivesTo investigate the training effects of the device-assisted approach on subacute stroke patients and to compare the effects with those achieved by the traditional physical treatments.MethodThis study was a pilot randomized controlled trial with a 3-month follow-up. Subacute stroke participants were randomly assigned into two groups, and then received 20-session upper limb training with the EMG-driven NMES-robotic arm (NMES-robot group, n = 14 or the time-matched traditional therapy (the control, n = 10. For the evaluation of the training effects, clinical assessments including Fugl-Meyer Assessment (FMA, Modified Ashworth Score (MAS, Action Research Arm Test (ARAT, and Function Independence Measurement (FIM were conducted before, after the rehabilitation training, and 3 months later. Session-by-session EMG parameters in the NMES-robot group, including normalized co-contraction Indexes (CI and EMG activation level of target muscles, were used to monitor the progress in muscular coordination patterns.ResultsSignificant improvements were obtained in FMA (full score and shoulder/elbow, ARAT, and FIM [P < 0.001, effect sizes (EFs > 0.279] for both groups. Significant improvement in FMA wrist/hand was only observed in the NMES-robot group (P < 0.001, EFs = 0.435 after the treatments. Significant reduction in MAS wrist was observed in the NMES-robot group after the training (P < 0.05, EFs = 0.145 and the effects were maintained for 3 months. MAS scores in the control group were elevated following training (P < 0.05, EFs > 0.24, and remained at an elevated level when assessed 3 months later. The EMG parameters

  5. An integrated gait rehabilitation training based on Functional Electrical Stimulation cycling and overground robotic exoskeleton in complete spinal cord injury patients: Preliminary results.

    Science.gov (United States)

    Mazzoleni, S; Battini, E; Rustici, A; Stampacchia, G

    2017-07-01

    The aim of this study is to investigate the effects of an integrated gait rehabilitation training based on Functional Electrical Stimulation (FES)-cycling and overground robotic exoskeleton in a group of seven complete spinal cord injury patients on spasticity and patient-robot interaction. They underwent a robot-assisted rehabilitation training based on two phases: n=20 sessions of FES-cycling followed by n= 20 sessions of robot-assisted gait training based on an overground robotic exoskeleton. The following clinical outcome measures were used: Modified Ashworth Scale (MAS), Numerical Rating Scale (NRS) on spasticity, Penn Spasm Frequency Scale (PSFS), Spinal Cord Independence Measure Scale (SCIM), NRS on pain and International Spinal Cord Injury Pain Data Set (ISCI). Clinical outcome measures were assessed before (T0) after (T1) the FES-cycling training and after (T2) the powered overground gait training. The ability to walk when using exoskeleton was assessed by means of 10 Meter Walk Test (10MWT), 6 Minute Walk Test (6MWT), Timed Up and Go test (TUG), standing time, walking time and number of steps. Statistically significant changes were found on the MAS score, NRS-spasticity, 6MWT, TUG, standing time and number of steps. The preliminary results of this study show that an integrated gait rehabilitation training based on FES-cycling and overground robotic exoskeleton in complete SCI patients can provide a significant reduction of spasticity and improvements in terms of patient-robot interaction.

  6. Robotics combined with electrical stimulation : hybrid support of arm and hand for functional training after stroke

    NARCIS (Netherlands)

    Westerveld, Ard

    2014-01-01

    Reach, grasp and release is part of many functional movements. Graying of society leads to more stroke victims and fewer health care professionals. Technology might be a solution to support certain rehabilitation therapies in future health care. Robotic systems have been developed for support of arm

  7. Robotics combined with electrical stimulation: hybrid support of arm and hand for functional training after stroke

    NARCIS (Netherlands)

    Westerveld, Ard

    2014-01-01

    Reach, grasp and release is part of many functional movements. Graying of society leads to more stroke victims and fewer health care professionals. Technology might be a solution to support certain rehabilitation therapies in future health care. Robotic systems have been developed for support of arm

  8. Design of Smart Educational Robot as a Tool For Teaching Media Based on Contextual Teaching and Learning to Improve the Skill of Electrical Engineering Student

    Science.gov (United States)

    Zuhrie, M. S.; Basuki, I.; Asto, B. I. G. P.; Anifah, L.

    2018-04-01

    The development of robotics in Indonesia has been very encouraging. The barometer is the success of the Indonesian Robot Contest. The focus of research is a teaching module manufacturing, planning mechanical design, control system through microprocessor technology and maneuverability of the robot. Contextual Teaching and Learning (CTL) strategy is the concept of learning where the teacher brings the real world into the classroom and encourage students to make connections between knowledge possessed by its application in everyday life. This research the development model used is the 4-D model. This Model consists of four stages: Define Stage, Design Stage, Develop Stage, and Disseminate Stage. This research was conducted by applying the research design development with the aim to produce a tool of learning in the form of smart educational robot modules and kit based on Contextual Teaching and Learning at the Department of Electrical Engineering to improve the skills of the Electrical Engineering student. Socialization questionnaires showed that levels of the student majoring in electrical engineering competencies image currently only limited to conventional machines. The average assessment is 3.34 validator included in either category. Modules developed can give hope to the future are able to produce Intelligent Robot Tool for Teaching.

  9. Experimental Investigation of a Direct-drive Hall Thruster and Solar Array System at Power Levels up to 10 kW

    Science.gov (United States)

    Snyder, John S.; Brophy, John R.; Hofer, Richard R.; Goebel, Dan M.; Katz, Ira

    2012-01-01

    As NASA considers future exploration missions, high-power solar-electric propulsion (SEP) plays a prominent role in achieving many mission goals. Studies of high-power SEP systems (i.e. tens to hundreds of kilowatts) suggest that significant mass savings may be realized by implementing a direct-drive power system, so NASA recently established the National Direct-Drive Testbed to examine technical issues identified by previous investigations. The testbed includes a 12-kW solar array and power control station designed to power single and multiple Hall thrusters over a wide range of voltages and currents. In this paper, single Hall thruster operation directly from solar array output at discharge voltages of 200 to 450 V and discharge powers of 1 to 10 kW is reported. Hall thruster control and operation is shown to be simple and no different than for operation on conventional power supplies. Thruster and power system electrical oscillations were investigated over a large range of operating conditions and with different filter capacitances. Thruster oscillations were the same as for conventional power supplies, did not adversely affect solar array operation, and were independent of filter capacitance from 8 to 80 ?F. Solar array current and voltage oscillations were very small compared to their mean values and showed a modest dependence on capacitor size. No instabilities or anomalous behavior were observed in the thruster or power system at any operating condition investigated, including near and at the array peak power point. Thruster startup using the anode propellant flow as the power 'switch' was shown to be simple and reliable with system transients mitigated by the proper selection of filter capacitance size. Shutdown via cutoff of propellant flow was also demonstrated. A simple electrical circuit model was developed and is shown to have good agreement with the experimental data.

  10. Design and experimental validation for direct-drive fault-tolerant permanent-magnet vernier machines.

    Science.gov (United States)

    Liu, Guohai; Yang, Junqin; Chen, Ming; Chen, Qian

    2014-01-01

    A fault-tolerant permanent-magnet vernier (FT-PMV) machine is designed for direct-drive applications, incorporating the merits of high torque density and high reliability. Based on the so-called magnetic gearing effect, PMV machines have the ability of high torque density by introducing the flux-modulation poles (FMPs). This paper investigates the fault-tolerant characteristic of PMV machines and provides a design method, which is able to not only meet the fault-tolerant requirements but also keep the ability of high torque density. The operation principle of the proposed machine has been analyzed. The design process and optimization are presented specifically, such as the combination of slots and poles, the winding distribution, and the dimensions of PMs and teeth. By using the time-stepping finite element method (TS-FEM), the machine performances are evaluated. Finally, the FT-PMV machine is manufactured, and the experimental results are presented to validate the theoretical analysis.

  11. Hybrid indirect-drive/direct-drive target for inertial confinement fusion

    Energy Technology Data Exchange (ETDEWEB)

    Perkins, Lindsay John

    2018-02-27

    A hybrid indirect-drive/direct drive for inertial confinement fusion utilizing laser beams from a first direction and laser beams from a second direction including a central fusion fuel component; a first portion of a shell surrounding said central fusion fuel component, said first portion of a shell having a first thickness; a second portion of a shell surrounding said fusion fuel component, said second portion of a shell having a second thickness that is greater than said thickness of said first portion of a shell; and a hohlraum containing at least a portion of said fusion fuel component and at least a portion of said first portion of a shell; wherein said hohlraum is in a position relative to said first laser beam and to receive said first laser beam and produce X-rays that are directed to said first portion of a shell and said fusion fuel component; and wherein said fusion fuel component and said second portion of a shell are in a position relative to said second laser beam such that said second portion of a shell and said fusion fuel component receive said second laser beam.

  12. Effects of local defect growth in direct-drive cryogenic implosions on OMEGA

    Energy Technology Data Exchange (ETDEWEB)

    Igumenshchev, I. V.; Shmayda, W. T.; Harding, D. R.; Sangster, T. C. [Laboratory for Laser Energetics, University of Rochester, 250 East River Road, Rochester, New York 14623-1299 (United States); Goncharov, V. N. [Laboratory for Laser Energetics, University of Rochester, 250 East River Road, Rochester, New York 14623-1299 (United States); Department of Mechanical Engineering, University of Rochester, Rochester, New York 14623 (United States); Meyerhofer, D. D. [Laboratory for Laser Energetics, University of Rochester, 250 East River Road, Rochester, New York 14623-1299 (United States); Department of Mechanical Engineering, University of Rochester, Rochester, New York 14623 (United States); Department of Physics and Astronomy, University of Rochester, Rochester, New York 14623 (United States)

    2013-08-15

    Spherically symmetric, low-adiabat (adiabat α ≲ 3) cryogenic direct-drive-implosion experiments on the OMEGA laser [T. R. Boehly et al., Opt. Commun. 133, 495 (1995)] yield less than 10% of the neutrons predicted in one-dimensional hydrodynamic simulations. Two-dimensional hydrodynamic simulations suggest that this performance degradation can be explained assuming perturbations from isolated defects of submicron to tens-of-micron scale on the outer surface or inside the shell of implosion targets. These defects develop during the cryogenic filling process and typically number from several tens up to hundreds for each target covering from about 0.2% to 1% of its surface. The simulations predict that such defects can significantly perturb the implosion and result in the injection of about 1 to 2 μg of the hot ablator (carbon-deuterium) and fuel (deuterium-tritium) materials from the ablation surface into the targets. Both the hot mass injection and perturbations of the shell reduce the final shell convergence ratio and implosion performance. The injected carbon ions radiatively cool the hot spot, reducing the fuel temperature, and further reducing the neutron yield. The negative effect of local defects can be minimized by decreasing the number and size of these defects and/or using more hydrodynamically stable implosion designs with higher shell adiabat.

  13. National direct-drive program on OMEGA and the National Ignition Facility

    Science.gov (United States)

    Goncharov, V. N.; Regan, S. P.; Campbell, E. M.; Sangster, T. C.; Radha, P. B.; Myatt, J. F.; Froula, D. H.; Betti, R.; Boehly, T. R.; Delettrez, J. A.; Edgell, D. H.; Epstein, R.; Forrest, C. J.; Glebov, V. Yu; Harding, D. R.; Hu, S. X.; Igumenshchev, I. V.; Marshall, F. J.; McCrory, R. L.; Michel, D. T.; Seka, W.; Shvydky, A.; Stoeckl, C.; Theobald, W.; Gatu-Johnson, M.

    2017-01-01

    A major advantage of the laser direct-drive (DD) approach to ignition is the increased fraction of laser drive energy coupled to the hot spot and relaxed hot-spot requirements for the peak pressure and convergence ratios relative to the indirect-drive approach at equivalent laser energy. With the goal of a successful ignition demonstration using DD, the recently established national strategy has several elements and involves multiple national and international institutions. These elements include the experimental demonstration on OMEGA cryogenic implosions of hot-spot conditions relevant for ignition at MJ-scale energies available at the National Ignition Facility (NIF) and developing an understanding of laser-plasma interactions and laser coupling using DD experiments on the NIF. DD designs require reaching central stagnation pressures in excess of 100 Gbar. The current experiments on OMEGA have achieved inferred peak pressures of 56 Gbar (Regan et al 2016 Phys. Rev. Lett. 117 025001). Extensive analysis of the cryogenic target experiments and two- and three-dimensional simulations suggest that power balance, target offset, and target quality are the main limiting factors in target performance. In addition, cross-beam energy transfer (CBET) has been identified as the main mechanism reducing laser coupling. Reaching the goal of demonstrating hydrodynamic equivalence on OMEGA includes improving laser power balance, target position, and target quality at shot time. CBET must also be significantly reduced and several strategies have been identified to address this issue.

  14. Control performances of a piezoactuator direct drive valve system at high temperatures with thermal insulation

    Science.gov (United States)

    Han, Yung-Min; Han, Chulhee; Kim, Wan Ho; Seong, Ho Yong; Choi, Seung-Bok

    2016-09-01

    This technical note presents control performances of a piezoactuator direct drive valve (PDDV) operated at high temperature environment. After briefly discussing operating principle and mechanical dimensions of the proposed PDDV, an appropriate size of the PDDV is manufactured. As a first step, the temperature effect on the valve performance is experimentally investigated by measuring the spool displacement at various temperatures. Subsequently, the PDDV is thermally insulated using aerogel and installed in a large-size heat chamber in which the pneumatic-hydraulic cylinders and sensors are equipped. A proportional-integral-derivative feedback controller is then designed and implemented to control the spool displacement of the valve system. In this work, the spool displacement is chosen as a control variable since it is directly related to the flow rate of the valve system. Three different sinusoidal displacements with different frequencies of 1, 10 and 50 Hz are used as reference spool displacement and tracking controls are undertaken up to 150 °C. It is shown that the proposed PDDV with the thermal insulation can provide favorable control responses without significant tracking errors at high temperatures.

  15. Design and Experimental Validation for Direct-Drive Fault-Tolerant Permanent-Magnet Vernier Machines

    Directory of Open Access Journals (Sweden)

    Guohai Liu

    2014-01-01

    Full Text Available A fault-tolerant permanent-magnet vernier (FT-PMV machine is designed for direct-drive applications, incorporating the merits of high torque density and high reliability. Based on the so-called magnetic gearing effect, PMV machines have the ability of high torque density by introducing the flux-modulation poles (FMPs. This paper investigates the fault-tolerant characteristic of PMV machines and provides a design method, which is able to not only meet the fault-tolerant requirements but also keep the ability of high torque density. The operation principle of the proposed machine has been analyzed. The design process and optimization are presented specifically, such as the combination of slots and poles, the winding distribution, and the dimensions of PMs and teeth. By using the time-stepping finite element method (TS-FEM, the machine performances are evaluated. Finally, the FT-PMV machine is manufactured, and the experimental results are presented to validate the theoretical analysis.

  16. Influence of Control Structures and Load Parameters on Performance of a Pseudo Direct Drive

    Directory of Open Access Journals (Sweden)

    Mohammed Bouheraoua

    2014-07-01

    Full Text Available The paper describes an in-depth and systematic analysis of a pseudo direct drive permanent magnet machine in closed loop control. Due to the torque being transmitted from the high-speed rotor (HSR to the low-speed rotor (LSR, through a relatively low stiffness magnetic gear with non-linear characteristics, speed oscillations appear in the drive output with a conventional proportional integral (PI controller. Therefore two candidate controllers have been proposed as an alternative to the PI control and all controllers have been optimally tuned with a genetic algorithm against a defined criterion. Furthermore, closed loop models are established in the complex frequency domain to determine the system damping and the cause of the oscillations. Consequently, the best controller structure that improves the dynamic behaviour of the system in terms of speed tracking and disturbance rejection could be identified, based on the frequency domain analysis. Experimental results are presented to validate the analysis and the proposed control technique.

  17. Design and Evaluation of a Direct Drive Valve Actuated by Piezostack Actuator

    Directory of Open Access Journals (Sweden)

    Juncheol Jeon

    2013-01-01

    Full Text Available This paper presents performance characteristics of a new type of direct drive valve (DDV system driven by a piezostack actuator. The flexible beam mechanism is employed to amplify the output displacement from the piezostack actuator. After describing the operational principle of the proposed piezo DDV system, the governing equation of the whole piezo DDV system is then obtained by integrating the equations of the valve components. Based on the proposed model, significant structural components of the piezo DDV system are designed in order to achieve operational requirements (operating frequency: over 100 Hz; flow rate: 20 liter/Min.. An optimal design method is proposed for obtaining the geometry of the flexible beam mechanism by considering spool displacement, required operating frequency, and available space of the valve. After deciding the specific geometric dimensions of the piezo DDV system, a PID control algorithm is designed to enforce the spool position to the desired position trajectories by activating the piezostack actuator. Characteristics and control performances of the proposed piezo DDV system are evaluated using the MATLAB Simulink.

  18. Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

    Directory of Open Access Journals (Sweden)

    Jianyong Yao

    2013-01-01

    Full Text Available Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy. In this paper, a practical method named adaptive robust controller (ARC is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct-drive dc motor, which results in a continuous control input and thus is more suitable for application. To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law. The proposed controllers not only account for the structured uncertainties (e.g., parametric uncertainties but also for the unstructured uncertainties (e.g., unconsidered nonlinear frictions. Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategies.

  19. Functional electrical stimulation mediated by iterative learning control and 3D robotics reduces motor impairment in chronic stroke

    Directory of Open Access Journals (Sweden)

    Meadmore Katie L

    2012-06-01

    Full Text Available Abstract Background Novel stroke rehabilitation techniques that employ electrical stimulation (ES and robotic technologies are effective in reducing upper limb impairments. ES is most effective when it is applied to support the patients’ voluntary effort; however, current systems fail to fully exploit this connection. This study builds on previous work using advanced ES controllers, and aims to investigate the feasibility of Stimulation Assistance through Iterative Learning (SAIL, a novel upper limb stroke rehabilitation system which utilises robotic support, ES, and voluntary effort. Methods Five hemiparetic, chronic stroke participants with impaired upper limb function attended 18, 1 hour intervention sessions. Participants completed virtual reality tracking tasks whereby they moved their impaired arm to follow a slowly moving sphere along a specified trajectory. To do this, the participants’ arm was supported by a robot. ES, mediated by advanced iterative learning control (ILC algorithms, was applied to the triceps and anterior deltoid muscles. Each movement was repeated 6 times and ILC adjusted the amount of stimulation applied on each trial to improve accuracy and maximise voluntary effort. Participants completed clinical assessments (Fugl-Meyer, Action Research Arm Test at baseline and post-intervention, as well as unassisted tracking tasks at the beginning and end of each intervention session. Data were analysed using t-tests and linear regression. Results From baseline to post-intervention, Fugl-Meyer scores improved, assisted and unassisted tracking performance improved, and the amount of ES required to assist tracking reduced. Conclusions The concept of minimising support from ES using ILC algorithms was demonstrated. The positive results are promising with respect to reducing upper limb impairments following stroke, however, a larger study is required to confirm this.

  20. A new geometrical construction using rounded surfaces proposed for the transverse flux machine for direct drive wind turbine

    DEFF Research Database (Denmark)

    Argeseanu, Alin; Nica, Florin Valentin Traian; Ritchie, Ewen

    2014-01-01

    This paper proposes a new construction for transverse flux machines (TFM) using a rounded surfaces core geometry. The new concept has been developed for TFM with U core geometry. In this case a new analytic design procedure was proposed. The analytic design of the new TFM construction is further ...... proposed concept is more attractive for the direct-drive wind turbine application....

  1. Comparison of Levelized Cost of Energy of superconducting direct drive generators for a 10 MW offshore wind turbine

    DEFF Research Database (Denmark)

    Abrahamsen, Asger Bech; Liu, Dong; Magnusson, Niklas

    2018-01-01

    A method for comparing the Levelized Cost of Energy (LCoE) of different superconducting drive trains is introduced. The properties of a 10 MW MgB$_{2}$ superconducting direct drive generator are presented in terms weight scaled to a turbine with a rotor diameter up of 280 m and the cost break down...

  2. Design of an Axial-Flux permanent magnet machine for an in-wheel direct drive application

    NARCIS (Netherlands)

    Bastiaens, K.; Jansen, J.W.; Jumayev, S.; Lomonova, E.A.

    2017-01-01

    This paper concerns the optimization and comparison of six different axial-flux permanent magnet (AFPM) machine topologies for an in-wheel direct drive application. The objective of the optimization is to reach maximum power density, which is of essence for an in-wheel motor. The machine topologies

  3. Designing symmetric polar direct drive implosions on the Omega laser facility

    Energy Technology Data Exchange (ETDEWEB)

    Krasheninnikova, Natalia S.; Cobble, James A.; Murphy, Thomas J.; Tregillis, Ian L.; Bradley, Paul A.; Hakel, Peter; Hsu, Scott C.; Kyrala, George A.; Obrey, Kimberly A.; Schmitt, Mark J.; Baumgaertel, Jessica A.; Batha, Steven H. [Los Alamos National Laboratory, Los Alamos, New Mexico 87545 (United States)

    2014-04-15

    Achieving symmetric capsule implosions with Polar Direct Drive [S. Skupsky et al., Phys. Plasmas 11, 2763 (2004); R. S. Craxton et al., Phys. Plasmas 12, 056304 (2005); F. J. Marshall et al., J. Phys. IV France 133, 153–157 (2006)] has been explored during recent Defect Induced Mix Experiment campaign on the Omega facility at the Laboratory for Laser Energetics. To minimize the implosion asymmetry due to laser drive, optimized laser cone powers, as well as improved beam pointings, were designed using 3D radiation-hydrodynamics code HYDRA [M. M. Marinak et al., Phys. Plasmas 3, 2070 (1996)]. Experimental back-lit radiographic and self-emission images revealed improved polar symmetry and increased neutron yield which were in good agreement with 2D HYDRA simulations. In particular, by reducing the energy in Omega's 21.4° polar rings by 16.75%, while increasing the energy in the 58.9° equatorial rings by 8.25% in such a way as to keep the overall energy to the target at 16 kJ, the second Legendre mode (P{sub 2}) was reduced by a factor of 2, to less than 4% at bang time. At the same time the neutron yield increased by 62%. The polar symmetry was also improved relative to nominal DIME settings by a more radical repointing of OMEGA's 42.0° and 58.9° degree beams, to compensate for oblique incidence and reduced absorption at the equator, resulting in virtually no P{sub 2} around bang time and 33% more yield.

  4. Three-dimensional modeling of direct-drive cryogenic implosions on OMEGA

    International Nuclear Information System (INIS)

    Igumenshchev, I. V.; Goncharov, V. N.; Marshall, F. J.; Knauer, J. P.; Campbell, E. M.

    2016-01-01

    The effects of large-scale (with Legendre modes ≲10) laser-imposed nonuniformities in direct-drive cryogenic implosions on the OMEGA laser system are investigated using three-dimension hydrodynamic simulations performed using a newly developed code ASTER. Sources of these nonuniformities include an illumination pattern produced by 60 OMEGA laser beams, capsule offsets (~10 to 20 μm), and imperfect pointing, energy balance, and timing of the beams (with typical σ rms ~10 μm, 10%, and 5 ps, respectively). Two implosion designs using 26-kJ triple-picket laser pulses were studied: a nominal design, in which a 880-μm-diameter capsule is illuminated by the same-diameter beams, and a “R75” design using a capsule of 900 μm in diameter and beams of 75% of this diameter. Simulations found that nonuniformities because of capsule offsets and beam imbalance have the largest effect on implosion performance. These nonuniformities lead to significant distortions of implosion cores resulting in an incomplete stagnation. The shape of distorted cores is well represented by neutron images, but loosely in x-rays. Simulated neutron spectra from perturbed implosions show large directional variations and up to ~ 2 keV variation of the hot spot temperature inferred from these spectra. The R75 design is more hydrodynamically efficient because of mitigation of crossed-beam energy transfer, but also suffers more from the nonuniformities. Furthermore, simulations predict a performance advantage of this design over the nominal design when the target offset and beam imbalance σ rms are reduced to less than 5 μm and 5%, respectively

  5. High Voltage Solar Array Arc Testing for a Direct Drive Hall Effect Thruster System

    Science.gov (United States)

    Schneider, Todd; Carruth, M. R., Jr.; Vaughn, J. A.; Jongeward, G. A.; Mikellides, I. G.; Ferguson, D.; Kerslake, T. W.; Peterson, T.; Snyder, D.; Hoskins, A.

    2004-01-01

    The deleterious effects of spacecraft charging are well known, particularly when the charging leads to arc events. The damage that results from arcing can severely reduce system lifetime and even cause critical system failures. On a primary spacecraft system such as a solar array, there is very little tolerance for arcing. Motivated by these concerns, an experimental investigation was undertaken to determine arc thresholds for a high voltage (200-500 V) solar array in a plasma environment. The investigation was in support of a NASA program to develop a Direct Drive Hall-Effect Thruster (D2HET) system. By directly coupling the solar array to a Hall-effect thruster, the D2HET program seeks to reduce mass, cost and complexity commonly associated with the power processing in conventional power systems. In the investigation, multiple solar array technologies and configurations were tested. The cell samples were biased to a negative voltage, with an applied potential difference between them, to imitate possible scenarios in solar array strings that could lead to damaging arcs. The samples were tested in an environment that emulated a low-energy, HET-induced plasma. Short duration trigger arcs as well as long duration sustained arcs were generated. Typical current and voltage waveforms associated with the arc events are presented. Arc thresholds are also defined in terms of voltage, current and power. The data will be used to propose a new, high-voltage (greater than 300 V) solar array design for which the likelihood of damage from arcing is minimal.

  6. Effects of Robot-assisted Gait Training Combined with Functional Electrical Stimulation on Recovery of Locomotor Mobility in Chronic Stroke Patients: A Randomized Controlled Trial.

    Science.gov (United States)

    Bae, Young-Hyeon; Ko, Young Jun; Chang, Won Hyuk; Lee, Ju Hyeok; Lee, Kyeong Bong; Park, Yoo Jung; Ha, Hyun Geun; Kim, Yun-Hee

    2014-12-01

    [Purpose] The purpose of the present study was to investigate the effects of robot-assisted gait training combined with functional electrical stimulation on locomotor recovery in patients with chronic stroke. [Subjects] The 20 subjects were randomly assigned into either an experimental group (n = 10) that received a combination of robot-assisted gait training and functional electrical stimulation on the ankle dorsiflexor of the affected side or a control group (n = 10) that received robot-assisted gait training only. [Methods] Both groups received the respective therapies for 30 min/day, 3 days/week for 5 weeks. The outcome was measured using the Modified Motor Assessment Scale (MMAS), Timed Up-and-Go Test (TUG), Berg Balance Scale (BBS), and gait parameters through gait analysis (Vicon 370 motion analysis system, Oxford Metrics Ltd., Oxford, UK). All the variables were measured before and after training. [Results] Step length and maximal knee extension were significantly greater than those before training in the experimental group only. Maximal Knee flexion showed a significant difference between the experimental and control groups. The MMAS, BBS, and TUG scores improved significantly after training compared with before training in both groups. [Conclusion] We suggest that the combination of robot-assisted gait training and functional electrical stimulation encourages patients to actively participate in training because it facilitates locomotor recovery without the risk of adverse effects.

  7. Production of direct drive cylindrical targets for inertial confinement fusion experiments

    International Nuclear Information System (INIS)

    Elliott, N.E.; Day, R.D.; Hatch, D.J.; Sandoval, D.L.; Gomez, V.M.; Pierce, T.H.; Elliott, J.E.; Manzanares, R.

    2002-01-01

    We have made targets with cylindrical geometry for Inertial Confinement Fusion (ICF) experiments. These targets are used in hydrodynamic experiments on the OMEGA laser at the University of Rochester. The cylindrical design allows the study of three dimensional hydrodynamic effects in a pseudo 2D mode, simplifying data gathering and analysis. Direct drive refers to the fact that the target is illuminated directly by approximately 50 laser beams and is imploded by the material pressure generated from ablation of the outside of the target. The production of cylindrical targets involves numerous steps. These steps are shared in common with many other types of ICF targets but no other single target type encompasses such a wide range of fabrication techniques. These targets consist of a large number of individual parts, all fabricated from commercially purchased raw material, requiring many machining, assembly, electroplating and chemical process steps. Virtually every manufacturing and assembly process we currently possess is involved in the production of these targets. The generic target consists of a plastic cylinder (ablator) that is roughly lmm in diameter by 2.25mm long. The wall of the cylinder is roughly 0.07mm thick. There is an aluminum cylinder 0.5mm wide and O.Olmm thick centered on the inside of the plastic cylinder and coaxial with the outside plastic cylinder. The outside of this aluminum band has surface finishes of differing random average roughness. The required average surface roughness is determined in advance by experimental design based on the amount of turbulent mix to be observed. The interior of the cylinder is filled with low density polystyrene foam that is made in house. To produce a finished target additional features are added to each target. X-ray backlighters are cantilevered off the target that allow time resolved x-ray images of the imploding target to be recorded during the experiment. The x-ray backlighters are driven by additional

  8. Recent results from the first polar direct drive plastic capsule implosions on NIF

    Science.gov (United States)

    Schmitt, Mark J.

    2012-10-01

    Polar direct drive (PDD) offers a simplified platform for conducting strongly driven implosions on NIF to investigate mix, hydro-burn and ignition-relevant physics. Its successful use necessitates a firm understanding and predictive capability of its implosion characteristics including hydro performance, symmetry and yield. To assess this capability, the first two PDD implosions of deuterium filled CH capsules were recently conducted at NIF. The P2 Legendre mode symmetry seen in these implosions agreed with pre-shot predictions even though the 700kJ drive energy produced intensities that far exceeded thresholds for both Raman and Brillouin stimulated scattering. These shots were also the first to employ image backlighting driven by two laser quads. Preliminary results indicate that the yield from the uncoated 2.25 mm diameter, 42 μm thick, CH shells was reduced by about a factor of two owing to as-shot laser drive asymmetries. Similarly, a small (sim50 μm) centroid offset between the upper and lower shell hemispheres seen in the first shot appears to be indicative of the laser quad energies. Overall, the implosion trajectories agreed with pre-shot predictions of bangtime. The second shot incorporated an 80 ?m wide,10 ?m deep depression encircling the equator of the capsule. This engineered feature was imposed to test our capability to predict the effect of high-mode features on yield and mix. A predicted yield reduction factor of 3 was not observed.[4pt] In collaboration with P. A. Bradley, J. A. Cobble, P. Hakel, S. C. Hsu, N. S. Krasheninnikova, G. A. Kyrala, G. R. Magelssen, T. J. Murphy, K. A. Obrey, R. C. Shah, I. L. Tregillis and F. J. Wysocki of Los Alamos National Laboratory; M. Marinak, R. Wallace, T. Parham, M. Cowan, S. Glenn, R. Benedetti and the NIF Operations Team of Lawrence Livermore National Laboratory; R. S. Craxton and P. W. McKenty of the Univ. Rochester; P. Fitzsimmons and A. Nikroo of General Atomics; H. Rinderknecht, M. Rosenberg, and M. G

  9. Effects of electromyography-driven robot-aided hand training with neuromuscular electrical stimulation on hand control performance after chronic stroke.

    Science.gov (United States)

    Rong, Wei; Tong, Kai Yu; Hu, Xiao Ling; Ho, Sze Kit

    2015-03-01

    An electromyography-driven robot system integrated with neuromuscular electrical stimulation (NMES) was developed to investigate its effectiveness on post-stroke rehabilitation. The performance of this system in assisting finger flexion/extension with different assistance combinations was evaluated in five stroke subjects. Then, a pilot study with 20-sessions training was conducted to evaluate the training's effectiveness. The results showed that combined assistance from the NMES-robot could improve finger movement accuracy, encourage muscle activation of the finger muscles and suppress excessive muscular activities in the elbow joint. When assistances from both NMES and the robot were 50% of their maximum assistances, finger-tracking performance had the best results, with the lowest root mean square error, greater range of motion, higher voluntary muscle activations of the finger joints and lower muscle co-contraction in the finger and elbow joints. Upper limb function improved after the 20-session training, indicated by the increased clinical scores of Fugl-Meyer Assessment, Action Research Arm Test and Wolf Motor Function Test. Muscle co-contraction was reduced in the finger and elbow joints reflected by the Modified Ashworth Scale. The findings demonstrated that an electromyography-driven NMES-robot used for chronic stroke improved hand function and tracking performance. Further research is warranted to validate the method on a larger scale. Implications for Rehabilitation The hand robotics and neuromuscular electrical stimulation (NMES) techniques are still separate systems in current post-stroke hand rehabilitation. This is the first study to investigate the combined effects of the NMES and robot on hand rehabilitation. The finger tracking performance was improved with the combined assistance from the EMG-driven NMES-robot hand system. The assistance from the robot could improve the finger movement accuracy and the assistance from the NMES could reduce the

  10. Image registration algorithm for high-voltage electric power live line working robot based on binocular vision

    Science.gov (United States)

    Li, Chengqi; Ren, Zhigang; Yang, Bo; An, Qinghao; Yu, Xiangru; Li, Jinping

    2017-12-01

    In the process of dismounting and assembling the drop switch for the high-voltage electric power live line working (EPL2W) robot, one of the key problems is the precision of positioning for manipulators, gripper and the bolts used to fix drop switch. To solve it, we study the binocular vision system theory of the robot and the characteristic of dismounting and assembling drop switch. We propose a coarse-to-fine image registration algorithm based on image correlation, which can improve the positioning precision of manipulators and bolt significantly. The algorithm performs the following three steps: firstly, the target points are marked respectively in the right and left visions, and then the system judges whether the target point in right vision can satisfy the lowest registration accuracy by using the similarity of target points' backgrounds in right and left visions, this is a typical coarse-to-fine strategy; secondly, the system calculates the epipolar line, and then the regional sequence existing matching points is generated according to neighborhood of epipolar line, the optimal matching image is confirmed by calculating the similarity between template image in left vision and the region in regional sequence according to correlation matching; finally, the precise coordinates of target points in right and left visions are calculated according to the optimal matching image. The experiment results indicate that the positioning accuracy of image coordinate is within 2 pixels, the positioning accuracy in the world coordinate system is within 3 mm, the positioning accuracy of binocular vision satisfies the requirement dismounting and assembling the drop switch.

  11. Microsatellite Direct Drive SEP Module for Interplanetary Exploration via Rideshare, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Solar Electric Propulsion drives down the cost of space missions by using its high propulsion efficiency to step down from one launch class to another. As launch...

  12. Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm

    Energy Technology Data Exchange (ETDEWEB)

    DRIESSEN,BRIAN; PARKER,GORDON G.

    1999-09-01

    This work is an experimental investigation of the ability of a real three-link direct-drive arm to track model-based minimum-time trajectories that have been found off-line. Sufficiently large velocity gains in the computed torque control law were not achievable with the velocity sensors described herein. This indicates the critical importance of the velocity sensing when attempting to track trajectories that push the envelope of the system's torque capabilities.

  13. Hydrodynamic stability and Ti-tracer distribution in low-adiabat OMEGA direct-drive implosions

    Science.gov (United States)

    Joshi, Tirtha R.

    We discuss the hydrodynamic stability of low-adiabat OMEGA direct-drive implosions based on results obtained from simultaneous emission and absorption spectroscopy of a titanium tracer added to the target. The targets were deuterium filled, warm plastic shells of varying thicknesses and filling gas pressures with a submicron Ti-doped tracer layer initially located on the inner surface of the shell. The spectral features from the titanium tracer are observed during the deceleration and stagnation phases of the implosion, and recorded with a time integrated spectrometer (XRS1), streaked crystal spectrometer (SSCA) and three gated, multi-monochromatic X-ray imager (MMI) instruments fielded along quasi-orthogonal lines-of-sight. The time-integrated, streaked and gated data show simultaneous emission and absorption spectral features associated with titanium K-shell line transitions but only the MMI data provides spatially resolved information. The arrays of gated spectrally resolved images recorded with MMI were processed to obtain spatially resolved spectra characteristic of annular contour regions on the image. A multi-zone spectroscopic analysis of the annular spatially resolved spectra permits the extraction of plasma conditions in the core as well as the spatial distribution of tracer atoms. In turn, the titanium atom distribution provides direct evidence of tracer penetration into the core and thus of the hydrodynamic stability of the shell. The observations, timing and analysis indicate that during fuel burning the titanium atoms have migrated deep into the core and thus shell material mixing is likely to impact the rate of nuclear fusion reactions, i.e. burning rate, and the neutron yield of the implosion. We have found that the Ti atom number density decreases towards the center in early deceleration phase, but later in time the trend is just opposite, i.e., it increases towards the center of the implosion core. This is in part a consequence of the convergent

  14. RoboCon: Operator interface for robotic applications. Final report: RoboCon electrical interfacing -- system architecture, and Interfacing NDDS and LabView

    Energy Technology Data Exchange (ETDEWEB)

    Schempf, H.

    1998-04-30

    The first appendix contains detailed specifications of the electrical interfacing employed in Robocon. This includes all electrical signals and power requirement descriptions up to and including the interface entry points for external robots and systems. The reader is first presented with an overview of the overall Robocon electrical system, followed by sub-sections describing each module in detail. The appendices contain listings of power requirements and the electrical connectors and cables used, followed by an overall electrical system diagram. Custom electronics employed are also described. The Network Data Delivery Service (NDDS) is a real-time dissemination communications architecture which allows nodes on a network to publish data and subscribe to data published by other nodes while remaining anonymous. The second appendix explains how to facilitate a seamless interface between NDDS and LabView and provides sample source code used to implement an NDDS consumer which writes a string to a socket.

  15. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  16. Application of Solar-Electric Propulsion to Robotic and Human Missions in Near-Earth Space

    Science.gov (United States)

    Woodcock, Gordon R.; Dankanich, John

    2011-01-01

    Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science, lunar exploration, lunar exploitation, planetary science, and planetary exploration. These missions span SEP power range from 10s of kWe to several MWe. Modes of use and benefits are described, and potential SEP evolution is discussed.

  17. Design of Piano -playing Robotic Hand

    OpenAIRE

    Lin Jen-Chang; Hsin-Cheng Li; Kuo-Cheng Huang; Shu-Wei Lin

    2013-01-01

    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...

  18. Topology Comparison of Superconducting Generators for 10-MW Direct-Drive Wind Turbines: Cost of Energy Based

    DEFF Research Database (Denmark)

    Liu, Dong; Polinder, Henk; Abrahamsen, Asger Bech

    2017-01-01

    This paper aims at finding feasible electromagnetic designs of superconducting synchronous generators (SCSGs) for a 10-MW direct-drive wind turbine. Since a lower levelized cost of energy (LCoE) increases the feasibility of SCSGs in this application, 12 generator topologies are compared regarding...... their LCoE in a simplified form of levelized equipment cost of energy (LCoE$_{\\text{eq}}$). MgB$_2$ wires are employed in the field winding. Based on the current unit cost and critical current density capability of the MgB $_2$ wire at 20 K, the topologies with more iron have a much lower LCo...

  19. Design and Comparison of a Novel Stator Interior Permanent Magnet Generator for Direct-Drive Wind Turbines

    DEFF Research Database (Denmark)

    Zhang, Johan Xi; Chen, Zhe; Cheng, M.

    2007-01-01

    A novel stator interior permanent magnet generator (SIPMG) is presented. A modular stator design is used for convenience in manufacture and maintenance. The generator has the advantages of rugged rotor and concentrated winding design whereas the torque ripple is smaller than that produced...... by a doubly salient machine. Several low-speed multi-pole SIPMGs are designed for direct-drive wind turbines with ratings from 3 to 10 MW. Comparisons between the SIPMG and rotor-surface-mounted permanent magnet synchronous generator (PMSG) show that the SIPMGs have about 120% torque density and 78% cost per...

  20. The future of Robotics Technology

    DEFF Research Database (Denmark)

    Pagliarini, Luigi; Lund, Henrik Hautop

    2017-01-01

    In the last decade the robotics industry has created millions of additional jobs led by consumer electronics and the electric vehicle industry, and by 2020, robotics will be a $100 billion worth industry, as big as the tourism industry.. For example, the rehabilitation robot market has grown 10...

  1. Realization of high irradiation uniformity for direct drive ICF at the SG-III prototype laser facility

    International Nuclear Information System (INIS)

    Tian, C.; Shan, L.; Zhang, B.; Zhou, W.; Liu, D.; Bi, B.; Zhang, F.; Wang, W.; Zhang, B.; Giu, Y.

    2015-01-01

    The direct drive irradiation uniformity during the initial imprinting phase at the SG-III prototype laser facility is analyzed and optimized with different methods. At first, the polar direct drive technique is applied to reduce the root mean square deviation σ from 16.1% to 6.4%. To further reduce the non-uniformity, we propose a new method by adjusting the intensity distribution of the laser spot. The overlap of laser beams on the capsule surface is studied and a factor is introduced to adjust the intensity of the laser spot for achieving absolute irradiation uniformity while bringing wild intensity change at laser spot edges. Noting that the overlapping region at the capsule surface is symmetrically distributed, the contribution of light from the edge of a spot can be transferred to its own internal. The newly adjusted intensity distributes at two main regions and the intensity varies slowly and continuously in each, further reducing σ to about 0.35%. Taken into account that the adjusted intensity has very sharp steps, super-Gaussian spatial profiles are used to approximate the required intensity to make it more practicable, which leads σ to 0.94%. Furthermore, sensitivity analysis to beam errors is performed and results show that this scheme can tolerate a certain amount of uncertainties. (authors)

  2. Evaluation of the Revolver Ignition Design at the National Ignition Facility Using Polar-Direct-Drive Illumination

    Science.gov (United States)

    McKenty, P. W.; Collins, T. J. B.; Marozas, J. A.; Campbell, E. M.; Molvig, K.; Schmitt, M.

    2017-10-01

    The direct-drive ignition design Revolver employs a triple-shell target using a beryllium ablator, a copper driver, and an eventual gold pusher. Symmetric numerical calculations indicate that each of the three shells exhibit low convergence ( 3to 5) resulting in a modest gain (G 4) for 1.7 MJ of incident laser energy. Studies are now underway to evaluate the robustness of this design employing polar direct drive (PDD) at the National Ignition Facility. Integral to these calculations is the leveraging of illumination conditioning afforded by research done to demonstrate ignition for a traditional PDD hot-spot target design. Two-dimensional simulation results, employing nonlocal electron-thermal transport and cross-beam energy transport, will be presented that indicate ignition using PDD. A study of the allowed levels of long-wavelength perturbations (target offset and power imbalance) not precluding ignition will also be examined. This material is based upon work supported by the Department of Energy National Nuclear Security Administration under Award Number DE-NA0001944.

  3. Origins and Scaling of Hot-Electron Preheat in Ignition-Scale Direct-Drive Inertial Confinement Fusion Experiments.

    Science.gov (United States)

    Rosenberg, M J; Solodov, A A; Myatt, J F; Seka, W; Michel, P; Hohenberger, M; Short, R W; Epstein, R; Regan, S P; Campbell, E M; Chapman, T; Goyon, C; Ralph, J E; Barrios, M A; Moody, J D; Bates, J W

    2018-02-02

    Planar laser-plasma interaction (LPI) experiments at the National Ignition Facility (NIF) have allowed access for the first time to regimes of electron density scale length (∼500 to 700  μm), electron temperature (∼3 to 5 keV), and laser intensity (6 to 16×10^{14}  W/cm^{2}) that are relevant to direct-drive inertial confinement fusion ignition. Unlike in shorter-scale-length plasmas on OMEGA, scattered-light data on the NIF show that the near-quarter-critical LPI physics is dominated by stimulated Raman scattering (SRS) rather than by two-plasmon decay (TPD). This difference in regime is explained based on absolute SRS and TPD threshold considerations. SRS sidescatter tangential to density contours and other SRS mechanisms are observed. The fraction of laser energy converted to hot electrons is ∼0.7% to 2.9%, consistent with observed levels of SRS. The intensity threshold for hot-electron production is assessed, and the use of a Si ablator slightly increases this threshold from ∼4×10^{14} to ∼6×10^{14}  W/cm^{2}. These results have significant implications for mitigation of LPI hot-electron preheat in direct-drive ignition designs.

  4. Origins and Scaling of Hot-Electron Preheat in Ignition-Scale Direct-Drive Inertial Confinement Fusion Experiments

    Science.gov (United States)

    Rosenberg, M. J.; Solodov, A. A.; Myatt, J. F.; Seka, W.; Michel, P.; Hohenberger, M.; Short, R. W.; Epstein, R.; Regan, S. P.; Campbell, E. M.; Chapman, T.; Goyon, C.; Ralph, J. E.; Barrios, M. A.; Moody, J. D.; Bates, J. W.

    2018-01-01

    Planar laser-plasma interaction (LPI) experiments at the National Ignition Facility (NIF) have allowed access for the first time to regimes of electron density scale length (˜500 to 700 μ m ), electron temperature (˜3 to 5 keV), and laser intensity (6 to 16 ×1014 W /cm2 ) that are relevant to direct-drive inertial confinement fusion ignition. Unlike in shorter-scale-length plasmas on OMEGA, scattered-light data on the NIF show that the near-quarter-critical LPI physics is dominated by stimulated Raman scattering (SRS) rather than by two-plasmon decay (TPD). This difference in regime is explained based on absolute SRS and TPD threshold considerations. SRS sidescatter tangential to density contours and other SRS mechanisms are observed. The fraction of laser energy converted to hot electrons is ˜0.7 % to 2.9%, consistent with observed levels of SRS. The intensity threshold for hot-electron production is assessed, and the use of a Si ablator slightly increases this threshold from ˜4×10 14 to ˜6 ×1014 W /cm2 . These results have significant implications for mitigation of LPI hot-electron preheat in direct-drive ignition designs.

  5. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

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

  6. Soft computing in advanced robotics

    CERN Document Server

    Kobayashi, Ichiro; Kim, Euntai

    2014-01-01

    Intelligent system and robotics are inevitably bound up; intelligent robots makes embodiment of system integration by using the intelligent systems. We can figure out that intelligent systems are to cell units, while intelligent robots are to body components. The two technologies have been synchronized in progress. Making leverage of the robotics and intelligent systems, applications cover boundlessly the range from our daily life to space station; manufacturing, healthcare, environment, energy, education, personal assistance, logistics. This book aims at presenting the research results in relevance with intelligent robotics technology. We propose to researchers and practitioners some methods to advance the intelligent systems and apply them to advanced robotics technology. This book consists of 10 contributions that feature mobile robots, robot emotion, electric power steering, multi-agent, fuzzy visual navigation, adaptive network-based fuzzy inference system, swarm EKF localization and inspection robot. Th...

  7. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

  8. Thermomechanical Modelling of Direct-Drive Friction Welding Applying a Thermal Pseudo Mechanical Model for the Generation of Heat

    DEFF Research Database (Denmark)

    Sonne, Mads Rostgaard; Hattel, Jesper Henri

    2018-01-01

    In the present work a 2D a xisymmetric thermomechanical model of the direct-drive friction welding process is developed, taking the temperature dependent shear yield stress into account in the description of the heat generation, utilizing a recent thermal pseudo mechanical model originally...... developed for the friction stir welding (FSW) process. The model is implemented in ABAQUS/Explicit via a subroutine. The application in this case is joining of austenitic stainless steel rods with an outer diameter of 112 mm, used for manufacturing of exhaust gas valves for large two stroke marine engines....... The material properties in terms of the temperature dependent flowstress curves used both in the thermal and the mechanical constitutive description are extracted from compression tests performed between 20 °C and 1200 °C on a Gleeble 1500 thermomechanical simulator. Comparison between measured and simulated...

  9. Measurements of direct drive laser imprint in thin foils by XUV radiography using an X-ray laser backlighter

    International Nuclear Information System (INIS)

    Kalantar, D.H.; Key, M.H.; DaSilva, L.B.

    1996-11-01

    In direct drive inertial confinement fusion, the residual speckle pattern remaining after beam smoothing plays an important role in the seeding of instabilities at the ablation front. We have used an x-ray laser as an XUV backlighter to characterize the imprinted modulation in thin foils for smoothing by random phase plate and spectral dispersion at both 0.35 pm and 0.53 pm irradiation, and induced spatial incoherence at 0.53 pm irradiation. We also demonstrate measurements of the modulation due to a single mode optical imprint generated by a narrow slit interference pattern, and modification of the imprint with a superposed smooth irradiation to study time dependence of the imprinting process. 8 refs., 10 figs

  10. Measurements of direct drive laser imprint in thin foils by radiography using an x-ray laser backlighter

    International Nuclear Information System (INIS)

    Kalantar, D.H.; Key, M.H.; Da Silva, L.B.; Glendinning, S.G.; Remington, B.A.; Rothenberg, J.E.; Weber, F.; Weber, S.V.; Wolfrum, E.; Kim, N.S.; Neely, D.; Zhang, J.; Wark, J.S.; Demir, A.; Lin, J.; Smith, R.; Tallents, G.J.; Lewis, C.L.; MacPhee, A.; Warwick, J.; Knauer, J.P.

    1997-01-01

    In direct drive inertial confinement fusion, the residual speckle pattern remaining after beam smoothing plays an important role in the seeding of instabilities at the ablation front. An x-ray laser is used as an extreme ultraviolet backlighter to characterize the imprinted modulation in thin foils for smoothing by random phase plate and by spectral dispersion for both 0.35 and 0.53 μm irradiation, and by induced spatial incoherence for 0.53 μm irradiation. Measurements of the imprinted modulation due to a single optical mode generated by two beam interference, and modification of the imprint with a superposed smooth irradiation to study time dependence of the imprinting process are demonstrated. copyright 1997 American Institute of Physics

  11. Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor

    Directory of Open Access Journals (Sweden)

    Xingjian Wang

    2016-01-01

    Full Text Available Attainment of high-performance motion/velocity control objectives for the Direct-Drive Rotary (DDR torque motor should fully consider practical nonlinearities in controller design, such as dynamic friction. The LuGre model has been widely utilized to describe nonlinear friction behavior; however, parameter identification for the LuGre model remains a challenge. A new dynamic friction parameter identification method for LuGre model is proposed in this study. Static parameters are identified through a series of constant velocity experiments, while dynamic parameters are obtained through a presliding process. Novel evolutionary algorithm (NEA is utilized to increase identification accuracy. Experimental results gathered from the identification experiments conducted in the study for a practical DDR torque motor control system validate the effectiveness of the proposed method.

  12. Modal analysis of a grid-connected direct-drive permanent magnet synchronous generator wind turbine system

    DEFF Research Database (Denmark)

    Tan, Jin; Wang, Xiao Ru; Chen, Zhe

    2013-01-01

    In order to study the stability of a grid-connected direct-drive permanent magnet synchronous generator (PMSG) wind turbine systems, this paper presents the modal analysis of a PMSG wind turbine system. A PMSG model suitable for small signal stability analysis is presented. The modal properties...... of a grid-connected PMSG wind turbine system are studied. Then the comprehensive impacts of the shaft model, shaft parameters, operation points and lengths of the transmission line on the modal characteristic of the system are investigated by the eigenvalue analysis method. Meanwhile, the corresponding...... analysis. It offers a better understanding about the essence of the stability of grid-connected PMSG wind turbine system....

  13. Comparison of robotics, functional electrical stimulation, and motor learning methods for treatment of persistent upper extremity dysfunction after stroke: a randomized controlled trial.

    Science.gov (United States)

    McCabe, Jessica; Monkiewicz, Michelle; Holcomb, John; Pundik, Svetlana; Daly, Janis J

    2015-06-01

    To compare response to upper-limb treatment using robotics plus motor learning (ML) versus functional electrical stimulation (FES) plus ML versus ML alone, according to a measure of complex functional everyday tasks for chronic, severely impaired stroke survivors. Single-blind, randomized trial. Medical center. Enrolled subjects (N=39) were >1 year postsingle stroke (attrition rate=10%; 35 completed the study). All groups received treatment 5d/wk for 5h/d (60 sessions), with unique treatment as follows: ML alone (n=11) (5h/d partial- and whole-task practice of complex functional tasks), robotics plus ML (n=12) (3.5h/d of ML and 1.5h/d of shoulder/elbow robotics), and FES plus ML (n=12) (3.5h/d of ML and 1.5h/d of FES wrist/hand coordination training). Primary measure: Arm Motor Ability Test (AMAT), with 13 complex functional tasks; secondary measure: upper-limb Fugl-Meyer coordination scale (FM). There was no significant difference found in treatment response across groups (AMAT: P≥.584; FM coordination: P≥.590). All 3 treatment groups demonstrated clinically and statistically significant improvement in response to treatment (AMAT and FM coordination: P≤.009). A group treatment paradigm of 1:3 (therapist/patient) ratio proved feasible for provision of the intensive treatment. No adverse effects. Severely impaired stroke survivors with persistent (>1y) upper-extremity dysfunction can make clinically and statistically significant gains in coordination and functional task performance in response to robotics plus ML, FES plus ML, and ML alone in an intensive and long-duration intervention; no group differences were found. Additional studies are warranted to determine the effectiveness of these methods in the clinical setting. Copyright © 2015 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  14. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  15. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  16. Robotic Hand

    Science.gov (United States)

    1993-01-01

    The Omni-Hand was developed by Ross-Hime Designs, Inc. for Marshall Space Flight Center (MSFC) under a Small Business Innovation Research (SBIR) contract. The multiple digit hand has an opposable thumb and a flexible wrist. Electric muscles called Minnacs power wrist joints and the interchangeable digits. Two hands have been delivered to NASA for evaluation for potential use on space missions and the unit is commercially available for applications like hazardous materials handling and manufacturing automation. Previous SBIR contracts resulted in the Omni-Wrist and Omni-Wrist II robotic systems, which are commercially available for spray painting, sealing, ultrasonic testing, as well as other uses.

  17. A study on the flow characteristics of a direct drive turbine for energy conversion generation by experiment and CFD

    International Nuclear Information System (INIS)

    Cho, Y J; Zullah, M A; Faizal, M; Lee, Y H; Choi, Y D

    2012-01-01

    A variety of technologies has been proposed to capture the energy from waves. Some of the more promising designs are undergoing demonstration testing at commercial scales. Due to the complexity of most offshore wave energy devices and their motion response in different sea states, physical tank tests are common practice for WEC design. Full scale tests are also necessary, but are expensive and only considered once the design has been optimized. Computational Fluid Dynamics (CFD) is now recognized as an important complement to traditional physical testing techniques in offshore engineering. Once properly calibrated and validated to the problem, CFD offers a high density of test data and results in a reasonable timescale to assist with design changes and improvements to the device. The purpose of this study is to investigate the performance of a newly developed direct drive hydro turbine (DDT), which will be built in a caisson for extraction of wave energy. Experiments and CFD analysis are conducted to clarify the turbine performance and internal flow characteristics. The results show that commercial CFD code can be applied successfully to the simulation of the wave motion in the water tank. The performance of the turbine for wave energy converter is studied continuously for a ongoing project.

  18. A study on the flow characteristics of a direct drive turbine for energy conversion generation by experiment and CFD

    Science.gov (United States)

    Cho, Y. J.; Zullah, M. A.; Faizal, M.; Choi, Y. D.; Lee, Y. H.

    2012-11-01

    A variety of technologies has been proposed to capture the energy from waves. Some of the more promising designs are undergoing demonstration testing at commercial scales. Due to the complexity of most offshore wave energy devices and their motion response in different sea states, physical tank tests are common practice for WEC design. Full scale tests are also necessary, but are expensive and only considered once the design has been optimized. Computational Fluid Dynamics (CFD) is now recognized as an important complement to traditional physical testing techniques in offshore engineering. Once properly calibrated and validated to the problem, CFD offers a high density of test data and results in a reasonable timescale to assist with design changes and improvements to the device. The purpose of this study is to investigate the performance of a newly developed direct drive hydro turbine (DDT), which will be built in a caisson for extraction of wave energy. Experiments and CFD analysis are conducted to clarify the turbine performance and internal flow characteristics. The results show that commercial CFD code can be applied successfully to the simulation of the wave motion in the water tank. The performance of the turbine for wave energy converter is studied continuously for a ongoing project.

  19. The effect of laser spot shapes on polar-direct-drive implosions on the National Ignition Facility

    International Nuclear Information System (INIS)

    Weilacher, F.; Radha, P. B.; Collins, T. J. B.; Marozas, J. A.

    2015-01-01

    Ongoing polar-direct-drive (PDD) implosions on the National Ignition Facility (NIF) [J. D. Lindl and E. I. Moses, Phys. Plasmas 18, 050901 (2011)] use existing NIF hardware, including indirect-drive phase plates. This limits the performance achievable in these implosions. Spot shapes are identified that significantly improve the uniformity of PDD NIF implosions; outer surface deviation is reduced by a factor of 7 at the end of the laser pulse and hot-spot distortion is reduced by a factor of 2 when the shell has converged by a factor of ∼10. As a result, the neutron yield increases by approximately a factor of 2. This set of laser spot shapes is a combination of circular and elliptical spots, along with elliptical spot shapes modulated by an additional higher-intensity ellipse offset from the center of the beam. This combination is motivated in this paper. It is also found that this improved implosion uniformity is obtained independent of the heat conduction model. This work indicates that significant improvement in performance can be obtained robustly with the proposed spot shapes

  20. Design and Analysis of a Linear Hybrid Excitation Flux-Switching Generator for Direct Drive Wave Energy Converters

    Directory of Open Access Journals (Sweden)

    Lei Huang

    2013-01-01

    Full Text Available Linear generators have the advantage of a simple structure of the secondary, which is suitable for the application of wave energy conversion. Based on the vernier hybrid machines (VHMs, widely used for direct drive wave energy converters, this paper proposes a novel hybrid excitation flux-switching generator (LHEFSG, which can effectively improve the performance of this kind of generators. DC hybrid excitation windings and multitooth structure were used in the proposed generator to increase the magnetic energy and overcome the disadvantages of easily irreversible demagnetization of VHMs. Firstly, the operation principle and structure of the proposed generator are introduced. Secondly, by using the finite element method, the no-load performance of the proposed generator is analyzed and composed with ones of conventional VHM. In addition, the on-load performance of the proposed generator is obtained by finite element analysis (FEA. A dislocation of pole alignments method is implemented to reduce the cogging force. Lastly, a prototype of the linear flux-switching generator is used to verify the correctness of FEA results. All the results validate that the proposed generator has better performance than its counterparts.

  1. submitter Direct Drive and Eddy Current Septa Magnet Designs for CERN's PSB Extraction at 2 GeV

    CERN Document Server

    Szoke, Z; Balhan, B; Baud, C; Borburgh, J; Hourican, M; Masson, T; Prost, A

    2016-01-01

    In the framework of the LIU project, new septa magnets have been designed between CERN's PS booster (PSB) extraction and PS injection. The upgraded devices are to deal with the increased beam energy from 1.4 to 2 GeV at extraction of the PSB. The direct drive recombination septa in the PSB transfer line to the PS and the eddy current PS injection septum together with a bumper at injection have been investigated using finite-element software. For the recombination magnets, an increase in magnet length is sufficient to obtain the required deflection; however, for the PS injection elements, a more novel solution is necessary to also achieve increased robustness to extend the expected lifetime of the pulsed device. The injection septum will share the same vacuum vessel with an injection bumper, and both magnets will be located adjacent to each other. The new PS injection magnet will be the first septum operated at CERN based on eddy current technology. The magnetic modeling of the devices, the comparison of the p...

  2. The effect of laser spot shapes on polar-direct-drive implosions on the National Ignition Facility

    Energy Technology Data Exchange (ETDEWEB)

    Weilacher, F.; Radha, P. B., E-mail: rbah@lle.rochester.edu; Collins, T. J. B.; Marozas, J. A. [Laboratory for Laser Energetics, University of Rochester, 250 East River Road, Rochester, New York 14623 (United States)

    2015-03-15

    Ongoing polar-direct-drive (PDD) implosions on the National Ignition Facility (NIF) [J. D. Lindl and E. I. Moses, Phys. Plasmas 18, 050901 (2011)] use existing NIF hardware, including indirect-drive phase plates. This limits the performance achievable in these implosions. Spot shapes are identified that significantly improve the uniformity of PDD NIF implosions; outer surface deviation is reduced by a factor of 7 at the end of the laser pulse and hot-spot distortion is reduced by a factor of 2 when the shell has converged by a factor of ∼10. As a result, the neutron yield increases by approximately a factor of 2. This set of laser spot shapes is a combination of circular and elliptical spots, along with elliptical spot shapes modulated by an additional higher-intensity ellipse offset from the center of the beam. This combination is motivated in this paper. It is also found that this improved implosion uniformity is obtained independent of the heat conduction model. This work indicates that significant improvement in performance can be obtained robustly with the proposed spot shapes.

  3. Design and analysis of a direct-drive wind power generator with ultra-high torque density

    Science.gov (United States)

    Jian, Linni; Shi, Yujun; Wei, Jin; Zheng, Yanchong

    2015-05-01

    In order to get rid of the nuisances caused by mechanical gearboxes, generators with low rated speed, which can be directly connected to wind turbines, are attracting increasing attention. The purpose of this paper is to propose a new direct-drive wind power generator (DWPG), which can offer ultra-high torque density. First, magnetic gear (MG) is integrated to achieve non-contact torque transmission and speed variation. Second, armature windings are engaged to achieve electromechanical energy conversion. Interior permanent magnet (PM) design on the inner rotor is adopted to boost the torque transmission capability of the integrated MG. Nevertheless, due to lack of back iron on the stator, the proposed generator does not exhibit prominent salient feature, which usually exists in traditional interior PM (IPM) machines. This makes it with good controllability and high power factor as the surface-mounted permanent magnet machines. The performance is analyzed using finite element method. Investigation on the magnetic field harmonics demonstrates that the permanent-magnetic torque offered by the MG can work together with the electromagnetic torque offered by the armature windings to balance the driving torque captured by the wind turbine. This allows the proposed generator having the potential to offer even higher torque density than its integrated MG.

  4. Assessment of High-Voltage Photovoltaic Technologies for the Design of a Direct Drive Hall Effect Thruster Solar Array

    Science.gov (United States)

    Mikellides, I. G.; Jongeward, G. A.; Schneider, T.; Carruth, M. R.; Peterson, T.; Kerslake, T. W.; Snyder, D.; Ferguson, D.; Hoskins, A.

    2004-01-01

    A three-year program to develop a Direct Drive Hall-Effect Thruster system (D2HET) begun in 2001 as part of the NASA Advanced Cross-Enterprise Technology Development initiative. The system, which is expected to reduce significantly the power processing, complexity, weight, and cost over conventional low-voltage systems, will employ solar arrays that operate at voltages higher than (or equal to) 300 V. The lessons learned from the development of the technology also promise to become a stepping-stone for the production of the next generation of power systems employing high voltage solar arrays. This paper summarizes the results from experiments conducted mainly at the NASA Marshal Space Flight Center with two main solar array technologies. The experiments focused on electron collection and arcing studies, when the solar cells operated at high voltages. The tests utilized small coupons representative of each solar array technology. A hollow cathode was used to emulate parts of the induced environment on the solar arrays, mostly the low-energy charge-exchange plasma (1012-1013 m-3 and 0.5-1 eV). Results and conclusions from modeling of electron collection are also summarized. The observations from the total effort are used to propose a preliminary, new solar array design for 2 kW and 30-40 kW class, deep space missions that may employ a single or a cluster of Hall- Effect thrusters.

  5. Mass-ablation-rate measurements in direct-drive cryogenic implosions using x-ray self-emission images

    Energy Technology Data Exchange (ETDEWEB)

    Davis, A. K., E-mail: adavi@lle.rochester.edu; Michel, D. T.; Hu, S. X.; Craxton, R. S.; Epstein, R.; Goncharov, V. N.; Igumenshchev, I. V.; Sangster, T. C.; Froula, D. H. [Laboratory for Laser Energetics, University of Rochester, Rochester, New York 14636 (United States)

    2014-11-15

    A technique to measure the mass ablation rate in direct-drive inertial confinement fusion implosions using a pinhole x-ray framing camera is presented. In target designs consisting of two layers of different materials, two x-ray self-emission peaks from the coronal plasma were measured once the laser burned through the higher-Z outer layer. The location of the inner peak is related to the position of the ablation front and the location of the outer peak corresponds to the position of the interface of the two layers in the plasma. The emergence of the second peak was used to measure the burnthrough time of the outer layer, giving the average mass ablation rate of the material and instantaneous mass remaining. By varying the thickness of the outer layer, the mass ablation rate can be obtained as a function of time. Simulations were used to validate the methods and verify that the measurement techniques are not sensitive to perturbation growth at the ablation surface.

  6. Finite Atwood Number Effects on Deceleration-Phase Instability in Room-Temperature Direct-Drive Implosions

    Science.gov (United States)

    Miller, S.; Knauer, J. P.; Radha, P. B.; Goncharov, V. N.

    2017-10-01

    Performance degradation in direct-drive inertial confinement fusion implosions can be caused by several effects, one of which is Rayleigh-Taylor (RT) instability growth during the deceleration phase. In room-temperature plastic target implosions, this deceleration-phase RT growth is enhanced by the density discontinuity and finite Atwood numbers at the fuel-pusher interface. For the first time, an experimental campaign at the Omega Laser Facility systematically varied the ratio of deuterium-to-tritium (D-to-T) within the DT gas fill to change the Atwood number. The goal of the experiment was to understand the effects of Atwood number variation on observables like apparent ion temperature, yield, and variations in areal density and bulk fluid motion, which lead to broadening of neutron spectra along different lines of sight. Simulations by the hydrodynamic codes LILAC and DRACO were used to study growth rates for different D-to-T ratios and identify observable quantities effected by Atwood number variation. Results from simulations and the experiment are presented. This material is based upon work supported by the Department of Energy National Nuclear Security Administration under Award Number DE-NA0001944.

  7. Theoretical quantification of shock-timing sensitivities for direct-drive inertial confinement fusion implosions on OMEGA

    Science.gov (United States)

    Cao, D.; Boehly, T. R.; Gregor, M. C.; Polsin, D. N.; Davis, A. K.; Radha, P. B.; Regan, S. P.; Goncharov, V. N.

    2018-05-01

    Using temporally shaped laser pulses, multiple shocks can be launched in direct-drive inertial confinement fusion implosion experiments to set the shell on a desired isentrope or adiabat. The velocity of the first shock and the times at which subsequent shocks catch up to it are measured through the velocity interferometry system for any reflector diagnostic [T. R. Boehly et al., Phys. Plasmas 18, 092706 (2011)] on OMEGA [T. R. Boehly et al., Opt. Commun. 133, 495 (1997)]. Simulations reproduce these velocity and shock-merger time measurements when using laser pulses designed for setting mid-adiabat (α ˜ 3) implosions, but agreement degrades for lower-adiabat (α ˜ 1) designs. Simulation results indicate that the shock timing discrepancy is most sensitive to details of the density and temperature profiles in the coronal plasma, which influences the laser energy coupled into the target, and only marginally sensitive to the target offset and beam power imbalance. To aid in verifying the coronal profile's influence, a new technique under development to infer coronal profiles using x-ray self-emission imaging [A. K. Davis et al., Bull. Am. Phys. Soc. 61, BAPS.2016.DPP.NO8.7 (2016)] can be applied to the pulse shapes used in shock-timing experiments.

  8. Direct Drive and Eddy Current Septa Magnet Designs for CERN’s PSB Extraction at 2 GeV

    CERN Multimedia

    Szoke, Zsolt; Balhan, Bruno; Baud, Cedric; Borburgh, Jan; Hourican, Michael; Masson, Thierry; Prost, Antoine

    2015-01-01

    In the framework of the LIU project, new septa magnets have been designed between CERN’s PS Booster (PSB) extraction and PS injection. The upgraded devices are to deal with the increased beam energy from 1.4 GeV to 2 GeV at extraction of the PSB. The direct drive recombination septa in the PSB transfer line to the PS, the eddy current PS injection septum together with a bumper at injection have been investigated using finite element software. For the recombination magnets an increase in magnet length is sufficient to obtain the required deflection; however, for the PS injection elements a more novel solution is necessary to also achieve increased robustness to extend the expected lifetime of the pulsed device. The injection septum will share the same vacuum vessel with an injection bumper and both magnets will be located adjacent to each other. The new PS injection magnet will be the first septum operated at CERN based on eddy current technology. The magnetic modelling of the devices, the comparison of the ...

  9. Invited commentary on comparison of robotics, functional electrical stimulation, and motor learning methods for treatment of persistent upper extremity dysfunction after stroke: a randomized controlled trial.

    Science.gov (United States)

    Kwakkel, Gert; van Wegen, Erwin E; Meskers, Carel M

    2015-06-01

    In this issue of Archives of Physical Medicine and Rehabilitation, Jessica McCabe and colleagues report findings from their methodologically sound, dose-matched clinical trial in 39 patients beyond 6 months poststroke. In this phase II trial, the effects of 60 treatment sessions, each involving 3.5 hours of intensive practice plus either 1.5 hours of functional electrical stimulation (FES) or a shoulder-arm robotic therapy, were compared with 5 hours of intensive daily practice alone. Although no significant between-group differences were found on the primary outcome measure of Arm Motor Ability Test and the secondary outcome measure of Fugl-Meyer Arm motor score, 10% to 15% within-group therapeutic gains were on the Arm Motor Ability Test and Fugl-Meyer Arm. These gains are clinically meaningful for patients with stroke. However, the underlying mechanisms that drive these improvements remain poorly understood. The approximately $1000 cost reduction per patient calculated for the use of motor learning (ML) methods alone or combined with FES, compared with the combination of ML and shoulder-arm robotics, further emphasizes the need for cost considerations when making clinical decisions about selecting the most appropriate therapy for the upper paretic limb in patients with chronic stroke. Copyright © 2015 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  10. Distinctive Steady-State Heart Rate and Blood Pressure Responses to Passive Robotic Leg Exercise and Functional Electrical Stimulation during Head-Up Tilt.

    Science.gov (United States)

    Sarabadani Tafreshi, Amirehsan; Riener, Robert; Klamroth-Marganska, Verena

    2016-01-01

    Introduction: Tilt tables enable early mobilization of patients by providing verticalization. But there is a high risk of orthostatic hypotension provoked by verticalization, especially after neurological diseases such as spinal cord injury. Robot-assisted tilt tables might be an alternative as they add passive robotic leg exercise (PE) that can be enhanced with functional electrical stimulation (FES) to the verticalization, thus reducing the risk of orthostatic hypotension. We hypothesized that the influence of PE on the cardiovascular system during verticalization (i.e., head-up tilt) depends on the verticalization angle, and FES strengthens the PE influence. To test our hypotheses, we investigated the PE effects on the cardiovascular parameters heart rate (HR), and systolic and diastolic blood pressures (sBP, dBP) at different angles of verticalization in a healthy population. Methods: Ten healthy subjects on a robot-assisted tilt table underwent four different study protocols while HR, sBP, and dBP were measured: (1) head-up tilt to 60° and 71° without PE; (2) PE at 20°, 40°, and 60° of head-up tilt; (3) PE while constant FES intensity was applied to the leg muscles, at 20°, 40°, and 60° of head-up tilt; (4) PE with variation of the applied FES intensity at 0°, 20°, 40°, and 60° of head-up tilt. Linear mixed models were used to model changes in HR, sBP, and dBP responses. Results: The models show that: (1) head-up tilt alone resulted in statistically significant increases in HR and dBP, but no change in sBP. (2) PE during head-up tilt resulted in statistically significant changes in HR, sBP, and dBP, but not at each angle and not always in the same direction (i.e., increase or decrease of cardiovascular parameters). Neither adding (3) FES at constant intensity to PE nor (4) variation of FES intensity during PE had any statistically significant effects on the cardiovascular parameters. Conclusion: The effect of PE on the cardiovascular system during

  11. The Effects of Upper-Limb Training Assisted with an Electromyography-Driven Neuromuscular Electrical Stimulation Robotic Hand on Chronic Stroke

    Directory of Open Access Journals (Sweden)

    Chingyi Nam

    2017-12-01

    Full Text Available BackgroundImpaired hand dexterity is a major disability of the upper limb after stroke. An electromyography (EMG-driven neuromuscular electrical stimulation (NMES robotic hand was designed previously, whereas its rehabilitation effects were not investigated.ObjectivesThis study aims to investigate the rehabilitation effectiveness of the EMG-driven NMES-robotic hand-assisted upper-limb training on persons with chronic stroke.MethodA clinical trial with single-group design was conducted on chronic stroke participants (n = 15 who received 20 sessions of EMG-driven NMES-robotic hand-assisted upper-limb training. The training effects were evaluated by pretraining, posttraining, and 3-month follow-up assessments with the clinical scores of the Fugl-Meyer Assessment (FMA, the Action Research Arm Test (ARAT, the Wolf Motor Function Test, the Motor Functional Independence Measure, and the Modified Ashworth Scale (MAS. Improvements in the muscle coordination across the sessions were investigated by EMG parameters, including EMG activation level and Co-contraction Indexes (CIs of the target muscles in the upper limb.ResultsSignificant improvements in the FMA shoulder/elbow and wrist/hand scores (P < 0.05, the ARAT (P < 0.05, and in the MAS (P < 0.05 were observed after the training and sustained 3 months later. The EMG parameters indicated a significant decrease of the muscle activation level in flexor digitorum (FD and biceps brachii (P < 0.05, as well as a significant reduction of CIs in the muscle pairs of FD and triceps brachii and biceps brachii and triceps brachii (P < 0.05.ConclusionThe upper-limb training integrated with the assistance from the EMG-driven NMES-robotic hand is effective for the improvements of the voluntary motor functions and the muscle coordination in the proximal and distal joints. Furthermore, the motor improvement after the training could be maintained till 3 months later.Trial registration

  12. The Effects of Upper-Limb Training Assisted with an Electromyography-Driven Neuromuscular Electrical Stimulation Robotic Hand on Chronic Stroke.

    Science.gov (United States)

    Nam, Chingyi; Rong, Wei; Li, Waiming; Xie, Yunong; Hu, Xiaoling; Zheng, Yongping

    2017-01-01

    Impaired hand dexterity is a major disability of the upper limb after stroke. An electromyography (EMG)-driven neuromuscular electrical stimulation (NMES) robotic hand was designed previously, whereas its rehabilitation effects were not investigated. This study aims to investigate the rehabilitation effectiveness of the EMG-driven NMES-robotic hand-assisted upper-limb training on persons with chronic stroke. A clinical trial with single-group design was conducted on chronic stroke participants ( n  = 15) who received 20 sessions of EMG-driven NMES-robotic hand-assisted upper-limb training. The training effects were evaluated by pretraining, posttraining, and 3-month follow-up assessments with the clinical scores of the Fugl-Meyer Assessment (FMA), the Action Research Arm Test (ARAT), the Wolf Motor Function Test, the Motor Functional Independence Measure, and the Modified Ashworth Scale (MAS). Improvements in the muscle coordination across the sessions were investigated by EMG parameters, including EMG activation level and Co-contraction Indexes (CIs) of the target muscles in the upper limb. Significant improvements in the FMA shoulder/elbow and wrist/hand scores ( P  < 0.05), the ARAT ( P  < 0.05), and in the MAS ( P  < 0.05) were observed after the training and sustained 3 months later. The EMG parameters indicated a significant decrease of the muscle activation level in flexor digitorum (FD) and biceps brachii ( P  < 0.05), as well as a significant reduction of CIs in the muscle pairs of FD and triceps brachii and biceps brachii and triceps brachii ( P  < 0.05). The upper-limb training integrated with the assistance from the EMG-driven NMES-robotic hand is effective for the improvements of the voluntary motor functions and the muscle coordination in the proximal and distal joints. Furthermore, the motor improvement after the training could be maintained till 3 months later. ClinicalTrials.gov. NCT02117089; date of registration: April

  13. Wavelength-detuning cross-beam energy transfer mitigation scheme for direct drive: Modeling and evidence from National Ignition Facility implosions

    Science.gov (United States)

    Marozas, J. A.; Hohenberger, M.; Rosenberg, M. J.; Turnbull, D.; Collins, T. J. B.; Radha, P. B.; McKenty, P. W.; Zuegel, J. D.; Marshall, F. J.; Regan, S. P.; Sangster, T. C.; Seka, W.; Campbell, E. M.; Goncharov, V. N.; Bowers, M. W.; Di Nicola, J.-M. G.; Erbert, G.; MacGowan, B. J.; Pelz, L. J.; Moody, J.; Yang, S. T.

    2018-05-01

    Cross-beam energy transfer (CBET) results from two-beam energy exchange via seeded stimulated Brillouin scattering, which detrimentally reduces laser-energy absorption for direct-drive inertial confinement fusion. Consequently, ablation pressure and implosion velocity suffer from the decreased absorption, reducing target performance in both symmetric and polar direct drive. Additionally, CBET alters the time-resolved scattered-light spectra and redistributes absorbed and scattered-light-changing shell morphology and low-mode drive symmetry. Mitigating CBET is demonstrated in inertial confinement implosions at the National Ignition Facility by detuning the laser-source wavelengths (±2.3 Å UV) of the interacting beams. In polar direct drive, wavelength detuning was shown to increase the equatorial region velocity experimentally by 16% and to alter the in-flight shell morphology. These experimental observations are consistent with design predictions of radiation-hydrodynamic simulations that indicate a 10% increase in the average ablation pressure. These results indicate that wavelength detuning successfully mitigates CBET. Simulations predict that optimized phase plates and wavelength-detuning CBET mitigation utilizing the three-legged beam layout of the OMEGA Laser System significantly increase absorption and achieve >100-Gbar hot-spot pressures in symmetric direct drive.

  14. Axial gap rotating electrical machine

    Science.gov (United States)

    None

    2016-02-23

    Direct drive rotating electrical machines with axial air gaps are disclosed. In these machines, a rotor ring and stator ring define an axial air gap between them. Sets of gap-maintaining rolling supports bear between the rotor ring and the stator ring at their peripheries to maintain the axial air gap. Also disclosed are wind turbines using these generators, and structures and methods for mounting direct drive rotating electrical generators to the hubs of wind turbines. In particular, the rotor ring of the generator may be carried directly by the hub of a wind turbine to rotate relative to a shaft without being mounted directly to the shaft.

  15. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  16. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  17. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  18. Design and implementation of a novel modal space active force control concept for spatial multi-DOF parallel robotic manipulators actuated by electrical actuators.

    Science.gov (United States)

    Yang, Chifu; Zhao, Jinsong; Li, Liyi; Agrawal, Sunil K

    2018-01-01

    Robotic spine brace based on parallel-actuated robotic system is a new device for treatment and sensing of scoliosis, however, the strong dynamic coupling and anisotropy problem of parallel manipulators result in accuracy loss of rehabilitation force control, including big error in direction and value of force. A novel active force control strategy named modal space force control is proposed to solve these problems. Considering the electrical driven system and contact environment, the mathematical model of spatial parallel manipulator is built. The strong dynamic coupling problem in force field is described via experiments as well as the anisotropy problem of work space of parallel manipulators. The effects of dynamic coupling on control design and performances are discussed, and the influences of anisotropy on accuracy are also addressed. With mass/inertia matrix and stiffness matrix of parallel manipulators, a modal matrix can be calculated by using eigenvalue decomposition. Making use of the orthogonality of modal matrix with mass matrix of parallel manipulators, the strong coupled dynamic equations expressed in work space or joint space of parallel manipulator may be transformed into decoupled equations formulated in modal space. According to this property, each force control channel is independent of others in the modal space, thus we proposed modal space force control concept which means the force controller is designed in modal space. A modal space active force control is designed and implemented with only a simple PID controller employed as exampled control method to show the differences, uniqueness, and benefits of modal space force control. Simulation and experimental results show that the proposed modal space force control concept can effectively overcome the effects of the strong dynamic coupling and anisotropy problem in the physical space, and modal space force control is thus a very useful control framework, which is better than the current joint

  19. Distinctive Steady-State Heart Rate and Blood Pressure Responses to Passive Robotic Leg Exercise and Functional Electrical Stimulation During Head-up Tilt

    Directory of Open Access Journals (Sweden)

    Amirehsan Sarabadani Tafreshi

    2016-12-01

    Full Text Available Tilt tables enable early mobilization of patients by providing verticalization. But there is a high risk of orthostatic hypotension provoked by verticalization, especially after neurological diseases such as spinal cord injury. Robot-assisted tilt tables might be an alternative as they add passive robotic leg exercise (PE that can be enhanced with functional electrical stimulation (FES to the verticalization, thus reducing the risk of orthostatic hypotension. We hypothesized that the influence of PE on the cardiovascular system during verticalization depends on the verticalization angle, and FES strengthens the PE influence. To test our hypotheses, we investigated the PE effects on the cardiovascular parameters heart rate (HR, and systolic and diastolic blood pressures (sBP, dBP at different angles of verticalization in a healthy population. Ten healthy subjects on a robot-assisted tilt table underwent four different study protocols while HR, sBP and dBP were measured: (1 head-up tilt to 60° and 71° without PE; (2 PE at 20°, 40°, and 60° of head-up tilt; (3 PE while constant FES intensity was applied to the leg muscles, at 20°, 40°, and 60° of head-up tilt; (4 PE with variation of the applied FES intensity at 0°, 20°, 40°, and 60° of head-up tilt. Linear mixed models were used to model changes in HR, sBP, and dBP responses. The models show that: (1 head-up tilt alone resulted in statistically significant increases in HR and dBP, but no change in sBP. (2 PE during head-up tilt resulted in statistically significant changes in HR, sBP, and dBP, but not at each angle and not always in the same direction (i.e., increase or decrease of cardiovascular parameters. Neither adding (3 FES at constant intensity to PE nor (4 variation of FES intensity during PE had any statistically significant effects on the cardiovascular parameters.The effect of PE on the cardiovascular system during head-up tilt is strongly dependent on the verticalization

  20. Demonstration of Fuel Hot-Spot Pressure in Excess of 50 Gbar for Direct-Drive, Layered Deuterium-Tritium Implosions on OMEGA

    Science.gov (United States)

    Regan, S. P.; Goncharov, V. N.; Igumenshchev, I. V.; Sangster, T. C.; Betti, R.; Bose, A.; Boehly, T. R.; Bonino, M. J.; Campbell, E. M.; Cao, D.; Collins, T. J. B.; Craxton, R. S.; Davis, A. K.; Delettrez, J. A.; Edgell, D. H.; Epstein, R.; Forrest, C. J.; Frenje, J. A.; Froula, D. H.; Gatu Johnson, M.; Glebov, V. Yu.; Harding, D. R.; Hohenberger, M.; Hu, S. X.; Jacobs-Perkins, D.; Janezic, R.; Karasik, M.; Keck, R. L.; Kelly, J. H.; Kessler, T. J.; Knauer, J. P.; Kosc, T. Z.; Loucks, S. J.; Marozas, J. A.; Marshall, F. J.; McCrory, R. L.; McKenty, P. W.; Meyerhofer, D. D.; Michel, D. T.; Myatt, J. F.; Obenschain, S. P.; Petrasso, R. D.; Radha, P. B.; Rice, B.; Rosenberg, M. J.; Schmitt, A. J.; Schmitt, M. J.; Seka, W.; Shmayda, W. T.; Shoup, M. J.; Shvydky, A.; Skupsky, S.; Solodov, A. A.; Stoeckl, C.; Theobald, W.; Ulreich, J.; Wittman, M. D.; Woo, K. M.; Yaakobi, B.; Zuegel, J. D.

    2016-07-01

    A record fuel hot-spot pressure Phs=56 ±7 Gbar was inferred from x-ray and nuclear diagnostics for direct-drive inertial confinement fusion cryogenic, layered deuterium-tritium implosions on the 60-beam, 30-kJ, 351-nm OMEGA Laser System. When hydrodynamically scaled to the energy of the National Ignition Facility, these implosions achieved a Lawson parameter ˜60 % of the value required for ignition [A. Bose et al., Phys. Rev. E 93, LM15119ER (2016)], similar to indirect-drive implosions [R. Betti et al., Phys. Rev. Lett. 114, 255003 (2015)], and nearly half of the direct-drive ignition-threshold pressure. Relative to symmetric, one-dimensional simulations, the inferred hot-spot pressure is approximately 40% lower. Three-dimensional simulations suggest that low-mode distortion of the hot spot seeded by laser-drive nonuniformity and target-positioning error reduces target performance.

  1. First Observation of Cross-Beam Energy Transfer Mitigation for Direct-Drive Inertial Confinement Fusion Implosions Using Wavelength Detuning at the National Ignition Facility.

    Science.gov (United States)

    Marozas, J A; Hohenberger, M; Rosenberg, M J; Turnbull, D; Collins, T J B; Radha, P B; McKenty, P W; Zuegel, J D; Marshall, F J; Regan, S P; Sangster, T C; Seka, W; Campbell, E M; Goncharov, V N; Bowers, M W; Di Nicola, J-M G; Erbert, G; MacGowan, B J; Pelz, L J; Yang, S T

    2018-02-23

    Cross-beam energy transfer (CBET) results from two-beam energy exchange via seeded stimulated Brillouin scattering, which detrimentally reduces ablation pressure and implosion velocity in direct-drive inertial confinement fusion. Mitigating CBET is demonstrated for the first time in inertial-confinement implosions at the National Ignition Facility by detuning the laser-source wavelengths (±2.3  Å UV) of the interacting beams. We show that, in polar direct-drive, wavelength detuning increases the equatorial region velocity experimentally by 16% and alters the in-flight shell morphology. These experimental observations are consistent with design predictions of radiation-hydrodynamic simulations that indicate a 10% increase in the average ablation pressure.

  2. Electricity

    CERN Document Server

    Basford, Leslie

    2013-01-01

    Electricity Made Simple covers the fundamental principles underlying every aspect of electricity. The book discusses current; resistance including its measurement, Kirchhoff's laws, and resistors; electroheat, electromagnetics and electrochemistry; and the motor and generator effects of electromagnetic forces. The text also describes alternating current, circuits and inductors, alternating current circuits, and a.c. generators and motors. Other methods of generating electromagnetic forces are also considered. The book is useful for electrical engineering students.

  3. MRV - Modular Robotic Vehicle

    Science.gov (United States)

    Ridley, Justin; Bluethmann, Bill

    2015-01-01

    The Modular Robotic Vehicle, or MRV, completed in 2013, was developed at the Johnson Space Center in order to advance technologies which have applications for future vehicles both in space and on Earth. With seating for two people, MRV is a fully electric vehicle modeled as a "city car", suited for busy urban environments.

  4. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  5. 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...

  6. Hybrid shipping for inland navigation : loss analysis of an aluminum direct-drive high performance 11,OOONm permanent magnet machine

    NARCIS (Netherlands)

    Paulides, J.J.H.; Djukic, N.; Encica, L.

    2015-01-01

    Hybrid electric ship propulsions are becoming a leading/emerging area of research, prompting investigation in hybrid propulsion system design and demonstration of concept vessels. With respect to ship design and operation, minimizing costs associated with fuel consumption and maintenance are key

  7. 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…

  8. 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.

  9. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

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

  10. Robot Futures

    DEFF Research Database (Denmark)

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

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

  11. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

    Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

  12. Wavelength Detuning Cross-Beam Energy Transfer Mitigation Scheme for Direct-Drive: Modeling and Evidence from National Ignition Facility Implosions

    Science.gov (United States)

    Marozas, J. A.

    2017-10-01

    Cross-beam energy transfer (CBET) has been shown to significantly reduce the laser absorption and implosion speed in direct-drive implosion experiments on OMEGA and the National Ignition Facility (NIF). Mitigating CBET assists in achieving ignition-relevant hot-spot pressures in deuterium-tritium cryogenic OMEGA implosions. In addition, reducing CBET permits lower, more hydrodynamically stable, in-flight aspect ratio ignition designs with smaller nonuniformity growth during the acceleration phase. Detuning the wavelengths of the crossing beams is one of several techniques under investigation at the University of Rochester to mitigate CBET. This talk will describe these techniques with an emphasis on wavelength detuning. Recent experiments designed and predicted using multidimensional hydrodynamic simulations including CBET on the NIF have exploited the wavelength arrangement of the NIF beam geometry to demonstrate CBET mitigation through wavelength detuning in polar-direct-drive (PDD) implosions. Shapes and trajectories inferred from time-resolved x-ray radiography of the imploding shell, scattered-light spectra, and hard x-ray spectra generated by suprathermal electrons all indicate a reduction in CBET. These results and their implications for direct-drive ignition will be presented and discussed. In addition, hydrodynamically scaled ignition-relevant designs for OMEGA implosions exploiting wavelength detuning will be presented. Changes required to the OMEGA laser to permit wavelength detuning will be discussed. Future plans for PDD on the NIF including more-uniform implosions with CBET mitigation will be explored. This material is based upon work supported by the Department of Energy National Nuclear Security Administration under Award Number DE-NA0001944.

  13. Increase in fault ride through capability of direct drive permanent magnet based wind farm using VSC-HVDC

    Science.gov (United States)

    Maleki, Hesamaldin; Ramachandaramurthy, V. K.; Lak, Moein

    2013-06-01

    Burning of fossil fuels and green house gasses causes global warming. This has led to governments to explore the use of green energies instead of fossil fuels. The availability of wind has made wind technology a viable alternative for generating electrical power. Hence, many parts of the world, especially Europe are experiencing a growth in wind farms. However, by increasing the number of wind farms connected to the grid, power quality and voltage stability of grid becomes a matter of concern. In this paper, VSC-HVDC control strategy which enables the wind farm to ride-through faults and regulate voltage for fault types is proposed. The results show that the wind turbine output voltage fulfills the E.ON grid code requirements, when subjected to three phase to ground fault. Hence, continues operation of the wind farm is achieved.

  14. Increase in fault ride through capability of direct drive permanent magnet based wind farm using VSC-HVDC

    International Nuclear Information System (INIS)

    Maleki, Hesamaldin; Ramachandaramurthy, V K; Lak, Moein

    2013-01-01

    Burning of fossil fuels and green house gasses causes global warming. This has led to governments to explore the use of green energies instead of fossil fuels. The availability of wind has made wind technology a viable alternative for generating electrical power. Hence, many parts of the world, especially Europe are experiencing a growth in wind farms. However, by increasing the number of wind farms connected to the grid, power quality and voltage stability of grid becomes a matter of concern. In this paper, VSC-HVDC control strategy which enables the wind farm to ride-through faults and regulate voltage for fault types is proposed. The results show that the wind turbine output voltage fulfills the E.ON grid code requirements, when subjected to three phase to ground fault. Hence, continues operation of the wind farm is achieved.

  15. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

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

  16. Demonstration of Fuel Hot-Spot Pressure in Excess of 50 Gbar for Direct-Drive, Layered Deuterium-Tritium Implosions on OMEGA.

    Science.gov (United States)

    Regan, S P; Goncharov, V N; Igumenshchev, I V; Sangster, T C; Betti, R; Bose, A; Boehly, T R; Bonino, M J; Campbell, E M; Cao, D; Collins, T J B; Craxton, R S; Davis, A K; Delettrez, J A; Edgell, D H; Epstein, R; Forrest, C J; Frenje, J A; Froula, D H; Gatu Johnson, M; Glebov, V Yu; Harding, D R; Hohenberger, M; Hu, S X; Jacobs-Perkins, D; Janezic, R; Karasik, M; Keck, R L; Kelly, J H; Kessler, T J; Knauer, J P; Kosc, T Z; Loucks, S J; Marozas, J A; Marshall, F J; McCrory, R L; McKenty, P W; Meyerhofer, D D; Michel, D T; Myatt, J F; Obenschain, S P; Petrasso, R D; Radha, P B; Rice, B; Rosenberg, M J; Schmitt, A J; Schmitt, M J; Seka, W; Shmayda, W T; Shoup, M J; Shvydky, A; Skupsky, S; Solodov, A A; Stoeckl, C; Theobald, W; Ulreich, J; Wittman, M D; Woo, K M; Yaakobi, B; Zuegel, J D

    2016-07-08

    A record fuel hot-spot pressure P_{hs}=56±7  Gbar was inferred from x-ray and nuclear diagnostics for direct-drive inertial confinement fusion cryogenic, layered deuterium-tritium implosions on the 60-beam, 30-kJ, 351-nm OMEGA Laser System. When hydrodynamically scaled to the energy of the National Ignition Facility, these implosions achieved a Lawson parameter ∼60% of the value required for ignition [A. Bose et al., Phys. Rev. E 93, 011201(R) (2016)], similar to indirect-drive implosions [R. Betti et al., Phys. Rev. Lett. 114, 255003 (2015)], and nearly half of the direct-drive ignition-threshold pressure. Relative to symmetric, one-dimensional simulations, the inferred hot-spot pressure is approximately 40% lower. Three-dimensional simulations suggest that low-mode distortion of the hot spot seeded by laser-drive nonuniformity and target-positioning error reduces target performance.

  17. 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.

  18. Electricity

    International Nuclear Information System (INIS)

    Tombs, F.

    1983-01-01

    The subject is discussed, with particular reference to the electricity industry in the United Kingdom, under the headings; importance and scope of the industry's work; future fuel supplies (estimated indigenous fossil fuels reserves); outlook for UK energy supplies; problems of future generating capacity and fuel mix (energy policy; construction programme; economics and pricing; contribution of nuclear power - thermal and fast reactors; problems of conversion of oil-burning to coal-burning plant). (U.K.)

  19. Robots in Action - Proffesional Contest 2014

    Directory of Open Access Journals (Sweden)

    Paul Ciprian Patic

    2014-06-01

    Full Text Available The Electrical Engineering, Electronics and Information Technology Faculty, "Valahia" University of Targoviste, together with the Robotics Society of Romania, Targoviste subsidiary and the Students League, held the 7th edition of the Professional Contest "ROBOTS IN ACTION" on June 5th 2014, starting from 12.00h, in the Faculty hall. Students and teams of students participated, exposing 10 practical applications in the fields of robotics and mechatronics.

  20. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  1. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    future. A real version of Ava would not last long in a human world because she is basically a solipsist, who does not really care about humans. She cannot co-create the line humans walk along. The robots created as ‘perfect women’ (sex robots) today are very far from the ideal image of Ava...

  2. Robot Teachers

    DEFF Research Database (Denmark)

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

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

  3. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

    Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

  4. Social Robots

    DEFF Research Database (Denmark)

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

  5. Robotic seeding

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

    2017-01-01

    Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

  6. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

    This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

  7. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  8. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  9. Operating capability as a PQ/PV node of a direct-drive wind turbine based on a permanent magnet synchronous generator

    Energy Technology Data Exchange (ETDEWEB)

    Fernandez, L.M.; Garcia, C.A. [Department of Electrical Engineering, University of Cadiz, EPS Algeciras, Avda. Ramon Puyol s/n,11202 Algeciras (Cadiz) (Spain); Jurado, F. [Department of Electrical Engineering, University of Jaen, EPS Linares, C/ Alfonso X n . 28, 23700 Linares (Jaen) (Spain)

    2010-06-15

    This paper describes the modelling and control system of a direct-drive PMSG wind turbine for effective active and reactive power generation control and voltage control at the grid connection point. This study focuses on the maximum power capability of the wind turbine, which is limited by its generator and power converter. The ability of this model and control strategy are assessed by means of simulations and discussed at length. The results of our study show that a PMSG wind turbine is able to actively participate in grid operation because it can independently control active and reactive power production (operating as a PQ node) or the active power and voltage at the connection node (operating as a PV node). (author)

  10. Analysis and Design of a Permanent-Magnet Outer-Rotor Synchronous Generator for a Direct-Drive Vertical-Axis Wind Turbine

    Directory of Open Access Journals (Sweden)

    H. A. Lari

    2014-12-01

    Full Text Available In Permanent-Magnet Synchronous Generators (PMSGs the reduction of cogging torque is one of the most important problems in their performance and evaluation. In this paper, at first, a direct-drive vertical-axis wind turbine is chosen. According to its nominal value operational point, necessary parameters for the generator is extracted. Due to an analytical method, four generators with different pole-slot combinations are designed. Average torque, torque ripple and cogging torque are evaluated based on finite element method. The combination with best performance is chosen and with the analysis of variation of effective parameters on cogging torque, and introducing a useful method, an improved design of the PMSG with lowest cogging torque and maximum average torque is obtained. The results show a proper performance and a correctness of the proposed method.

  11. The Study of Fuzzy Proportional Integral Controllers Based on Improved Particle Swarm Optimization for Permanent Magnet Direct Drive Wind Turbine Converters

    Directory of Open Access Journals (Sweden)

    Yancai Xiao

    2016-05-01

    Full Text Available In order to meet the requirements of high precision and fast response of permanent magnet direct drive (PMDD wind turbines, this paper proposes a fuzzy proportional integral (PI controller associated with a new control strategy for wind turbine converters. The purpose of the control strategy is to achieve the global optimization for the quantization factors, ke and kec, and scale factors, kup and kui, of the fuzzy PI controller by an improved particle swarm optimization (PSO method. Thus the advantages of the rapidity of the improved PSO and the robustness of the fuzzy controller can be fully applied in the control process. By conducting simulations for 2 MW PMDD wind turbines with Matlab/Simulink, the performance of the fuzzy PI controller based on the improved PSO is demonstrated to be obviously better than that of the PI controller or the fuzzy PI controller without using the improved PSO under the situation when the wind speed changes suddenly.

  12. Robots in Action - Professional Contest 2017

    Directory of Open Access Journals (Sweden)

    Paul Ciprian Patic

    2017-06-01

    Full Text Available The Robotics Society of Romania, Targoviste subsidiary, together with the Electrical Engineering, Electronics and Information Technology Faculty, "Valahia" University of Targoviste, held on May 30th 2017, starting from 11.00h, in the Rotonda of Engineering Faculties, the tenth edition of the professional students contest "ROBOTS IN ACTION".

  13. Robots in Action - Professional Contest 2016

    Directory of Open Access Journals (Sweden)

    Paul Ciprian Patic

    2016-06-01

    Full Text Available The organizers of the 9th edition of the Professional Contest "ROBOTS IN ACTION" were, as usual, the Electrical Engineering, Electronics and Information Technology Faculty, "Valahia" University of Targoviste, together with the Robotics Society of Romania, Targoviste subsidiary and the Students League.

  14. Development of a soft untethered robot using artificial muscle actuators

    Science.gov (United States)

    Cao, Jiawei; Qin, Lei; Lee, Heow Pueh; Zhu, Jian

    2017-04-01

    Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots' functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot's locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

  15. Soft Robotic Actuators

    Science.gov (United States)

    Godfrey, Juleon Taylor

    In this thesis a survey on soft robotic actuators is conducted. The actuators are classified into three main categories: Pneumatic Artificial Muscles (PAM), Electronic Electroactive Polymers (Electric EAP), and Ionic Electroactive Polymers (Ionic EAP). Soft robots can have many degrees and are more compliant than hard robots. This makes them suitable for applications that are difficult for hard robots. For each actuator background history, build materials, how they operate, and modeling are presented. Multiple actuators in each class are reviewed highlighting both their use and their mathematical formulation. In addition to the survey the McKibben actuator was chosen for fabrication and in-depth experimental analysis. Four McKibben actuators were fabricated using mesh sleeve, barbed hose fittings, and different elastic bladders. All were actuated using compressed air. Tensile tests were performed for each actuator to measure the tension force as air pressure increased from 20 to 100 psi in 10 psi increments. To account for material relaxation properties eleven trials for each actuator were run for 2-3 days. In conclusion, the smallest outer diameter elastic bladder was capable of producing the highest force due to the larger gap between the bladder and the sleeve.

  16. Space Robotics Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

  17. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

  18. Robotic surgery

    Science.gov (United States)

    ... with this type of surgery give it some advantages over standard endoscopic techniques. The surgeon can make ... Elsevier Saunders; 2015:chap 87. Muller CL, Fried GM. Emerging technology in surgery: Informatics, electronics, robotics. In: ...

  19. Robotic parathyroidectomy.

    Science.gov (United States)

    Okoh, Alexis Kofi; Sound, Sara; Berber, Eren

    2015-09-01

    Robotic parathyroidectomy has recently been described. Although the procedure eliminates the neck scar, it is technically more demanding than the conventional approaches. This report is a review of the patients' selection criteria, technique, and outcomes. © 2015 Wiley Periodicals, Inc.

  20. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  1. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  2. Direct Drive Wave Energy Buoy

    Energy Technology Data Exchange (ETDEWEB)

    Rhinefrank, Kenneth E. [Columbia Power Technologies, Inc.; Lenee-Bluhm, Pukha [Columbia Power Technologies, Inc.; Prudell, Joseph H. [Columbia Power Technologies, Inc.; Schacher, Alphonse A. [Columbia Power Technologies, Inc.; Hammagren, Erik J. [Columbia Power Technologies, Inc.; Zhang, Zhe [Columbia Power Technologies, Inc.

    2013-07-29

    The most prudent path to a full-scale design, build and deployment of a wave energy conversion (WEC) system involves establishment of validated numerical models using physical experiments in a methodical scaling program. This Project provides essential additional rounds of wave tank testing at 1:33 scale and ocean/bay testing at a 1:7 scale, necessary to validate numerical modeling that is essential to a utility-scale WEC design and associated certification.

  3. Direct Drive Wave Energy Buoy

    Energy Technology Data Exchange (ETDEWEB)

    Rhinefrank, Kenneth [Columbia Power Technologies, Inc., Charlottesville, VA (United States); Lamb, Bradford [Columbia Power Technologies, Inc., Charlottesville, VA (United States); Prudell, Joseph [Columbia Power Technologies, Inc., Charlottesville, VA (United States); Hammagren, Erik [Columbia Power Technologies, Inc., Charlottesville, VA (United States); Lenee-Bluhm, Pukha [Columbia Power Technologies, Inc., Charlottesville, VA (United States)

    2016-08-22

    This Project aims to satisfy objectives of the DOE’s Water Power Program by completing a system detailed design (SDD) and other important activities in the first phase of a utility-scale grid-connected ocean wave energy demonstration. In early 2012, Columbia Power (CPwr) had determined that further cost and performance optimization was necessary in order to commercialize its StingRAY wave energy converter (WEC). CPwr’s progress toward commercialization, and the requisite technology development path, were focused on transitioning toward a commercial-scale demonstration. This path required significant investment to be successful, and the justification for this investment required improved annual energy production (AEP) and lower capital costs. Engineering solutions were developed to address these technical and cost challenges, incorporated into a proposal to the US Department of Energy (DOE), and then adapted to form the technical content and statement of project objectives of the resulting Project (DE-EE0005930). Through Project cost-sharing and technical collaboration between DOE and CPwr, and technical collaboration with Oregon State University (OSU), National Renewable Energy Lab (NREL) and other Project partners, we have demonstrated experimentally that these conceptual improvements have merit and made significant progress towards a certified WEC system design at a selected and contracted deployment site at the Wave Energy Test Site (WETS) at the Marine Corps Base in Oahu, HI (MCBH).

  4. Model Driven Software Development for Agricultural Robotics

    DEFF Research Database (Denmark)

    Larsen, Morten

    The design and development of agricultural robots, consists of both mechan- ical, electrical and software components. All these components must be de- signed and combined such that the overall goal of the robot is fulfilled. The design and development of these systems require collaboration between...... processing, control engineering, etc. This thesis proposes a Model-Driven Software Develop- ment based approach to model, analyse and partially generate the software implementation of a agricultural robot. Furthermore, Guidelines for mod- elling the architecture of an agricultural robots are provided......, assisting with bridging the different engineering disciplines. Timing play an important role in agricultural robotic applications, synchronisation of robot movement and implement actions is important in order to achieve precision spraying, me- chanical weeding, individual feeding, etc. Discovering...

  5. 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.

  6. 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.

  7. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

    Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

  8. Preliminary Design of Reluctance Motors for Light Electric Vehicles Driving

    Directory of Open Access Journals (Sweden)

    TRIFA, V.

    2009-02-01

    Full Text Available The paper presents the aspects regarding FEM analysis of a reluctant motor for direct driving of the light electric vehicles. The reluctant motor take into study is of special construction suitable for direct drive of a light electric vehicle. It is an inverse radial reluctant motor, with a fixed stator mounted on front wheel shaft and an external toothed rotor fixed on the front wheel itself. A short presentation of preliminary design is continued with the FEM analysis in order to provide the optimal geometry of the motor and adequate windings.

  9. Soft Robotics Week

    CERN Document Server

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

    2017-01-01

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

  10. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. Copyright © 2013 Elsevier B.V. All rights reserved.

  11. 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.

  12. Generic robot architecture

    Science.gov (United States)

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

    2010-09-21

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

  13. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

    -scale 3D printed ceramics accompanied by prints, videos and ceramic probes, which introduce the material and design processes of the project.'Filigree Robotics' experiments with a combination of the traditional ceramic technique of ‘Overforming’ with 3d Laserscan and Robotic extrusion technique...... application of reflectivity after an initial 3d print. The consideration and integration of this material practice into a digital workflow took place in an interdisciplinary collaboration of Ceramicist Flemming Tvede Hansen from KADK Superformlab and architectural researchers from CITA (Martin Tamke, Henrik...... to the creation of the form and invites for experimentation. In Filigree Robotics we combine the crafting of the mold with a parallel running generative algorithm, which is fed by a constant laserscan of the 3d surface. This algorithm, analyses the topology of the mold, identifies high and low points and uses...

  14. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

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

  15. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  16. Service Robots

    DEFF Research Database (Denmark)

    Clemmensen, Torkil; Nielsen, Jeppe Agger; Andersen, Kim Normann

    The position presented in this paper is that in order to understand how service robots shape, and are being shaped by, the physical and social contexts in which they are used, we need to consider both work/organizational analysis and interaction design. We illustrate this with qualitative data...... and personal experiences to generate discussion about how to link these two traditions. This paper presents selected results from a case study that investigated the implementation and use of robot vacuum cleaners in Danish eldercare. The study demonstrates interpretive flexibility with variation...

  17. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

  18. Research and development of electric vehicles for clean transportation.

    Science.gov (United States)

    Wada, Masayoshi

    2009-01-01

    This article presents the research and development of an electric vehicle (EV) in Department of Human-Robotics Saitama Institute of Technology, Japan. Electric mobile systems developed in our laboratory include a converted electric automobile, electric wheelchair and personal mobile robot. These mobile systems contribute to realize clean transportation since energy sources and devices from all vehicles, i.e., batteries and electric motors, does not deteriorate the environment. To drive motors for vehicle traveling, robotic technologies were applied.

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

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

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

  20. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

  1. The Middlesex University rehabilitation robot.

    Science.gov (United States)

    Parsons, B; White, A; Prior, S; Warner, P

    2005-01-01

    This paper describes the development of an electrically powered wheelchair-mounted manipulator for use by severely disabled persons. A detailed review is given explaining the specification. It describes the construction of the device and its control architecture. The prototype robot used several gesture recognition and other input systems. The system has been tested on disabled and non-disabled users. They observed that it was easy to use but about 50% slower than comparable systems before design modifications were incorporated. The robot has a payload of greater than 1 kg with a maximum reach of 0.7-0.9 m.

  2. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

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

  4. 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...

  5. 8th International Robotic Sailing Conference

    CERN Document Server

    Haug, Florian

    2016-01-01

    This book presents the cutting edge developments within a broad field related to robotic sailing. The contributions were presented during the 8th International Robotic Sailing Conference, which has taken place as a part of the 2015 World Robotic Sailing Championships in Mariehamn, Åland (Finland), August 31st – September 4th 2015. Since more than a decade, a series of competitions such as the World Robotic Sailing Championship have stimulated a variety of groups to work on research and development around autonomous sailing robots, which involves boat designers, naval architects, electrical engineers and computer scientists. While many of the challenges in building a truly autonomous sailboat are still unsolved, the books presents the state of the art of research and development within platform optimization, route and stability planning, collision avoidance, power management and boat control.

  6. SMARBot: a modular miniature mobile robot platform

    Science.gov (United States)

    Meng, Yan; Johnson, Kerry; Simms, Brian; Conforth, Matthew

    2008-04-01

    Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

  7. 5th International Robotic Sailing Conference

    CERN Document Server

    Finnis, James

    2013-01-01

    Robotic sailing offers the potential of wind propelled vehicles which are sufficiently autonomous to remain at sea for months at a time. These could replace or augment existing oceanographic sampling systems, be used in border surveillance and security or offer a means of carbon neutral transportation. To achieve this represents a complex, multi-disciplinary challenge to boat designers and naval architects, systems/electrical engineers and computer scientists.  Since 2004 a series of competitions in the form of the Sailbot, World Robotic Sailing Championship and Microtransat competitions have sparked an explosion in the number of groups working on autonomous sailing robots. Despite this interest the longest distance sailed autonomously remains only a few hundred miles. Many of the challenges in building truly autonomous sailing robots still remain unsolved. These proceedings present the cutting edge of work in a variety of fields related to robotic sailing. They will be presented during the 5th International...

  8. Micro Robotics Lab

    Data.gov (United States)

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

  9. Robots of the Future

    Indian Academy of Sciences (India)

    two main types of robots: industrial robots, and autonomous robots. .... position); it also has a virtual CPU with two stacks and three registers that hold 32-bit strings. Each item ..... just like we can aggregate images, text, and information from.

  10. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.

    2012-01-01

    Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics

  11. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

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

  12. Robotized Surface Mounting of Permanent Magnets

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2014-10-01

    Full Text Available Using permanent magnets on a rotor can both simplify the design and increase the efficiency of electric machines compared to using electromagnets. A drawback, however, is the lack of existing automated assembly methods for large machines. This paper presents and motivates a method for robotized surface mounting of permanent magnets on electric machine rotors. The translator of the Uppsala University Wave Energy Converter generator is used as an example of a rotor. The robot cell layout, equipment design and assembly process are presented and validated through computer simulations and experiments with prototype equipment. A comparison with manual assembly indicates substantial cost savings and an improved work environment. By using the flexibility of industrial robots and a scalable equipment design, it is possible for this assembly method to be adjusted for other rotor geometries and sizes. Finally, there is a discussion on the work that remains to be done on improving and integrating the robot cell into a production line.

  13. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

    Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen a...

  14. University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane

    2007-12-13

    The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  15. Robot Programming.

    Science.gov (United States)

    1982-12-01

    Paris, France, June, 1982, 519-530. Latoinbe, J. C. "Equipe Intelligence Artificielle et Robotique: Etat d’avancement des recherches," Laboratoire...8217AD-A127 233 ROBOT PROGRRMMING(U) MASSACHUSETTS INST OFGTECHi/ CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB T LOZANO-PEREZ UNCLASSIFIED DC8 AI-9 N884...NAME AND ADDRESS 10. PROGRAM ELEMENT. PROJECT. TASK Artificial Intelligence Laboratory AREA I WORK UNIT NUMBERS ,. 545 Technology Square Cambridge

  16. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

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

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

    OpenAIRE

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

    2013-01-01

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

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

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

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

  19. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  20. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

    The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

  1. Experiential Learning of Electronics Subject Matter in Middle School Robotics Courses

    Science.gov (United States)

    Rihtaršic, David; Avsec, Stanislav; Kocijancic, Slavko

    2016-01-01

    The purpose of this paper is to investigate whether the experiential learning of electronics subject matter is effective in the middle school open learning of robotics. Electronics is often ignored in robotics courses. Since robotics courses are typically comprised of computer-related subjects, and mechanical and electrical engineering, these…

  2. RoMPS concept review automatic control of space robot

    Science.gov (United States)

    1991-01-01

    The Robot operated Material Processing in Space (RoMPS) experiment is being performed to explore the marriage of two emerging space commercialization technologies: materials processing in microgravity and robotics. This concept review presents engineering drawings and limited technical descriptions of the RoMPS programs' electrical and software systems.

  3. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

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

  4. Robot dispatching Scenario for Accident Condition Monitoring of NPP

    International Nuclear Information System (INIS)

    Kim, Jongseog

    2013-01-01

    In March of 2011, unanticipated big size of tsunami attacks Fukushima NPP, this accident results in explosion of containment building. Tokyo electric power of Japan couldn't dispatch a robot for monitoring of containment inside. USA Packbot robot used for desert war in Iraq was supplied to Fukushima NPP for monitoring of high radiation area. Packbot also couldn't reach deep inside of Fukushima NPP due to short length of power cable. Japanese robot 'Queens' also failed to complete a mission due to communication problem between robot and operator. I think major reason of these robot failures is absence of robot dispatching scenario. If there was a scenario and a rehearsal for monitoring during or after accident, these unanticipated obstacles could be overcome. Robot dispatching scenario studied for accident of nuclear power plant was described herein. Study on scenario of robot dispatching is performed. Flying robot is regarded as good choice for accident monitoring. Walking robot with arm equipped is good for emergency valve close. Short time work and shift work by several robots can be a solution for high radiation area. Thin and soft cable with rolling reel can be a good solution for long time work and good communication

  5. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  6. An inspection of pipe by snake robot

    Directory of Open Access Journals (Sweden)

    František Trebuňa

    2016-10-01

    Full Text Available The article deals with development and application of snake robot for inspection pipes. The first step involves the introduction of a design of mechanical and electrical parts of the snake robot. Next, the analysis of the robot locomotion is introduced. For the curved pipe, potential field method is used. By this method, the system is able to generate path for the head and rear robot, linking the environment with obstacles, which are represented by the walls of the pipe. Subsequently, the solution of potential field method is used in inverse kinematic model, which respects tasks as obstacle avoidance, joint limit avoidance, and singularity avoidance. Mentioned approach is then tested on snake robot in provisional pipe with rectangular cross section. For this research, software Matlab (2013b is used as the control system in cooperation with the control system of robot, which is based on microcontrollers. By experiments, it is shown that designed robot is able to pass through straight and also curved pipe.

  7. Next generation light robotic

    DEFF Research Database (Denmark)

    Villangca, Mark Jayson; Palima, Darwin; Banas, Andrew Rafael

    2017-01-01

    -assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work......Conventional robotics provides machines and robots that can replace and surpass human performance in repetitive, difficult, and even dangerous tasks at industrial assembly lines, hazardous environments, or even at remote planets. A new class of robotic systems no longer aims to replace humans...... with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot...

  8. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  9. An Adaptive Robot Game

    DEFF Research Database (Denmark)

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

    2010-01-01

    The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to im......The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...

  10. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  11. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    The relationship between digital and analogue is often constructed as one of opposition. The perception that the world is permeated with underlying patterns of data, describing events and matter alike, suggests that information can be understood apart from the substance to which it is associated......, and that its encoded logic can be constructed and reconfigured as an isolated entity. This disembodiment of information from materiality implies that an event like a thunderstorm, or a material like a body, can be described equally by data, in other words it can be read or written. The following prototypes......, Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  12. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  13. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

    Socially assistive agents, be it virtual avatars or robots, need to engage in social interactions with humans and express their internal emotional states, goals, and desires. In this work, we conducted a comparative study to investigate how humans perceive emotional cues expressed by humanoid...... robots through five communication modalities (face, head, body, voice, locomotion) and examined whether the degree of a robot's human-like embodiment affects this perception. In an online survey, we asked people to identify emotions communicated by Pepper -a highly human-like robot and Hobbit – a robot...... for robots....

  14. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

    Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot com...

  15. Smart Material-Actuated Flexible Tendon-Based Snake Robot

    Directory of Open Access Journals (Sweden)

    Mohiuddin Ahmed

    2016-05-01

    Full Text Available A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs, which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.

  16. Safety issues in robotic handling of nuclear weapon parts

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  17. Development of Live-working Robot for Power Transmission Lines

    Science.gov (United States)

    Yan, Yu; Liu, Xiaqing; Ren, Chengxian; Li, Jinliang; Li, Hui

    2017-07-01

    Dream-I, the first reconfigurable live-working robot for power transmission lines successfully developed in China, has the functions of autonomous walking on lines and accurately positioning. This paper firstly described operation task and object of the robot; then designed a general platform, an insulator replacement end and a drainage plate bolt fastening end of the robot, presented a control system of the robot, and performed simulation analysis on operation plan of the robot; and finally completed electrical field withstand voltage tests in a high voltage hall as well as online test and trial on actual lines. Experimental results show that by replacing ends of manipulators, the robot can fulfill operation tasks of live replacement of suspension insulators and live drainage plate bolt fastening.

  18. Robotic system construction with mechatronic components inverted pendulum: humanoid robot

    Science.gov (United States)

    Sandru, Lucian Alexandru; Crainic, Marius Florin; Savu, Diana; Moldovan, Cristian; Dolga, Valer; Preitl, Stefan

    2017-03-01

    Mechatronics is a new methodology used to achieve an optimal design of an electromechanical product. This methodology is collection of practices, procedures and rules used by those who work in particular branch of knowledge or discipline. Education in mechatronics at the Polytechnic University Timisoara is organized on three levels: bachelor, master and PhD studies. These activities refer and to design the mechatronics systems. In this context the design, implementation and experimental study of a family of mechatronic demonstrator occupy an important place. In this paper, a variant for a mechatronic demonstrator based on the combination of the electrical and mechanical components is proposed. The demonstrator, named humanoid robot, is equivalent with an inverted pendulum. Is presented the analyze of components for associated functions of the humanoid robot. This type of development the mechatronic systems by the combination of hardware and software, offers the opportunity to build the optimal solutions.

  19. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

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

  20. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  1. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

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

  2. Advances in Automation and Robotics

    CERN Document Server

    International conference on Automation and Robotics ICAR2011

    2012-01-01

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

  3. Robotics Focused Capstone Senior Design Course

    Science.gov (United States)

    Rios-Gutierrez, Fernando; Alba-Flores, Rocio

    2017-01-01

    This work describes the educational experiences gained teaching the Senior Design I & II courses, a senior level, two-semester sequence in the Electrical Engineering (EE) program at Georgia Southern University (GSU). In particular, the authors present their experiences in using robotics as the main area to develop the capstone senior design,…

  4. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

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

  5. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  6. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  7. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

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

  8. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  9. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  10. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

    Bennett, P.C.; Posey, L.D.

    1997-10-01

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

  11. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

    The aim of this work is to construct a two-legged wirelessly controlled walking robot. This paper describes the construction of the robot, its control electronics, and the solution of the wireless control. The article also includes a description of the application to control the robot. The control electronics of the walking robot are built using the development kit Arduino Mega, which is enhanced with WiFi module allowing the wireless control, a set of ultrasonic sensors for detecting obstacl...

  12. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  13. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

    Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

  14. Robots in the Roses

    OpenAIRE

    2014-01-01

    2014-04 Robots in the Roses A CRUSER Sponsored Event. The 4th Annual Robots in the Roses provides a venue for Faculty & NPS Students to showcase unmanned systems research (current or completed) and recruit NPS Students to join in researching on your project. Posters, robots, vehicles, videos, and even just plain humans welcome! Families are welcome to attend Robots in the Roses as we'll have a STEM activity for children to participate in.

  15. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold. 12 figs

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

    CERN Document Server

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

    2016-01-01

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

  17. Electronics and Software Engineer for Robotics Project Intern

    Science.gov (United States)

    Teijeiro, Antonio

    2017-01-01

    I was assigned to mentor high school students for the 2017 First Robotics Competition. Using a team based approach, I worked with the students to program the robot and applied my electrical background to build the robot from start to finish. I worked with students who had an interest in electrical engineering to teach them about voltage, current, pulse width modulation, solenoids, electromagnets, relays, DC motors, DC motor controllers, crimping and soldering electrical components, Java programming, and robotic simulation. For the simulation, we worked together to generate graphics files, write simulator description format code, operate Linux, and operate SOLIDWORKS. Upon completion of the FRC season, I transitioned over to providing full time support for the LCS hardware team. During this phase of my internship I helped my co-intern write test steps for two networking hardware DVTs , as well as run cables and update cable running lists.

  18. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  19. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available and their technologies within the field of multi-robot systems to ease the difficulty of realizing robot applications. And lastly, an example of algorithm development for multi-robot co-operation using one of the discussed software architecture is presented...

  20. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

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

  1. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

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

  2. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  3. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

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

  4. The safety issues of medical robotics

    Energy Technology Data Exchange (ETDEWEB)

    Fei Baowei; Ng, W.S.; Chauhan, Sunita; Kwoh, Chee Keong

    2001-08-01

    In this paper, we put forward a systematic method to analyze, control and evaluate the safety issues of medical robotics. We created a safety model that consists of three axes to analyze safety factors. Software and hardware are the two material axes. The third axis is the policy that controls all phases of design, production, testing and application of the robot system. The policy was defined as hazard identification and safety insurance control (HISIC) that includes seven principles: definitions and requirements, hazard identification, safety insurance control, safety critical limits, monitoring and control, verification and validation, system log and documentation. HISIC was implemented in the development of a robot for urological applications that was known as URObot. The URObot is a universal robot with different modules adaptable for 3D ultrasound image-guided interstitial laser coagulation, radiation seed implantation, laser resection, and electrical resection of the prostate. Safety was always the key issue in the building of the robot. The HISIC strategies were adopted for safety enhancement in mechanical, electrical and software design. The initial test on URObot showed that HISIC had the potential ability to improve the safety of the system. Further safety experiments are being conducted in our laboratory.

  5. The safety issues of medical robotics

    International Nuclear Information System (INIS)

    Fei Baowei; Ng, W.S.; Chauhan, Sunita; Kwoh, Chee Keong

    2001-01-01

    In this paper, we put forward a systematic method to analyze, control and evaluate the safety issues of medical robotics. We created a safety model that consists of three axes to analyze safety factors. Software and hardware are the two material axes. The third axis is the policy that controls all phases of design, production, testing and application of the robot system. The policy was defined as hazard identification and safety insurance control (HISIC) that includes seven principles: definitions and requirements, hazard identification, safety insurance control, safety critical limits, monitoring and control, verification and validation, system log and documentation. HISIC was implemented in the development of a robot for urological applications that was known as URObot. The URObot is a universal robot with different modules adaptable for 3D ultrasound image-guided interstitial laser coagulation, radiation seed implantation, laser resection, and electrical resection of the prostate. Safety was always the key issue in the building of the robot. The HISIC strategies were adopted for safety enhancement in mechanical, electrical and software design. The initial test on URObot showed that HISIC had the potential ability to improve the safety of the system. Further safety experiments are being conducted in our laboratory

  6. Assessment of potential energy savings following the replacement of gear-motor-driven systems by frequency-converter-fed direct drives; Energiesparpotential bei Ersatz von Getriebemotoren durch FU-Antriebe. Potentialanalyse

    Energy Technology Data Exchange (ETDEWEB)

    Tanner, R.; Riesen, H. J.

    2007-03-15

    This project deals with the energy saving potential that can be achieved by replacing gear motor driven systems by frequency converter fed direct drives. Estimates have shown that due to the high percentage of gear motor installations, which amounts to approximately 10% of all motor driven systems, a significant amount of energy could be saved. However, several barriers impose major restrictions to the broad application of such actions: With the exception of worm gears that reach about 20% of all gear drives, todays' gears already offer a high efficiency of 97-98%. Gear motors are often included in OEM integrated solutions. Many processes require complex adaptations that can complicate replacements or make it even impractical. For low speed or high torque requirements, gear motors may have a dominant advantage concerning the compactness. Our investigations have shown, that in spite of such barriers the replacement of gear motors by direct motors can sum up to a significant amount of energy savings in many cases. Looking at the worm gear systems and the restricted speed and torque ranges that are covered by the direct drives from several suppliers we assume a total saving potential of about 78 GWh per year for Switzerland. (author)

  7. Electricity unplugged

    Science.gov (United States)

    Karalis, Aristeidis

    2009-02-01

    The judge was driving back late one cold winter night. Entering the garage, the battery-charging indicator in his wirelessly powered electric car came on. "Home at last," crossed his mind. He swiped his personal smartcard on the front-door detector to be let in. He heard a "charging" beep from his mobile phone. The blinking cursor on the half-finished e-mail on the laptop had been waiting all day on the side table. He picked the computer up and walked towards his desk. "Good evening, your honour. Your wirelessly heated robe," said the butler-robot as it approached from the kitchen. Putting on the electric garment, he sat on the medical desk chair. His artificial heart was now beating faster.

  8. Design of an axial-flux permanent magnet machine for a solar-powered electric vehicle

    NARCIS (Netherlands)

    Friedrich, L.A.J.; Bastiaens, K.; Gysen, B.L.J.; Krop, D.C.J.; Lomonova, E.A.

    2018-01-01

    This paper concerns the design optimization of two axial-flux permanent magnet (AFPM) machines, aimed to be used as a direct drive in-wheel motor for the propulsion of a solar-powered electric vehicle. The internal stator twin external rotor AFPM machine topology having either a distributed or

  9. Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

    Science.gov (United States)

    Sandy, Michael

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

  10. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

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

  11. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

    Full Text Available A submarine robot is a semi-autonomous submarine robot used mainly for marine environmental research. We aim todevelop a low cost, semi-autonomous submarine robot which is able to travel underwater. The robot’s structure was designedand patented using a novel idea of the diving system employing a volume adjustment mechanism to vary the robot’s density.A light weight, flexibility and small structure provided by PVC can be used to construct the torpedo-liked shape robot.Hydraulic seal and O-ring rubbers are used to prevent water leaking. This robot is controlled by a wired communicationsystem.

  12. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  13. Fabrication of a Scaled MgB2 Racetrack Demonstrator Pole for a 10-MW Direct-Drive Wind Turbine Generator

    DEFF Research Database (Denmark)

    Magnusson, Niklas; Eliassen, Jan Christian; Abrahamsen, Asger Bech

    2018-01-01

    Field windings made of MgB2 wires or tapes are considered for their potential to reduce volume, weight, and cost of large offshore wind turbine generators. To gain experience of how to use this relatively new material in full-scale generators, tests of different winding methodologies and techniques...... are needed. In this paper, we describe in detail the steps used to wind a racetrack coil with a length of 1 m and a width of 0.5 m out of 4.5 km of MgB2 superconducting tape. The width corresponds to a full-scale pole of a 10-MW generator, whereas the length of the straight section is shorter than...... the corresponding full-scale pole. The coil was built up of ten double pancake coils. Each double pancake coil was wet wound using a semiautomatic winding process, where Stycast 2850 was applied directly to the MgB2 tape without any other dedicated electrical insulation. The strengths and weaknesses of the winding...

  14. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

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

  15. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  16. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

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

  17. Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics.

    Science.gov (United States)

    Pourghodrat, Abolfazl; Nelson, Carl A

    2017-03-01

    Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with miniaturization of electric-motor-driven surgical robots, there comes a trade-off between the size of the robot and its capability. Slow actuation, low load capacity, sterilization difficulties, leaking electricity and transferring produced heat to tissues, and high cost are among the key limitations of the use of electric motors in in-vivo applications. Fluid power in the form of hydraulics or pneumatics has a long history in driving many industrial devices and could be exploited to circumvent these limitations. High power density and good compatibility with the in-vivo environment are the key advantages of fluid power over electric motors when it comes to in-vivo applications. However, fabrication of hydraulic/pneumatic actuators within the desired size and pressure range required for in-vivo surgical robotic applications poses new challenges. Sealing these types of miniature actuators at operating pressures requires obtaining very fine surface finishes which is difficult and costly. The research described here presents design, fabrication, and testing of a hydraulic/pneumatic double-acting cylinder, a limited-motion vane motor, and a balloon-actuated laparoscopic grasper. These actuators are small, seal-less, easy to fabricate, disposable, and inexpensive, thus ideal for single-use in-vivo applications. To demonstrate the ability of these actuators to drive robotic joints, they were modified and integrated in a robotic arm. The design and testing of this surgical robotic arm are presented to validate the concept of fluid-power actuators for in-vivo applications.

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

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

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

  19. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

    This book presents the different non-manufacturing sectors of activity where robotics can have useful or necessary applications: underwater robotics, agriculture robotics, road work robotics, nuclear robotics, medical-surgery robotics, aids to disabled people, entertainment robotics. Service robotics has been voluntarily excluded because this developing sector is not mature yet. (J.S.)

  20. 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.

  1. FY 1999 achievement report on the R and D of a human cooperation/coexistence robot system. New development for the commercialization for the electric power generation technology; 1999 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    The paper described the FY 1999 results of the development of a human cooperation/coexistence robot system and the development for commercialization for power plants. The support robot platform for maintenance, etc. was fabricated, connected with the remote operation system and verified of the integrated function. The operator controls the robot from the remote operation cockpit by HMD (head mounted display) which can present image following the head movement of the operator, extended virtual reality technology, and stereo-sound system. Hand/arm movement and instruction for movement were given to the robot, and at the same time, the robot was made a device which can present inner force sense and bodily sensation to the operator. The remote hand operating software was developed. A method was developed by which the information on visual sense, touch sense and somatic sense is presented in realtime to the operator so that he can obtain a feeling of attendance. A model for sensor simulator verification was also developed so that the developer of software can also make a verification experiment in the actual environment. Interface was developed so that library of basic movements can be used in the network environment. An investigational research on the promotion of robot was made. (NEDO)

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

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

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

  3. An advanced rehabilitation robotic system for augmenting healthcare.

    Science.gov (United States)

    Hu, John; Lim, Yi-Je; Ding, Ye; Paluska, Daniel; Solochek, Aaron; Laffery, David; Bonato, Paolo; Marchessault, Ronald

    2011-01-01

    Emerging technologies such as rehabilitation robots (RehaBot) for retraining upper and lower limb functions have shown to carry tremendous potential to improve rehabilitation outcomes. Hstar Technologies is developing a revolutionary rehabilitation robot system enhancing healthcare quality for patients with neurological and muscular injuries or functional impairments. The design of RehaBot is a safe and robust system that can be run at a rehabilitation hospital under the direct monitoring and interactive supervision control and at a remote site via telepresence operation control. RehaBot has a wearable robotic structure design like exoskeleton, which employs a unique robotic actuation--Series Elastic Actuator. These electric actuators provide robotic structural compliance, safety, flexibility, and required strength for upper extremity dexterous manipulation rehabilitation training. RehaBot also features a novel non-treadmill paddle platform capable of haptics feedback locomotion rehabilitation training. In this paper, we concern mainly about the motor incomplete patient and rehabilitation applications.

  4. 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

  5. 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.

  6. 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.

  7. 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.

  8. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

    R. Narasimhan (Krishtel eMaging) 1461 1996 Oct 15 13:05:22

    a need for a technique by which the robot is able to acquire new behaviours automatically .... Evolutionary robotics is a comparatively new field of robotics research, which seems to ..... Technical Report: PCIA-94-04, Institute of Psychology,.

  9. The new drive design (direct drive) for the main drives of the large excavators 3150 and 3750 at the LAUBAG; Das neue Antriebskonzept (Direktantrieb) an den Hauptantrieben der Grossbagger 3150/3750 in der LAUBAG

    Energy Technology Data Exchange (ETDEWEB)

    Daus, W [LAUBAG, Senftenberg (Germany); Hartmann, K [Siemens AG, Erlangen (Germany). Bereich Tagebauanlagen; Leuschner, F [FAM Buckau GmbH, Magdeburg (Germany)

    1996-09-01

    In the case of subtransient processes between the batter (stones, foreign bodies, frost) and the digging element, mechanical force effects occur as a result of the mass forces of inertia and cause increased wear on the digging element and supporting structure. These force effects cannot be further reduced by means of the mechanical solutions applied hitherto. The direct drive as a solution in this case will, above all, be further optimized in future in so far as the specification of parameters for the technical control system and practical tests to detect mechanical wear (on chains, running and sliding rails, shafts) are concerned. Problems encountered so far as regards adjustment between the direct drive with its new control characteristics and the rest of the programmed control system of the excavator occurred briefly when parameters were optimized in order to adapt the entire system of the excavator to operating requirements and specific mining conditions. (orig./HS) [Deutsch] Bei subtransienten Vorgaengen zwischen der Boeschung (Steine, Fremdkoerper, Frost) und dem Graborgan entstehen auf Grund der Traegheitsmassen mechanische Kraftwirkungen, die sich verschleissintensivierend auf Graborgan und Tragwerk auswirken. Diese Kraftwirkungen koennen mit den bisherigen mechanischen Loesungen nicht weiter verringert werden. Der Direktantrieb als Ausweg aus dieser Situation wird in Zukunft vorrangig aus der Sicht der Parametrierung technischer Regelungssysteme und der praktischen Versuche zum mechanischen Verschleiss (Ketten, Lauf- und Gleitschienen, Wellen) weiter optimiert werden. Bisher erkannte Probleme der Anpassung zwischen dem Direktantrieb mit seiner neuen Regelcharakteristik und der uebrigen Baggerprogrammsteuerung erfolgten kurzfristig durch Parameteroptimierung zur Anpassung des Gesamtsystems Bagger an die Betriebserfordernisse und spezielle Abbaubedingungen. (orig./HS)

  10. Grasping in Robotics

    CERN Document Server

    2013-01-01

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

  11. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

    improve a person’s overall health, and this thesis investigates how games based on an autonomous, mobile robot platform, can be used to motivate elderly to move physically while playing. The focus of the investigation is on the development of games for an autonomous, mobile robot based on algorithms using...... spatio-temporal information about player behaviour - more specifically, I investigate three types of games each using a different control strategy. The first game is based on basic robot control which allows the robot to detect and follow a person. A field study in a rehabilitation centre and a nursing....... The robot facilitates interaction, and the study suggests that robot based games potentially can be used for training balance and orientation. The second game consists in an adaptive game algorithm which gradually adjusts the game challenge to the mobility skills of the player based on spatio...

  12. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

    A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

  13. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  14. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

    Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.

  15. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  16. Impacts of Interior Permanent Magnet Machine Technology for Electric Vehicles

    Science.gov (United States)

    2012-01-01

    corrosion constraints of magnets  Minimum gear and more direct drive  Regenerative braking and short charging cycle of batteries  Impulse...be found in limited applications such as, antilock braking system (ABS) of the vehicles. Considering the performance enhancement and reliability of... system forms the backbone of modern society. Electricity and its accessibility is one of the major engineering achievements. In order to maintain and

  17. Fundamentals of soft robot locomotion

    OpenAIRE

    Calisti, M.; Picardi, G.; Laschi, C.

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

  18. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

    Robotic surgery is an evolving technology that has been successfully applied to a number of surgical specialties, but its use in liver surgery has so far been limited. In this review article we discuss the challenges of minimally invasive liver surgery, the pros and cons of robotics, the evolution of medical robots, and the potentials in applying this technology to liver surgery. The current data in the literature are also presented. PMID:25392840

  19. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

    Presents new, cutting-edge algorithms for robot/camera calibration, sensor fusion and sensor calibration Explores the main challenges for accurate coil positioning, such as head motion, and outlines how active robotic motion compensation can outperform hand-held solutions Analyzes how a robotized system in medicine can alleviate concerns with a patient's safety, and presents a novel fault-tolerant algorithm (FTA) sensor for system safety

  20. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

    This book is for enthusiasts who want to use the Raspberry Pi to build complex robotics projects. With the aid of the step-by-step instructions in this book, you can construct complex robotics projects that can move, talk, listen, see, swim, or fly. No previous Raspberry Pi robotics experience is assumed, but even experts will find unexpected and interesting information in this invaluable guide.

  1. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

    This paper addresses the use of robots in experimental research for the study of human language, human interaction, and human nature. It is argued that robots make excellent confederates that can be completely controlled, yet which engage human participants in interactions that allow us to study...... numerous linguistic and psychological variables in isolation in an ecologically valid way. Robots thus combine the advantages of observational studies and of controlled experimentation....

  2. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

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

  3. Robotic hand project

    OpenAIRE

    Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

    2014-01-01

    In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...

  4. Perspectives of construction robots

    Science.gov (United States)

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

    2018-03-01

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

  5. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

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

  6. Human-Robot Interaction

    Science.gov (United States)

    Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

    2015-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

  7. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  8. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

    Robotic surgery has evolved over the last decade to compensate for limitations in human dexterity. It avoids the need for a trained assistant while decreasing error rates such as perforations. The nature of the robotic assistance varies from voice activated camera control to more elaborate telerobotic systems such as the Zeus and the Da Vinci where the surgeon controls the robotic arms using a console. Herein, we report the first series of robotic assisted colectomies in Ireland using a voice activated camera control system.

  9. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

    This SpringerBrief reveals the latest techniques in computer vision and machine learning on robots that are designed as accurate and efficient military snipers. Militaries around the world are investigating this technology to simplify the time, cost and safety measures necessary for training human snipers. These robots are developed by combining crucial aspects of computer science research areas including image processing, robotic kinematics and learning algorithms. The authors explain how a new humanoid robot, the iCub, uses high-speed cameras and computer vision algorithms to track the objec

  10. Soft-Material Robotics

    OpenAIRE

    Wang, L; Nurzaman, SG; Iida, Fumiya

    2017-01-01

    There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fun...

  11. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

    It is highly desirable that automatic or remotely controlled machines perform inspection and maintenance tasks in nuclear facilities. Toshiba has been working to develop multi-functional robots, with one typical example being a master-slave manipulator for use in reprocessing facilities. At the same time, the company is also working on the development of multi-purpose intelligent robots. One such device, an automatic inspection robot, to be deployed along a monorail, performs inspection by means of image processing technology, while and advanced intelligent maintenance robot is equipped with a special wheel-locomotion mechanism and manipulator and is designed to perform maintenance tasks. (author)

  12. Increasing Robotic Science Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — The principal objectives are to demonstrate robotic-based scientific investigations and resource prospecting, and develop and demonstrate modular science instrument...

  13. DSLs in robotics

    DEFF Research Database (Denmark)

    Schultz, Ulrik Pagh; Bordignon, Mirko; Stoy, Kasper

    2017-01-01

    Robotic systems blend hardware and software in a holistic way that intrinsically raises many crosscutting concerns such as concurrency, uncertainty, and time constraints. These concerns make programming robotic systems challenging as expertise from multiple domains needs to be integrated...... conceptually and technically. Programming languages play a central role in providing a higher level of abstraction. This briefing presents a case study on the evolution of domain-specific languages based on modular robotics. The case study on the evolution of domain-specific languages is based on a series...... of DSL prototypes developed over five years for the domain of modular, self-reconfigurable robots....

  14. Assistant Personal Robot (APR: Conception and Application of a Tele-Operated Assisted Living Robot

    Directory of Open Access Journals (Sweden)

    Eduard Clotet

    2016-04-01

    Full Text Available This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic concept has been named Assistant Personal Robot (or APR for short and has been designed as a remotely telecontrolled robotic platform built to provide social and assistive services to elderly people and those with impaired mobility. The APR features a fast high-mobility motion system adapted for tele-operation in plain indoor areas, which incorporates a high-priority collision avoidance procedure. This paper presents the mechanical architecture, electrical fundaments and software implementation required in order to develop the main functionalities of an assistive robot. The APR uses a tablet in order to implement the basic peer-to-peer videoconference and tele-operation control combined with a tactile graphic user interface. The paper also presents the development of some applications proposed in the framework of an assisted living robot.

  15. 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

  16. 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)

  17. Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots

    Science.gov (United States)

    Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia

    2017-01-01

    Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter‐scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail‐boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics. PMID:28932659

  18. Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots.

    Science.gov (United States)

    Cacucciolo, Vito; Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia; Maeda, Shingo

    2017-09-01

    Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter-scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail-boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics.

  19. Live video monitoring robot controlled by web over internet

    Science.gov (United States)

    Lokanath, M.; Akhil Sai, Guruju

    2017-11-01

    Future is all about robots, robot can perform tasks where humans cannot, Robots have huge applications in military and industrial area for lifting heavy weights, for accurate placements, for repeating the same task number of times, where human are not efficient. Generally robot is a mix of electronic, electrical and mechanical engineering and can do the tasks automatically on its own or under the supervision of humans. The camera is the eye for robot, call as robovision helps in monitoring security system and also can reach into the places where the human eye cannot reach. This paper presents about developing a live video streaming robot controlled from the website. We designed the web, controlling for the robot to move left, right, front and back while streaming video. As we move to the smart environment or IoT (Internet of Things) by smart devices the system we developed here connects over the internet and can be operated with smart mobile phone using a web browser. The Raspberry Pi model B chip acts as heart for this system robot, the sufficient motors, surveillance camera R pi 2 are connected to Raspberry pi.

  20. Multi-robot control interface

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

  1. Robots: l'embarras de richesses [:survey of robots available

    International Nuclear Information System (INIS)

    Meieran, H.; Brittain, K.; Sturkey, R.

    1989-01-01

    A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)

  2. Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

    Energy Technology Data Exchange (ETDEWEB)

    Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)

    2009-09-15

    This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.

  3. Can we trust robots?

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    Can we trust robots? Responding to the literature on trust and e-trust, this paper asks if the question of trust is applicable to robots, discusses different approaches to trust, and analyses some preconditions for trust. In the course of the paper a phenomenological-social approach to trust is

  4. Neuronal nets in robotics

    International Nuclear Information System (INIS)

    Jimenez Sanchez, Raul

    1999-01-01

    The paper gives a generic idea of the solutions that the neuronal nets contribute to the robotics. The advantages and the inconveniences are exposed that have regarding the conventional techniques. It also describe the more excellent applications as the pursuit of trajectories, the positioning based on images, the force control or of the mobile robots management, among others

  5. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

    Madsen, Henrik; Zhou, Jianjun; Hansen, Lars Henrik

    1997-01-01

    This paper describes a case study of identifying the physical model (or the grey box model) of a hydraulic test robot. The obtained model is intended to provide a basis for model-based control of the robot. The physical model is formulated in continuous time and is derived by application...

  6. Robots that care

    NARCIS (Netherlands)

    Looije, R.; Arendsen, J.; Saldien, J.; Vanderborght, B.; Broekens, J.; Neerincx, M.

    2010-01-01

    Many countries face pressure on their health care systems. To alleviate this pressure, 'self care' and 'self monitoring' are often stimulated with the use of new assistive technologies. Social robotics is a research area where robotic technology is optimized for various social functions. One of

  7. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

    Robots are becoming increasingly common in American industry. By l990, they will revolutionize the way industry functions, replacing hundreds of workers and doing hot, dirty jobs better and more quickly than the workers could have done them. Robotics should be taught in high school industrial arts programs as a major curriculum component. The…

  8. 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.

  9. Multi-robot caravanning

    KAUST Repository

    Denny, Jory; Giese, Andrew; Mahadevan, Aditya; Marfaing, Arnaud; Glockenmeier, Rachel; Revia, Colton; Rodriguez, Samuel; Amato, Nancy M.

    2013-01-01

    of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have

  10. Going Green Robots

    Science.gov (United States)

    Nelson, Jacqueline M.

    2011-01-01

    In looking at the interesting shapes and sizes of old computer parts, creating robots quickly came to the author's mind. In this article, she describes how computer parts can be used creatively. Students will surely enjoy creating their very own robots while learning about the importance of recycling in the society. (Contains 1 online resource.)

  11. Reflection on robotic intelligence

    NARCIS (Netherlands)

    Bartneck, C.

    2006-01-01

    This paper reflects on the development or robots, both their physical shape as well as their intelligence. The later strongly depends on the progress made in the artificial intelligence (AI) community which does not yet provide the models and tools necessary to create intelligent robots. It is time

  12. Robots Cannot Lie

    DEFF Research Database (Denmark)

    Borggreen, Gunhild

    2014-01-01

    En analyse af den japanske robot-menneske teaterstykke Hataraku Watashi med fokus på Austins og Butlers begreb om performativitet.......En analyse af den japanske robot-menneske teaterstykke Hataraku Watashi med fokus på Austins og Butlers begreb om performativitet....

  13. Intelligent robot action planning

    Energy Technology Data Exchange (ETDEWEB)

    Vamos, T; Siegler, A

    1982-01-01

    Action planning methods used in intelligent robot control are discussed. Planning is accomplished through environment understanding, environment representation, task understanding and planning, motion analysis and man-machine communication. These fields are analysed in detail. The frames of an intelligent motion planning system are presented. Graphic simulation of the robot's environment and motion is used to support the planning. 14 references.

  14. Robot Vision Library

    Science.gov (United States)

    Howard, Andrew B.; Ansar, Adnan I.; Litwin, Todd E.; Goldberg, Steven B.

    2009-01-01

    The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses

  15. Innovations in robotic surgery.

    Science.gov (United States)

    Gettman, Matthew; Rivera, Marcelino

    2016-05-01

    Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.

  16. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  17. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

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

  18. Evidence for robots.

    Science.gov (United States)

    Shenoy, Ravikiran; Nathwani, Dinesh

    2017-01-01

    Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.

  19. Robotics: The next step?

    Science.gov (United States)

    Broeders, Ivo A M J

    2014-02-01

    Robotic systems were introduced 15 years ago to support complex endoscopic procedures. The technology is increasingly used in gastro-intestinal surgery. In this article, literature on experimental- and clinical research is reviewed and ergonomic issues are discussed. literature review was based on Medline search using a large variety of search terms, including e.g. robot(ic), randomized, rectal, oesophageal, ergonomics. Review articles on relevant topics are discussed with preference. There is abundant evidence of supremacy in performing complex endoscopic surgery tasks when using the robot in an experimental setting. There is little high-level evidence so far on translation of these merits to clinical practice. Robotic systems may appear helpful in complex gastro-intestinal surgery. Moreover, dedicated computer based technology integrated in telepresence systems opens the way to integration of planning, diagnostics and therapy. The first high tech add-ons such as near infrared technology are under clinical evaluation. Copyright © 2014 Elsevier Ltd. All rights reserved.

  20. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

    arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis......Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem...... is to increase the versatility and practical usability of modular robots by introducing new conceptual designs. Until now modular robots have been based on a pre-specified set of modules, and thus, their functionality is limited. We propose an open heterogeneous design concept, which allows a modular robot...

  1. Exploiting Child-Robot Aesthetic Interaction for a Social Robot

    OpenAIRE

    Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong

    2012-01-01

    A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...

  2. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    OpenAIRE

    Lyder, Andreas

    2010-01-01

    Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...

  3. Interaction with Soft Robotic Tentacles

    DEFF Research Database (Denmark)

    Jørgensen, Jonas

    2018-01-01

    Soft robotics technology has been proposed for a number of applications that involve human-robot interaction. In this tabletop demonstration it is possible to interact with two soft robotic platforms that have been used in human-robot interaction experiments (also accepted to HRI'18 as a Late...

  4. Robots: An Impact on Education.

    Science.gov (United States)

    Blaesi, LaVon; Maness, Marion

    1984-01-01

    Provides background information on robotics and robots, considering impact of robots on the workplace and concerns of the work force. Discusses incorporating robotics into the educational system at all levels, exploring industry-education partnerships to fund introduction of new technology into the curriculum. New funding sources and funding…

  5. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

    Full Text Available Today a general need for robots assisting different human activities rises. The goal of the present project is to develop a prototyping robot, which provides facilities for attaching and fitting different kinds of sensors and actuators. This robot provides an easy way to turn a general purpose robot into a special function one.

  6. Intelligent, self-contained robotic hand

    Science.gov (United States)

    Krutik, Vitaliy; Doo, Burt; Townsend, William T.; Hauptman, Traveler; Crowell, Adam; Zenowich, Brian; Lawson, John

    2007-01-30

    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.

  7. 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.

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  9. Tactile Sensing for Dexterous Robotic Hands

    Science.gov (United States)

    Martin, Toby B.

    2000-01-01

    Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

  10. Medical Robotics - A Real Challenge of Present and Especially Future

    Directory of Open Access Journals (Sweden)

    Ionel STARETU

    2013-12-01

    Full Text Available If we make a brief scan of the field known as Medical Robotics, we find that in recent years there has been an impetuous development of applications involving medical robots. Obviously, the most spectacular are remote robotic surgery systems, which, for example, in U.S. have been used in more than 3.5-4 million interventions. The systems AESOP, da Vinci and ZEUS are currently run in minimally invasive robotic surgery. Encouraging results were obtained at MIT (USA using robots in physiotherapy. Pearl is a robot designed as personal assistant of older patients, affected by disabilities. The Universities of Pittsburgh and Carnegie Mellon successfully develop it. In Plymouth and Aachen, researchers are involved in the creation of intelligent wheelchairs. At the University of Karlsruhe, robotic systems applicable to neurosurgery are created. Thus, the MICRoN project aims to create a robot to manipulate micron-sized objects with nanometer precision, applications including intervention in the living biological cells. In several research centers one works on the improvement of neural interfaces, from which it is expected a new generation of prostheses, controlled through functional electrical stimulation. It is also projected that the microsystem technology (MST will have a major impact in medicine through the introduction of new diagnostic techniques, dosing, remote microsurgery and neural prostheses, all based on the concept of minimally invasive therapy, mentioned above. This is the approximate image of research in Medical Robotics and obviously of some related fields, whose dynamics has been impressive lately, a trend that is maintained and even has clear signs of amplification, and fully justifies this approach. In this context, we will present the main concepts and applications of medical robotics in order to achieve a more suggestive and convincing image of this area of great interest and perspective.

  11. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-01-01

    Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics. (author)

  12. Robotics for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-10-01

    Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics.

  13. Toward cognitive robotics

    Science.gov (United States)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  14. Future of robotic surgery.

    Science.gov (United States)

    Lendvay, Thomas Sean; Hannaford, Blake; Satava, Richard M

    2013-01-01

    In just over a decade, robotic surgery has penetrated almost every surgical subspecialty and has even replaced some of the most commonly performed open oncologic procedures. The initial reports on patient outcomes yielded mixed results, but as more medical centers develop high-volume robotics programs, outcomes appear comparable if not improved for some applications. There are limitations to the current commercially available system, and new robotic platforms, some designed to compete in the current market and some to address niche surgical considerations, are being developed that will change the robotic landscape in the next decade. Adoption of these new systems will be dependent on overcoming barriers to true telesurgery that range from legal to logistical. As additional surgical disciplines embrace robotics and open surgery continues to be replaced by robotic approaches, it will be imperative that adequate education and training keep pace with technology. Methods to enhance surgical performance in robotics through the use of simulation and telementoring promise to accelerate learning curves and perhaps even improve surgical readiness through brief virtual-reality warm-ups and presurgical rehearsal. All these advances will need to be carefully and rigorously validated through not only patient outcomes, but also cost efficiency.

  15. High precision redundant robotic manipulator

    International Nuclear Information System (INIS)

    Young, K.K.D.

    1998-01-01

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs

  16. Architecture for robot intelligence

    Science.gov (United States)

    Peters, II, Richard Alan (Inventor)

    2004-01-01

    An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

  17. Robot NAO cantante

    OpenAIRE

    Caballero Pamos, Adrián

    2016-01-01

    En los últimos años la robótica ha experimentado un crecimiento exponencial incorporando todo tipo de funcionalidades. Introducir el mundo musical en los robots es una de ellas. En este Trabajo Fin de Grado se presenta el desarrollo de un sistema que permite al robot NAO leer una partitura, analizarla y reproducirla a modo de canto. La finalidad del trabajo es que el robot actúe como un intérprete frente a una partitura musical tal y como lo haría un humano. Debe ser capaz de interpretar cual...

  18. Robots and plant safety

    International Nuclear Information System (INIS)

    Christensen, P.

    1996-02-01

    The application of robots in the harsh environments in which TELEMAN equipment will have to operate has large benefits, but also some drawbacks. The main benefit is the ability gained to perform tasks where people cannot go, while there is a possibility of inflicting damage to the equipment handled by the robot, and the plant when mobile robots are involved. The paper describes the types of possible damage and the precautions to be taken in order to reduce the frequency of the damaging events. A literature study for the topic only gave some insight into examples, but no means for a systematic treatment of the topic. (au) 16 refs

  19. Giochiamo con i robot

    Directory of Open Access Journals (Sweden)

    Andrea Bonarini

    2009-01-01

    Full Text Available "Giochiamo con i robot" e' un laboratorio interattivo per grandi e piccini realizzato per l'edizione 2007 del Festival della Scienza di Genova. Lungo un percorso che va dalla telerobotica alla robotica evolutiva, il laboratorio sviluppa il tema di dare intelligenza ai robot. Questo percorso, le cui tappe sono le varie installazioni, si conclude nella "bottega" dove e' possibile costruire e programmare i propri robot o smontare e modificare quelli esposti durante il percorso didattico. I visitatori sono coinvolti in attivita' ludiche grazie alle quali possonoentrare in contatto con alcune delle idee potenti della robotica,

  20. Robots in mining

    CSIR Research Space (South Africa)

    Green, J

    2010-09-01

    Full Text Available ? • FOG – Fall of ground • Who is at risk? • What is the cost of incident? • What can we do about it? The Robot Potential • Technology • Conclusion © CSIR 2010 Slide 3 Yes Robots can improve mine safety Robot patrols unoccupied areas Generates a... risk map Additional tool Inform miners in making safe © CSIR 2010 Slide 4 Miner Safety Statistics • from DME (2010/03) • March 2010 • 490 000 employed • 400 000 suppliers1 • 9 died, 7 in rockfall incidents 2 • Prior year- March 2010 • 152...

  1. Odico Formwork Robotics

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn

    2014-01-01

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

  2. Next Generation Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    Light Robotics is a new field of research where ingredients from photonics, nanotechnology and biotechnology are put together in new ways to realize light-driven robotics at the smallest scales to solve major challenges primarily within the nanobio-domain but not limited hereto. Exploring the full...... potential of this new ‘drone-like’ light-printed, light-driven, light-actuated micro- and nano-robotics in challenging geometries requires a versatile and real-time reconfigurable light addressing that can dynamically track a plurality of tiny tools in 3D to ensure real-time continuous light...

  3. Optical Robotics in Mesoscopia

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    2012-01-01

    With light’s miniscule momentum, shrinking robotics down to the micro-scale regime creates opportunities for exploiting optical forces and torques in advanced actuation and control at the nano- and micro-scale dimensions. Advancing light-driven nano- or micro-robotics requires the optimization...... of optimized shapes in the micro-robotics structures [1]. We designed different three-dimensional microstructures and had them fabricated by two-photon polymerization at BRC Hungary. These microstructures were then handled by our proprietary BioPhotonics Workstation to show proof-of-principle 3 demonstrations...

  4. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  5. ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

    Directory of Open Access Journals (Sweden)

    Hidetsugu Suto

    2013-12-01

    Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.

  6. Study for wireless power transmission of nuclear robot system

    International Nuclear Information System (INIS)

    Kim, Jongseog

    2013-01-01

    Gasoline engine or electric motor is generally used for driving power of working. Gasoline tank is uncomfortable to carry. Battery capacity does not sustain long time working. Frequent moving back of robot to power charger or refueling tank is inconvenient. Long power cable connection occur winding problem if there are complex structures in walking way. We need some solution for continuous supply of robot energy at the free moving condition of robot. 'Wireless power transmission' is one of the solutions. Some experiment result to transmit wireless power to moving robot is described herein. To find possible wireless power transmission method for nuclear robot, wireless power transmission tests were performed. As result of these tests, it was confirmed that wireless power transmission by using dipole and mat type magnetic induction were possible. As result of flying robot experiment, it was realized that development of light weight core for receiver and wave reflection device for high directional transmitter are necessary for practical use of the dipole type wireless power transmission. Small size core and high directional transmitter will be next target. Mat type wireless power transmission is regarded as useful for robot power charging station in the inside containment

  7. 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

  8. Study for wireless power transmission of nuclear robot system

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jongseog [Central Research Institute of Korea Hydro and Nuclear Power Co., Daejeon (Korea, Republic of)

    2013-05-15

    Gasoline engine or electric motor is generally used for driving power of working. Gasoline tank is uncomfortable to carry. Battery capacity does not sustain long time working. Frequent moving back of robot to power charger or refueling tank is inconvenient. Long power cable connection occur winding problem if there are complex structures in walking way. We need some solution for continuous supply of robot energy at the free moving condition of robot. 'Wireless power transmission' is one of the solutions. Some experiment result to transmit wireless power to moving robot is described herein. To find possible wireless power transmission method for nuclear robot, wireless power transmission tests were performed. As result of these tests, it was confirmed that wireless power transmission by using dipole and mat type magnetic induction were possible. As result of flying robot experiment, it was realized that development of light weight core for receiver and wave reflection device for high directional transmitter are necessary for practical use of the dipole type wireless power transmission. Small size core and high directional transmitter will be next target. Mat type wireless power transmission is regarded as useful for robot power charging station in the inside containment.

  9. Report on the actual situations of the commercially applied, industrial robots; Sangyoyo robot ni kansuru kigyo jittai chosa hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1991-08-01

    Described herein are the actual situations of industrial robots as the FY 1991 questionnaire survey results. The questionnaires were sent to 541 factories, and 74% thereof were recovered. The major machine types fall into categories of manual manipulator, stationary sequence manipulator, remote controlling robot, sequence robot, playback robot, numerically controlling robot and intelligent robot. They are mainly driven by hydraulic, pneumatic, or electrical power. Their mechanism types cover polar coordinate, cylindrical coordinate, rectangular coordinate and articulation types, among others. They are mainly controlled by electronically, electrically (hydraulic or relay), or pneumatically. The major purposes for general works include casting, forging, resin processing, heat treatment, pressing, welding, coating, machining, cutting, assembling, reception/delivery of goods, and testing/inspection. The special works they are in service include those for power/gas/water services, construction works, and research and development. By work step, they are in service, e.g., for loading/unloading goods, palletising/packing goods, supporting, screening, welding, spraying/coating, grinding, clamping, assembling, and riveting. (NEDO)

  10. A mobile robot for remote inspection of radioactive waste

    International Nuclear Information System (INIS)

    Suh, Y. C.; Kim, C. H.; Cho, J. W.; Choi, Y. S.; Kim, S. H.

    2004-01-01

    Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation. This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident

  11. Monocular Vision-Based Robot Localization and Target Tracking

    Directory of Open Access Journals (Sweden)

    Bing-Fei Wu

    2011-01-01

    Full Text Available This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.

  12. Robotics at PSE ampersand G: The cutting edge

    International Nuclear Information System (INIS)

    Taylor, G.M.

    1992-01-01

    Public Service Electric ampersand Gas Company's robotics program, which started its momentum in the mid-1980s, has demonstrated a cost-benefit ratio of 1:3 from use of the technology at the utility's three nuclear power units, Salem-1 and-1, and Hope Creek. During PSE ampersand G's first five-year nuclear robotics plan, from April 1986 through December 1991, open-quotes we spent R1.6 million, but we saved $5.3 million,close quotes declared Harry T. Roman, principal engineer/PSE ampersand G robotics and artificial intelligence program manager. open-quotes That's one buck in, three bucks out.close quotes A third of the savings came from reduced dose, a third from fewer person-hours, and a third from decreased plant down-time. This report discusses the development and nuclear/applications of robots at PSE ampersand G

  13. Robotized production systems observed in modern plants

    Science.gov (United States)

    Saverina, A. N.

    1985-09-01

    Robots, robotized lines and sectors are no longer innovations in shops at automotive plants. The widespread robotization of automobile assembly operations is described in general terms. Robot use for machining operation is also discussed.

  14. Application of robotics in nuclear facilities

    International Nuclear Information System (INIS)

    Byrd, J.S.; Fisher, J.J.

    1986-01-01

    Industrial robots and other robotic systems have been successfully applied at the Savannah River nuclear site. These applications, new robotic systems presently under development, general techniques for the employment of robots in nuclear facilities, and future systems are discussed

  15. Human-machine Interface for Presentation Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Ondroušek, V.

    2012-01-01

    Roč. 6, č. 2 (2012), s. 17-21 ISSN 1897-8649 Institutional research plan: CEZ:AV0Z20760514 Keywords : human-robot interface * mobile robot * presentation robot Subject RIV: JD - Computer Applications, Robotics

  16. Continuum limbed robots for locomotion

    Science.gov (United States)

    Mutlu, Alper

    This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

  17. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

  18. Conceptions of health service robots

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    2015-01-01

    Technology developments create rich opportunities for health service providers to introduce service robots in health care. While the potential benefits of applying robots in health care are extensive, the research into the conceptions of health service robot and its importance for the uptake...... of robotics technology in health care is limited. This article develops a model of the basic conceptions of health service robots that can be used to understand different assumptions and values attached to health care technology in general and health service robots in particular. The article takes...... a discursive approach in order to develop a conceptual framework for understanding the social values of health service robots. First a discursive approach is proposed to develop a typology of conceptions of health service robots. Second, a model identifying four basic conceptions of health service robots...

  19. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

    Mobile robots have become a mature technology. The first cable guided logistics robots were introduced in the industry almost 60 years ago. In this time the market for mobile robots in industry has only experienced a very modest growth and only 2.100 systems were sold worldwide in 2011. In recent...... years, many other domains have adopted the mobile robots, such as logistics robots at hospitals and the vacuum robots in our homes. However, considering the achievements in research the last 15 years within perception and operation in natural environments together with the reductions of costs in modern...... sensor systems, the growth potential for mobile robot applications are enormous. Many new technological components are available to move the limits of commercial mobile robot applications, but a key hindrance is reliability. Natural environments are complex and dynamic, and thus the risk of robots...

  20. Robotics and remote systems applications

    International Nuclear Information System (INIS)

    Rabold, D.E.

    1996-01-01

    This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling

  1. Sample Return Robot

    Data.gov (United States)

    National Aeronautics and Space Administration — This Challenge requires demonstration of an autonomous robotic system to locate and collect a set of specific sample types from a large planetary analog area and...

  2. 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.

  3. Robotic Comfort Zones

    National Research Council Canada - National Science Library

    Likhachev, Maxim; Arkin, Ronald C

    2006-01-01

    .... A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain...

  4. Tank-automotive robotics

    Science.gov (United States)

    Lane, Gerald R.

    1999-07-01

    To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

  5. DOE Robotics Project

    Energy Technology Data Exchange (ETDEWEB)

    1991-01-01

    This document provide the bimonthly progress reports on the Department of Energy (DOE) Robotics Project by the University of Michigan. Reports are provided for the time periods of December 90/January 91 through June 91/July 91. (FI)

  6. MARYLAND ROBOTICS CENTER

    Data.gov (United States)

    Federal Laboratory Consortium — The Maryland Robotics Center is an interdisciplinary research center housed in the Institute for Systems Research (link is external)within the A. James Clark School...

  7. Introduction to humanoid robotics

    CERN Document Server

    Kajita, Shuuji; Harada, Kensuke; Yokoi, Kazuhito

    2014-01-01

    This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader´s understanding.

  8. Vascular Surgery and Robotics

    Directory of Open Access Journals (Sweden)

    Indrani Sen

    2016-01-01

    Full Text Available The application of robotics to Vascular surgery has not progressed as rapidly as of endovascular technology, but this is changing with the amalgamation of these two fields. The advent of Endovascular robotics is an exciting field which overcomes many of the limitations of endovascular therapy like vessel tortuosity and operator fatigue. This has much clinical appeal for the surgeon and hold significant promise of better patient outcomes. As with most newer technological advances, it is still limited by cost and availability. However, this field has seen some rapid progress in the last decade with the technology moving into the clinical realm. This review details the development of robotics, applications, outcomes, advantages, disadvantages and current advances focussing on Vascular and Endovascular robotics

  9. Robotics in Colorectal Surgery

    Science.gov (United States)

    Weaver, Allison; Steele, Scott

    2016-01-01

    Over the past few decades, robotic surgery has developed from a futuristic dream to a real, widely used technology. Today, robotic platforms are used for a range of procedures and have added a new facet to the development and implementation of minimally invasive surgeries. The potential advantages are enormous, but the current progress is impeded by high costs and limited technology. However, recent advances in haptic feedback systems and single-port surgical techniques demonstrate a clear role for robotics and are likely to improve surgical outcomes. Although robotic surgeries have become the gold standard for a number of procedures, the research in colorectal surgery is not definitive and more work needs to be done to prove its safety and efficacy to both surgeons and patients. PMID:27746895

  10. Robotic aortic surgery.

    Science.gov (United States)

    Duran, Cassidy; Kashef, Elika; El-Sayed, Hosam F; Bismuth, Jean

    2011-01-01

    Surgical robotics was first utilized to facilitate neurosurgical biopsies in 1985, and it has since found application in orthopedics, urology, gynecology, and cardiothoracic, general, and vascular surgery. Surgical assistance systems provide intelligent, versatile tools that augment the physician's ability to treat patients by eliminating hand tremor and enabling dexterous operation inside the patient's body. Surgical robotics systems have enabled surgeons to treat otherwise untreatable conditions while also reducing morbidity and error rates, shortening operative times, reducing radiation exposure, and improving overall workflow. These capabilities have begun to be realized in two important realms of aortic vascular surgery, namely, flexible robotics for exclusion of complex aortic aneurysms using branched endografts, and robot-assisted laparoscopic aortic surgery for occlusive and aneurysmal disease.

  11. Robots in Elderly Care

    Directory of Open Access Journals (Sweden)

    Alessandro Vercelli

    2018-03-01

    Full Text Available Low birth rate and the long life expectancy represent an explosive mixture, resulting in the rapid aging of population. The costs of healthcare in the grey society are increasing dramatically, and soon there will be not enough resources and people for care. This context requires conceptually new elderly care solutions progressively reducing the percentages of the human-based care. Research on robot-based solutions for elderly care and active ageing aims to answer these needs. From a general perspective, robotics has the power to completely reshape the landscape of healthcare both in its structure and its operation. In fact, the long-term sustainability of healthcare systems could be addressed by automation powered by digital health technologies, such as artificial intelligence, 3D-printing or robotics. The latter could take over monotonous work from healthcare workers, which would allow them to focus more on patients and to have lesser workload. Robots might be used in elder care with several different aims. (i Robots may act as caregivers, i.e. assist the elderly, (ii they can provide remainders and instructions for activities of daily life and safety, and/or assist their carers in daily tasks; (iii they can help monitor their behaviour and health; and (iv provide companionship, including entertainment and hobbies, reminiscence and social contact. The use of Robots with human subjects/patients raise several sensitive questions. First of all, robots may represent information hubs, and can collect an incredible amount of data about the subjects and their environment. In fact, they record habits such as sleeping, exercising, third persons entering in the house, appointments. Communications may be continuously recorded. Moreover, by connecting with medical devices, they can store medical data. On one hand, this represents a very powerful tool to collect information about the single subject (precision medicine, about disease (thus eventually finding

  12. Wheeled hopping robot

    Science.gov (United States)

    Fischer, Gary J [Albuquerque, NM

    2010-08-17

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  13. SPECIAL ROBOTS FOR ENERGETICS

    Directory of Open Access Journals (Sweden)

    Sit M.L.

    2014-04-01

    Full Text Available An overview of robots used in the power industry for diagnostics of power lines, cable lines, for the control, monitoring and maintenance of wind turbines, in nuclear energy, for optimum orientation of solar photovoltaic plants and solar panels for cleaning. Equations of statics and dynamics of robotic car which lifts along the vertical flexible rope are considered. It is presented the design which is made on the basis of "Lego Mindstorms" to solve the problem.

  14. 3D light robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin; Villangca, Mark Jayson

    2016-01-01

    As celebrated by the Nobel Prize 2014 in Chemistry light-based technologies can now overcome the diffraction barrier for imaging with nanoscopic resolution by so-called super-resolution microscopy1. However, interactive investigations coupled with advanced imaging modalities at these small scale ...... research discipline that could potentially be able to offer the full packet needed for true "active nanoscopy" by use of so-called light-driven micro-robotics or Light Robotics in short....

  15. Robotics and general surgery.

    Science.gov (United States)

    Jacob, Brian P; Gagner, Michel

    2003-12-01

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

  16. Tactile Robotic Topographical Mapping Without Force or Contact Sensors

    Science.gov (United States)

    Burke, Kevin; Melko, Joseph; Krajewski, Joel; Cady, Ian

    2008-01-01

    A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available. The method uses control software modified to utilize the inherent capability of the robotic control system to measure the joint positions, the rates of change of the joint positions, and the electrical current demanded by the robotic arm joint actuators. The system utilizes these coordinate data and the known robot-arm kinematics to compute the position and velocity of the end effector, move the end effector along a specified trajectory, place the end effector at a specified location, and measure the electrical currents in the joint actuators. Since the joint actuator current is approximately proportional to the actuator forces and torques, a sudden rise in joint current, combined with a slowing of the joint, is a possible indication of actuator stall and surface contact. Hence, even though the robotic arm is not equipped with contact sensors, it is possible to sense contact (albeit with reduced sensitivity) as the end effector becomes stalled against a surface that one seeks to measure.

  17. Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

    Science.gov (United States)

    Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.

    2000-01-01

    There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

  18. Vision servo of industrial robot: A review

    Science.gov (United States)

    Zhang, Yujin

    2018-04-01

    Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.

  19. Mutual Visibility by Robots with Persistent Memory

    OpenAIRE

    Bhagat, Subhash; Mukhopadhyaya, Krishnendu

    2017-01-01

    This paper addresses the mutual visibility problem for a set of semi-synchronous, opaque robots occupying distinct positions in the Euclidean plane. Since robots are opaque, if three robots lie on a line, the middle robot obstructs the visions of the two other robots. The mutual visibility problem asks the robots to coordinate their movements to form a configuration, within finite time and without collision, in which no three robots are collinear. Robots are endowed with a constant bits of pe...

  20. Swarm robotics and minimalism

    Science.gov (United States)

    Sharkey, Amanda J. C.

    2007-09-01

    Swarm Robotics (SR) is closely related to Swarm Intelligence, and both were initially inspired by studies of social insects. Their guiding principles are based on their biological inspiration and take the form of an emphasis on decentralized local control and communication. Earlier studies went a step further in emphasizing the use of simple reactive robots that only communicate indirectly through the environment. More recently SR studies have moved beyond these constraints to explore the use of non-reactive robots that communicate directly, and that can learn and represent their environment. There is no clear agreement in the literature about how far such extensions of the original principles could go. Should there be any limitations on the individual abilities of the robots used in SR studies? Should knowledge of the capabilities of social insects lead to constraints on the capabilities of individual robots in SR studies? There is a lack of explicit discussion of such questions, and researchers have adopted a variety of constraints for a variety of reasons. A simple taxonomy of swarm robotics is presented here with the aim of addressing and clarifying these questions. The taxonomy distinguishes subareas of SR based on the emphases and justifications for minimalism and individual simplicity.

  1. Multi-robot caravanning

    KAUST Repository

    Denny, Jory

    2013-11-01

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

  2. Self-Organizing Robots

    CERN Document Server

    Murata, Satoshi

    2012-01-01

    It is man’s ongoing hope that a machine could somehow adapt to its environment by reorganizing itself. This is what the notion of self-organizing robots is based on. The theme of this book is to examine the feasibility of creating such robots within the limitations of current mechanical engineering. The topics comprise the following aspects of such a pursuit: the philosophy of design of self-organizing mechanical systems; self-organization in biological systems; the history of self-organizing mechanical systems; a case study of a self-assembling/self-repairing system as an autonomous distributed system; a self-organizing robot that can create its own shape and robotic motion; implementation and instrumentation of self-organizing robots; and the future of self-organizing robots. All topics are illustrated with many up-to-date examples, including those from the authors’ own work. The book does not require advanced knowledge of mathematics to be understood, and will be of great benefit to students in the rob...

  3. Robotic assisted andrological surgery

    Science.gov (United States)

    Parekattil, Sijo J; Gudeloglu, Ahmet

    2013-01-01

    The introduction of the operative microscope for andrological surgery in the 1970s provided enhanced magnification and accuracy, unparalleled to any previous visual loop or magnification techniques. This technology revolutionized techniques for microsurgery in andrology. Today, we may be on the verge of a second such revolution by the incorporation of robotic assisted platforms for microsurgery in andrology. Robotic assisted microsurgery is being utilized to a greater degree in andrology and a number of other microsurgical fields, such as ophthalmology, hand surgery, plastics and reconstructive surgery. The potential advantages of robotic assisted platforms include elimination of tremor, improved stability, surgeon ergonomics, scalability of motion, multi-input visual interphases with up to three simultaneous visual views, enhanced magnification, and the ability to manipulate three surgical instruments and cameras simultaneously. This review paper begins with the historical development of robotic microsurgery. It then provides an in-depth presentation of the technique and outcomes of common robotic microsurgical andrological procedures, such as vasectomy reversal, subinguinal varicocelectomy, targeted spermatic cord denervation (for chronic orchialgia) and robotic assisted microsurgical testicular sperm extraction (microTESE). PMID:23241637

  4. Colias: An Autonomous Micro Robot for Swarm Robotic Applications

    Directory of Open Access Journals (Sweden)

    Farshad Arvin

    2014-07-01

    Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

  5. Measuring Attitudes Towards Telepresence Robots

    OpenAIRE

    M Tsui, Katherine; Desai, Munjal; A. Yanco, Holly; Cramer, Henriette; Kemper, Nicander

    2011-01-01

    Studies using Nomura et al.’s “Negative Attitude toward Robots Scale” (NARS) [1] as an attitudinal measure have featured robots that were perceived to be autonomous, indepen- dent agents. State of the art telepresence robots require an explicit human-in-the-loop to drive the robot around. In this paper, we investigate if NARS can be used with telepresence robots. To this end, we conducted three studies in which people watched videos of telepresence robots (n=70), operated te...

  6. 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.

  7. 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.

  8. Magnetic resonant wireless power transfer for propulsion of implantable micro-robot

    Science.gov (United States)

    Kim, D.; Kim, M.; Yoo, J.; Park, H.-H.; Ahn, S.

    2015-05-01

    Recently, various types of mobile micro-robots have been proposed for medical and industrial applications. Especially in medical applications, a motor system for propulsion cannot easily be used in a micro-robot due to their small size. Therefore, micro-robots are usually actuated by controlling the magnitude and direction of an external magnetic field. However, for micro-robots, these methods in general are only applicable for moving and drilling operations, but not for the undertaking of various missions. In this paper, we propose a new micro-robot concept, which uses wireless power transfer to deliver the propulsion force and electric power simultaneously. The mechanism of Lorentz force generation and the coil design methodologies are explained, and validation of the proposed propulsion system for a micro-robot is discussed thorough a simulation and with actual measurements with up-scaled test vehicles.

  9. Job Prospects for Electrical Engineers.

    Science.gov (United States)

    Basta, Nicholas

    1986-01-01

    Discusses the career outlook for electrical/electronics engineers. Explains that the number of bachelor degree graduates continues to rise, along with average starting salaries. Reveals that although the availability of jobs in the computer industry is leveling off, prospects in the robotics and telecommunication fields are growing. (TW)

  10. 3D vision upgrade kit for TALON robot

    Science.gov (United States)

    Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, James; Pezzaniti, J. Larry; Chenault, David B.; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Pettijohn, Brad

    2010-04-01

    In this paper, we report on the development of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. The 3D vision system was integrated onto a TALON IV Robot and Operator Control Unit (OCU) such that stock components could be electrically disconnected and removed, and upgrade components coupled directly to the mounting and electrical connections. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

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

    Science.gov (United States)

    Garrett, Henry B.

    1990-01-01

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

  12. Human Robotic Systems (HRS): Controlling Robots over Time Delay Element

    Data.gov (United States)

    National Aeronautics and Space Administration — This element involves the development of software that enables easier commanding of a wide range of NASA relevant robots through the Robot Application Programming...

  13. Communication of Robot Status to Improve Human-Robot Collaboration

    Data.gov (United States)

    National Aeronautics and Space Administration — Future space exploration will require humans and robots to collaborate to perform all the necessary tasks. Current robots mostly operate separately from humans due...

  14. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    A working group (WG) study was conducted aiming at realizing human type robots. The following six working groups in the basement field were organized to study in terms mostly of items of technical development and final technical targets: platform, and remote attendance control in the basement field, maintenance of plant, etc., home service, disaster/construction, and entertainment in the application field. In the platform WG, a robot of human like form is planning which walks with two legs and works with two arms, and the following were discussed: a length of 160cm, weight of 110kg, built-in LAN, actuator specifications, modulated structure, intelligent driver, etc. In the remote attendance control WG, remote control using working function, stabilized movement, stabilized control, and network is made possible. Studied were made on the decision on a remote control cockpit by open architecture added with function and reformable, problems on the development of the standard language, etc. 77 ref., 82 figs., 21 tabs.

  15. Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

    DEFF Research Database (Denmark)

    Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel

    2017-01-01

    In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....

  16. Fast response of mechatronics module for robotic

    Science.gov (United States)

    Bukhanov, S. S.; Gryzlov, A. A.; Tsirkunenko, A. T.

    2018-05-01

    The synthesis technique, the mathematical model and results of experimental investigation of the control system of the robotic complex mechatronic module are presented in the article. It is shown that in most cases the dynamic system can be approximated by the serial connection of two first-order aperiodic links, while the speed in the torque control loop can reach 200-300 rad/s. The specified speed of the system was achieved due to improved specific weight and dimensions parameters of the electric drive (element of the mechatronic system) made on the basis of a contactless motor. The obtained results indicate the possibility of successful application of the proposed mechatronic module for objects of robotized systems in which the reference signal changes at a frequency not exceeding 50 Hz.

  17. Robotic transthoracic esophagectomy.

    Science.gov (United States)

    Puntambekar, Shailesh; Kenawadekar, Rahul; Kumar, Sanjay; Joshi, Saurabh; Agarwal, Geetanjali; Reddy, Sunil; Mallik, Jainul

    2015-04-23

    We have initially published our experience with the robotic transthoracic esophagectomy in 32 patients from a single institute. The present paper is the extension of our experience with robotic system and to best of our knowledge this represents the largest series of robotic transthoracic esophagectomy worldwide. The objective of this study was to investigate the feasibility of the robotic transthoracic esophagectomy for esophageal cancer in a series of patients from a single institute. A retrospective review of medical records was conducted for 83 esophageal cancer patients who underwent robotic esophagectomy at our institute from December 2009 to December 2012. All patients underwent a thorough clinical examination and pre-operative investigations. All patients underwent robotic esophageal mobilization. En-bloc dissection with lymphadenectomy was performed in all cases with preservation of Azygous vein. Relevant data were gathered from medical records. The study population comprised of 50 men and 33 women with mean age of 59.18 years. The mean operative time was 204.94 mins (range 180 to 300). The mean blood loss was 86.75 ml (range 50 to 200). The mean number of lymph node yield was 18. 36 (range 13 to 24). None of the patient required conversion. The mean ICU stay and hospital stay was 1 day (range 1 to 3) and 10.37 days (range 10 to 13), respectively. A total of 16 (19.28%) complication were reported in these patents. Commonly reported complication included dysphagia, pleural effusion and anastomotic leak. No treatment related mortality was observed. After a median follow-up period of 10 months, 66 patients (79.52%) survived with disease free stage. We found robot-assisted thoracoscopic esophagectomy feasible in cases of esophageal cancer. The procedure allowed precise en-bloc dissection with lymphadenectomy in mediastinum with reduced operative time, blood loss and complications.

  18. Robots for Astrobiology!

    Science.gov (United States)

    Boston, Penelope J.

    2016-01-01

    The search for life and its study is known as astrobiology. Conducting that search on other planets in our Solar System is a major goal of NASA and other space agencies, and a driving passion of the community of scientists and engineers around the world. We practice for that search in many ways, from exploring and studying extreme environments on Earth, to developing robots to go to other planets and help us look for any possible life that may be there or may have been there in the past. The unique challenges of space exploration make collaborations between robots and humans essential. The products of those collaborations will be novel and driven by the features of wholly new environments. For space and planetary environments that are intolerable for humans or where humans present an unacceptable risk to possible biologically sensitive sites, autonomous robots or telepresence offer excellent choices. The search for life signs on Mars fits within this category, especially in advance of human landed missions there, but also as assistants and tools once humans reach the Red Planet. For planetary destinations where we do not envision humans ever going in person, like bitterly cold icy moons, or ocean worlds with thick ice roofs that essentially make them planetary-sized ice caves, we will rely on robots alone to visit those environments for us and enable us to explore and understand any life that we may find there. Current generation robots are not quite ready for some of the tasks that we need them to do, so there are many opportunities for roboticists of the future to advance novel types of mobility, autonomy, and bio-inspired robotic designs to help us accomplish our astrobiological goals. We see an exciting partnership between robotics and astrobiology continually strengthening as we jointly pursue the quest to find extraterrestrial life.

  19. Socially intelligent robots: dimensions of human-robot interaction.

    Science.gov (United States)

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

  20. Robot Motion and Control 2011

    CERN Document Server

    2012-01-01

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