WorldWideScience

Sample records for factory automation robotics

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

    Directory of Open Access Journals (Sweden)

    A. Valera

    2012-10-01

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

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

    Directory of Open Access Journals (Sweden)

    A. Valera

    2012-10-01

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

  3. Robotics and Automation Education: Developing the Versatile, Practical Lab.

    Science.gov (United States)

    Stenerson, Jon

    1986-01-01

    Elements of the development of a robotics and automation laboratory are discussed. These include the benefits of upgrading current staff, ways to achieve this staff development, formation of a robotics factory automation committee, topics to be taught with a robot, elements of a laboratory, laboratory funding, and design safety. (CT)

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

    Science.gov (United States)

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

    1992-01-01

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

  5. [From automation to robotics].

    Science.gov (United States)

    1985-01-01

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

  6. Designing High Performance Factory Automation Applications on Top of DDS

    Directory of Open Access Journals (Sweden)

    Isidro Calvo

    2013-04-01

    Full Text Available DDS is a recent specification aimed at providing high‐performance publisher/subscriber middleware solutions. Despite being a very powerful flexible technology, it may prove complex to use, especially for the inexperienced. This work provides some guidelines for connecting software components that represent a new generation of automation devices (such as PLCs, IPCs and robots using Data Distribution Service (DDS as a virtual software bus. More specifically, it presents the design of a DDS‐based component, the so‐called Automation Component, and discusses how to map different traffic patterns using DDS entities exploiting the wealth of QoS management mechanisms provided by the DDS specification. A case study demonstrates the creation of factory automation applications out of software components that encapsulate independent stations.

  7. Designing High Performance Factory Automation Applications on Top of DDS

    Directory of Open Access Journals (Sweden)

    Isidro Calvo

    2013-04-01

    Full Text Available DDS is a recent specification aimed at providing high-performance publisher/subscriber middleware solutions. Despite being a very powerful flexible technology, it may prove complex to use, especially for the inexperienced. This work provides some guidelines for connecting software components that represent a new generation of automation devices (such as PLCs, IPCs and robots using Data Distribution Service (DDS as a virtual software bus. More specifically, it presents the design of a DDS-based component, the so-called Automation Component, and discusses how to map different traffic patterns using DDS entities exploiting the wealth of QoS management mechanisms provided by the DDS specification. A case study demonstrates the creation of factory automation applications out of software components that encapsulate independent stations.

  8. Translation: Aids, Robots, and Automation.

    Science.gov (United States)

    Andreyewsky, Alexander

    1981-01-01

    Examines electronic aids to translation both as ways to automate it and as an approach to solve problems resulting from shortage of qualified translators. Describes the limitations of robotic MT (Machine Translation) systems, viewing MAT (Machine-Aided Translation) as the only practical solution and the best vehicle for further automation. (MES)

  9. 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...

  10. 28th International Conference on CAD/CAM, Robotics and Factories of the Future

    CERN Document Server

    Syan, Chanan

    2016-01-01

    This volume is based on the proceedings of the 28th International Conference on CAD/CAM, Robotics and Factories of the Future. This book specially focuses on the positive changes made in the field of robotics, CAD/CAM and future outlook for emerging manufacturing units. Some of the important topics discussed in the conference are product development and sustainability, modeling and simulation, automation, robotics and handling systems, supply chain management and logistics, advanced manufacturing processes, human aspects in engineering activities, emerging scenarios in engineering education and training. The contents of this set of proceedings will prove useful to both researchers and practitioners.

  11. Expert Robots For Automated Packaging And Processing

    Science.gov (United States)

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

    1989-02-01

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

  12. Automation and robotics for genetic analysis.

    Science.gov (United States)

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

    2001-05-01

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

  13. Automation and Robotics in the Laboratory.

    Science.gov (United States)

    DiCesare, Frank; And Others

    1985-01-01

    A general laboratory course featuring microcomputer interfacing for data acquisition, process control and automation, and robotics was developed at Rensselaer Polytechnic Institute and is now available to all junior engineering students. The development and features of the course are described. (JN)

  14. Generative Representations for Automated Design of Robots

    Science.gov (United States)

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

    2007-01-01

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

  15. Automated kinematic generator for surgical robotic systems.

    Science.gov (United States)

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

    2004-01-01

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

  16. International Conference Automation : Challenges in Automation, Robotics and Measurement Techniques

    CERN Document Server

    Zieliński, Cezary; Kaliczyńska, Małgorzata

    2016-01-01

    This book presents the set of papers accepted for presentation at the International Conference Automation, held in Warsaw, 2-4 March of 2016. It presents the research results presented by top experts in the fields of industrial automation, control, robotics and measurement techniques. Each chapter presents a thorough analysis of a specific technical problem which is usually followed by numerical analysis, simulation, and description of results of implementation of the solution of a real world problem. The presented theoretical results, practical solutions and guidelines will be valuable for both researchers working in the area of engineering sciences and for practitioners solving industrial problems. .

  17. Advances in Automation and Robotics, Vol 2

    CERN Document Server

    International conference on Automation and Robotics-ICAR2011

    2012-01-01

    The international conference on Automation and Robotics-ICAR2011 is held during December 12-13, 2011 in Dubai, UAE. The conference is intended to bring together the researchers and engineers/technologists working in different aspects of intelligent control systems and optimization, robotics and automation, signal processing, sensors, systems modeling and control, industrial engineering, production and management. This part of proceedings includes 82 papers contributed by many researchers in relevant topic areas covered at ICAR2011 from various countries such as France, Japan, USA, Korea and China etc.  The session topics of this proceedings are signal processing and industrial engineering, production and management, which includes papers about signal reconstruction, mechanical sensors, real-time systems control system identification, change detection problems, business process modeling, production planning, scheduling and control, computer-based manufacturing technologies, systems modeling and simulation, fa...

  18. Robotic Automation in Computer Controlled Polishing

    Science.gov (United States)

    Walker, D. D.; Yu, G.; Bibby, M.; Dunn, C.; Li, H.; Wu, Y.; Zheng, X.; Zhang, P.

    2016-02-01

    We first present a Case Study - the manufacture of 1.4 m prototype mirror-segments for the European Extremely Large Telescope, undertaken by the National Facility for Ultra Precision Surfaces, at the OpTIC facility operated by Glyndwr University. Scale-up to serial-manufacture demands delivery of a 1.4 m off-axis aspheric hexagonal segment with surface precision robots and computer numerically controlled ('CNC') polishing machines for optical fabrication. The objective was not to assess which is superior. Rather, it was to understand for the first time their complementary properties, leading us to operate them together as a unit, integrated in hardware and software. Three key areas are reported. First is the novel use of robots to automate currently-manual operations on CNC polishing machines, to improve work-throughput, mitigate risk of damage to parts, and reduce dependence on highly-skilled staff. Second is the use of robots to pre-process surfaces prior to CNC polishing, to reduce total process time. The third draws the threads together, describing our vision of the automated manufacturing cell, where the operator interacts at cell rather than machine level. This promises to deliver a step-change in end-to-end manufacturing times and costs, compared with either platform used on its own or, indeed, the state-of-the-art used elsewhere.

  19. Robotic weeding and automated weed measurements

    DEFF Research Database (Denmark)

    Christensen, S.; Søgaard, H.T.; Jørgensen, R.N.

    2003-01-01

    The goal of decreasing herbicide usage has so far focused on reducing the herbicide dosage or replacing chemical weed control by hoeing and harrowing. The conventional weed control strategy is to apply the same dose of herbicide or the same intensity of hoeing and harrowing in the whole field....... The strategy may be changed in the coming years because experiments in Germany, USA, Australia, and Denmark have shown that site-specific weed management can reduce herbicide usage significantly. One of the promising technologies for site specific weed management is robotic weeding. This paper reviews...... the state-of-the-art of automated weed measurement methods and the research projects concerning autonomous platform and information system for crop and weed monitoring and robotic weeding....

  20. Progress in automation, robotics and measuring techniques

    CERN Document Server

    Zieliński, Cezary; Kaliczyńska, Małgorzata

    2015-01-01

    This book presents recent progresses in control, automation, robotics, and measuring techniques. It includes contributions of top experts in the fields, focused on both theory and industrial practice. The particular chapters present a deep analysis of a specific technical problem which is in general followed by a numerical analysis and simulation, and results of an implementation for the solution of a real world problem. The presented theoretical results, practical solutions and guidelines will be useful for both researchers working in the area of engineering sciences and for practitioners solving industrial problems.    .

  1. Development of sample exchange robot PAM-HC for beamline BL-1A at the photon factory

    Energy Technology Data Exchange (ETDEWEB)

    Hiraki, Masahiko, E-mail: masahiko.hiraki@kek.jp [Mechanical Engineering Center, Applied Research Laboratory, KEK (High Energy Accelerator Research Organization), 1-1 Oho, Tsukuba, Ibaraki 305-0801 Japan (Japan); Department of Accelerator Science, SOKENDAI (the Graduate University for Advanced Studies), 1-1 Oho, Tsukuba, Ibaraki 305-0801 Japan (Japan); Matsugaki, Naohiro; Yamada, Yusuke; Senda, Toshiya [Structural Biology research Center, Institute of Materials Structure Science, KEK (Japan); Department of Materials Structure Science, SOKENDAI (Japan)

    2016-07-27

    A macromolecular crystallography beamline, BL-1A, has been built at the Photon Factory (PF) for low energy experiments and has been operational since 2010. We have installed a sample exchange robot, PAM (PF Automated Mounting system), similar to other macromolecular crystallography beamlines. However, following the installation of a helium chamber to reduce the absorption of the diffraction signal by air, we developed a new sample exchange robot to replace PAM. The new robot, named PAM-HC (Helium Chamber), is designed with the goal of minimizing leakage of helium gas from the chamber. Here, the PAM-HC hardware and the flow of its movement are described. Furthermore, measurements of temperature changes during sample exchange are presented in this paper.

  2. 1st Latin American Congress on Automation and Robotics

    CERN Document Server

    Baca, José; Moreno, Héctor; Carrera, Isela; Cardona, Manuel

    2017-01-01

    This book contains the proceedings of the 1st Latin American Congress on Automation and Robotics held at Panama City, Panama in February 2017. It gathers research work from researchers, scientists, and engineers from academia and private industry, and presents current and exciting research applications and future challenges in Latin American. The scope of this book covers a wide range of themes associated with advances in automation and robotics research encountered in engineering and scientific research and practice. These topics are related to control algorithms, systems automation, perception, mobile robotics, computer vision, educational robotics, robotics modeling and simulation, and robotics and mechanism design. LACAR 2017 has been sponsored by SENACYT (Secretaria Nacional de Ciencia, Tecnologia e Inovacion of Panama).

  3. High-throughput operation of sample-exchange robots with double tongs at the Photon Factory beamlines

    Science.gov (United States)

    Hiraki, Masahiko; Watanabe, Shokei; pHonda, Nobuo; Yamada, Yusuke; Matsugaki, Naohiro; Igarashi, Noriyuki; Gaponov, Yurii; Wakatsuki, Soichi

    2008-01-01

    Sample-exchange robots that can exchange cryo-pins bearing protein crystals out of experimental hutches according to user instructions have been developed. The robots were designed based on the SAM (Stanford Synchrotron Research Laboratory automated mounting) system. In order to reduce the time required for the sample exchange, the single tongs of the SAM system were modified and a double-tongs system that can hold two cryo-pins at the same time was developed. Robots with double tongs can move to the goniometer head holding the next cryo-pin with one set of tongs, dismount the experimented cryo-pin with the other set, and then mount the next pin onto the goniometer head without leaving the diffractometer area. Two different types of tongs have been installed: single tongs at beamlines BL-5A and AR-NW12A, and a double-tongs system at beamline BL-17A of the Photon Factory. The same graphical user interface software for operation of the sample-exchange robots is used at all beamlines, however, so that users do not need to consider differences between the systems. In a trial, the robot with double tongs could exchange samples within 10 s. PMID:18421164

  4. Toward the Automated Synthesis of Cooperative Mobile Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

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

  5. Automated Robot with Object Recognition and Handling Features

    Directory of Open Access Journals (Sweden)

    Amiraj Dhawan

    2013-06-01

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

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

    Science.gov (United States)

    McPherson, R A

    1998-01-01

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

  7. 27th International Conference on CADCAM, Robotics and Factories of the Future 2014

    Science.gov (United States)

    Karamanoglu, Mehmet; Yang, Xin-She; Zivanovic, Aleksandar; Smith, Martin; Loureiro, Rui

    2014-07-01

    It is a great pleasure to welcome you to the 27th International Conference on CADCAM, Robotics and Factories of the Future, sponsored by the International Society for Productivity Enhancement, Middlesex University, Festo Limited GB, National Instruments UK & Ireland, the Sector Skills Council for Science, Engineering and Manufacturing Technologies and our proceedings publisher Institute of Physics Publications. This is the second time Middlesex University has played host to this longstanding international conference, last time being the 12th edition in 1996. The subject content of the conference remains current, focusing on cutting edge developments in research. The conference themes this year are divided into seven themes, Product Development and Sustainability, Modelling and Simulation, Automation, Robotics and Handling Systems, Advanced Quality Systems Tools and Quality Management, Human Aspects in Engineering Activities, Emerging Scenarios in Engineering Education and Training, and Emerging Technologies in Factories of the Future. The conference is organised into seven sessions running in parallel over three days, providing a platform to speakers from 16 different countries. The programme also features four eminent keynote speakers and a hands-on workshop organised by National Instruments. Organising an event such as this would not be possible without the help of many colleagues. I am grateful to the members of the Organising Committee, the International Scientific Committee, our sponsors and all those colleagues who helped in the review of many abstracts and consequently full papers. This required meticulous attention to detail and strict adherence to very tight deadlines. However large or small a conference is, the effort required to make the local arrangements work for all is not insignificant. The conference organisers acknowledge the particular efforts of Miss Mita Vaghi in providing her expertise in event management and her diligent support and Anete

  8. Towards an automated checked baggage inspection system augmented with robots

    Science.gov (United States)

    DeDonato, Matthew P.; Dimitrov, Velin; Padır, Taskin

    2014-05-01

    We present a novel system for enhancing the efficiency and accuracy of checked baggage screening process at airports. The system requirements address the identification and retrieval of objects of interest that are prohibited in a checked luggage. The automated testbed is comprised of a Baxter research robot designed by Rethink Robotics for luggage and object manipulation, and a down-looking overhead RGB-D sensor for inspection and detection. We discuss an overview of current system implementations, areas of opportunity for improvements, robot system integration challenges, details of the proposed software architecture and experimental results from a case study for identifying various kinds of lighters in checked bags.

  9. An automated miniature robotic vehicle inspection system

    Science.gov (United States)

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

    2014-02-01

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  10. Mobile Robot for Life Science Automation

    Directory of Open Access Journals (Sweden)

    Hui Liu

    2013-07-01

    Full Text Available The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot's routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1993-08-01

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

  12. Mobile Robot for Life Science Automation

    Directory of Open Access Journals (Sweden)

    Hui Liu

    2013-07-01

    Full Text Available The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot’s routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.

  13. Automated platform for designing multiple robot work cells

    Science.gov (United States)

    Osman, N. S.; Rahman, M. A. A.; Rahman, A. A. Abdul; Kamsani, S. H.; Bali Mohamad, B. M.; Mohamad, E.; Zaini, Z. A.; Rahman, M. F. Ab; Mohamad Hatta, M. N. H.

    2017-06-01

    Designing the multiple robot work cells is very knowledge-intensive, intricate, and time-consuming process. This paper elaborates the development process of a computer-aided design program for generating the multiple robot work cells which offer a user-friendly interface. The primary purpose of this work is to provide a fast and easy platform for less cost and human involvement with minimum trial and errors adjustments. The automated platform is constructed based on the variant-shaped configuration concept with its mathematical model. A robot work cell layout, system components, and construction procedure of the automated platform are discussed in this paper where integration of these items will be able to automatically provide the optimum robot work cell design according to the information set by the user. This system is implemented on top of CATIA V5 software and utilises its Part Design, Assembly Design, and Macro tool. The current outcomes of this work provide a basis for future investigation in developing a flexible configuration system for the multiple robot work cells.

  14. Automation and Robotics for Human Mars Exploration (AROMA)

    Science.gov (United States)

    Hofmann, Peter; von Richter, Andreas

    2003-01-01

    Automation and Robotics (A&R) systems are a key technology for Mars exploration. All over the world initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. From December 2000 to February 2002 Kayser-Threde GmbH, Munich, Germany lead a study called AROMA (Automation and Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals of this effort is to initiate new developments and to maintain the competitiveness of European industry within this field. c2003 Published by Elsevier Science Ltd.

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

    Energy Technology Data Exchange (ETDEWEB)

    Merrill, R.D.; Hurd, R.; Couture, S.; Wilhelmsen, K.

    1995-02-01

    Lawrence Livermore National Laboratory (LLNL) is engaged in developing automated systems for handling materials for mixed waste treatment, nuclear pyrochemical processing, and weapon components disassembly. In support of these application areas there is an extensive robotic development program. This paper will describe the portion of this effort at LLNL devoted to control system architecture development, and review two applications currently being implemented which incorporate these technologies.

  16. Automating Knowledge Acquisition in a Flightline Robot.

    Science.gov (United States)

    1985-12-01

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

  17. Becoming Earth Independent: Human-Automation-Robotics Integration Challenges for Future Space Exploration

    Science.gov (United States)

    Marquez, Jessica J.

    2016-01-01

    Future exploration missions will require NASA to integrate more automation and robotics in order to accomplish mission objectives. This presentation will describe on the future challenges facing the human operator (astronaut, ground controllers) as we increase the amount of automation and robotics in spaceflight operations. It will describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. This presentation will outline future human-automation-robotic integration challenges.

  18. Recent advances in automation, robotics and measuring techniques

    CERN Document Server

    Zieliński, Cezary; Kaliczyńska, Małgorzata

    2014-01-01

    This book presents the recent advances and developments in control, automation, robotics, and measuring techniques. It presents contributions of top experts in the fields, focused on both theory and industrial practice. The particular chapters present a deep analysis of a specific technical problem which is in general followed by a numerical analysis and simulation, and results of an implementation for the solution of a real world problem. The book presents the results of the International Conference AUTOMATION 2014 held 26 - 28 March, 2014 in Warsaw, Poland on Automation – Innovations and Future Prospectives The presented theoretical results, practical solutions and guidelines will be useful for both researchers working in the area of engineering sciences and for practitioners solving industrial problems.

  19. Automated retinal robotic laser system instrumentation

    Science.gov (United States)

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

    1995-05-01

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

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

    Science.gov (United States)

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

    2000-08-01

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

  1. Moving NASA Beyond Low Earth Orbit: Future Human-Automation-Robotic Integration Challenges

    Science.gov (United States)

    Marquez, Jessica

    2016-01-01

    This presentation will provide an overview of current human spaceflight operations. It will also describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. Additionally, there are many implications regarding advanced automation and robotics, and this presentation will outline future human-automation-robotic integration challenges.

  2. An Automated and Continuous Plant Weight Measurement System for Plant Factory

    Science.gov (United States)

    Chen, Wei-Tai; Yeh, Yu-Hui F.; Liu, Ting-Yu; Lin, Ta-Te

    2016-01-01

    In plant factories, plants are usually cultivated in nutrient solution under a controllable environment. Plant quality and growth are closely monitored and precisely controlled. For plant growth evaluation, plant weight is an important and commonly used indicator. Traditional plant weight measurements are destructive and laborious. In order to measure and record the plant weight during plant growth, an automated measurement system was designed and developed herein. The weight measurement system comprises a weight measurement device and an imaging system. The weight measurement device consists of a top disk, a bottom disk, a plant holder and a load cell. The load cell with a resolution of 0.1 g converts the plant weight on the plant holder disk to an analog electrical signal for a precise measurement. The top disk and bottom disk are designed to be durable for different plant sizes, so plant weight can be measured continuously throughout the whole growth period, without hindering plant growth. The results show that plant weights measured by the weight measurement device are highly correlated with the weights estimated by the stereo-vision imaging system; hence, plant weight can be measured by either method. The weight growth of selected vegetables growing in the National Taiwan University plant factory were monitored and measured using our automated plant growth weight measurement system. The experimental results demonstrate the functionality, stability and durability of this system. The information gathered by this weight system can be valuable and beneficial for hydroponic plants monitoring research and agricultural research applications. PMID:27066040

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

    Energy Technology Data Exchange (ETDEWEB)

    1986-01-01

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

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

    Science.gov (United States)

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

    2014-02-01

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

  5. Robotics and automation for oil sands bitumen production and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Lipsett, M.G. [Alberta Univ., Edmonton, AB (Canada). Dept. of Mechanical Engineering

    2008-07-01

    This presentation examined technical challenges and commercial challenges related to robotics and automation processes in the mining and oil sands industries. The oil sands industry has on-going cost pressures. Challenges include the depths to which miners must travel, as well as problems related to equipment reliability and safety. Surface mines must operate in all weather conditions with a variety of complex systems. Barriers for new technologies include high capital and operating expenses. It has also proven difficult to integrate new technologies within established mining practices. However, automation has the potential to improve mineral processing, production, and maintenance processes. Step changes can be placed in locations that are hazardous or inaccessible. Automated sizing, material, and ventilation systems are can also be implemented as well as tele-operated equipment. Prototypes currently being developed include advanced systems for cutting; rock bolting; loose rock detection systems; lump size estimation; unstructured environment sensing; environment modelling; and automatic task execution. Enabling technologies are now being developed for excavation, haulage, material handling systems, mining and reclamation methods, and integrated control and reliability. tabs., figs.

  6. 1999 IEEE international conference on robotics and automation

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-07-01

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

  7. Robotics and Automation for Flight Deck Aircraft Servicing

    Energy Technology Data Exchange (ETDEWEB)

    Chesser, J.B.; Draper, J.V.; Pin, F.G.

    1999-03-01

    One of the missions of the Future Aircraft Carriers Program is to investigate methods that would improve aircraft turnaround servicing activities on carrier decks. The major objectives and criteria for evaluating alternative aircraft servicing methods are to reduce workload requirements, turnaround times (TAT), and life-cycle costs (LCC). Technologies in the field of Robotics and Automation (R and A) have the potential to significantly contribute to these objectives. The objective of this study was to investigate aircraft servicing functions on carrier decks which would offer the potentially most significant payoff if improved by various R and A technologies. Improvement in this case means reducing workload, time and LCC. This objective was accomplished using a ''bottom-up'' formalized approach as described in the following.

  8. In vivo robotics: the automation of neuroscience and other intact-system biological fields.

    Science.gov (United States)

    Kodandaramaiah, Suhasa B; Boyden, Edward S; Forest, Craig R

    2013-12-01

    Robotic and automation technologies have played a huge role in in vitro biological science, having proved critical for scientific endeavors such as genome sequencing and high-throughput screening. Robotic and automation strategies are beginning to play a greater role in in vivo and in situ sciences, especially when it comes to the difficult in vivo experiments required for understanding the neural mechanisms of behavior and disease. In this perspective, we discuss the prospects for robotics and automation to influence neuroscientific and intact-system biology fields. We discuss how robotic innovations might be created to open up new frontiers in basic and applied neuroscience and present a concrete example with our recent automation of in vivo whole-cell patch clamp electrophysiology of neurons in the living mouse brain.

  9. 12th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Gusikhin, Oleg; Madani, Kurosh; Sasiadek, Jurek

    2016-01-01

    The present book includes a set of selected extended papers from the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), held in Vienna, Austria, from 1 to 3 September 2014. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four simultaneous tracks will be held, covering Intelligent Control Systems, Optimization, Robotics, Automation, Signal Processing, Sensors, Systems Modelling and Control, and Industrial Engineering, Production and Management. Informatics applications are pervasive in many areas of Control, Automation and Robotics. ICINCO 2014 received 301 submissions, from 49 countries, in all continents. After a double blind paper review performed by the Program Committee, 20% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the Conference, ba...

  10. 12th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Madani, Kurosh; Gusikhin, Oleg; Sasiadek, Jurek

    2016-01-01

    The present book includes a set of selected extended papers from the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015), held in Colmar, France, from 21 to 23 July 2015. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four simultaneous tracks will be held, covering Intelligent Control Systems, Optimization, Robotics, Automation, Signal Processing, Sensors, Systems Modelling and Control, and Industrial Engineering, Production and Management. Informatics applications are pervasive in many areas of Control, Automation and Robotics. ICINCO 2015 received 214 submissions, from 42 countries, in all continents. After a double blind paper review performed by the Program Committee, 14% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the Conference, based ...

  11. A robotic system for automation of logistics functions on the Space Station

    Science.gov (United States)

    Martin, J. C.; Purves, R. B.; Hosier, R. N.; Krein, B. A.

    1988-01-01

    Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.

  12. A robotic system for automation of logistics functions on the Space Station

    Science.gov (United States)

    Martin, J. C.; Purves, R. B.; Hosier, R. N.; Krein, B. A.

    1988-01-01

    Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.

  13. Development of automation and robotics for space via computer graphic simulation methods

    Science.gov (United States)

    Fernandez, Ken

    1988-01-01

    A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

  14. Integrating PCLIPS into ULowell's Lincoln Logs: Factory of the future

    Science.gov (United States)

    Mcgee, Brenda J.; Miller, Mark D.; Krolak, Patrick; Barr, Stanley J.

    1990-01-01

    We are attempting to show how independent but cooperating expert systems, executing within a parallel production system (PCLIPS), can operate and control a completely automated, fault tolerant prototype of a factory of the future (The Lincoln Logs Factory of the Future). The factory consists of a CAD system for designing the Lincoln Log Houses, two workcells, and a materials handling system. A workcell consists of two robots, part feeders, and a frame mounted vision system.

  15. Putting Automated Visual Inspection Systems To Work On The Factory Floor: What's Missing?

    Science.gov (United States)

    Waltz, Frederick M.; Snyder, Michael A.; Batchelor, Bruce G.

    1990-02-01

    Machine vision systems and other automated visual inspection (AVI) systems have been proving their usefulness in factories for more than a decade. In spite of this, the number of installed systems is far below the number that could profitably be employed. In the opinion of the authors, the primary reason for this is the high cost of customizing vision systems to meet applications requirements. A three-part approach to this problem has proven to be useful: 1. A multi-phase paradigm for customer interaction, system specification, system development, and system installation; 2. A powerful and easy-to-use system development environment, including a a flexible laboratory lighting setup, plus software-based tools to assist in the design of image acquisition systems, b. an image processing environment with a very large repertoire of image processing and feature extraction operations and an easy-to-use command interpreter having macro capabilities, and c. an image analysis environment with high-level constructs, a flexible and powerful syntax, and a "seamless" interface to the image processing level; and 3. A moderately-priced high-speed "target" system fully compatible with the development environment, so that algorithms developed thereon can be transferred directly to the factory environment without further development costs or reprogramming. Items 1 and 2 are covered in other papers1,23,4,5 and are touched on here only briefly. Item 3 is the main subject of this paper. Our major motivation in presenting this paper is to offer suggestions to vendors developing commercial boards and systems, in hopes that the special needs of industrial inspection can be met.

  16. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

    Due to a general shift in manufacturing paradigm from mass production towards mass customization, reconfigurable automation technologies, such as robots, are required. However, current industrial robot solutions are notoriously difficult to program, leading to high changeover times when new...... products are introduced by manufacturers. In order to compete on global markets, the factories of tomorrow need complete production lines, including automation technologies that can effortlessly be reconfigured or repurposed, when the need arises. In this paper we present the concept of general, self......-asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated...

  17. Automation and robotics for the Space Station - The influence of the Advanced Technology Advisory Committee

    Science.gov (United States)

    Nunamaker, Robert R.; Willshire, Kelli F.

    1988-01-01

    The reports of a committee established by Congress to identify specific systems of the Space Station which would advance automation and robotics technologies are reviewed. The history of the committee, its relation to NASA, and the reports which it has released are discussed. The committee's reports recommend the widespread use of automation and robotics for the Space Station, a program for technology development and transfer between industries and research and development communities, and the planned use of robots to service and repair satellites and their payloads which are accessible from the Space Station.

  18. 3rd International Asia Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Informatics in Control, Automation and Robotics

    2012-01-01

    Session 2 includes 110 papers selected from 2011 3rd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China.   As we all know, the ever growing technology in robotics and automation will help build a better human society. This session will provide a unique opportunity for the academic and industrial communities to address new challenges, share solutions, and discuss research directions for the future. Robotics research emphasizes intelligence and adaptability to cope with unstructured environments. Automation research emphasizes efficiency, productivity, quality, and reliability, focusing on systems that operate autonomously. The main focus of this session is on the autonomous acquisition of semantic information in intelligent robots and systems, as well as the use of semantic knowledge to guide further acquisition of information.

  19. G-Cloud Monitor: A Cloud Monitoring System for Factory Automation for Sustainable Green Computing

    Directory of Open Access Journals (Sweden)

    Hwa-Young Jeong

    2014-11-01

    Full Text Available Green and cloud computing (G-cloud are new trends in all areas of computing. The G-cloud provides an efficient function, which enables users to access their programs, systems and platforms at anytime and anyplace. Green computing can also yield greener technology by reducing power consumption for sustainable environments. Furthermore, in order to apply user needs to the system development, the user characteristics are regarded as some of the most important factors to be considered in product industries. In this paper, we propose a cloud monitoring system to observe and manage the manufacturing system/factory automation for sustainable green computing. For monitoring systems, we utilized the resources in the G-cloud environments, and hence, it can reduce the amount of system resources and devices, such as system power and processes. In addition, we propose adding a user profile to the monitoring system in order to provide a user-friendly function. That is, this function allows system configurations to be automatically matched to the individual’s requirements, thus increasing efficiency.

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

    Directory of Open Access Journals (Sweden)

    Günther Starke

    2016-11-01

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

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

    Science.gov (United States)

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

    2011-01-01

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

  2. 5th International Conference on Automation, Robotics and Applications (ICARA 2011)

    CERN Document Server

    Bailey, Donald; Demidenko, Serge; Carnegie, Dale; Recent Advances in Robotics and Automation

    2013-01-01

    There isn’t a facet of human life that has not been touched and influenced by robots and automation. What makes robots and machines versatile is their computational intelligence. While modern intelligent sensors and powerful hardware capabilities have given a huge fillip to the growth of intelligent machines, the progress in the development of algorithms for smart interaction, collaboration and pro-activeness will result in the next quantum jump. This book deals with the recent advancements in design methodologies, algorithms and implementation techniques to incorporate intelligence in robots and automation systems. Several articles deal with navigation, localization and mapping of mobile robots, a problem that engineers and researchers are grappling with all the time. Fuzzy logic, neural networks and neuro-fuzzy based techniques for real world applications have been detailed in a few articles. This edited volume is targeted to present the latest state-of-the-art computational intelligence techniques in Rob...

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

    Institute of Scientific and Technical Information of China (English)

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

    2007-01-01

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

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

    DEFF Research Database (Denmark)

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

    2007-01-01

    Hospitals face with heavy traffic of goods everyday, where transportation tasks are mainly carried by human. Analysis of the current situation of transportation in a typical hospital showed several transportation tasks are suitable for automation. This paper presents a system, consisting of a fleet...... of robot vehicles, automatic stations and smart containers for automation of transportation of goods in hospitals. Design of semi-autonomous robot vehicles, containers and stations are presented and the overall system architecture is described. Implementing such a system in an existing hospital showed...

  5. Human-rating Automated and Robotic Systems - (How HAL Can Work Safely with Astronauts)

    Science.gov (United States)

    Baroff, Lynn; Dischinger, Charlie; Fitts, David

    2009-01-01

    Long duration human space missions, as planned in the Vision for Space Exploration, will not be possible without applying unprecedented levels of automation to support the human endeavors. The automated and robotic systems must carry the load of routine housekeeping for the new generation of explorers, as well as assist their exploration science and engineering work with new precision. Fortunately, the state of automated and robotic systems is sophisticated and sturdy enough to do this work - but the systems themselves have never been human-rated as all other NASA physical systems used in human space flight have. Our intent in this paper is to provide perspective on requirements and architecture for the interfaces and interactions between human beings and the astonishing array of automated systems; and the approach we believe necessary to create human-rated systems and implement them in the space program. We will explain our proposed standard structure for automation and robotic systems, and the process by which we will develop and implement that standard as an addition to NASA s Human Rating requirements. Our work here is based on real experience with both human system and robotic system designs; for surface operations as well as for in-flight monitoring and control; and on the necessities we have discovered for human-systems integration in NASA's Constellation program. We hope this will be an invitation to dialog and to consideration of a new issue facing new generations of explorers and their outfitters.

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

    OpenAIRE

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

    2017-01-01

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

  7. The use of automation and robotic systems to establish and maintain lunar base operations

    Science.gov (United States)

    Petrosky, Lyman J.

    1992-01-01

    Robotic systems provide a means of performing many of the operations required to establish and maintain a lunar base. They form a synergistic system when properly used in concert with human activities. This paper discusses the various areas where robotics and automation may be used to enhance lunar base operations. Robots are particularly well suited for surface operations (exterior to the base habitat modules) because they can be designed to operate in the extreme temperatures and vacuum conditions of the Moon (or Mars). In this environment, the capabilities of semi-autonomous robots would surpass that of humans in all but the most complex tasks. Robotic surface operations include such activities as long range geological and mineralogical surveys with sample return, materials movement in and around the base, construction of radiation barriers around habitats, transfer of materials over large distances, and construction of outposts. Most of the above operations could be performed with minor modifications to a single basic robotic rover. Within the lunar base habitats there are a few areas where robotic operations would be preferable to human operations. Such areas include routine inspections for leakage in the habitat and its systems, underground transfer of materials between habitats, and replacement of consumables. In these and many other activities, robotic systems will greatly enhance lunar base operations. The robotic systems described in this paper are based on what is realistically achievable with relatively near term technology. A lunar base can be built and maintained if we are willing.

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

    Science.gov (United States)

    1990-09-01

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

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

    Data.gov (United States)

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

  10. A Multidisciplinary PBL Robot Control Project in Automation and Electronic Engineering

    Science.gov (United States)

    Hassan, Houcine; Domínguez, Carlos; Martínez, Juan-Miguel; Perles, Angel; Capella, Juan-Vicente; Albaladejo, José

    2015-01-01

    This paper presents a multidisciplinary problem-based learning (PBL) project consisting of the development of a robot arm prototype and the implementation of its control system. The project is carried out as part of Industrial Informatics (II), a compulsory third-year course in the Automation and Electronic Engineering (AEE) degree program at the…

  11. 3D vision system for intelligent milking robot automation

    Science.gov (United States)

    Akhloufi, M. A.

    2013-12-01

    In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

  12. An innovative approach for modeling and simulation of an automated industrial robotic arm operated electro-pneumatically

    Science.gov (United States)

    Popa, L.; Popa, V.

    2017-08-01

    The article is focused on modeling an automated industrial robotic arm operated electro-pneumatically and to simulate the robotic arm operation. It is used the graphic language FBD (Function Block Diagram) to program the robotic arm on Zelio Logic automation. The innovative modeling and simulation procedures are considered specific problems regarding the development of a new type of technical products in the field of robotics. Thus, were identified new applications of a Programmable Logic Controller (PLC) as a specialized computer performing control functions with a variety of high levels of complexit.

  13. Service Robots for Hospitals

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    services to maintain the quality of healthcare provided. This thesis and the Industrial PhD project aim to address logistics, which is the most resource demanding service in a hospital. The scale of the transportation tasks is huge and the material flow in a hospital is comparable to that of a factory. We...... believe that these transportation tasks, to a great extent, can be and will be automated using mobile robots. This thesis consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable...... manual work and offer many advantages beyond robotics. Finally, this thesis outlines our contributions in representation of multi-floor buildings, which is a vital requirement to achieve robust and practical, real-world service robot applications....

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

    Directory of Open Access Journals (Sweden)

    Eli Kolberg

    2013-02-01

    Full Text Available We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously. The task is to use the developed robotic system for search and rescue mission such as saving survivals from a fire.

  15. Distributed Automated Medical Robotics to Improve Medical Field Operations

    Science.gov (United States)

    2010-04-01

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

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

    NARCIS (Netherlands)

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

    2013-01-01

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

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

    Science.gov (United States)

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

    2016-08-01

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

  18. Attributing Agency to Automated Systems: Reflections on Human-Robot Collaborations and Responsibility-Loci.

    Science.gov (United States)

    Nyholm, Sven

    2017-07-18

    Many ethicists writing about automated systems (e.g. self-driving cars and autonomous weapons systems) attribute agency to these systems. Not only that; they seemingly attribute an autonomous or independent form of agency to these machines. This leads some ethicists to worry about responsibility-gaps and retribution-gaps in cases where automated systems harm or kill human beings. In this paper, I consider what sorts of agency it makes sense to attribute to most current forms of automated systems, in particular automated cars and military robots. I argue that whereas it indeed makes sense to attribute different forms of fairly sophisticated agency to these machines, we ought not to regard them as acting on their own, independently of any human beings. Rather, the right way to understand the agency exercised by these machines is in terms of human-robot collaborations, where the humans involved initiate, supervise, and manage the agency of their robotic collaborators. This means, I argue, that there is much less room for justified worries about responsibility-gaps and retribution-gaps than many ethicists think.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1991-09-01

    Lawrence Livermore National Laboratory (LLNL) is developing a fully automated system to handle the processing of special nuclear materials (SNM). This work is performed in response to the new goals at the Department of Energy (DOE) for hazardous waste minimization and radiation dose reduction. This fully automated system, called the automated test bed (ATB), consists of an IBM gantry robot and automated processing equipment sealed within a glove box. While the ATB is a cold system, we are designing it as a prototype of the future hot system. We recognized that identification and application of safety requirements early in the design phase will lead to timely installation and approval of the hot system. This paper identifies these safety issues as well as the general safety requirements necessary for the safe operation of the ATB. 4 refs., 2 figs.

  20. Automated site characterization for robotic sample acquisition systems

    Science.gov (United States)

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

    1991-01-01

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

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

    CERN Document Server

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

    2013-01-01

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

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

    OpenAIRE

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

    2013-01-01

    We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously). The task is to use the developed ...

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-01-01

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

  4. Advances in inspection automation

    Science.gov (United States)

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

    2013-01-01

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

  5. Introduction to robotics

    Energy Technology Data Exchange (ETDEWEB)

    Vukobratovic, M.

    1989-01-01

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

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

    Directory of Open Access Journals (Sweden)

    G.E. Xin-Feng

    2012-08-01

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

  7. 9th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Bernard, Alain; Gusikhin, Oleg; Madani, Kurosh

    2014-01-01

    This book includes extended and revised versions of a set of selected papers from the Ninth International Conference on Informatics in Control Automation and Robotics (ICINCO 2012), held in Rome, Italy, from 28 to 31 July 2012. The conference was organized in four simultaneous tracks: Intelligent Control Systems and Optimization, Robotics and Automation, Systems Modeling, Signal Processing and Control and Industrial Engineering, Production and Management.   ICINCO 2012 received 360 paper submissions, from 58 countries in all continents. From these, after a blind review process, only 40 were accepted as full papers, of which 20 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers reflect the interdisciplinary nature of the conference as well as the logic equilibrium between the four abovementioned tracks. The diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and...

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

    Science.gov (United States)

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

    2016-01-01

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

  9. Automating the Incremental Evolution of Controllers for Physical Robots

    DEFF Research Database (Denmark)

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

    2017-01-01

    of the test environment and shows that it is possible, for the first time, to incrementally evolve a neural robot controller for different obstacle avoidance tasks with no human intervention. Importantly, the system offers a high level of robustness and precision that could potentially open up the range...... constitute one such problem. Another lies in the embodiment of the evolutionary processes, which links to the first, but focuses on how evolution can act on real agents and occur independently from simulation, that is, going from being, as Eiben et al. put it, “the evolution of things, rather than just...

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

    Science.gov (United States)

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

    1999-06-15

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

  11. Automated array assembly. Quarterly report No. 5. [Cost analysis and factory design

    Energy Technology Data Exchange (ETDEWEB)

    D' Aiello, R.V.

    1977-10-01

    During this quarter, an interim 1982 factory was designed for the large-scale production of silicon solar cell array modules. The boundary conditions for this design are the use of Czochralski silicon crystals and $25/kg polycrystalline silicon. The objective is a large-scale production facility to meet an intermediate ERDA cost goal of $2.00/W in 1982. The approach was to first consider a panel design which could be expected to have a 20-year life and would also meet the JPL specification on mechanical, electrical, and environmental stability. Attention was then directed to a cost analysis of the production of the elements comprising this panel. Since it was expected that wafer production would comprise a major fraction of the cost, several cost reduction schemes were considered for the Czochralski pulling and sawing of the wafers. A solar-cell processing sequence was selected on the basis of our previous cost studies and the projected availability of production equipment by 1982. These criteria resulted in the selection of POCl/sub 3/ gaseous diffusion for junction formation, thick-film Ag screen-printed metallization, spray-on antireflection (AR) coating, and solder reflow interconnect technology. The economic study was made by computer analysis of the cost elements of these process sequences at production levels ranging from 3 to 100 MW/yr. With the results of this study, a 30-MW/yr factory was designed, and a preliminary floor plan layout is given. A manufacturing cost of $2.01/W is projected and, including factory overhead and profit, a selling price of $2.27/W is projected.

  12. Automation of microfactories: towards using small industrial robots

    DEFF Research Database (Denmark)

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

    2005-01-01

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

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

    Science.gov (United States)

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

    2014-03-01

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

  14. Development and verification testing of automation and robotics for assembly of space structures

    Science.gov (United States)

    Rhodes, Marvin D.; Will, Ralph W.; Quach, Cuong C.

    1993-01-01

    A program was initiated within the past several years to develop operational procedures for automated assembly of truss structures suitable for large-aperture antennas. The assembly operations require the use of a robotic manipulator and are based on the principle of supervised autonomy to minimize crew resources. A hardware testbed was established to support development and evaluation testing. A brute-force automation approach was used to develop the baseline assembly hardware and software techniques. As the system matured and an operation was proven, upgrades were incorprated and assessed against the baseline test results. This paper summarizes the developmental phases of the program, the results of several assembly tests, the current status, and a series of proposed developments for additional hardware and software control capability. No problems that would preclude automated in-space assembly of truss structures have been encountered. The current system was developed at a breadboard level and continued development at an enhanced level is warranted.

  15. Virtual Planning, Control, and Machining for a Modular-Based Automated Factory Operation in an Augmented Reality Environment.

    Science.gov (United States)

    Pai, Yun Suen; Yap, Hwa Jen; Md Dawal, Siti Zawiah; Ramesh, S; Phoon, Sin Ye

    2016-06-07

    This study presents a modular-based implementation of augmented reality to provide an immersive experience in learning or teaching the planning phase, control system, and machining parameters of a fully automated work cell. The architecture of the system consists of three code modules that can operate independently or combined to create a complete system that is able to guide engineers from the layout planning phase to the prototyping of the final product. The layout planning module determines the best possible arrangement in a layout for the placement of various machines, in this case a conveyor belt for transportation, a robot arm for pick-and-place operations, and a computer numerical control milling machine to generate the final prototype. The robotic arm module simulates the pick-and-place operation offline from the conveyor belt to a computer numerical control (CNC) machine utilising collision detection and inverse kinematics. Finally, the CNC module performs virtual machining based on the Uniform Space Decomposition method and axis aligned bounding box collision detection. The conducted case study revealed that given the situation, a semi-circle shaped arrangement is desirable, whereas the pick-and-place system and the final generated G-code produced the highest deviation of 3.83 mm and 5.8 mm respectively.

  16. Virtual Planning, Control, and Machining for a Modular-Based Automated Factory Operation in an Augmented Reality Environment

    Science.gov (United States)

    Pai, Yun Suen; Yap, Hwa Jen; Md Dawal, Siti Zawiah; Ramesh, S.; Phoon, Sin Ye

    2016-06-01

    This study presents a modular-based implementation of augmented reality to provide an immersive experience in learning or teaching the planning phase, control system, and machining parameters of a fully automated work cell. The architecture of the system consists of three code modules that can operate independently or combined to create a complete system that is able to guide engineers from the layout planning phase to the prototyping of the final product. The layout planning module determines the best possible arrangement in a layout for the placement of various machines, in this case a conveyor belt for transportation, a robot arm for pick-and-place operations, and a computer numerical control milling machine to generate the final prototype. The robotic arm module simulates the pick-and-place operation offline from the conveyor belt to a computer numerical control (CNC) machine utilising collision detection and inverse kinematics. Finally, the CNC module performs virtual machining based on the Uniform Space Decomposition method and axis aligned bounding box collision detection. The conducted case study revealed that given the situation, a semi-circle shaped arrangement is desirable, whereas the pick-and-place system and the final generated G-code produced the highest deviation of 3.83 mm and 5.8 mm respectively.

  17. KNOWLEDGE-BASED ROBOT VISION SYSTEM FOR AUTOMATED PART HANDLING

    Directory of Open Access Journals (Sweden)

    J. Wang

    2012-01-01

    Full Text Available

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

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

  18. Automation Hardware & Software for the STELLA Robotic Telescope

    Science.gov (United States)

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

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

  19. Evidence Report, Risk of Inadequate Design of Human and Automation/Robotic Integration

    Science.gov (United States)

    Zumbado, Jennifer Rochlis; Billman, Dorrit; Feary, Mike; Green, Collin

    2011-01-01

    The success of future exploration missions depends, even more than today, on effective integration of humans and technology (automation and robotics). This will not emerge by chance, but by design. Both crew and ground personnel will need to do more demanding tasks in more difficult conditions, amplifying the costs of poor design and the benefits of good design. This report has looked at the importance of good design and the risks from poor design from several perspectives: 1) If the relevant functions needed for a mission are not identified, then designs of technology and its use by humans are unlikely to be effective: critical functions will be missing and irrelevant functions will mislead or drain attention. 2) If functions are not distributed effectively among the (multiple) participating humans and automation/robotic systems, later design choices can do little to repair this: additional unnecessary coordination work may be introduced, workload may be redistributed to create problems, limited human attentional resources may be wasted, and the capabilities of both humans and technology underused. 3) If the design does not promote accurate understanding of the capabilities of the technology, the operators will not use the technology effectively: the system may be switched off in conditions where it would be effective, or used for tasks or in contexts where its effectiveness may be very limited. 4) If an ineffective interaction design is implemented and put into use, a wide range of problems can ensue. Many involve lack of transparency into the system: operators may be unable or find it very difficult to determine a) the current state and changes of state of the automation or robot, b) the current state and changes in state of the system being controlled or acted on, and c) what actions by human or by system had what effects. 5) If the human interfaces for operation and control of robotic agents are not designed to accommodate the unique points of view and

  20. Conceptual Design and Feasibility Analyses of a Robotic System for Automated Exterior Wall Painting

    Directory of Open Access Journals (Sweden)

    Young S. Kim

    2008-11-01

    Full Text Available There are approximately 6,677,000 apartment housing units in South Korea. Exterior wall painting for such multi-dwelling apartment housings in South Korea represents a typical area to which construction automation technology can be applied for improvement in safety, productivity, quality, and cost over the conventional method. The conventional exterior wall painting is costly and labor-intensive, and it especially exposes workers to significant health and safety risks. The primary objective of this study is to design a conceptual model of an exterior wall painting robot which is applicable to apartment housing construction and maintenance, and to conduct its technical?economical feasibility analyses. In this study, a design concept using a high ladder truck is proposed as the best alternative for automation of the exterior wall painting. Conclusions made in this study show that the proposed exterior wall painting robot is technically and economically feasible, and can greatly enhance safety, productivity, and quality compared to the conventional method. Finally, it is expected that the conceptual model of the exterior wall painting robot would be efficiently used in various applications in exterior wall finishing and maintenance of other architectural and civil structures such as commercial buildings, towers, and high-rise storage tanks.

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

    Science.gov (United States)

    Hu, Songyu; Sun, Dong

    2011-08-01

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

  2. Automated calibration methods for robotic multisensor landmine detection

    Science.gov (United States)

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

    2007-04-01

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

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

    Institute of Scientific and Technical Information of China (English)

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

    2009-01-01

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

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

    DEFF Research Database (Denmark)

    Find, Jens

    extended periods in liquid nitrogen at -196°C However, commercial application of the technology has until now been hampered by two essential problems: The production costs per plant must be reduced. Labour costs are low in the early steps of the process whereas they increase dramatically during the later...... for the production of Christmas trees and Sitka spruce has gained renewed interest as a fast growing species for the production biofuels. These species are used as model systems for the development of automated plant production based on robot and visualisation technology. The commercial aspect of the project aims at...... effective and fast method for clonal propagation. The method is suitable for automatisation and robot technology. The method is, for several plant species, the preferred basis for development of additional biotechnological breeding technologies as e.g. genetic transformation. Elite clones can be stored over...

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-05-15

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to shipowners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-05-15

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to ship owners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

  7. Evolutionary approaches for scheduling a flexible manufacturing system with automated guided vehicles and robots

    Directory of Open Access Journals (Sweden)

    Ramaraj Natarajan

    2012-08-01

    Full Text Available This paper addresses the scheduling of machines, an Automated Guided Vehicle (AGV and two robots in a Flexible Manufacturing System (FMS formed in three loop layouts, with objectives to minimize the makespan, mean flow time and mean tardiness. The scheduling optimization is carried out using Sheep Flock Heredity Algorithm (SFHA and Artificial Immune System (AIS algorithm. AGV is used for carrying jobs between the Load/Unload station and the machines. The robots are used for loading and unloading the jobs in the machines, and also used for transferring jobs between the machines. The algorithms are applied for test problems taken from the literature and the results obtained using the two algorithms are compared. The results indicate that SFHA performs better than AIS for this problem.

  8. Factory automation management computer system and its applications. FA kanri computer system no tekiyo jirei

    Energy Technology Data Exchange (ETDEWEB)

    Maeda, M. (Meidensha Corp., Tokyo (Japan))

    1993-06-11

    A plurality of NC composite lathes used in a breaker manufacturing and processing line were integrated under a system mainly comprising the industrial computer [mu] PORT, an exclusive LAN, and material handling robots. This paper describes this flexible manufacturing system (FMS) that operates on an unmanned basis from process control to material distribution and processing. This system has achieved the following results: efficiency improvement in lines producing a great variety of products in small quantities and in mixed flow production lines enhancement in facility operating rates by means of group management of NC machine tools; orientation to developing into integrated production systems; expansion of processing capacity; reduction in number of processes; and reduction in management and indirect manpowers. This system allocates the production control plans transmitted from the production control system operated by a host computer to the processes on a daily basis and by machines, using the [mu] PORT. This FMS utilizes features of the multi-task processing function of the [mu] PORT and the ultra high-speed real-time-based BASIC. The system processes simultaneously the process management such as machining programs and processing results, the processing data management, and the operation control of a plurality of machines. The system achieved systematized machining processes. 6 figs., 2 tabs.

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

    Science.gov (United States)

    Lee, Hyunki; Cho, Hyungsuck

    2007-10-01

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

  10. R-Tourism: Introducing the Potential Impact of Robotics and Service Automation in Tourism

    Directory of Open Access Journals (Sweden)

    Papathanassis Alexis

    2017-01-01

    Full Text Available Robotics and artificial intelligence are expected to reach their ‘tipping points’ over the nextdecade. Digitalization and service automation are already visible in the tourism sector, raisingquestions on their wider impact on the industry and the holiday-experience per se. Numerousapplication examples and cases of those technologies across the entire holiday value-chain areoutlined and their diffusion drivers are discussed. Apart from providing a typology for R-tourismapplications, this paper makes a strong case for the incorporation of this interdisciplinary areainto mainstream tourism research.

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

    Directory of Open Access Journals (Sweden)

    Borovik Vasiliy

    2016-01-01

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

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

    Science.gov (United States)

    Kitson, Philip J; Glatzel, Stefan

    2016-01-01

    An automated synthesis robot was constructed by modifying an open source 3D printing platform. The resulting automated system was used to 3D print reaction vessels (reactionware) of differing internal volumes using polypropylene feedstock via a fused deposition modeling 3D printing approach and subsequently make use of these fabricated vessels to synthesize the nonsteroidal anti-inflammatory drug ibuprofen via a consecutive one-pot three-step approach. The synthesis of ibuprofen could be achieved on different scales simply by adjusting the parameters in the robot control software. The software for controlling the synthesis robot was written in the python programming language and hard-coded for the synthesis of ibuprofen by the method described, opening possibilities for the sharing of validated synthetic ‘programs’ which can run on similar low cost, user-constructed robotic platforms towards an ‘open-source’ regime in the area of chemical synthesis. PMID:28144350

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

    Science.gov (United States)

    Kitson, Philip J; Glatzel, Stefan; Cronin, Leroy

    2016-01-01

    An automated synthesis robot was constructed by modifying an open source 3D printing platform. The resulting automated system was used to 3D print reaction vessels (reactionware) of differing internal volumes using polypropylene feedstock via a fused deposition modeling 3D printing approach and subsequently make use of these fabricated vessels to synthesize the nonsteroidal anti-inflammatory drug ibuprofen via a consecutive one-pot three-step approach. The synthesis of ibuprofen could be achieved on different scales simply by adjusting the parameters in the robot control software. The software for controlling the synthesis robot was written in the python programming language and hard-coded for the synthesis of ibuprofen by the method described, opening possibilities for the sharing of validated synthetic 'programs' which can run on similar low cost, user-constructed robotic platforms towards an 'open-source' regime in the area of chemical synthesis.

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

    Directory of Open Access Journals (Sweden)

    Philip J. Kitson

    2016-12-01

    Full Text Available An automated synthesis robot was constructed by modifying an open source 3D printing platform. The resulting automated system was used to 3D print reaction vessels (reactionware of differing internal volumes using polypropylene feedstock via a fused deposition modeling 3D printing approach and subsequently make use of these fabricated vessels to synthesize the nonsteroidal anti-inflammatory drug ibuprofen via a consecutive one-pot three-step approach. The synthesis of ibuprofen could be achieved on different scales simply by adjusting the parameters in the robot control software. The software for controlling the synthesis robot was written in the python programming language and hard-coded for the synthesis of ibuprofen by the method described, opening possibilities for the sharing of validated synthetic ‘programs’ which can run on similar low cost, user-constructed robotic platforms towards an ‘open-source’ regime in the area of chemical synthesis.

  15. Remote Minimally Invasive Surgery – Haptic Feedback and Selective Automation in Medical Robotics

    Directory of Open Access Journals (Sweden)

    Christoph Staub

    2011-01-01

    Full Text Available The automation of recurrent tasks and force feedback are complex problems in medical robotics. We present a novel approach that extends human-machine skill-transfer by a scaffolding framework. It assumes a consolidated working environment for both, the trainee and the trainer. The trainer provides hints and cues in a basic structure which is already understood by the learner. In this work, the scaffolding is constituted by abstract patterns, which facilitate the structuring and segmentation of information during “Learning by Demonstration” (LbD. With this concept, the concrete example of knot-tying for suturing is exemplified and evaluated. During the evaluation, most problems and failures arose due to intrinsic system imprecisions of the medical robot system. These inaccuracies were then improved by the visual guidance of the surgical instruments. While the benefits of force feedback in telesurgery has already been demonstrated and measured forces are also used during task learning, the transmission of signals between the operator console and the robot system over long-distances or across-network remote connections is still a challenge due to time-delay. Especially during incision processes with a scalpel into tissue, a delayed force feedback yields to an unpredictable force perception at the operator-side and can harm the tissue which the robot is interacting with. We propose a XFEM-based incision force prediction algorithm that simulates the incision contact-forces in real-time and compensates the delayed force sensor readings. A realistic 4-arm system for minimally invasive robotic heart surgery is used as a platform for the research.

  16. Report on Computer Programs for Robotic Vision

    Science.gov (United States)

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

    1986-01-01

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

  17. Report on Computer Programs for Robotic Vision

    Science.gov (United States)

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

    1986-01-01

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

  18. Automated Trajectory Planner of Industrial Robot for Pick-and-Place Task

    Directory of Open Access Journals (Sweden)

    S. Saravana Perumaal

    2013-02-01

    Full Text Available Industrial robots, due to their great speed, precision and cost-effectiveness in repetitive tasks, now tend to be used in place of human workers in automated manufacturing systems. In particular, they perform the pick-and-place operation, a non-value-added activity which at the same time cannot be eliminated. Hence, minimum time is an important consideration for economic reasons in the trajectory planning system of the manipulator. The trajectory should also be smooth to handle parts precisely in applications such as semiconductor manufacturing, processing and handling of chemicals and medicines, and fluid and aerosol deposition. In this paper, an automated trajectory planner is proposed to determine a smooth, minimum-time and collision-free trajectory for the pick-and-place operations of a 6-DOF robotic manipulator in the presence of an obstacle. Subsequently, it also proposes an algorithm for the jerk-bounded Synchronized Trigonometric S-curve Trajectory (STST and the ‘forbidden-sphere’ technique to avoid the obstacle. The proposed planner is demonstrated with suitable examples and comparisons. The experiments show that the proposed planner is capable of providing a smoother trajectory than the cubic spline based trajectory.

  19. Effects of imperfect automation and individual differences on concurrent performance of military and robotics tasks in a simulated multitasking environment.

    Science.gov (United States)

    Chen, J Y C; Terrence, P I

    2009-08-01

    This study investigated the performance and workload of the combined position of gunner and robotics operator in a simulated military multitasking environment. Specifically, the study investigated how aided target recognition (AiTR) capabilities for the gunnery task with imperfect reliability (false-alarm-prone vs. miss-prone) might affect the concurrent robotics and communication tasks. Additionally, the study examined whether performance was affected by individual differences in spatial ability and attentional control. Results showed that when the robotics task was simply monitoring the video, participants had the best performance in their gunnery and communication tasks and the lowest perceived workload, compared with the other robotics tasking conditions. There was a strong interaction between the type of AiTR unreliability and participants' perceived attentional control. Overall, for participants with higher perceived attentional control, false-alarm-prone alerts were more detrimental; for low attentional control participants, conversely, miss-prone automation was more harmful. Low spatial ability participants preferred visual cueing and high spatial ability participants favoured tactile cueing. Potential applications of the findings include personnel selection for robotics operation, robotics user interface designs and training development. The present results will provide further understanding of the interplays among automation reliability, multitasking performance and individual differences in military tasking environments. These results will also facilitate the implementation of robots in military settings and will provide useful data to military system designs.

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

    Science.gov (United States)

    2014-07-01

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

  1. Modeling and control of tissue compression and temperature for automation in robot-assisted surgery.

    Science.gov (United States)

    Sinha, Utkarsh; Li, Baichun; Sankaranarayanan, Ganesh

    2014-01-01

    Robotic surgery is being used widely due to its various benefits that includes reduced patient trauma and increased dexterity and ergonomics for the operating surgeon. Making the whole or part of the surgical procedure autonomous increases patient safety and will enable the robotic surgery platform to be used in telesurgery. In this work, an Electrosurgery procedure that involves tissue compression and application of heat such as the coaptic vessel closure has been automated. A MIMO nonlinear model characterizing the tissue stiffness and conductance under compression was feedback linearized and tuned PID controllers were used to control the system to achieve both the displacement and temperature constraints. A reference input for both the constraints were chosen as a ramp and hold trajectory which reflect the real constraints that exist in an actual surgical procedure. Our simulations showed that the controllers successfully tracked the reference trajectories with minimal deviation and in finite time horizon. The MIMO system with controllers developed in this work can be used to drive a surgical robot autonomously and perform electrosurgical procedures such as coaptic vessel closures.

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

    Science.gov (United States)

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

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

  3. An automated robotic platform for rapid profiling oligosaccharide analysis of monoclonal antibodies directly from cell culture.

    Science.gov (United States)

    Doherty, Margaret; Bones, Jonathan; McLoughlin, Niaobh; Telford, Jayne E; Harmon, Bryan; DeFelippis, Michael R; Rudd, Pauline M

    2013-11-01

    Oligosaccharides attached to Asn297 in each of the CH2 domains of monoclonal antibodies play an important role in antibody effector functions by modulating the affinity of interaction with Fc receptors displayed on cells of the innate immune system. Rapid, detailed, and quantitative N-glycan analysis is required at all stages of bioprocess development to ensure the safety and efficacy of the therapeutic. The high sample numbers generated during quality by design (QbD) and process analytical technology (PAT) create a demand for high-performance, high-throughput analytical technologies for comprehensive oligosaccharide analysis. We have developed an automated 96-well plate-based sample preparation platform for high-throughput N-glycan analysis using a liquid handling robotic system. Complete process automation includes monoclonal antibody (mAb) purification directly from bioreactor media, glycan release, fluorescent labeling, purification, and subsequent ultra-performance liquid chromatography (UPLC) analysis. The entire sample preparation and commencement of analysis is achieved within a 5-h timeframe. The automated sample preparation platform can easily be interfaced with other downstream analytical technologies, including mass spectrometry (MS) and capillary electrophoresis (CE), for rapid characterization of oligosaccharides present on therapeutic antibodies. Copyright © 2013 Elsevier Inc. All rights reserved.

  4. Validation of a fully automated robotic setup for preparation of whole blood samples for LC-MS toxicology analysis

    DEFF Research Database (Denmark)

    Andersen, David Wederkinck; Rasmussen, Brian; Linnet, Kristian

    2012-01-01

    A fully automated setup was developed for preparing whole blood samples using a Tecan Evo workstation. By integrating several add-ons to the robotic platform, the flexible setup was able to prepare samples from sample tubes to a 96-well sample plate ready for injection on liquid chromatography...

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

    Energy Technology Data Exchange (ETDEWEB)

    Williams, Joshua M. [Los Alamos National Laboratory

    2012-06-12

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

  6. Assessment Study on Sensors and Automation in the Industries of the Future. Reports on Industrial Controls, Information Processing, Automation, and Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, Bonnie [Adventium Labs; Boddy, Mark [Adventium Labs; Doyle, Frank [Univ. of California, Santa Barbara, CA (United States); Jamshidi, Mo [Univ. of New Mexico, Albuquerque, NM (United States); Ogunnaike, Tunde [Univ. of Delaware, Newark, DE (United States)

    2004-11-01

    This report presents the results of an expert study to identify research opportunities for Sensors & Automation, a sub-program of the U.S. Department of Energy (DOE) Industrial Technologies Program (ITP). The research opportunities are prioritized by realizable energy savings. The study encompasses the technology areas of industrial controls, information processing, automation, and robotics. These areas have been central areas of focus of many Industries of the Future (IOF) technology roadmaps. This report identifies opportunities for energy savings as a direct result of advances in these areas and also recognizes indirect means of achieving energy savings, such as product quality improvement, productivity improvement, and reduction of recycle.

  7. Evaluating space station applications of automation and robotics technologies from a human productivity point of view

    Science.gov (United States)

    Bard, J. F.

    1986-01-01

    The role that automation, robotics, and artificial intelligence will play in Space Station operations is now beginning to take shape. Although there is only limited data on the precise nature of the payoffs that these technologies are likely to afford there is a general consensus that, at a minimum, the following benefits will be realized: increased responsiveness to innovation, lower operating costs, and reduction of exposure to hazards. Nevertheless, the question arises as to how much automation can be justified with the technical and economic constraints of the program? The purpose of this paper is to present a methodology which can be used to evaluate and rank different approaches to automating the functions and tasks planned for the Space Station. Special attention is given to the impact of advanced automation on human productivity. The methodology employed is based on the Analytic Hierarchy Process. This permits the introduction of individual judgements to resolve the confict that normally arises when incomparable criteria underly the selection process. Because of the large number of factors involved in the model, the overall problem is decomposed into four subproblems individually focusing on human productivity, economics, design, and operations, respectively. The results from each are then combined to yield the final rankings. To demonstrate the methodology, an example is developed based on the selection of an on-orbit assembly system. Five alternatives for performing this task are identified, ranging from an astronaut working in space, to a dexterous manipulator with sensory feedback. Computational results are presented along with their implications. A final parametric analysis shows that the outcome is locally insensitive to all but complete reversals in preference.

  8. Silhouette-based approach of 3D image reconstruction for automated image acquisition using robotic arm

    Science.gov (United States)

    Azhar, N.; Saad, W. H. M.; Manap, N. A.; Saad, N. M.; Syafeeza, A. R.

    2017-06-01

    This study presents the approach of 3D image reconstruction using an autonomous robotic arm for the image acquisition process. A low cost of the automated imaging platform is created using a pair of G15 servo motor connected in series to an Arduino UNO as a main microcontroller. Two sets of sequential images were obtained using different projection angle of the camera. The silhouette-based approach is used in this study for 3D reconstruction from the sequential images captured from several different angles of the object. Other than that, an analysis based on the effect of different number of sequential images on the accuracy of 3D model reconstruction was also carried out with a fixed projection angle of the camera. The effecting elements in the 3D reconstruction are discussed and the overall result of the analysis is concluded according to the prototype of imaging platform.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-01-01

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

  10. 10th International Conference on Informatics in Control Automation and Robotics

    CERN Document Server

    Gusikhin, Oleg; Madani, Kurosh; Sasiadek, Jurek

    2015-01-01

    The present book includes a set of selected papers from the tenth “International Conference on Informatics in Control Automation and Robotics” (ICINCO 2013), held in Reykjavík, Iceland, from 29 to 31 July 2013. The conference was organized in four simultaneous tracks: “Intelligent Control Systems and Optimization”, “Robotics and Automation”, “Signal Processing, Sensors, Systems Modeling and Control” and “Industrial Engineering, Production and Management”. The book is based on the same structure. ICINCO 2013 received 255 paper submissions from 50 countries, in all continents. After a double blind paper review performed by the Program Committee only 30% were published and presented orally. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2013.

  11. 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.

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

    Science.gov (United States)

    Gelderman, Richard; Treffers, Richard R.

    2011-03-01

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

  13. Vision-based obstacle recognition system for automated lawn mower robot development

    Science.gov (United States)

    Mohd Zin, Zalhan; Ibrahim, Ratnawati

    2011-06-01

    Digital image processing techniques (DIP) have been widely used in various types of application recently. Classification and recognition of a specific object using vision system require some challenging tasks in the field of image processing and artificial intelligence. The ability and efficiency of vision system to capture and process the images is very important for any intelligent system such as autonomous robot. This paper gives attention to the development of a vision system that could contribute to the development of an automated vision based lawn mower robot. The works involve on the implementation of DIP techniques to detect and recognize three different types of obstacles that usually exist on a football field. The focus was given on the study on different types and sizes of obstacles, the development of vision based obstacle recognition system and the evaluation of the system's performance. Image processing techniques such as image filtering, segmentation, enhancement and edge detection have been applied in the system. The results have shown that the developed system is able to detect and recognize various types of obstacles on a football field with recognition rate of more 80%.

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

    Science.gov (United States)

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

    2016-10-01

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

  15. A plan for time-phased incorporation of automation and robotics on the US space station

    Science.gov (United States)

    Purves, R. B.; Lin, P. S.; Fisher, E. M., Jr.

    1988-01-01

    A plan for the incorporation of Automation and Robotics technology on the Space Station is presented. The time phased introduction of twenty two selected candidates is set forth in accordance with a technology development forecast. Twenty candidates were chosed primarily for their potential to relieve the crew of mundane or dangerous operations and maintenance burdens, thus freeing crew time for mission duties and enhancing safety. Two candidates were chosen based on a potential for increasing the productivity of laboratory experiments and thus directly enhancing the scientific value of the Space Station. A technology assessment for each candidate investigates present state of the art, development timelines including space qualification considerations, and potential for technology transfer to earth applications. Each candidate is evaluated using a crew workload model driven by crew size, number of pressurized U.S. modules and external payloads, which makes it possible to assess the impact of automation during a growth scenario. Costs for each increment of implementation are estimated and accumulated.

  16. A methodology for automation and robotics evaluation applied to the space station telerobotic servicer

    Science.gov (United States)

    Smith, Jeffrey H.; Gyanfi, Max; Volkmer, Kent; Zimmerman, Wayne

    1988-01-01

    The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.

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

    Science.gov (United States)

    Tsuji, K; Martin, P A

    1985-01-01

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

  18. SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

    Science.gov (United States)

    1991-01-01

    Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.

  19. Development and Validation of a Low Cost, Flexible, Open Source Robot for Use as a Teaching and Research Tool across the Educational Spectrum

    Science.gov (United States)

    Howell, Abraham L.

    2012-01-01

    In the high tech factories of today robots can be used to perform various tasks that span a wide spectrum that encompasses the act of performing high-speed, automated assembly of cell phones, laptops and other electronic devices to the compounding, filling, packaging and distribution of life-saving pharmaceuticals. As robot usage continues to…

  20. Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras

    Science.gov (United States)

    Xu, Yiliang

    2011-01-01

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. …

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

    Science.gov (United States)

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

    2015-03-15

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

  2. Intelligent robot trends for 1998

    Science.gov (United States)

    Hall, Ernest L.

    1998-10-01

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

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

    Science.gov (United States)

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

    2008-01-01

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

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

    Science.gov (United States)

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

    2008-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-02-01

    Three projects are currently underway for the development of new coatings for the protection of materials in the space environment. These coatings are based on vacuum deposition technologies. The projects will go as far as the proof-of-concept stage when the commercial potential for the technology will be demonstrated on pilot-scale fabrication facilities in 1996. These projects are part of a subprogram to develop supporting technologies for automation and robotics technologies being developed under the Canadian Space Agency`s STEAR Program, part of the Canadian Space Station Program.

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

    Science.gov (United States)

    2015-10-01

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

  7. [Robotics].

    Science.gov (United States)

    Bier, J

    2000-05-01

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

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

    Science.gov (United States)

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

    2001-10-01

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

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

    Science.gov (United States)

    1993-09-01

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

  10. Generador Automático de Presentaciones para Robot-Guía

    OpenAIRE

    Rainer Granados, José Javier; Galán López, Ramón

    2010-01-01

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

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

    Science.gov (United States)

    Mckee, James W.

    1989-01-01

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

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

    Science.gov (United States)

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

    2009-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1993-04-01

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

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

    Institute of Scientific and Technical Information of China (English)

    梁思秋; 葛华勇

    2015-01-01

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

  15. Hierarchical Robot Control In A Multisensor Environment

    Science.gov (United States)

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

    1987-03-01

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

  16. Engineering the smart factory

    Science.gov (United States)

    Harrison, Robert; Vera, Daniel; Ahmad, Bilal

    2016-10-01

    The fourth industrial revolution promises to create what has been called the smart factory. The vision is that within such modular structured smart factories, cyber-physical systems monitor physical processes, create a virtual copy of the physical world and make decentralised decisions. This paper provides a view of this initiative from an automation systems perspective. In this context it considers how future automation systems might be effectively configured and supported through their lifecycles and how integration, application modelling, visualisation and reuse of such systems might be best achieved. The paper briefly describes limitations in current engineering methods, and new emerging approaches including the cyber physical systems (CPS) engineering tools being developed by the automation systems group (ASG) at Warwick Manufacturing Group, University of Warwick, UK.

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

    Science.gov (United States)

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

    1990-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-09-01

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

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

    Science.gov (United States)

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

    1984-01-01

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

  20. Robots

    Institute of Scientific and Technical Information of China (English)

    驷萍

    1997-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-06-01

    The Automated Assembly Team of the APRIMED Project (abbreviated as A{prime}) consists of two parts: the Archimedes Project, which is an ongoing project developing automated assembly technology, and the A{prime} Robot Team. Archimedes is a second generation assembly planning system that both provides a general high-level assembly sequencing capability and, for a smaller class of products, facilitates automatic programming of a robotic workcell to assemble them. The A{prime} robot team designed, developed, and implemented a flexible robot workcell which served as the automated factory of the A{prime} project. In this document we briefly describe the role of automated assembly planning in agile manufacturing, and specifically describe the contributions of the Archimedes project and the A{prime} robot team to the A{prime} project. We introduce the concepts of the Archimedes automated assembly planning project, and discuss the enhancements to Archimedes which were developed in response to the needs of the A{prime} project. We also present the work of the A{prime} robot team in designing and developing the A{prime} robot workcell, including all tooling and programming to support assembly of the A{prime} discriminator devices. Finally, we discuss the process changes which these technologies have enabled in the A{prime} project.

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

    Science.gov (United States)

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

    2015-11-01

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

  3. An Automated Sensing System for Steel Bridge Inspection Using GMR Sensor Array and Magnetic Wheels of Climbing Robot

    Directory of Open Access Journals (Sweden)

    Rui Wang

    2016-01-01

    Full Text Available Corrosion is one of the main causes of deterioration of steel bridges. It may cause metal loss and fatigue cracks in the steel components, which would lead to the collapse of steel bridges. This paper presents an automated sensing system to detect corrosion, crack, and other kinds of defects using a GMR (Giant Magnetoresistance sensor array. Defects will change the relative permeability and electrical conductivity of the material. As a result, magnetic field density generated by ferromagnetic material and the magnetic wheels will be changed. The defects are able to be detected by using GMR sensor array to measure the changes of magnetic flux density. In this study, magnetic wheels are used not only as the adhesion device of the robot, but also as an excitation source to provide the exciting magnetic field for the sensing system. Furthermore, compared to the eddy current method and the MFL (magnetic flux leakage method, this sensing system suppresses the noise from lift-off value fluctuation by measuring the vertical component of induced magnetic field that is perpendicular to the surface of the specimen in the corrosion inspection. Simulations and experimental results validated the feasibility of the system for the automated defect inspection.

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

    Science.gov (United States)

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

    2012-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Abhilash Pandya

    2014-08-01

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

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

    Science.gov (United States)

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

    1987-01-01

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

  7. A Web-Based Integration Procedure for the Development of Reconfigurable Robotic Work-Cells

    Directory of Open Access Journals (Sweden)

    Paulo Ferreira

    2013-07-01

    Full Text Available Concepts related to the development of reconfigurable manufacturing systems (RMS and methodologies to provide the best practices in the processing industry and factory automation, such as system integration and web‐based technology, are major issues in designing next‐generation manufacturing systems (NGMS. Adaptable and integrable devices are crucial for the success of NGMS. In robotic cells the integration of manufacturing components is essential to accelerate system adaptability. Sensors, control architectures and communication technologies have contributed to achieving further agility in reconfigurable factories. In this work a web‐based robotic cell integration procedure is proposed to aid the identification of reconfigurable issues and requirements. This methodology is applied to an industrial robot manipulator to enhance system flexibility towards the development of a reconfigurable robotic platform.

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

    Science.gov (United States)

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

    2017-01-01

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

  9. Super Factories

    Indian Academy of Sciences (India)

    D G Hitlin

    2006-11-01

    Heavy-flavor physics, in particular and physics results from the factories, currently provides strong constraints on models of physics beyond the Standard Model. A new generation of colliders, Super Factories, with 50 to 100 times the luminosity of existing colliders, can, in a dialog with LHC and ILC, provide unique clarification of new physics phenomena seen at those machines.

  10. Industrial Robots on the Line.

    Science.gov (United States)

    Ayres, Robert; Miller, Steve

    1982-01-01

    Explores the history of robotics and its effects upon the manufacturing industry. Topics include robots' capabilities and limitations, the factory of the future, displacement of the workforce, and implications for management and labor. (SK)

  11. Transcription factories

    Science.gov (United States)

    Rieder, Dietmar; Trajanoski, Zlatko; McNally, James G.

    2012-01-01

    There is considerable evidence that transcription does not occur homogeneously or diffusely throughout the nucleus, but rather at a number of specialized, discrete sites termed transcription factories. The factories are composed of ~4–30 RNA polymerase molecules, and are associated with many other molecules involved in transcriptional activation and mRNA processing. Some data suggest that the polymerase molecules within a factory remain stationary relative to the transcribed DNA, which is thought to be reeled through the factory site. There is also some evidence that transcription factories could help organize chromatin and nuclear structure, contributing to both the formation of chromatin loops and the clustering of active and co-regulated genes. PMID:23109938

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

    Science.gov (United States)

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

    2003-12-01

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

  13. Robotics and regional anesthesia.

    Science.gov (United States)

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

    2014-10-01

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

  14. 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…

  15. 3D Visual Tracking of an Articulated Robot in Precision Automated Tasks

    Directory of Open Access Journals (Sweden)

    Hamza Alzarok

    2017-01-01

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

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

    Science.gov (United States)

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

    1984-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Saxton Valerie

    2014-01-01

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

  18. Intelligent robot trends and predictions for the new millennium

    Science.gov (United States)

    Hall, Ernest L.; Mundhenk, Terrell N.

    1999-08-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor but little funding. In factory automation such robotics machines can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. In honor of the new millennium, this paper will present a discussion of futuristic trends and predictions. However, in keeping with technical tradition, a new technique for 'Follow the Leader' will also be presented in the hope of it becoming a new, useful and non-obvious technique.

  19. Internet factories

    NARCIS (Netherlands)

    Strijkers, R.J.

    2014-01-01

    This thesis contributes a novel concept for introducing new network technologies in network infrastructures. The concept, called Internet factories, describes the methodical process to create and manage application-specific networks from application programs, referred to as Netapps. An Internet

  20. Internet Factories

    NARCIS (Netherlands)

    Strijkers, R.J.

    2014-01-01

    This thesis contributes a novel concept for introducing new network technologies in network infrastructures. The concept, called Internet factories, describes the methodical process to create and manage application-specific networks from application programs, referred to as Netapps. An Internet

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

    Science.gov (United States)

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

    1984-01-01

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

  2. Intelligent robot trends and predictions for the first year of the new millennium

    Science.gov (United States)

    Hall, Ernest L.

    2000-10-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

  3. Robotics

    Science.gov (United States)

    Rothschild, Lynn J.

    2012-01-01

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

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

    National Research Council Canada - National Science Library

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

    2014-01-01

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

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

    Science.gov (United States)

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

    2016-06-01

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

  6. Automated production of plant-based vaccines and pharmaceuticals.

    Science.gov (United States)

    Wirz, Holger; Sauer-Budge, Alexis F; Briggs, John; Sharpe, Aaron; Shu, Sudong; Sharon, Andre

    2012-12-01

    A fully automated "factory" was developed that uses tobacco plants to produce large quantities of vaccines and other therapeutic biologics within weeks. This first-of-a-kind factory takes advantage of a plant viral vector technology to produce specific proteins within the leaves of rapidly growing plant biomass. The factory's custom-designed robotic machines plant seeds, nurture the growing plants, introduce a viral vector that directs the plant to produce a target protein, and harvest the biomass once the target protein has accumulated in the plants-all in compliance with Food and Drug Administration (FDA) guidelines (e.g., current Good Manufacturing Practices). The factory was designed to be time, cost, and space efficient. The plants are grown in custom multiplant trays. Robots ride up and down a track, servicing the plants and delivering the trays from the lighted, irrigated growth modules to each processing station as needed. Using preprogrammed robots and processing equipment eliminates the need for human contact, preventing potential contamination of the process and economizing the operation. To quickly produce large quantities of protein-based medicines, we transformed a laboratory-based biological process and scaled it into an industrial process. This enables quick, safe, and cost-effective vaccine production that would be required in case of a pandemic.

  7. Neutrino Factory

    CERN Document Server

    Bogomilov, M; Tsenov, R; Dracos, M; Bonesini, M; Palladino, V; Tortora, L; Mori, Y; Planche, T; Lagrange, J  B; Kuno, Y; Benedetto, E; Efthymiopoulos, I; Garoby, R; Gilardoini, S; Martini, M; Wildner, E; Prior, G; Blondel, A; Karadzhow, Y; Ellis, M; Kyberd, P; Bayes, R; Laing, A; Soler, F  J  P; Alekou, A; Apollonio, M; Aslaninejad, M; Bontoiu, C; Jenner, L  J; Kurup, A; Long, K; Pasternak, J; Zarrebini, A; Poslimski, J; Blackmore, V; Cobb, J; Tunnell, C; Andreopoulos, C; Bennett, J  R  J; Brooks, S; Caretta, O; Davenne, T; Densham, C; Edgecock, T  R; Fitton, M; Kelliher, D; Loveridge, P; McFarland, A; Machida, S; Prior, C; Rees, G; Rogers, C; Rooney, M; Thomason, J; Wilcox, D; Booth, C; Skoro, G; Back, J  J; Harrison, P; Berg, J  S; Fernow, R; Gallardo, J  C; Gupta, R; Kirk, H; Simos, N; Stratakis, D; Souchlas, N; Witte, H; Bross, A; Geer, S; Johnstone, C; Mokhov, N; Neuffer, D; Popovic, M; Strait, J; Striganov, S; Morfín, J  G; Wands, R; Snopok, P; Bogacz, S  A; Morozov, V; Roblin, Y; Cline, D; Ding, X; Bromberg, C; Hart, T; Abrams, R  J; Ankenbrandt, C  M; Beard, K  B; Cummings, M  A  C; Flanagan, G; Johnson, R  P; Roberts, T  J; Yoshikawa, C  Y; Graves, V  B; McDonald, K  T; Coney, L; Hanson, G

    2014-01-01

    The properties of the neutrino provide a unique window on physics beyond that described by the standard model. The study of subleading effects in neutrino oscillations, and the race to discover CP-invariance violation in the lepton sector, has begun with the recent discovery that $\\theta_{13} > 0$. The measured value of $\\theta_{13}$ is large, emphasizing the need for a facility at which the systematic uncertainties can be reduced to the percent level. The neutrino factory, in which intense neutrino beams are produced from the decay of muons, has been shown to outperform all realistic alternatives and to be capable of making measurements of the requisite precision. Its unique discovery potential arises from the fact that only at the neutrino factory is it practical to produce high-energy electron (anti)neutrino beams of the required intensity. This paper presents the conceptual design of the neutrino factory accelerator facility developed by the European Commission Framework Programme 7 EURO$\

  8. Smart Factory

    DEFF Research Database (Denmark)

    Bilberg, Arne; Radziwon, Agnieszka; Grube Hansen, David

    2017-01-01

    , and to target their challenges and ensure sustainable growth and business in these enterprises. Therefore the focus of the Smart Factory project was to support the growth and sustainable development of the small and medium sized manufacturing industry in Denmark. The project focused on SMEs and how to improve...... their innovation and competitive advantage by focusing at their competences, strengths and opportunities. The project suggests innovative solutions and business models through collaboration and use of new technologies. In the Smart Factory, SMEs should be able to collaborate on new products, markets and production...... or supply chains in a creative organization. The Smart factory is supposed to be organic, meaning it is able to reconfigure and adjust to new projects and customers and has to be seen and taken as a model for inspiration to manufacturing businesses in general. The project takes into consideration Danish...

  9. A robotics platform for automated batch fabrication of high density, microfluidics-based DNA microarrays, with applications to single cell, multiplex assays of secreted proteins.

    Science.gov (United States)

    Ahmad, Habib; Sutherland, Alex; Shin, Young Shik; Hwang, Kiwook; Qin, Lidong; Krom, Russell-John; Heath, James R

    2011-09-01

    Microfluidics flow-patterning has been utilized for the construction of chip-scale miniaturized DNA and protein barcode arrays. Such arrays have been used for specific clinical and fundamental investigations in which many proteins are assayed from single cells or other small sample sizes. However, flow-patterned arrays are hand-prepared, and so are impractical for broad applications. We describe an integrated robotics/microfluidics platform for the automated preparation of such arrays, and we apply it to the batch fabrication of up to eighteen chips of flow-patterned DNA barcodes. The resulting substrates are comparable in quality with hand-made arrays and exhibit excellent substrate-to-substrate consistency. We demonstrate the utility and reproducibility of robotics-patterned barcodes by utilizing two flow-patterned chips for highly parallel assays of a panel of secreted proteins from single macrophage cells.

  10. A Web-Based Integration Procedure for the Development of Reconfigurable Robotic Work-Cells

    OpenAIRE

    2013-01-01

    Concepts related to the development of reconfigurable manufacturing systems (RMS) and methodologies to provide the best practices in the processing industry and factory automation, such as system integration and web‐based technology, are major issues in designing next‐generation manufacturing systems (NGMS). Adaptable and integrable devices are crucial for the success of NGMS. In robotic cells the integration of manufacturing components is essential to accelerate system adaptability. Sensors,...

  11. Neutrino factory

    Directory of Open Access Journals (Sweden)

    M. Bogomilov

    2014-12-01

    Full Text Available The properties of the neutrino provide a unique window on physics beyond that described by the standard model. The study of subleading effects in neutrino oscillations, and the race to discover CP-invariance violation in the lepton sector, has begun with the recent discovery that θ_{13}>0. The measured value of θ_{13} is large, emphasizing the need for a facility at which the systematic uncertainties can be reduced to the percent level. The neutrino factory, in which intense neutrino beams are produced from the decay of muons, has been shown to outperform all realistic alternatives and to be capable of making measurements of the requisite precision. Its unique discovery potential arises from the fact that only at the neutrino factory is it practical to produce high-energy electron (antineutrino beams of the required intensity. This paper presents the conceptual design of the neutrino factory accelerator facility developed by the European Commission Framework Programme 7 EUROν Design Study consortium. EUROν coordinated the European contributions to the International Design Study for the Neutrino Factory (the IDS-NF collaboration. The EUROν baseline accelerator facility will provide 10^{21} muon decays per year from 12.6 GeV stored muon beams serving a single neutrino detector situated at a source-detector distance of between 1 500 km and 2 500 km. A suite of near detectors will allow definitive neutrino-scattering experiments to be performed.

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

    NARCIS (Netherlands)

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

    2005-01-01

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

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

    NARCIS (Netherlands)

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

    2005-01-01

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

  14. Collaborative Robotics Design Considerations

    Science.gov (United States)

    2004-05-06

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

  15. MotionTherapy@Home - First results of a clinical study with a novel robotic device for automated locomotion therapy at home.

    Science.gov (United States)

    Rupp, Rüdiger; Plewa, Harry; Schuld, Christian; Gerner, Hans Jürgen; Hofer, Eberhard P; Knestel, Markus

    2011-02-01

    In incomplete spinal cord injured subjects, task-oriented training regimes are applied for enhancement of neuroplasticity to improve gait capacity. However, a sufficient training intensity can only be achieved during the inpatient phase, which is getting shorter and shorter due to economic restrictions. In the clinical environment, complex and expensive robotic devices have been introduced to maintain the duration and the intensity of the training, but up to now only a few exist for continuation of automated locomotion training at home. For continuation of the automated locomotion training at home prototypes of the compact, pneumatically driven orthosis MoreGait have been realized, which generate the key afferent stimuli for activation of the spinal gait pattern generator. Artificial pneumatic muscles with excellent weight-to-force ratio and safety characteristics have been integrated as joint actuators. Additionally, a Stimulative Shoe for generation of the appropriate foot loading pattern has been developed without the need for verticalization of the user. The first results of the pilot study in eight chronic incomplete spinal cord injured subjects indicate that the home-based therapy is safe and feasible. The therapy related improvements of the walking capacity are in the range of locomotion robots used in clinical settings.

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

    Science.gov (United States)

    Squire, P N; Parasuraman, R

    2010-08-01

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

  17. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

    Increased customer needs and intensified global competition require intelligent and flexible automation. The interaction technology mobile robotics addresses this, so it holds great potential within the industry. This paper presents the concepts, ideas and working principles of the mobile robot "...

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1982-09-01

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

  19. 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.

  20. Intelligent robot trends and predictions for the .net future

    Science.gov (United States)

    Hall, Ernest L.

    2001-10-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent and future technical and economic trends. During the past twenty years the use of industrial robots that are equipped not only with precise motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. Intelligent robot products have been developed in many cases for factory automation and for some hospital and home applications. To reach an even higher degree of applications, the addition of learning may be required. Recently, learning theories such as the adaptive critic have been proposed. In this type of learning, a critic provides a grade to the controller of an action module such as a robot. The adaptive critic is a good model for human learning. In general, the critic may be considered to be the human with the teach pendant, plant manager, line supervisor, quality inspector or the consumer. If the ultimate critic is the consumer, then the quality inspector must model the consumer's decision-making process and use this model in the design and manufacturing operations. Can the adaptive critic be used to advance intelligent robots? Intelligent robots have historically taken decades to be developed and reduced to practice. Methods for speeding this development include technology such as rapid prototyping and product development and government, industry and university cooperation.

  1. Optimizing ELISAs for precision and robustness using laboratory automation and statistical design of experiments.

    Science.gov (United States)

    Joelsson, Daniel; Moravec, Phil; Troutman, Matthew; Pigeon, Joseph; DePhillips, Pete

    2008-08-20

    Transferring manual ELISAs to automated platforms requires optimizing the assays for each particular robotic platform. These optimization experiments are often time consuming and difficult to perform using a traditional one-factor-at-a-time strategy. In this manuscript we describe the development of an automated process using statistical design of experiments (DOE) to quickly optimize immunoassays for precision and robustness on the Tecan EVO liquid handler. By using fractional factorials and a split-plot design, five incubation time variables and four reagent concentration variables can be optimized in a short period of time.

  2. Automated security response robot

    Science.gov (United States)

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

    1999-01-01

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

  3. European Robotics Challenges

    OpenAIRE

    Halt, Lorenz; Bubeck, Alexander

    2014-01-01

    The European Robotics Challenges (EuRoC) aims at strengthening collaboration and cross-fertilization between the industrial and the research community by launching three industrially-relevant challenges in European robotics with applicability to the factory of the future. To qualify for admission, potential challengers are asked to solve a simulated task. The aim of this talk is to describe the development of a simulated human-robot collaboration task using ROS/gazebo. Furthermore several bac...

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

    Science.gov (United States)

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

    2017-01-01

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

  5. Mining robotics sensors

    CSIR Research Space (South Africa)

    Green, JJ

    2011-07-01

    Full Text Available images. This motivated us to use a simplified camera model based on only 4 Green Page 4 of 12 26th International Conference of CAD/CAM, Robotics & Factories of the Future (CARs&FOF 2011) 26-28 July 2-11, Kuala Lumpur, Malaysia parameters: 2D... International Conference of CAD/CAM, Robotics & Factories of the Future (CARs&FOF 2011) 26-28 July 2-11, Kuala Lumpur, Malaysia Mining Robotics Sensors Perception Sensors on a Mine Safety Platform Green JJ1, Hlophe K2, Dickens J3, Teleka R4, Mathew Price5...

  6. Ideas on a system design for end-user robots

    Science.gov (United States)

    Bonasso, R. P.; Slack, Marc G.

    1992-11-01

    Robots are being used successfully in factory automation; however, recently there has been some success in building robots which can operate in field environments, where the domain is less predictable. New perception and control techniques have been developed which allow a robot to accomplish its mission while dealing with natural changes in both land and underwater environments. Unfortunately, efforts in this area have resulted in many one-of-a-kind robots, limited to research laboratories or carefully delimited field task arenas. A user who would like to apply robotic technology to a particular field problem must basically start from scratch. The problem is that the robotic technology (i.e., the hardware and software) which might apply to the user's domain exists in a diverse array of formats and configurations. For end-user robots to become a reality, an effort to standardize some aspects of the robotic technology must be made, in much the same way that personal computer technology is becoming standardized. Presently, a person can buy a computer and then acquire hardware and software extensions which simply `plug in' and provide the user with the required utility without the user having to understand the inner workings of the pieces of the system. This technology even employs standardized interface specifications so the user is presented with a familiar interaction paradigm. This paper outlines some system requirements (hardware and software) and a preliminary design for end-user robots for field environments, drawing parallels to the trends in the personal computer market. The general conclusion is that the appropriate components as well as an integrating architecture are already available, making development of out-of-the- box, turnkey robots for a certain range of commonly required tasks a potential reality.

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

    DEFF Research Database (Denmark)

    Find, Jens

    . The method is, for several plant species, the preferred basis for development of additional biotechnological breeding technologies as e.g. genetic transformation. Elite clones can be stored over extended periods in liquid nitrogen at -196°C However, commercial application of the technology has until now been...... of plants for the forestry industry based on robot- and visualisation technology. The commercial aspect of the project aims at: 1) the market for cloned elite plants in the forestry sector and 2) the market for robot technology in the production of plants for the forestry sector....... are produced from single cells without sexual reproduction. SE has some particular advantages for the development of cost effective methods for clonal mass propagation of elite plants: It is a very effective and fast method for clonal propagation. The method is suitable for automatisation and robot technology...

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

    Science.gov (United States)

    Francoeur, J. R.

    1992-01-01

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

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

    OpenAIRE

    R. V. Sharan; G. C. Onwubolu

    2014-01-01

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

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

    Science.gov (United States)

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

    1986-01-01

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

  11. High-throughput screening of cellulase F mutants from multiplexed plasmid sets using an automated plate assay on a functional proteomic robotic workcell

    Directory of Open Access Journals (Sweden)

    Qureshi Nasib

    2006-05-01

    Full Text Available Abstract Background The field of plasmid-based functional proteomics requires the rapid assay of proteins expressed from plasmid libraries. Automation is essential since large sets of mutant open reading frames are being cloned for evaluation. To date no integrated automated platform is available to carry out the entire process including production of plasmid libraries, expression of cloned genes, and functional testing of expressed proteins. Results We used a functional proteomic assay in a multiplexed setting on an integrated plasmid-based robotic workcell for high-throughput screening of mutants of cellulase F, an endoglucanase from the anaerobic fungus Orpinomyces PC-2. This allowed us to identify plasmids containing optimized clones expressing mutants with improved activity at lower pH. A plasmid library of mutagenized clones of the celF gene with targeted variations in the last four codons was constructed by site-directed PCR mutagenesis and transformed into Escherichia coli. A robotic picker integrated into the workcell was used to inoculate medium in a 96-well deep well plate, combining the transformants into a multiplexed set in each well, and the plate was incubated on the workcell. Plasmids were prepared from the multiplexed culture on the liquid handler component of the workcell and used for in vitro transcription/translation. The multiplexed expressed recombinant proteins were screened for improved activity and stability in an azo-carboxymethylcellulose plate assay. The multiplexed wells containing mutants with improved activity were identified and linked back to the corresponding multiplexed cultures stored in glycerol. Spread plates were prepared from the glycerol stocks and the workcell was used to pick single colonies from the spread plates, prepare plasmid, produce recombinant protein, and assay for activity. The screening assay and subsequent deconvolution of the multiplexed wells resulted in identification of improved Cel

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

    Science.gov (United States)

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

    2016-07-01

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

  13. Mobile Robot Positioning - Sensors and Techniques

    Science.gov (United States)

    1997-01-01

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

  14. Cooperative Object Transportation With Multiple Humanoid Robots

    OpenAIRE

    呉, 孟鴻

    2015-01-01

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

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

    Science.gov (United States)

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

    1986-01-01

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

  16. Shielded cells transfer automation

    Energy Technology Data Exchange (ETDEWEB)

    Fisher, J J

    1984-01-01

    Nuclear waste from shielded cells is removed, packaged, and transferred manually in many nuclear facilities. Radiation exposure is absorbed by operators during these operations and limited only through procedural controls. Technological advances in automation using robotics have allowed a production waste removal operation to be automated to reduce radiation exposure. The robotic system bags waste containers out of glove box and transfers them to a shielded container. Operators control the system outside the system work area via television cameras. 9 figures.

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

    Directory of Open Access Journals (Sweden)

    R. V. Sharan

    2014-03-01

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

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

    Science.gov (United States)

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

    1989-01-01

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

  19. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

    Increased customer needs and intensified global competition require intelligent and flexible automation. The interaction technology mobile robotics addresses this, so it holds great potential within the industry. This paper presents the concepts, ideas and working principles of the mobile robot...... this show promising results regarding industrial integration, exploitation and maturation of mobile robotics....

  20. Grasp and Manipulation of Five Fingered Hand Robot in Unstructured Environments

    Directory of Open Access Journals (Sweden)

    GANIPINENI SAI KRISHNA

    2014-12-01

    Full Text Available Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. It is required that various objects with different shapes or sizes could be grasped and manipulated by one robot hand mechanism for the sake of factory automation and labor saving. Dexterous grippers will be the appropriate solution to such problems. Corresponding to such needs, the present work is towards the design and development of an articulated mechanical hand with five fingers and twenty five degrees-of-freedom having an improved grasp capability. Since the designed hand is capable of enveloping and grasping an object mechanically, it can be conveniently used in manufacturing automation as well as for medical rehabilitation purpose. This work presents the kinematic design and the grasping analysis of such a hand.

  1. Robotic fabrication in architecture, art and design 2014

    CERN Document Server

    Leon, Monica

    2014-01-01

    Robotic automation has become ubiquitous in the modern manufacturing landscape, spanning an overwhelming range of processes and applications-- from small scale force-controlled grinding operations for orthopedic joints to large scale composite manufacturing of aircraft fuselages. Smart factories, seamlessly linked via industrial networks and sensing, have revolutionized mass production, allowing for intelligent, adaptive manufacturing processes across a broad spectrum of industries. Against this background, an emerging group of researchers, designers, and fabricators have begun to apply robotic technology in the pursuit of architecture, art, and design, implementing them in a range of processes and scales. Coupled with computational design tools the technology is no longer relegated to the repetitive production of the assembly line, and is instead being employed for the mass-customization of non-standard components. This radical shift in protocol has been enabled by the development of new design to production...

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

    Institute of Scientific and Technical Information of China (English)

    韦娟娟

    2013-01-01

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

  3. China's Reconfigurable Planet Probing Robot

    Institute of Scientific and Technical Information of China (English)

    RenShufang

    2005-01-01

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

  4. Robots in astronomy

    Science.gov (United States)

    Baruch, John E. F.

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

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

    Science.gov (United States)

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

    2008-01-01

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

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

    DEFF Research Database (Denmark)

    Find, Jens

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Fellows, R.L. [ed.

    1993-02-26

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

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

    CERN Document Server

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

    2008-01-01

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

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

    Science.gov (United States)

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

    2004-10-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Science.gov (United States)

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

    2016-02-15

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

  12. The Nearby Supernova Factory

    CERN Document Server

    Wood-Vasey, W M; Lee Byung Cheol; Loken, S; Nugent, P; Perlmutter, S; Siegrist, J L; Wang, L; Antilogus, P; Astier, Pierre; Hardin, D; Pain, R; Copin, Y; Smadja, G; Gangler, E; Castera, A; Adam, G; Bacon, R; Lemonnier, J P; Pecontal, A; Pécontal, E; Kessler, R

    2004-01-01

    The Nearby Supernova Factory (SNfactory) is an ambitious project to find and study in detail approximately 300 nearby Type Ia supernovae (SNe~Ia) at redshifts 0.03automated SN search and discovery. The pipeline uses images from the asteroid search conducted by the Near Earth Asteroid Tracking group at JPL. Improvements in our subtraction techniques and analysis have allowed us to increase our effective SN discovery rate to ~12 SNe/month in 2003.

  13. Robot Control Overview: An Industrial Perspective

    Directory of Open Access Journals (Sweden)

    T. Brogårdh

    2009-07-01

    Full Text Available One key competence for robot manufacturers is robot control, defined as all the technologies needed to control the electromechanical system of an industrial robot. By means of modeling, identification, optimization, and model-based control it is possible to reduce robot cost, increase robot performance, and solve requirements from new automation concepts and new application processes. Model-based control, including kinematics error compensation, optimal servo reference- and feed-forward generation, and servo design, tuning, and scheduling, has meant a breakthrough for the use of robots in industry. Relying on this breakthrough, new automation concepts such as high performance multi robot collaboration and human robot collaboration can be introduced. Robot manufacturers can build robots with more compliant components and mechanical structures without loosing performance and robots can be used also in applications with very high performance requirements, e.g., in assembly, machining, and laser cutting. In the future it is expected that the importance of sensor control will increase, both with respect to sensors in the robot structure to increase the control performance of the robot itself and sensors outside the robot related to the applications and the automation systems. In this connection sensor fusion and learning functionalities will be needed together with the robot control for easy and intuitive installation, programming, and maintenance of industrial robots.

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

    Science.gov (United States)

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

    2016-01-01

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

  15. Fully Automated Data Collection Using PAM and the Development of PAM/SPACE Reversible Cassettes

    Science.gov (United States)

    Hiraki, Masahiko; Watanabe, Shokei; Chavas, Leonard M. G.; Yamada, Yusuke; Matsugaki, Naohiro; Igarashi, Noriyuki; Wakatsuki, Soichi; Fujihashi, Masahiro; Miki, Kunio; Baba, Seiki; Ueno, Go; Yamamoto, Masaki; Suzuki, Mamoru; Nakagawa, Atsushi; Watanabe, Nobuhisa; Tanaka, Isao

    2010-06-01

    To remotely control and automatically collect data in high-throughput X-ray data collection experiments, the Structural Biology Research Center at the Photon Factory (PF) developed and installed sample exchange robots PAM (PF Automated Mounting system) at PF macromolecular crystallography beamlines; BL-5A, BL-17A, AR-NW12A and AR-NE3A. We developed and installed software that manages the flow of the automated X-ray experiments; sample exchanges, loop-centering and X-ray diffraction data collection. The fully automated data collection function has been available since February 2009. To identify sample cassettes, PAM employs a two-dimensional bar code reader. New beamlines, BL-1A at the Photon Factory and BL32XU at SPring-8, are currently under construction as part of Targeted Proteins Research Program (TPRP) by the Ministry of Education, Culture, Sports, Science and Technology of Japan. However, different robots, PAM and SPACE (SPring-8 Precise Automatic Cryo-sample Exchanger), will be installed at BL-1A and BL32XU, respectively. For the convenience of the users of both facilities, pins and cassettes for PAM and SPACE are developed as part of the TPRP.

  16. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    be and will be automated using mobile robots. This talk consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable, adaptable and scalable. Robots have to be semi-autonomous, and should reliably...... for localization. The system features automatic annotation, which significantly reduces manual work and offer many advantages beyond robotics. A case study on logistics solutions is finally presented. A robotic solution is tested in a hospital to handle the transportation of blood samples between the clinic...... and the lab. Without any environmental modification; it is shown that lab turnover time can be reduced from hours to minutes; by simply replacing the human porter with a mobile robot....

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

    Institute of Scientific and Technical Information of China (English)

    孙少山

    2014-01-01

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

  18. Fractional factorial plans

    CERN Document Server

    Dey, Aloke

    2009-01-01

    A one-stop reference to fractional factorials and related orthogonal arrays.Presenting one of the most dynamic areas of statistical research, this book offers a systematic, rigorous, and up-to-date treatment of fractional factorial designs and related combinatorial mathematics. Leading statisticians Aloke Dey and Rahul Mukerjee consolidate vast amounts of material from the professional literature--expertly weaving fractional replication, orthogonal arrays, and optimality aspects. They develop the basic theory of fractional factorials using the calculus of factorial arrangements, thereby providing a unified approach to the study of fractional factorial plans. An indispensable guide for statisticians in research and industry as well as for graduate students, Fractional Factorial Plans features: * Construction procedures of symmetric and asymmetric orthogonal arrays. * Many up-to-date research results on nonexistence. * A chapter on optimal fractional factorials not based on orthogonal arrays. * Trend-free plans...

  19. Automated DNA Sequencing System

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-04-25

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

  20. Improvement of an automated protein crystal exchange system PAM for high-throughput data collection

    Energy Technology Data Exchange (ETDEWEB)

    Hiraki, Masahiko, E-mail: masahiko.hiraki@kek.jp; Yamada, Yusuke; Chavas, Leonard M. G. [High Energy Accelerator Research Organization, 1-1 Oho, Tsukuba, Ibaraki 305-0801 (Japan); Wakatsuki, Soichi [High Energy Accelerator Research Organization, 1-1 Oho, Tsukuba, Ibaraki 305-0801 (Japan); SLAC National Accelerator Laboratory, 2575 Sand Hill Road, MS 69, Menlo Park, CA 94025-7015 (United States); Stanford University, Beckman Center B105, Stanford, CA 94305-5126 (United States); Matsugaki, Naohiro [High Energy Accelerator Research Organization, 1-1 Oho, Tsukuba, Ibaraki 305-0801 (Japan)

    2013-11-01

    A special liquid-nitrogen Dewar with double capacity for the sample-exchange robot has been created at AR-NE3A at the Photon Factory, allowing continuous fully automated data collection. In this work, this new system is described and the stability of its calibration is discussed. Photon Factory Automated Mounting system (PAM) protein crystal exchange systems are available at the following Photon Factory macromolecular beamlines: BL-1A, BL-5A, BL-17A, AR-NW12A and AR-NE3A. The beamline AR-NE3A has been constructed for high-throughput macromolecular crystallography and is dedicated to structure-based drug design. The PAM liquid-nitrogen Dewar can store a maximum of three SSRL cassettes. Therefore, users have to interrupt their experiments and replace the cassettes when using four or more of them during their beam time. As a result of investigation, four or more cassettes were used in AR-NE3A alone. For continuous automated data collection, the size of the liquid-nitrogen Dewar for the AR-NE3A PAM was increased, doubling the capacity. In order to check the calibration with the new Dewar and the cassette stand, calibration experiments were repeatedly performed. Compared with the current system, the parameters of the novel system are shown to be stable.

  1. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1984-05-01

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

  3. Approaches to automated protein crystal harvesting

    Energy Technology Data Exchange (ETDEWEB)

    Deller, Marc C., E-mail: mdeller@scripps.edu; Rupp, Bernhard, E-mail: mdeller@scripps.edu

    2014-01-28

    Approaches to automated and robot-assisted harvesting of protein crystals are critically reviewed. While no true turn-key solutions for automation of protein crystal harvesting are currently available, systems incorporating advanced robotics and micro-electromechanical systems represent exciting developments with the potential to revolutionize the way in which protein crystals are harvested.

  4. ROBOTIC ASSISTANCE IN SPINE SURGERY

    Directory of Open Access Journals (Sweden)

    N. A. Konovalov

    2010-01-01

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

  5. A Free Market Architecture for Coordinating Multiple Robots

    Science.gov (United States)

    1999-12-01

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

  6. 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...

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

    DEFF Research Database (Denmark)

    Andersen, Rasmus Skovgaard

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-07-01

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

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

    Institute of Scientific and Technical Information of China (English)

    周方明; 刘威; 王贤; 于洪战

    2014-01-01

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

  10. Railways Factory in Resita

    Directory of Open Access Journals (Sweden)

    Cornel Iacob-Mare

    2013-09-01

    Full Text Available This paper proposes an exemption Analysis railway factory in Resita impressed having experience and also provide some technical characteristics of freight wagons representative technology, used to transport products made in factories in ReşiŃa.

  11. PCs in the factory

    CERN Document Server

    2013-01-01

    Please note this is a short discount publication.PCs have become as essential to the factory environment as they are to the office environment. This in-depth report examines how specially adapted PCs and peripherals are being established in Factory Process Control and Reporting. The report covers: * Hardware and Software* Typical Applications* Implementation Issues* Case Studies and Real Applications

  12. 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...

  13. Mining and robotized equipment

    Energy Technology Data Exchange (ETDEWEB)

    Krisztian, B.

    1984-01-01

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

  14. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

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

  15. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire; Duca, Edward

    2014-01-01

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

  16. 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...

  17. 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...

  18. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  19. Probabilistic approaches to robotic perception

    CERN Document Server

    Ferreira, João Filipe

    2014-01-01

    This book tries to address the following questions: How should the uncertainty and incompleteness inherent to sensing the environment be represented and modelled in a way that will increase the autonomy of a robot? How should a robotic system perceive, infer, decide and act efficiently? These are two of the challenging questions robotics community and robotic researchers have been facing. The development of robotic domain by the 1980s spurred the convergence of automation to autonomy, and the field of robotics has consequently converged towards the field of artificial intelligence (AI). Since the end of that decade, the general public’s imagination has been stimulated by high expectations on autonomy, where AI and robotics try to solve difficult cognitive problems through algorithms developed from either philosophical and anthropological conjectures or incomplete notions of cognitive reasoning. Many of these developments do not unveil even a few of the processes through which biological organisms solve thes...

  20. Multiresolution Path Planning for Mobile Robots,

    Science.gov (United States)

    1985-05-01

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

  1. Advanced robotics for decontamination and dismantlement

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-06-01

    The decontamination and dismantlement (D&D) robotics technology application area of the US Department of Energy`s Robotics Technology Development Program is explained and described. D&D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized. Future research directions for these and emerging activities is given.

  2. Towards energy transparent factories

    CERN Document Server

    Posselt, Gerrit

    2016-01-01

    This monograph provides a methodological approach for establishing demand-oriented levels of energy transparency of factories. The author presents a systematic indication of energy drivers and cost factors, taking into account the interdependencies between facility and production domains. Particular attention is given to energy flow metering and monitoring. Readers will also be provided with an in-depth description of a planning tool which allows for systematically deriving suitable metering points in complex factory environments. The target audience primarily comprises researchers and experts in the field of factory planning, but the book may also be beneficial for graduate students.

  3. Photon collider Higgs factories

    CERN Document Server

    Telnov, V I

    2014-01-01

    The discovery of the Higgs boson (and still nothing else) have triggered appearance of many proposals of Higgs factories for precision measurement of the Higgs properties. Among them there are several projects of photon colliders (PC) without e+e- in addition to PLC based on e+e- linear colliders ILC and CLIC. In this paper, following a brief discussion of Higgs factories physics program I give an overview of photon colliders based on linear colliders ILC and CLIC, and of the recently proposed photon-collider Higgs factories with no e+e- collision option based on recirculation linacs in ring tunnels.

  4. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

  5. Modeling Robot Flexibility for Endpoint Force Control.

    Science.gov (United States)

    1988-05-01

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

  6. Robotization in Seismic Acquisition

    NARCIS (Netherlands)

    Blacquière, G.; Berkhout, A.J.

    2013-01-01

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

  7. Maximum Autocorrelation Factorial Kriging

    DEFF Research Database (Denmark)

    Nielsen, Allan Aasbjerg; Conradsen, Knut; Pedersen, John L.

    2000-01-01

    This paper describes maximum autocorrelation factor (MAF) analysis, maximum autocorrelation factorial kriging, and its application to irregularly sampled stream sediment geochemical data from South Greenland. Kriged MAF images are compared with kriged images of varimax rotated factors from...

  8. Factorial PD-Clustering

    CERN Document Server

    Tortora, Cristina; Summa, Mireille Gettler

    2011-01-01

    Factorial clustering methods have been developed in recent years thanks to the improving of computational power. These methods perform a linear transformation of data and a clustering on transformed data optimizing a common criterion. Factorial PD-clustering is based on Probabilistic Distance clustering (PD-clustering). PD-clustering is an iterative, distribution free, probabilistic, clustering method. Factorial PD-clustering make a linear transformation of original variables into a reduced number of orthogonal ones using a common criterion with PD-Clustering. It is demonstrated that Tucker 3 decomposition allows to obtain this transformation. Factorial PD-clustering makes alternatively a Tucker 3 decomposition and a PD-clustering on transformed data until convergence. This method could significantly improve the algorithm performance and allows to work with large dataset, to improve the stability and the robustness of the method.

  9. Virtual Factory Testbed

    Data.gov (United States)

    Federal Laboratory Consortium — The Virtual Factory Testbed (VFT) is comprised of three physical facilities linked by a standalone network (VFNet). The three facilities are the Smart and Wireless...

  10. Ubiquitous Robotic Technology for Smart Manufacturing System.

    Science.gov (United States)

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

    2016-01-01

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

  11. Ubiquitous Robotic Technology for Smart Manufacturing System

    Directory of Open Access Journals (Sweden)

    Wenshan Wang

    2016-01-01

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

  12. Automation in Warehouse Development

    CERN Document Server

    Verriet, Jacques

    2012-01-01

    The warehouses of the future will come in a variety of forms, but with a few common ingredients. Firstly, human operational handling of items in warehouses is increasingly being replaced by automated item handling. Extended warehouse automation counteracts the scarcity of human operators and supports the quality of picking processes. Secondly, the development of models to simulate and analyse warehouse designs and their components facilitates the challenging task of developing warehouses that take into account each customer’s individual requirements and logistic processes. Automation in Warehouse Development addresses both types of automation from the innovative perspective of applied science. In particular, it describes the outcomes of the Falcon project, a joint endeavour by a consortium of industrial and academic partners. The results include a model-based approach to automate warehouse control design, analysis models for warehouse design, concepts for robotic item handling and computer vision, and auton...

  13. Mobile Robots in Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael

    Traditionally, robots have been assistant machines in factories and a ubiquitous part of science fiction movies. But within the last decade the robots have started to emerge in everyday human environments. Today they are in our everyday environment in the shape of, for example, vacuum cleaners......, lawn mowers, toy pets, or as assisting technologies for care giving. If we want robots to be an even larger and more integrated part of our every- day environments, they need to become more intelligent, and behave safe and natural to the humans in the environment. This thesis deals with making...... intelligent mobile robotic devices capable of being a more natural and sociable actor in a human environment. More specific the emphasis is on safe and natural motion and navigation issues. First part of the work focus on developing a robotic system, which estimates human interest in interacting...

  14. 1st Iberian Robotics Conference

    CERN Document Server

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

    2014-01-01

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

  15. Rehearsal for the Robot Revolution

    DEFF Research Database (Denmark)

    Jochum, Elizabeth; Goldberg, Ken

    This paper considers the use of tele-operated and autonomous robots in live performance. Theatre is a conducive to studying what makes robots compelling and engaging. Because theatre is a narrowly defined domain in which robots can excel, it is a useful test bed for exploring issues that are cent...... dramaturgy and puppetry-inspired control techniques create compelling and interactive performances. Theatre performances function as authentic sites of human-robot interaction staged in fictional landscapes that both exaggerate and occlude the capabilities of robots.......This paper considers the use of tele-operated and autonomous robots in live performance. Theatre is a conducive to studying what makes robots compelling and engaging. Because theatre is a narrowly defined domain in which robots can excel, it is a useful test bed for exploring issues...... that are central to social robotics. However automated performances that merely substitute robotic actors for human ones do not always capture our imagination or prove entertaining. While some plays explore ambivalence to robots or “misbehaving machines” thematically (such as R.U.R.), the exigencies of live...

  16. Tool handling robot system; Tool handling robot system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-10

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

  17. Robot and robot system

    Science.gov (United States)

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

    2011-01-01

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

  18. Navigation and Control of a Wheeled Mobile Robot

    Science.gov (United States)

    2005-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    王金涛

    2014-01-01

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

  20. The Smart Factory

    DEFF Research Database (Denmark)

    Radziwon, Agnieszka; Bilberg, Arne; Bogers, Marcel

    2014-01-01

    Nowadays we live in a world, which a decade ago would only be described in the science fiction literature. More and more things become smart and both scientists and engineers strive for developing not only new and innovative devices, but also homes, factories, or even cities. Despite of continuous...... development, many of those concepts are still being just a vision of the future, which still needs a lot of effort to become true. This paper reviews the usage of adjective smart in respect to technology and with a special emphasis on the smart factory concept placement among contemporary studies. Due...... to a lack of a consensus of common understanding of this term, a unified definition is proposed. The conceptualization will not only refer to various smart factory visions reported in the literature, but also link the crucial characteristics of this emerging manufacturing concept to usual manufacturing...

  1. Cell Factory Engineering.

    Science.gov (United States)

    Davy, Anne Mathilde; Kildegaard, Helene Faustrup; Andersen, Mikael Rørdam

    2017-03-22

    Rational approaches to modifying cells to make molecules of interest are of substantial economic and scientific interest. Most of these efforts aim at the production of native metabolites, expression of heterologous biosynthetic pathways, or protein expression. Reviews of these topics have largely focused on individual strategies or cell types, but collectively they fall under the broad umbrella of a growing field known as cell factory engineering. Here we condense >130 reviews and key studies in the art into a meta-review of cell factory engineering. We identified 33 generic strategies in the field, all applicable to multiple types of cells and products, and proven successful in multiple major cell types. These apply to three major categories: production of native metabolites and/or bioactives, heterologous expression of biosynthetic pathways, and protein expression. This meta-review provides general strategy guides for the broad range of applications of rational engineering of cell factories.

  2. Colorful Microbial Cell Factories

    DEFF Research Database (Denmark)

    Petersen, Pia Damm

    Yeast cell factories are powerful tools used for the production of high-value natural compounds otherwise not easily available. Many bioactive and industrially important plant secondary metabolites can be produced in yeast by engineering their biosynthetic pathways into yeast cells, as these both...... anthocyanins. Yeast cell factories present a platform to circumvent the problem of low yields of interesting molecular structures in plant tissues, as hand-picking of desired enzyme activities allows for specific biosynthesis of the precise pigment of interest, as well as choosing more stable structures...... for heterologous biosynthesis is possible. In cell factories, great improvements in yields can be achieved through molecular engineering of flux from endogenous yeast precursors, e.g. by elimination of by-product formation, and by genetic optimization of pathway components, such as fine-tuning of expression levels...

  3. How to assess sustainability in automated manufacturing

    DEFF Research Database (Denmark)

    Dijkman, Teunis Johannes; Rödger, Jan-Markus; Bey, Niki

    2015-01-01

    The aim of this paper is to describe how sustainability in automation can be assessed. The assessment method is illustrated using a case study of a robot. Three aspects of sustainability assessment in automation are identified. Firstly, we consider automation as part of a larger system that fulfi......The aim of this paper is to describe how sustainability in automation can be assessed. The assessment method is illustrated using a case study of a robot. Three aspects of sustainability assessment in automation are identified. Firstly, we consider automation as part of a larger system...... that fulfills the market demand for a given functionality. Secondly, three aspects of sustainability have to be assessed: environment, economy, and society. Thirdly, automation is part of a system with many levels, with different actors on each level, resulting in meeting the market demand. In this system...... is a minor contributor to the carbon footprint at cell or line level, from the perspective of a robot producer reducing the electricity consumption during the robot's use stage can be a considerable improvement in the carbon footprint of a robot, and thus in the sustainability profile of the robot....

  4. Robot Skills for Transformable Manufacturing Systems

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath

    Efficient, transformable production systems need robots that are flexible and effortlessly repurposed or reconfigured. The present dissertation argues that this can be achieved through the implementation and use of general, object-centered robot skills. In this dissertation, we focus on the design......, implementation and uses of a robot programming paradigm, focused on robot skills, that facilitates intuitive and explicit task-level programming by laymen, such as factory workers, as well as ad-hoc task planning in the skill domain. We show how these robot skills can be modeled and implemented, even...... on different robot systems. Furthermore, we show how laymen can intuitively program tasks on an advanced mobile manipulator, using the skills as the fundamental building blocks. Finally, we demonstrate how the same skills can be used for ad-hoc task planning, where the robot system instead constructs the task...

  5. Mobile robots: motor challenges and materials solutions.

    Science.gov (United States)

    Madden, John D

    2007-11-16

    Bolted-down robots labor in our factories, performing the same task over and over again. Where are the robots that run and jump? Equaling human performance is very difficult for many reasons, including the basic challenge of demonstrating motors and transmissions that efficiently match the power per unit mass of muscle. In order to exceed animal agility, new actuators are needed. Materials that change dimension in response to applied voltage, so-called artificial muscle technologies, outperform muscle in most respects and so provide a promising means of improving robots. In the longer term, robots powered by atomically perfect fibers will outrun us all.

  6. Object Classification at the Nearby Supernova Factory

    Energy Technology Data Exchange (ETDEWEB)

    Aragon, Cecilia R.; Bailey, Stephen; Aragon, Cecilia R.; Romano, Raquel; Thomas, Rollin C.; Weaver, B. A.; Wong, D.

    2007-12-21

    We present the results of applying new object classification techniques to the supernova search of the Nearby Supernova Factory. In comparison to simple threshold cuts, more sophisticated methods such as boosted decision trees, random forests, and support vector machines provide dramatically better object discrimination: we reduced the number of nonsupernova candidates by a factor of 10 while increasing our supernova identification efficiency. Methods such as these will be crucial for maintaining a reasonable false positive rate in the automated transient alert pipelines of upcoming large optical surveys.

  7. Higgs Factory Concepts

    CERN Document Server

    Zimmermann, Frank

    2016-01-01

    Designs for future high-energy circular electron-positron colliders are based on both established and novel concepts. An appropriate design will enable these facilities to serve not only as “Higgs factories”, but also as Z, W and top factories, and, in addition, to become a possible first step to a higher-energy hadron collider.

  8. B-factory detectors

    CERN Document Server

    Marlow, D R

    2002-01-01

    The designs of the recently commissioned BaBar and Belle B-Factory detectors are described. The discussion is organized around the methods and instruments used to detect the so-called gold-plated-mode B sup 0->J/PSI K sub S decays and related modes.

  9. The Clone Factory

    Science.gov (United States)

    Stoddard, Beryl

    2005-01-01

    Have humans been cloned? Is it possible? Immediate interest is sparked when students are asked these questions. In response to their curiosity, the clone factory activity was developed to help them understand the process of cloning. In this activity, students reenact the cloning process, in a very simplified simulation. After completing the…

  10. The automated Palomar 60 inch telescope

    OpenAIRE

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

    2006-01-01

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

  11. Robotic Planetary Drill Tests

    Science.gov (United States)

    Glass, Brian J.; Thompson, S.; Paulsen, G.

    2010-01-01

    Several proposed or planned planetary science missions to Mars and other Solar System bodies over the next decade require subsurface access by drilling. This paper discusses the problems of remote robotic drilling, an automation and control architecture based loosely on observed human behaviors in drilling on Earth, and an overview of robotic drilling field test results using this architecture since 2005. Both rotary-drag and rotary-percussive drills are targeted. A hybrid diagnostic approach incorporates heuristics, model-based reasoning and vibration monitoring with neural nets. Ongoing work leads to flight-ready drilling software.

  12. Indoor Robot Positioning using an Enhanced Trilateration Algorithm

    Directory of Open Access Journals (Sweden)

    Pablo Cotera

    2016-06-01

    Full Text Available This paper presents algorithms implemented for positioning a wheeled robot on a production floor inside a factory by means of radio-frequency distance measurement and trilateration techniques. A set of radio-frequency transceivers located on the columns of the factory (anchors create a grid with several triangular zones capable of measuring the line-of-sight distance between each anchor and the transceiver installed in the wheeled robot. After measuring only three of these distances (radii, an enhanced trilateration algorithm is applied to obtain X and Y coordinates in a Cartesian plane, i.e., the position of the robot on the factory floor. The embedded systems developed for the anchors and the robot are robust enough to establish communication, select the closest anchors for measuring radii, and identify in which of the grid zones the robot is located.

  13. Indoor Robot Positioning Using an Enhanced Trilateration Algorithm

    Directory of Open Access Journals (Sweden)

    Pablo Cotera

    2016-06-01

    Full Text Available This paper presents algorithms implemented for positioning a wheeled robot on a production floor inside a factory by means of radio-frequency distance measurement and trilateration techniques. A set of radio-frequency transceivers located on the columns of the factory (anchors create a grid with several triangular zones capable of measuring the line-of-sight distance between each anchor and the transceiver installed in the wheeled robot. After measuring only three of these distances (radii, an enhanced trilateration algorithm is applied to obtain X and Y coordinates in a Cartesian plane, i.e., the position of the robot on the factory floor. The embedded systems developed for the anchors and the robot are robust enough to establish communication, select the closest anchors for measuring radii, and identify in which of the grid zones the robot is located.

  14. Robots Are Taking Over--Who Does What.

    Science.gov (United States)

    Garrison, H. Don

    Robots are machines designed to replace human labor. A fear of vast unemployment due to robots seems unfounded, however, since industrialization creates many more jobs and automation requires technologists to build, program, maintain, and operate sophisticated equipment. Robots possess an intelligence unit, a manipulator, and an end effector.…

  15. Human Factors and Robotics: Current Status and Future Prospects.

    Science.gov (United States)

    Parsons, H. McIlvaine; Kearsley, Greg P.

    The principal human factors engineering issue in robotics is the division of labor between automation (robots) and human beings. This issue reflects a prime human factors engineering consideration in systems design--what equipment should do and what operators and maintainers should do. Understanding of capabilities and limitations of robots and…

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

    Science.gov (United States)

    Leonard, R. S.

    1980-01-01

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

  17. The Super Flavor Factory

    Energy Technology Data Exchange (ETDEWEB)

    Bevan, A.J.; /Queen Mary, U. of London

    2007-01-26

    The main physics goals of a high luminosity e{sup +}e{sup -} flavor factory are discussed, including the possibilities to perform detailed studies of the CKM mechanism of quark mixing, and constrain virtual Higgs and Non-Standard Model particle contributions to the dynamics of rare B{sub u,d,s} decays. The large samples of D mesons and {tau} leptons produced at a flavor factory will result in improved sensitivities on D mixing and lepton flavor violation searches, respectively. One can also test fundamental concepts such as lepton universality to much greater precision than existing constraints and improve the precision on tests of CPT from B meson decays. Recent developments in accelerator physics have demonstrated the feasibility to build an accelerator that can achieve luminosities of {Omicron}(10{sup 36} cm{sup -2} s{sup -1}).

  18. Cell Factory Engineering

    DEFF Research Database (Denmark)

    Davy, Anne Mathilde; Kildegaard, Helene Faustrup; Andersen, Mikael Rørdam

    2017-01-01

    Rational approaches to modifying cells to make molecules of interest are of substantial economic and scientific interest. Most of these efforts aim at the production of native metabolites, expression of heterologous biosynthetic pathways, or protein expression. Reviews of these topics have largely...... focused on individual strategies or cell types, but collectively they fall under the broad umbrella of a growing field known as cell factory engineering. Here we condense >130 reviews and key studies in the art into a meta-review of cell factory engineering. We identified 33 generic strategies...... in the field, all applicable to multiple types of cells and products, and proven successful in multiple major cell types. These apply to three major categories: production of native metabolites and/or bioactives, heterologous expression of biosynthetic pathways, and protein expression. This meta...

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

    Science.gov (United States)

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

    2015-01-01

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

  20. Robotic CCD microscope for enhanced crystal recognition

    Science.gov (United States)

    Segelke, Brent W.; Toppani, Dominique

    2007-11-06

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

  1. Who’s Afraid of Robots?

    DEFF Research Database (Denmark)

    Di Nucci, Ezio; Santoni de Sio, Filippo

    2014-01-01

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

  2. Designing a Microhydraulically driven Mini robotic Squid

    Science.gov (United States)

    2016-05-20

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

  3. A Perturbation Approach to Robot Calibration.

    Science.gov (United States)

    1985-04-01

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

  4. Maximum Autocorrelation Factorial Kriging

    OpenAIRE

    Nielsen, Allan Aasbjerg; Conradsen, Knut; Pedersen, John L.; Steenfelt, Agnete

    2000-01-01

    This paper describes maximum autocorrelation factor (MAF) analysis, maximum autocorrelation factorial kriging, and its application to irregularly sampled stream sediment geochemical data from South Greenland. Kriged MAF images are compared with kriged images of varimax rotated factors from an ordinary non-spatial factor analysis, and they are interpreted in a geological context. It is demonstrated that MAF analysis contrary to ordinary non-spatial factor analysis gives an objective discrimina...

  5. Phi factory detector requirements

    Energy Technology Data Exchange (ETDEWEB)

    Arisaka, K.; Atac, M.; Berg, R.; Buchanan, C.; Calvette, M.; Khazin, B.; Kinoshita, K.; Muller, T.; Ohshima, T.; Olsen, S.; Park, J.; Santoni, C.; Shirai, J.; Solodov, E.; Thompson, J.; Triggiani, G.; Ueno, K.; Yamamoto, H.; Detector and Simulation Working Group

    1991-08-01

    We identify the experimental problems and the conditions required for successful phi-factory operation, and show the range of detector parameters which, in conjunction with different machine designs, may meet these conditions. We started by considering, comparing and criticizing the Italian and Novosibirsk designs. With this discussion as a background, we defined the apparent experimental problems and detector constraints. In this article we summarize our understanding. (orig./HSI).

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-06-15

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

  7. 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....

  8. Robotic weed monitoring

    DEFF Research Database (Denmark)

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

    2011-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    冯雷; 郭亚芳; 王若青; 沈明卫; 何勇

    2012-01-01

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

  10. Human-Robot Interaction

    Science.gov (United States)

    Rochlis-Zumbado, Jennifer; Sandor, Aniko; Ezer, Neta

    2012-01-01

    Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

  11. The ANU WellBeing study: a protocol for a quasi-factorial randomised controlled trial of the effectiveness of an Internet support group and an automated Internet intervention for depression

    Directory of Open Access Journals (Sweden)

    Mackinnon Andrew J

    2010-03-01

    Full Text Available Abstract Background Recent projections suggest that by the year 2030 depression will be the primary cause of disease burden among developed countries. Delivery of accessible consumer-focused evidenced-based services may be an important element in reducing this burden. Many consumers report a preference for self-help modes of delivery. The Internet offers a promising modality for delivering such services and there is now evidence that automated professionally developed self-help psychological interventions can be effective. By contrast, despite their popularity, there is little evidence as to the effectiveness of Internet support groups which provide peer-to-peer mutual support. Methods/Design Members of the community with elevated psychological distress were randomised to receive one of the following: (1 Internet Support Group (ISG intervention, (2 a multi-module automated psychoeducational and skills Internet Training Program (ITP, (3 a combination of the ISG and ITP, or (4 an Internet Attention Control website (IAC comprising health and wellbeing information and question and answer modules. Each intervention was 12 weeks long. Assessments were conducted at baseline, post-intervention, 6 and 12 months to examine depressive symptoms, social support, self-esteem, quality of life, depression literacy, stigma and help-seeking for depression. Participants were recruited through a screening postal survey sent to 70,000 Australians aged 18 to 65 years randomly selected from four rural and four metropolitan regions in Australia. Discussion To our knowledge this study is the first randomised controlled trial of the effectiveness of a depression ISG. Trial registration Current Controlled Trials ISRCTN65657330.

  12. Robotic Architectures

    Directory of Open Access Journals (Sweden)

    Mbali Mtshali

    2010-01-01

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

  13. Robotics research in Chile

    Directory of Open Access Journals (Sweden)

    Javier Ruiz-del-Solar

    2016-12-01

    Full Text Available The development of research in robotics in a developing country is a challenging task. Factors such as low research funds, low trust from local companies and the government, and a small number of qualified researchers hinder the development of strong, local research groups. In this article, and as a case of study, we present our research group in robotics at the Advanced Mining Technology Center of the Universidad de Chile, and the way in which we have addressed these challenges. In 2008, we decided to focus our research efforts in mining, which is the main industry in Chile. We observed that this industry has needs in terms of safety, productivity, operational continuity, and environmental care. All these needs could be addressed with robotics and automation technology. In a first stage, we concentrate ourselves in building capabilities in field robotics, starting with the automation of a commercial vehicle. An important outcome of this project was the earn of the local mining industry confidence. Then, in a second stage started in 2012, we began working with the local mining industry in technological projects. In this article, we describe three of the technological projects that we have developed with industry support: (i an autonomous vehicle for mining environments without global positioning system coverage; (ii the inspection of the irrigation flow in heap leach piles using unmanned aerial vehicles and thermal cameras; and (iii an enhanced vision system for vehicle teleoperation in adverse climatic conditions.

  14. Towards Robot teaching based on Virtual and Augmented Reality Concepts

    Science.gov (United States)

    Ennakr, Said; Domingues, Christophe; Benchikh, Laredj; Otmane, Samir; Mallem, Malik

    2009-03-01

    A complex system is a system made up of a great number of entities in local and simultaneous interaction. Its design requires the collaboration of engineers of various complementary specialties, so that it is necessary to invent new design methods. Indeed, currently the industry loses much time between the moment when the product model is designed and when the latter is serially produced on the lines of factories. This production is generally ensured by automated and more often robotized means. A deadline is thus necessary for the development of the automatisms and the robots work on a new product model. In this context we launched a study based on the principle of the mechatronics design in Augmented Reality-Virtual Reality. This new approach will bring solutions to problems encountered in many application scopes, but also to problems involved in the distance which separates the offices from design of vehicles and their production sites. This new approach will minimize the differences of errors between the design model and real prototype.

  15. Study on the Mobility of Service Robots

    Directory of Open Access Journals (Sweden)

    Hwan-Joo Kwak

    2012-04-01

    Full Text Available The major characteristics of robots can be divided into several categories ranging from mobility to autonomy. The mobility of service robots is essential and fundamental to commercial and scientific progress. The rapid development of practical service robots depends on our decision which are the most efficient and affordable kinds of locomotion. The selection of the best locomotion, however, is not simple and easy, since the boundaries of robot working areas cannot always be defined clearly. This study emphasizes the usefulness of humanoid type service robots as general service robots, and concentrates on finding the most appropriate means of locomotion for a particular workspace. Several forms of robot locomotion were considered in three types of workspaces, and compared analytically. The results showed that three/four-wheeled robots were best suited to work in a large office or factory. Bipedal robots were suited to work in a small office or home, and quadruped robots were suited to work in outdoors. As a general alternative, bipedal locomotion seems to be the most adaptable form of locomotion for general service robots.

  16. Automation of the proximate analysis of coals

    Energy Technology Data Exchange (ETDEWEB)

    1985-01-01

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

  17. A new approach to automating services

    OpenAIRE

    2016-01-01

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

  18. Heavy Metal Factory

    Science.gov (United States)

    Löbling, Lisa

    2017-07-01

    The metal enrichment in the cosmic circuit of matter is dominated by the yields of asymptotic giant branch (AGB) nucleosynthesis, that are blown back into the interstellar medium just before these stars die as white dwarfs. To establish constraints on AGB processes, spectral analyses of hot post-AGB stars are mandatory. These show that such stars are heavy metal factories due to the AGB s-process. The Virtual Observatory service TheoSSA offers access to synthetic stellar spectra calculated with our Tübingen non-local thermodynamic equilibrium model-atmosphere package that are suitable for the analysis of hot post-AGB stars.

  19. Robotics in Remote and Hostile Environments

    Science.gov (United States)

    Bellingham, James G.; Rajan, Kanna

    2007-11-01

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

  20. Platooning strategy of mobile robot: simulation and experiment

    OpenAIRE

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

    2017-01-01

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

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

    OpenAIRE

    Lindrup, Vegard Stjerna

    2016-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1982-09-01

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

  3. IPAC Image Processing and Data Archiving for the Palomar Transient Factory

    CERN Document Server

    Laher, Russ R; Grillmair, Carl J; Ofek, Eran O; Levitan, David; Sesar, Branimir; van Eyken, Julian C; Law, Nicholas M; Helou, George; Hamam, Nouhad; Masci, Frank J; Mattingly, Sean; Jackson, Ed; Hacopeans, Eugean; Mi, Wei; Groom, Steve; Teplitz, Harry; Desai, Vandana; Hale, David; Smith, Roger; Walters, Richard; Quimby, Robert; Kasliwal, Mansi; Horesh, Assaf; Bellm, Eric; Barlow, Tom; Waszczak, Adam; Prince, Thomas A; Kulkarni, Shrinivas R

    2014-01-01

    The Palomar Transient Factory (PTF) is a multi-epochal robotic survey of the northern sky that acquires data for the scientific study of transient and variable astrophysical phenomena. The camera and telescope provide for wide-field imaging in optical bands. In the five years of operation since first light on December 13, 2008, images taken with Mould-R and SDSS-g' camera filters have been routinely acquired on a nightly basis (weather permitting), and two different H-alpha filters were installed in May 2011 (656nm and 663nm). The PTF image-processing and data-archival program at the Infrared Processing and Analysis Center (IPAC) is tailored to receive and reduce the data, and, from it, generate and preserve astrometrically and photometrically calibrated images, extracted source catalogs, and coadded reference images. Relational databases have been deployed to track these products in operations and the data archive. The fully automated system has benefited by lessons learned from past IPAC projects and compri...

  4. PC-based Human Machine Interface Control for Packaging System in Pharmaceutical Factory

    Directory of Open Access Journals (Sweden)

    Zin Mar Tun

    2014-12-01

    Full Text Available Moving from trend to tradition, more and more manufacturers are adding human machine interface (HMI to their manufacturing process. A good HMI will increase the productivity of the operator and machine, increase uptime and assist in providing consistent product quality. In this system, HMI is developed to monitor the whole process and control the functions of process. The system is designed and constructed to control and monitor drug bottle packaging operation in the pharmaceutical factory. PC is interfaced with hardware module using serial interfacing circuit. The monitoring and running conditions are shown by motors and sensors on the screen of computer using a group of program as Visual Basic.Net and Mikro C. The robotic arm used as packager is constructed using aluminum and the gripper is made by plastic. The control circuit is consisted of PIC, DC motors, motor drivers, LDR and limit switches. It is also used own programs using VB.NET instead of off-the-shelf software. . The software is designed of the real time monitoring for packaging process and included signal sensing, supervisory control using PIC, data acquisition and visualization programs. This research is studied to develop automation manufacturing technology in Myanmar industries and implement the software package to control the operations.

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

    Science.gov (United States)

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

    2011-02-01

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

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

    Data.gov (United States)

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

  7. Deciding WQO for factorial languages

    KAUST Repository

    Atminas, Aistis

    2013-04-05

    A language is factorial if it is closed under taking factors (i.e. contiguous subwords). Every factorial language can be described by an antidictionary, i.e. a minimal set of forbidden factors. We show that the problem of deciding whether a factorial language given by a finite antidictionary is well-quasi-ordered under the factor containment relation can be solved in polynomial time. © 2013 Springer-Verlag Berlin Heidelberg.

  8. Robotics in agriculture and forestry

    NARCIS (Netherlands)

    Bergerman, M.; Billingsley, J.; Reid, J.; Henten, van E.J.

    2016-01-01

    Robotics for agriculture and forestry (A&F) represents the ultimate application of one of our society’s latest and most advanced innovations to its most ancient and important industries. Over the course of history, mechanization and automation increased crop output several orders of magnitude, e

  9. Robotics in agriculture and forestry

    NARCIS (Netherlands)

    Bergerman, M.; Billingsley, J.; Reid, J.; Henten, van E.J.

    2016-01-01

    Robotics for agriculture and forestry (A&F) represents the ultimate application of one of our society’s latest and most advanced innovations to its most ancient and important industries. Over the course of history, mechanization and automation increased crop output several orders of magnitude,

  10. Robot assisted transperitoneal laparoscopic pyeloplasty

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

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

  11. Exploring the role of robots

    DEFF Research Database (Denmark)

    Kilbourn, Kyle; Bay, Marie Brøndum

    2011-01-01

    a welfare technology project and our early attempts at performing relations in the context of robotics and automation, assumed to be an integral part of sterilization work for medical instruments. We focus on several aspects of the project: relations between work within and outside of the project...

  12. Disassembly automation automated systems with cognitive abilities

    CERN Document Server

    Vongbunyong, Supachai

    2015-01-01

    This book presents a number of aspects to be considered in the development of disassembly automation, including the mechanical system, vision system and intelligent planner. The implementation of cognitive robotics increases the flexibility and degree of autonomy of the disassembly system. Disassembly, as a step in the treatment of end-of-life products, can allow the recovery of embodied value left within disposed products, as well as the appropriate separation of potentially-hazardous components. In the end-of-life treatment industry, disassembly has largely been limited to manual labor, which is expensive in developed countries. Automation is one possible solution for economic feasibility. The target audience primarily comprises researchers and experts in the field, but the book may also be beneficial for graduate students.

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-10

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

  14. Generic Automated Multi-function Finger Design

    Science.gov (United States)

    Honarpardaz, M.; Tarkian, M.; Sirkett, D.; Ölvander, J.; Feng, X.; Elf, J.; Sjögren, R.

    2016-11-01

    Multi-function fingers that are able to handle multiple workpieces are crucial in improvement of a robot workcell. Design automation of multi-function fingers is highly demanded by robot industries to overcome the current iterative, time consuming and complex manual design process. However, the existing approaches for the multi-function finger design automation are unable to entirely meet the robot industries’ need. This paper proposes a generic approach for design automation of multi-function fingers. The proposed approach completely automates the design process and requires no expert skill. In addition, this approach executes the design process much faster than the current manual process. To validate the approach, multi-function fingers are successfully designed for two case studies. Further, the results are discussed and benchmarked with existing approaches.

  15. Engineering the Polyketide Cell Factory

    DEFF Research Database (Denmark)

    Mølgaard, Louise

    sufficient titers. To improve the production of polyketides biological engineering principles have been applied for the development and engineering of microbial polyketide cell factories. The two biological hosts used for heterologous polyketide production were Aspergillus nidulans and Saccharomyces....... This indicates that even more copies of the genes for 6-MSA production could yield even higher titers. Thus the acyl-CoA substrates do not appear to be limiting the production of 6-MSA. Construction of a cell factory and engineering it to increase production is one approach to obtaining an efficient cell factory...... been taken towards engineering an effective polyketide cell factory....

  16. The Robotic Edge Finishing Laboratory

    Energy Technology Data Exchange (ETDEWEB)

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

    1990-08-01

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

  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....

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

    Directory of Open Access Journals (Sweden)

    Yi-Hung Liu

    2014-01-01

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

  19. Army Robotics

    Science.gov (United States)

    2009-10-07

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

  20. TARDEC Robotics

    Science.gov (United States)

    2010-01-12

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

  1. Robot Futures

    DEFF Research Database (Denmark)

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

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

  2. Mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1986-01-01

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

  3. Micro Factory Systems and Tooling

    DEFF Research Database (Denmark)

    Hansen, Hans Nørgaard

    2003-01-01

    The presentation deals with the micro factory concept in general and with the issues related to manufacturing, handling/assembly and quality control in particular.......The presentation deals with the micro factory concept in general and with the issues related to manufacturing, handling/assembly and quality control in particular....

  4. Micro Factory Systems and Tooling

    DEFF Research Database (Denmark)

    Hansen, Hans Nørgaard

    2003-01-01

    The presentation deals with the micro factory concept in general and with the issues related to manufacturing, handling/assembly and quality control in particular.......The presentation deals with the micro factory concept in general and with the issues related to manufacturing, handling/assembly and quality control in particular....

  5. Some Factories in Southern Nigeria

    African Journals Online (AJOL)

    study is an outgrowth, 267 Personnel Managers were elevated to management ... effect, the factory manager now occupies a more important position in the man- ... overview at an empirical and theoretical level of factory managers in Nigeria ... gerial work is diverse and this, according to Hales (1986), can be captured by ...

  6. Robotic Surveying

    Energy Technology Data Exchange (ETDEWEB)

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

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

  7. Warehouse automation

    OpenAIRE

    Pogačnik, Jure

    2017-01-01

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

  8. 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.

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

    Science.gov (United States)

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

    2017-07-01

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

  10. Optimization of a furniture factory layout

    Directory of Open Access Journals (Sweden)

    Tadej Kanduč

    2015-03-01

    Full Text Available This paper deals with the problem of optimizing a factory floor layout in a Slovenian furniture factory. First, the current state of the manufacturing system is analyzed by constructing a discrete event simulation (DES model that reflects the manufacturing processes. The company produces over 10,000 different products, and their manufacturing processes include approximately 30,000 subprocesses. Therefore, manually constructing a model to include every subprocess is not feasible. To overcome this problem, a method for automated model construction was developed to construct a DES model based on a selection of manufacturing orders and relevant subprocesses. The obtained simulation model provided insight into the manufacturing processes and enable easy modification of model parameters for optimizing the manufacturing processes. Finally, the optimization problem was solved: the total distance the products had to traverse between machines was minimized by devising an optimal machine layout. With the introduction of certain simplifications, the problem was best described as a quadratic assignment problem. A novel heuristic method based on force-directed graph drawing algorithms was developed. Optimizing the floor layout resulted in a significant reduction of total travel distance for the products.

  11. 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....

  12. 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.

  13. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  14. Robotic and Survey Telescopes

    Science.gov (United States)

    Woźniak, Przemysław

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

  15. AutoPyFactory: A Scalable Flexible Pilot Factory Implementation

    Science.gov (United States)

    Caballero, J.; Hover, J.; Love, P.; Stewart, G. A.

    2012-12-01

    The ATLAS experiment at the CERN LHC is one of the largest users of grid computing infrastructure, which is a central part of the experiment's computing operations. Considerable efforts have been made to use grid technology in the most efficient and effective way, including the use of a pilot job based workload management framework. In this model the experiment submits ‘pilot’ jobs to sites without payload. When these jobs begin to run they contact a central service to pick-up a real payload to execute. The first generation of pilot factories were usually specific to a single Virtual Organization (VO), and were bound to the particular architecture of that VO's distributed processing. A second generation provides factories which are more flexible, not tied to any particular VO, and provide new and improved features such as monitoring, logging, profiling, etc. In this paper we describe this key part of the ATLAS pilot architecture, a second generation pilot factory, AutoPyFactory. AutoPyFactory has a modular design and is highly configurable. It is able to send different types of pilots to sites and exploit different submission mechanisms and queue characteristics. It is tightly integrated with the PanDA job submission framework, coupling pilot flow to the amount of work the site has to run. It gathers information from many sources in order to correctly configure itself for a site and its decision logic can easily be updated. Integrated into AutoPyFactory is a flexible system for delivering both generic and specific job wrappers which can perform many useful actions before starting to run end-user scientific applications, e.g., validation of the middleware, node profiling and diagnostics, and monitoring. AutoPyFactory also has a robust monitoring system that has been invaluable in establishing a reliable pilot factory service for ATLAS.

  16. IT/Automation Cost Reduction in Intel€ٳ Manufacturing Environment

    OpenAIRE

    Subirana, Brian

    2004-01-01

    Intel manufacturing relies heavily on IT and Factory Automation during the manufacturing processes. At Intel, everything from scheduling products on the floor and product delivery systems to statistical process control is done through automation systems. Shortly after an Intel meeting described in the case, a new position Computing Cost Reduction Manager - was created to lead a team within Factory Automation to drive cost reduction efforts which was a top priority for Intel in 2003. The compu...

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

    OpenAIRE

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

    2015-01-01

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

  18. Robotic surgery.

    Science.gov (United States)

    Diana, M; Marescaux, J

    2015-01-01

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

  19. Automated Scheduling Via Artificial Intelligence

    Science.gov (United States)

    Biefeld, Eric W.; Cooper, Lynne P.

    1991-01-01

    Artificial-intelligence software that automates scheduling developed in Operations Mission Planner (OMP) research project. Software used in both generation of new schedules and modification of existing schedules in view of changes in tasks and/or available resources. Approach based on iterative refinement. Although project focused upon scheduling of operations of scientific instruments and other equipment aboard spacecraft, also applicable to such terrestrial problems as scheduling production in factory.

  20. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

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

  1. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

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

  2. Embedded mobile farm robot for identification of diseased plants

    Science.gov (United States)

    Sadistap, S. S.; Botre, B. A.; Pandit, Harshavardhan; Chandrasekhar; Rao, Adesh

    2013-07-01

    This paper presents the development of a mobile robot used in farms for identification of diseased plants. It puts forth two of the major aspects of robotics namely automated navigation and image processing. The robot navigates on the basis of the GPS (Global Positioning System) location and data obtained from IR (Infrared) sensors to avoid any obstacles in its path. It uses an image processing algorithm to differentiate between diseased and non-diseased plants. A robotic platform consisting of an ARM9 processor, motor drivers, robot mechanical assembly, camera and infrared sensors has been used. Mini2440 microcontroller has been used wherein Embedded linux OS (Operating System) is implemented.

  3. The automation of science.

    Science.gov (United States)

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

    2009-04-03

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Miller, R.K.

    1987-01-01

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

  5. Muon colliders and neutrino factories

    Energy Technology Data Exchange (ETDEWEB)

    Geer, S.; /Fermilab

    2010-09-01

    Over the last decade there has been significant progress in developing the concepts and technologies needed to produce, capture and accelerate {Omicron}(10{sup 21}) muons/year. This development prepares the way for a new type of neutrino source (Neutrino Factory) and a new type of very high energy lepton-antilepton collider (Muon Collider). This article reviews the motivation, design and R&D for Neutrino Factories and Muon Colliders.

  6. Muon colliders and neutrino factories

    CERN Document Server

    Geer, S

    2012-01-01

    Over the last decade there has been significant progress in developing the concepts and technologies needed to produce, capture and accelerate O(1021) muons/year. This development prepares the way for a new type of neutrino source (Neutrino Factory) and a new type of very high energy lepton-antilepton collider (Muon Collider). This article reviews the motivation, design and R&D for Neutrino Factories and Muon Colliders.

  7. Robots that can adapt like animals

    Science.gov (United States)

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

    2015-05-01

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

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

    Science.gov (United States)

    2003-03-01

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

  9. Accounting Automation

    OpenAIRE

    Laynebaril1

    2017-01-01

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

  10. An automated cleaning system for hospitals

    OpenAIRE

    Griffin, Colin

    2009-01-01

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

  11. Streamlining and automation of radioanalytical methods at a commercial laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Harvey, J.T.; Dillard, J.W. [IT Corp., Knoxville, TN (United States)

    1993-12-31

    Through the careful planning and design of laboratory facilities and incorporation of modern instrumentation and robotics systems, properly trained and competent laboratory associates can efficiently and safely handle radioactive and mixed waste samples. This paper addresses the potential improvements radiochemistry and mixed waste laboratories can achieve utilizing robotics for automated sample analysis. Several examples of automated systems for sample preparation and analysis will be discussed.

  12. Home Automation

    OpenAIRE

    Ahmed, Zeeshan

    2010-01-01

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

  13. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

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

  14. AutoPyFactory: A Scalable Flexible Pilot Factory Implementation

    CERN Document Server

    Caballero, J; The ATLAS collaboration; Love, P; Stewart, G

    2012-01-01

    The ATLAS experiment at the CERN LHC is one of the largest users of grid computing infrastructure, which is a central part of the experiment’s computing operations. Considerable efforts have been made to use grid technology in the most efficient and effective way, including the use of a pilot job based workload management framework. In this model the experiment submits ’pilot’ jobs to sites without payload. When these jobs begin to run they contact a central service to retrieve a real payload to execute. The first generation of pilot factories were usually specific to a single VO, and were bound to the particular architecture of that VO’s distributed processing. A second generation provides factories which are more flexible, not tied to any particular VO, and provide new or improved features such as monitoring, logging, profiling, etc. In this paper we describe this key part of the ATLAS pilot architecture, a second generation pilot factory, AutoPyFactory. AutoPyFactory has a modular design and is hig...

  15. Learning for intelligent mobile robots

    Science.gov (United States)

    Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

    2003-10-01

    Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

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

    Science.gov (United States)

    Ascension Parish School Board, Donaldsonville, LA.

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

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

    Science.gov (United States)

    1990-07-01

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

  18. A Structured Light Scanner for Hyper Flexible Industrial Automation

    DEFF Research Database (Denmark)

    Hansen, Kent; Pedersen, Jeppe; Sølund, Thomas

    2014-01-01

    A current trend in industrial automation implies a need for doing automatic scene understanding, from optical 3D sensors, which in turn imposes a need for a lightweight and reliable 3D optical sensor to be mounted on a collaborative robot e.g., Universal Robot UR5 or Kuka LWR. Here, we empirically...

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

    Science.gov (United States)

    1991-12-01

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

  20. Range determination for mobile robots using one omnidirectional camera

    OpenAIRE

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

    2006-01-01

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

  1. An Autonomous Robotic System for Mapping Weeds in Fields

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Garcia Ruiz, Francisco Jose; Kazmi, Wajahat

    2013-01-01

    The ASETA project develops theory and methods for robotic agricultural systems. In ASETA, unmanned aircraft and unmanned ground vehicles are used to automate the task of identifying and removing weeds in sugar beet fields. The framework for a working automatic robotic weeding system is presented...

  2. Automation: is it really different this time?

    Science.gov (United States)

    Wajcman, Judy

    2017-03-01

    This review examines several recent books that deal with the impact of automation and robotics on the future of jobs. Most books in this genre predict that the current phase of digital technology will create massive job loss in an unprecedented way, that is, that this wave of automation is different from previous waves. Uniquely digital technology is said to automate professional occupations for the first time. This review critically examines these claims, puncturing some of the hyperbole about automation, robotics and Artificial Intelligence. The review argues for a more nuanced analysis of the politics of technology and provides some critical distance on Silicon Valley's futurist discourse. Only by insisting that futures are always social can public bodies, rather than autonomous markets and endogenous technologies, become central to disentangling, debating and delivering those futures.

  3. Detection and classification of Web robots with honeypots

    OpenAIRE

    McKenna, Sean F.

    2016-01-01

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

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

    Science.gov (United States)

    1992-08-04

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

  5. Design and Implementation of Company Tailored Automated Material Handling

    DEFF Research Database (Denmark)

    Langer, Gilad; Bilberg, Arne

    1996-01-01

    This article focuses on the problems of analysing automation of material handling systems in order to develop an efficient automated solution that is specifically tailored to the company. The research has resulted in development of new methods for evaluating factory automation from design...... for their application with computer aided information processing tools. The framework is named the "Automated Material Handling (AMH) Preference GuideLine". The research has been carried out in close co-operation with Danish and European industry, where implementations of automation can be referred to. It is our...

  6. Robotic system

    Science.gov (United States)

    Ambrose, Robert O. (Inventor)

    2003-01-01

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

  7. Delta robot

    NARCIS (Netherlands)

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

    2010-01-01

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

  8. 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…

  9. Delta robot

    NARCIS (Netherlands)

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

    2010-01-01

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

  10. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  11. Task automation in a successful industrial telerobot

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-01-01

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

  12. DIDACTIC AUTOMATED STATION OF COMPLEX KINEMATICS

    Directory of Open Access Journals (Sweden)

    Mariusz Sosnowski

    2014-03-01

    Full Text Available The paper presents the design, control system and software that controls the automated station of complex kinematics. Control interface and software has been developed and manufactured in the West Pomeranian University of Technology in Szczecin in the Department of Automated Manufacturing Systems Engineering and Quality. Conducting classes designed to teach programming and design of structures and systems for monitoring the robot kinematic components with non-standard structures was the reason for installation of the control system and software.

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

    Institute of Scientific and Technical Information of China (English)

    刘振中

    2015-01-01

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

  14. Technological applications of robotics in mining

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-12-31

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

  15. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

    ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

  16. LANL Robotic Vessel Scanning

    Energy Technology Data Exchange (ETDEWEB)

    Webber, Nels W. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2015-11-25

    Los Alamos National Laboratory in J-1 DARHT Operations Group uses 6ft spherical vessels to contain hazardous materials produced in a hydrodynamic experiment. These contaminated vessels must be analyzed by means of a worker entering the vessel to locate, measure, and document every penetration mark on the vessel. If the worker can be replaced by a highly automated robotic system with a high precision scanner, it will eliminate the risks to the worker and provide management with an accurate 3D model of the vessel presenting the existing damage with the flexibility to manipulate the model for better and more in-depth assessment.The project was successful in meeting the primary goal of installing an automated system which scanned a 6ft vessel with an elapsed time of 45 minutes. This robotic system reduces the total time for the original scope of work by 75 minutes and results in excellent data accumulation and transmission to the 3D model imaging program.

  17. Application of AGV Delivery System in Cigarette Factory Accessories Warehouse%AGV输送系统在烟厂辅料仓库中的应用

    Institute of Scientific and Technical Information of China (English)

    刘捷

    2015-01-01

    本文介绍了AGV(自动引导小车)输送系统在烟厂辅料仓库中的应用,AGV输送系统提高了烟厂自动化水平和信息化水平.%This paper introduces the application of AGV (automated guided vehicle) delivery system in the cigarette factory accessories warehouse, the AGV delivery system has improved the level of factory automation and informatiza-tion.

  18. ROBOT TASK SCENE ANALYZER

    Energy Technology Data Exchange (ETDEWEB)

    William R. Hamel; Steven Everett

    2000-08-01

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

  19. Automation of (64)Cu production at Turku PET Centre.

    Science.gov (United States)

    Elomaa, Viki-Veikko; Jurttila, Jori; Rajander, Johan; Solin, Olof

    2014-07-01

    At Turku PET Centre automation for handling solid targets for the production of (64)Cu has been built. The system consists of a module for moving the target from the irradiation position into a lead transport shield and a robotic-arm assisted setup for moving the target within radiochemistry laboratory. The main motivation for designing automation arises from radiation hygiene.

  20. Robotic transportation.

    Science.gov (United States)

    Lob, W S

    1990-09-01

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

  1. IPAC Image Processing and Data Archiving for the Palomar Transient Factory

    Science.gov (United States)

    Laher, Russ R.; Surace, Jason; Grillmair, Carl J.; Ofek, Eran O.; Levitan, David; Sesar, Branimir; van Eyken, Julian C.; Law, Nicholas M.; Helou, George; Hamam, Nouhad; Masci, Frank J.; Mattingly, Sean; Jackson, Ed; Hacopeans, Eugean; Mi, Wei; Groom, Steve; Teplitz, Harry; Desai, Vandana; Hale, David; Smith, Roger; Walters, Richard; Quimby, Robert; Kasliwal, Mansi; Horesh, Assaf; Bellm, Eric; Barlow, Tom; Waszczak, Adam; Prince, Thomas A.; Kulkarni, Shrinivas R.

    2014-07-01

    The Palomar Transient Factory (PTF) is a multiepochal robotic survey of the northern sky that acquires data for the scientific study of transient and variable astrophysical phenomena. The camera and telescope provide for wide-field imaging in optical bands. In the five years of operation since first light on 2008 December 13, images taken with Mould-R and SDSS-g' camera filters have been routinely acquired on a nightly basis (weather permitting), and two different Hα filters were installed in 2011 May (656 and 663 nm). The PTF image-processing and data-archival program at the Infrared Processing and Analysis Center (IPAC) is tailored to receive and reduce the data, and, from it, generate and preserve astrometrically and photometrically calibrated images, extracted source catalogs, and co-added reference images. Relational databases have been deployed to track these products in operations and the data archive. The fully automated system has benefited by lessons learned from past IPAC projects and comprises advantageous features that are potentially incorporable into other ground-based observatories. Both off-the-shelf and in-house software have been utilized for economy and rapid development. The PTF data archive is curated by the NASA/IPAC Infrared Science Archive (IRSA). A state-of-the-art custom Web interface has been deployed for downloading the raw images, processed images, and source catalogs from IRSA. Access to PTF data products is currently limited to an initial public data release (M81, M44, M42, SDSS Stripe 82, and the Kepler Survey Field). It is the intent of the PTF collaboration to release the full PTF data archive when sufficient funding becomes available.

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

    OpenAIRE

    2013-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-11-01

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

  4. End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

    Directory of Open Access Journals (Sweden)

    Jolly Atit Shah

    2013-03-01

    Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.

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

    Science.gov (United States)

    2014-02-13

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

  6. Social Robots

    DEFF Research Database (Denmark)

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

  7. A system-level approach to automation research

    Science.gov (United States)

    Harrison, F. W.; Orlando, N. E.

    1984-01-01

    Automation is the application of self-regulating mechanical and electronic devices to processes that can be accomplished with the human organs of perception, decision, and actuation. The successful application of automation to a system process should reduce man/system interaction and the perceived complexity of the system, or should increase affordability, productivity, quality control, and safety. The expense, time constraints, and risk factors associated with extravehicular activities have led the Automation Technology Branch (ATB), as part of the NASA Automation Research and Technology Program, to investigate the use of robots and teleoperators as automation aids in the context of space operations. The ATB program addresses three major areas: (1) basic research in autonomous operations, (2) human factors research on man-machine interfaces with remote systems, and (3) the integration and analysis of automated systems. This paper reviews the current ATB research in the area of robotics and teleoperators.

  8. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

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

    Science.gov (United States)

    2012-01-01

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

  10. A Review of "Infinity Factory."

    Science.gov (United States)

    National Council of Teachers of Mathematics, Inc., Reston, VA.

    Following a discussion of the historical background of the TV series "Infinity Factory," the goals of the television project are listed. A general description of the television series, an evaluation of the entertainment value, and an evaluation of children's attitude change are briefly presented. The program's presentation of mathematics…

  11. Multiple Segment Factorial Vignette Designs

    Science.gov (United States)

    Ganong, Lawrence H.; Coleman, Marilyn

    2006-01-01

    The multiple segment factorial vignette design (MSFV) combines elements of experimental designs and probability sampling with the inductive, exploratory approach of qualitative research. MSFVs allow researchers to investigate topics that may be hard to study because of ethical or logistical concerns. Participants are presented with short stories…

  12. Multiple Segment Factorial Vignette Designs

    Science.gov (United States)

    Ganong, Lawrence H.; Coleman, Marilyn

    2006-01-01

    The multiple segment factorial vignette design (MSFV) combines elements of experimental designs and probability sampling with the inductive, exploratory approach of qualitative research. MSFVs allow researchers to investigate topics that may be hard to study because of ethical or logistical concerns. Participants are presented with short stories…

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-07-01

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

  14. Human-Robot Interaction in High Vulnerability Domains

    Science.gov (United States)

    Gore, Brian F.

    2016-01-01

    Future NASA missions will require successful integration of the human with highly complex systems. Highly complex systems are likely to involve humans, automation, and some level of robotic assistance. The complex environments will require successful integration of the human with automation, with robots, and with human-automation-robot teams to accomplish mission critical goals. Many challenges exist for the human performing in these types of operational environments with these kinds of systems. Systems must be designed to optimally integrate various levels of inputs and outputs based on the roles and responsibilities of the human, the automation, and the robots; from direct manual control, shared human-robotic control, or no active human control (i.e. human supervisory control). It is assumed that the human will remain involved at some level. Technologies that vary based on contextual demands and on operator characteristics (workload, situation awareness) will be needed when the human integrates into these systems. Predictive models that estimate the impact of the technologies on the system performance and the on the human operator are also needed to meet the challenges associated with such future complex human-automation-robot systems in extreme environments.

  15. Robotics and automation activities in South Africa

    CSIR Research Space (South Africa)

    Utete, S

    2013-09-01

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

  16. More steps towards process automation for optical fabrication

    Science.gov (United States)

    Walker, David; Yu, Guoyu; Beaucamp, Anthony; Bibby, Matt; Li, Hongyu; McCluskey, Lee; Petrovic, Sanja; Reynolds, Christina

    2017-06-01

    In the context of Industrie 4.0, we have previously described the roles of robots in optical processing, and their complementarity with classical CNC machines, providing both processing and automation functions. After having demonstrated robotic moving of parts between a CNC polisher and metrology station, and auto-fringe-acquisition, we have moved on to automate the wash-down operation. This is part of a wider strategy we describe in this paper, leading towards automating the decision-making operations required before and throughout an optical manufacturing cycle.

  17. 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...

  18. ERP processes automation in corporate environments

    Directory of Open Access Journals (Sweden)

    Antonoaie Victor

    2017-01-01

    Full Text Available The automation processes are used in organizations to speed up analyses processes and reduce manual labour. Robotic Automation of IT processes implemented in a modern corporate workspace provides an excellent tool for assisting professionals in making decisions, saving resources and serving as a know-how repository. This study presents the newest trends in process automation, its benefits such as security, ease of use, reduction of overall process duration, and provide examples of SAPERP projects where this technology was implemented and meaningful impact was obtained.

  19. Thermal battery automated assembly station conceptual design

    Energy Technology Data Exchange (ETDEWEB)

    Jacobs, D

    1988-08-01

    Thermal battery assembly involves many operations which are labor- intense. In August 1986, a project team was formed at GE Neutron Devices to investigate and evaluate more efficient and productive battery assembly techniques through the use of automation. The result of this study was the acceptance of a plan to automate the piece part pellet fabrication and battery stacking operations by using computerized pellet presses and robots which would be integrated by a main computer. This report details the conceptual design and development plan to be followed in the fabrication, development, and implementation of a thermal battery automated assembly station. 4 figs., 8 tabs.

  20. Design Methodology for Automated Construction Machines

    Science.gov (United States)

    1987-12-11

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

  1. Cognitive Robotics

    OpenAIRE

    Levesque, Hector J.; Lakemeyer, Gerhard

    2010-01-01

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

  2. Off the Shelf Cloud Robotics for the Smart Home: Empowering a Wireless Robot through Cloud Computing

    Directory of Open Access Journals (Sweden)

    Javier Ramírez De La Pinta

    2017-03-01

    Full Text Available In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user’s home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered.

  3. Off the Shelf Cloud Robotics for the Smart Home: Empowering a Wireless Robot through Cloud Computing.

    Science.gov (United States)

    Ramírez De La Pinta, Javier; Maestre Torreblanca, José María; Jurado, Isabel; Reyes De Cozar, Sergio

    2017-03-06

    In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user's home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered.

  4. Library Automation

    OpenAIRE

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

    2010-01-01

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

  5. Robot Rescue

    Science.gov (United States)

    Morring, Frank, Jr.

    2004-01-01

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

  6. [Robotic surgery].

    Science.gov (United States)

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

    2014-12-01

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

  7. Can a robot improve mine safety?

    CSIR Research Space (South Africa)

    Green, JJ

    2010-09-01

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

  8. Forecasting Sales in a Sugar Factory

    Directory of Open Access Journals (Sweden)

    Vassilios ASSIMAKOPOULOS

    2011-12-01

    Full Text Available Beets’ cultivation and sugar production represent one of the most important parts of Greek agricultural economy. A careful and well-organized planning of the production as well as the determination of an accurate safety stock is important for sugar industry, as for many other companies and organizations, in order to define the production quantity which leads to maximum revenues and profits. Forecasting, and especially widely used statistical forecasting techniques, is the best way for policymakers to organize their activities and company’s production and make the appropriate adjustments. Apparently, management information systems and forecasting support packages play a leading role in this area, since the amount of data under process is usually quite large and demands an automated procedure to effectively produce and evaluate forecasts. In this case study, “Pythia”, an expert forecasting platform developed by the Forecasting and Strategy Unit of the National Technical University of Athens, was implemented on a monthly data series regarding sugar sales of a Greek sugar factory for the years 2000-2005, bringing theory and practice together. Additionally, the methods or combinations of methods which are well suited for this time series are highlighted based on three error indices. Finally, the results of the study and conclusions are considered and perspectives of progress and development in the field of forecasting are contemplated.

  9. Stereoscopic Vision System For Robotic Vehicle

    Science.gov (United States)

    Matthies, Larry H.; Anderson, Charles H.

    1993-01-01

    Distances estimated from images by cross-correlation. Two-camera stereoscopic vision system with onboard processing of image data developed for use in guiding robotic vehicle semiautonomously. Combination of semiautonomous guidance and teleoperation useful in remote and/or hazardous operations, including clean-up of toxic wastes, exploration of dangerous terrain on Earth and other planets, and delivery of materials in factories where unexpected hazards or obstacles can arise.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-12-01

    A commercial laboratory robot system (Zymate PyTechnology II Laboratory Automation System; Zymark Corporation, Hopkinton, MA) was interfaced to standard and custom laboratory equipment and programmed to perform rapid radiochemical analyses for quantitative PET studies. A Zymark XP robot arm was used to carry out the determination of unchanged (parent) radiotracer in plasma using only solid phase extraction methods. Robotic throughput for the assay of parent radiotracer in plasma is 4--6 samples/hour depending on the radiotracer. Robotic assays of parent compound in plasma were validated for the radiotracers [{sup 11}C]Benztropine, [{sup 11}C]cocaine, [{sup 11}C]clorgyline, [{sup 11}C]deprenyl, [{sup 11}C]methadone, [{sup 11}C]methylphenidate, [{sup 11}C]raclorpride, and [{sup 11}C]SR46349B. A simple robot-assisted methods development strategy has been implemented to facilitate the automation of plasma assays of new radiotracers.

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

    Institute of Scientific and Technical Information of China (English)

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

    2005-01-01

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

  12. Automation tools for flexible aircraft maintenance.

    Energy Technology Data Exchange (ETDEWEB)

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

    2003-11-01

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

  13. Automated sugar analysis

    Directory of Open Access Journals (Sweden)

    Tadeu Alcides MARQUES

    2016-03-01

    Full Text Available Abstract Sugarcane monosaccharides are reducing sugars, and classical analytical methodologies (Lane-Eynon, Benedict, complexometric-EDTA, Luff-Schoorl, Musson-Walker, Somogyi-Nelson are based on reducing copper ions in alkaline solutions. In Brazil, certain factories use Lane-Eynon, others use the equipment referred to as “REDUTEC”, and additional factories analyze reducing sugars based on a mathematic model. The objective of this paper is to understand the relationship between variations in millivolts, mass and tenors of reducing sugars during the analysis process. Another objective is to generate an automatic model for this process. The work herein uses the equipment referred to as “REDUTEC”, a digital balance, a peristaltic pump, a digital camcorder, math programs and graphics programs. We conclude that the millivolts, mass and tenors of reducing sugars exhibit a good mathematical correlation, and the mathematical model generated was benchmarked to low-concentration reducing sugars (<0.3%. Using the model created herein, reducing sugars analyses can be automated using the new equipment.

  14. Simplified Human-Robot Interaction: Modeling and Evaluation

    Directory of Open Access Journals (Sweden)

    Balazs Daniel

    2013-10-01

    Full Text Available In this paper a novel concept of human-robot interaction (HRI modeling is proposed. Including factors like trust in automation, situational awareness, expertise and expectations a new user experience framework is formed for industrial robots. Service Oriented Robot Operation, proposed in a previous paper, creates an abstract level in HRI and it is also included in the framework. This concept is evaluated with exhaustive tests. Results prove that significant improvement in task execution may be achieved and the new system is more usable for operators with less experience with robotics; personnel specific for small and medium enterprises (SMEs.

  15. Photon Factory Activity Report, 1994

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-31

    Photon Factory Activity Report no.12 deals with our activities in the period from October 1993 through September 1994. We operate two light sources at the Photon Factory; the 2.5-GeV Photon Factory storage ring, which is a dedicated light source, and the 6.5-GeV TRISTAN Accumulation Ring, which is parasitically used as a light source. We keep more than seventy experimental stations at two facilities, and accept experiments primarily according to approval by the Program Advisory Committee. The number of proposals to the Photon Factory has been still growing. Three-hundred eighty two proposals were approved by the PAC in FY1994, which is an increase by thirteen percent compared to the previous year. Remarkable was growth in biology proposals, particularly proposals in protein crystallography. In FY 1994, we accepted approximately 20,000 man-days as general users, and almost ten percent of them were from abroad. We always open the facility to users, not only domestic but also international. Recently we have been concentrating our effort to upgrading of the light sources and reconstruction of the experimental stations to keep the Photon Factory an attractive research facility in the forthcoming years. We have already started a program of reducing the emittance of the 2.5-GeV storage ring, which now operates with an emittance of 110 nm-rad, to 27 nm-rad by modifying the lattice, with the goal of operation at the reduced emittance in the fall of 1997. We also have conceived of a conversion of the TRISTAN Accumulation Ring to a dedicated light source of high energies. The on-going TRISTAN project will terminate by the end of 1995, and the TRISTAN Main Ring will be converted to a new B-Factory. At this moment, the TRISTAN Accumulation Ring will be disused as the injector to the Main Ring, and conversion of the AR to a dedicated light source becomes possible. (J.P.N.)

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

    Energy Technology Data Exchange (ETDEWEB)

    Suehiro, T.

    1996-04-10

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Hagerty, J.J.

    1980-06-30

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

  18. 27 CFR 40.69 - Factory premises.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 2 2010-04-01 2010-04-01 false Factory premises. 40.69... PROCESSED TOBACCO Qualification Requirements for Manufacturers of Tobacco Products § 40.69 Factory premises. The premises to be used by a manufacturer of tobacco products as his factory may consist of more...

  19. Automation or De-automation

    Science.gov (United States)

    Gorlach, Igor; Wessel, Oliver

    2008-09-01

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

  20. Future Computer, Communication, Control and Automation

    CERN Document Server

    2011 International Conference on Computer, Communication, Control and Automation

    2012-01-01

    The volume includes a set of selected papers extended and revised from the 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011). 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011) has been held in Zhuhai, China, November 19-20, 2011. This volume topics covered include wireless communications, advances in wireless video, wireless sensors networking, security in wireless networks, network measurement and management, hybrid and discrete-event systems, internet analytics and automation, robotic system and applications, reconfigurable automation systems, machine vision in automation. We hope that researchers, graduate students and other interested readers benefit scientifically from the proceedings and also find it stimulating in the process.

  1. 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.

  2. RIKEN RI Beam Factory project

    Energy Technology Data Exchange (ETDEWEB)

    Yano, Yasushige; Goto, Akira; Katayama, Takeshi [Institute of Physical and Chemical Research, Wako, Saitama (Japan)

    1997-03-01

    The RARF proposes `RIKEN RI Beam Factory` as a next facility-expanding project. The factory makes it the primary aim to provide RI (Radioactive Isotope) beams covering over the whole atomic-mass range with the world-highest intensity in a wide energy range up to several hundreds MeV/nucleon. These RI beams are generated by the fragmentation of high-intensity heavy-ion beams. For the efficient production heavy-ion energies will be boosted up to over 100 MeV/nucleon even for very heavy ions by a K2500-MeV superconducting ring cyclotron serving as a post accelerator of the existing K540-MeV ring cyclotron. A new type of experimental installation called `MUSES` (Multi-USe Experimental Storage rings) will be constructed as well. With MUSES, various types of unique colliding experiments will become possible. (author)

  3. Exotic Hadrons from B Factories

    Science.gov (United States)

    Fulsom, Bryan

    2017-01-01

    The first generation of B-Factories, BaBar and Belle, operated over the previous decade and produced many world-leading measurements related to flavor physics. One of the most important discoveries was that of an apparent four-quark particle, named X(3872). It was the first of a growing X, Y, Z alphabet of exotic hadrons, now numbering more than a dozen, found by the e + e - collider experiments. These multi-quark states represent an unusual departure from the standard description that hadronic matter consists of only two or three quarks. These discoveries have led to the emergence of a new category of physics within heavy meson spectroscopy. This talk will review some of these key experimental results, and highlight the potential of the next generation B-Factory, Belle II, as it begins operation in the coming year.

  4. Handbook factory planning and design

    CERN Document Server

    Wiendahl, Hans-Peter; Nyhuis, Peter

    2015-01-01

    This handbook introduces a methodical approach and pragmatic concept for the planning and design of changeable factories that act in strategic alliances to supply the ever-changing needs of the global market. In the first part, the change drivers of manufacturing enterprises and the resulting new challenges are considered in detail with focus on an appropriate change potential. The second part concerns the design of the production facilities and systems on the factory levels work place, section, building and site under functional, organisational, architectural and strategic aspects keeping in mind the environmental, health and safety aspects including corporate social responsibility. The third part is dedicated to the planning and design method that is based on a synergetic interaction of process and space. The accompanying project management of the planning and construction phase and the facility management for the effective utilization of the built premises close the book. -        Concise overview o...

  5. 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.

  6. Results from the B Factories

    Energy Technology Data Exchange (ETDEWEB)

    Bevan, A.; /Queen Mary, U. of London

    2009-01-08

    These proceedings are based on lectures given at the Helmholtz International Summer School Heavy Quark Physics at the Bogoliubov Laboratory of Theoretical Physics, Dubna, Russia, during August 2008. I review the current status of CP violation in B meson decays from the B factories. These results can be used, along with measurements of the sides of the Unitarity Triangle, to test the CKM mechanism. In addition I discuss experimental studies of B decays to final states with 'spin-one' particles.

  7. Results from the B Factories

    Energy Technology Data Exchange (ETDEWEB)

    Bevan, A.; /Queen Mary, U. of London

    2009-01-08

    These proceedings are based on lectures given at the Helmholtz International Summer School Heavy Quark Physics at the Bogoliubov Laboratory of Theoretical Physics, Dubna, Russia, during August 2008. I review the current status of CP violation in B meson decays from the B factories. These results can be used, along with measurements of the sides of the Unitarity Triangle, to test the CKM mechanism. In addition I discuss experimental studies of B decays to final states with 'spin-one' particles.

  8. Photon Factory activity report, 1995

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-12-31

    The Photon Factory at the National Laboratory for High Energy Physics is a national facility for scientific research utilizing synchrotron radiation. Although the Photon Factory operator the linear injector, two light sources including the 2.5 GeV storage ring and the 6.5 GeV TRISTAN accumulation Ring as well as a major fraction of their beamlines and experimental station. This report is covered the period from October 1994 to September 1995. The total number of proposals by this PAC was 399 in 1995. Facility development projects currently in progress include the following, TRISTAN Super Light Facility (TSLF) project, VUV-FEL project, KEKB project and Slow-positron Source. This report contents outline of the Photon Factory, introduction, scientific disciplines, electronic properties of condensed matters, atomic and molecular science, X-ray imaging, radiobiology using synchrotron radiation, structural properties of condensed matters, structural properties of solid surfaces and adsorbates, structure and function of proteins, theoretical researches, experimental facilities, beamlines, new instrumentation, AR Upgrade, collaborations, projects, user`s short reports, list of published papers 1994/95. (S.Y.)

  9. 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.

  10. 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.

  11. Rehabilitation robotics

    Science.gov (United States)

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

    2015-01-01

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

  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. 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.

  14. 10th FSR (Field and Service Robotics)

    CERN Document Server

    Barfoot, Timothy

    2016-01-01

    This book contains the proceedings of the 10th FSR, (Field and Service Robotics) which is the leading single-track conference on applications of robotics in challenging environments. The 10th FSR was held in Toronto, Canada from 23-26 June 2015. The book contains 42 full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial, Underground, and Systems. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling...

  15. 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.

  16. Cooperating mobile robots

    Energy Technology Data Exchange (ETDEWEB)

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

    2004-02-03

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

  17. 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

  18. 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...

  19. 23rd International Conference on Flexible Automation & Intelligent Manufacturing

    CERN Document Server

    2013-01-01

    The proceedings includes the set of revised papers from the 23rd International Conference on Flexible Automation and Intelligent Manufacturing (FAIM 2013). This conference aims to provide an international forum for the exchange of leading edge scientific knowledge and industrial experience regarding the development and integration of the various aspects of Flexible Automation and Intelligent Manufacturing Systems covering the complete life-cycle of a company’s Products and Processes. Contents will include topics such as: Product, Process and Factory Integrated Design, Manufacturing Technology and Intelligent Systems, Manufacturing Operations Management and Optimization and Manufacturing Networks and MicroFactories.

  20. Intelligent Personal Assistant and Surveillance Robot using Zigbee Communication

    Directory of Open Access Journals (Sweden)

    KRISHNASWAMY KANNAN

    2012-10-01

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

  1. Robotic Partial Nephrectomy Using Robotic Bulldog Clamps

    OpenAIRE

    2011-01-01

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

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

    OpenAIRE

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

    2015-01-01

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

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

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

  5. Beyond Robotics

    Science.gov (United States)

    Tally, Beth; Laverdure, Nate

    2006-01-01

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

  6. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  7. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  8. Muon Colliders and Neutrino Factories

    Energy Technology Data Exchange (ETDEWEB)

    Kaplan, Daniel M. [IIT, Chicago

    2015-05-29

    Muon colliders and neutrino factories are attractive options for future facilities aimed at achieving the highest lepton-antilepton collision energies and precision measurements of Higgs boson and neutrino mixing matrix parameters. The facility performance and cost depend on how well a beam of muons can be cooled. Recent progress in muon cooling design studies and prototype tests nourishes the hope that such facilities could be built starting in the coming decade. The status of the key technologies and their various demonstration experiments is summarized. Prospects "post-P5" are also discussed.

  9. Muon Colliders and Neutrino Factories

    CERN Document Server

    Kaplan, Daniel M

    2014-01-01

    Muon colliders and neutrino factories are attractive options for future facilities aimed at achieving the highest lepton-antilepton collision energies and precision measurements of Higgs boson and neutrino mixing matrix parameters. The facility performance and cost depend on how well a beam of muons can be cooled. Recent progress in muon cooling design studies and prototype tests nourishes the hope that such facilities could be built starting in the coming decade. The status of the key technologies and their various demonstration experiments is summarized. Prospects "post-P5" are also discussed.

  10. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

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

  11. Robotics crosscutting program: Technology summary

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-08-01

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

  12. Trust me, I am Robot!

    DEFF Research Database (Denmark)

    Stoyanova, Angelina; Drefeld, Jonas; Tanev, Stoyan

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

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

    OpenAIRE

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

    2015-01-01

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

  14. Overview of the nearby supernova factory

    Energy Technology Data Exchange (ETDEWEB)

    Aldering, Greg; Adam, Gilles; Antilogus, Pierre; Astier, Pierre; Bacon, Roland; Bongard, S.; Bonnaud, C.; Copin, Yannick; Hardin, D.; Howell, D. Andy; Lemmonnier, Jean-Pierre; Levy, J.-M.; Loken, S.; Nugent, Peter; Pain, Reynald; Pecontal, Arlette; Pecontal, Emmanuel; Perlmutter, Saul; Quimby, Robert; Schahmaneche, Kyan; Smadja, Gerard; Wood-Vasey, W. Michael

    2002-07-29

    The Nearby Supernova Factory (SNfactory) is an international experiment designed to lay the foundation for the next generation of cosmology experiments (such as CFHTLS, wP, SNAP and LSST) which will measure the expansion history of the Universe using Type Ia supernovae. The SNfactory will discover and obtain frequent lightcurve spectrophotometry covering 3200-10000 {angstrom} for roughly 300 Type Ia supernovae at the low-redshift end of the smooth Hubble flow. The quantity, quality, breadth of galactic environments, and homogeneous nature of the SNfactory dataset will make it the premier source of calibration for the Type Ia supernova width-brightness relation and the intrinsic supernova colors used for K-correction and correction for extinction by host-galaxy dust. This dataset will also allow an extensive investigation of additional parameters which possibly influence the quality of Type Ia supernovae as cosmological probes. The SNfactory search capabilities and follow-up instrumentation include wide-field CCD imagers on two 1.2-m telescopes (via collaboration with the Near Earth Asteroid Tracking team at JPL and the QUEST team at Yale), and a two-channel integral-field-unit optical spectrograph/imager being fabricated for the University of Hawaii 2.2-m telescope. In addition to ground-based follow-up, UV spectra for a subsample of these supernovae will be obtained with HST. The pipeline to obtain, transfer via wireless and standard internet, and automatically process the search images is in operation. Software and hardware development is now underway to enable the execution of follow-up spectroscopy of supernova candidates at the Hawaii 2.2-m telescope via automated remote control of the telescope and the IFU spectrograph/imager.

  15. Robots in outdoor operation. A Baden-Wuerttemberg manufacturer opts for automatic assembly of solar farms; Roboter im Ausseneinsatz. Ein schwaebisches Unternehmen will die Montage von Solarparks automatisieren

    Energy Technology Data Exchange (ETDEWEB)

    Siemer, Jochen

    2011-04-15

    Solar farms are still constructed manually. However, this involves identical steps that may be repeated several hundreds of thousands of times. This induced manufacturers to look for automation options. Outdoor use of robots is faced with difficulties, but a Baden-Wuerttemberg manufacturer recently presented a new concept, i.e. the mobile assembly robot 'Momo'.

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

    Science.gov (United States)

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

    2012-02-01

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

  17. Service Robots for Hospitals: A Case Study of Transportation Tasks in a Hospital

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Fan, Zhun; Dawids, Steen

    2009-01-01

    In this paper, the need for automated transportation systems for hospitals is investigated. Among other alternatives, mobile robots stand out as the most prominent means of automation of transportation tasks in hospitals. Existing transportation routines of a hospital are analyzed in order...... to verify the need for automation and identify possible areas of improvement. The analysis shows that most of the existing transportation is carried out manually, and hospitals can greatly benefit from automated transportation. Based on the results of the analysis, three alternatives are derived...... for implementing mobile service robots for transportation tasks in hospitals....

  18. WQO is Decidable for Factorial Languages

    KAUST Repository

    Atminas, Aistis

    2017-08-08

    A language is factorial if it is closed under taking factors, i.e. contiguous subwords. Every factorial language can be described by an antidictionary, i.e. a minimal set of forbidden factors. We show that the problem of deciding whether a factorial language given by a finite antidictionary is well-quasi-ordered under the factor containment relation can be solved in polynomial time. We also discuss possible ways to extend our solution to permutations and graphs.

  19. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

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

    2003-01-01

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

  20. Robotics Education and Employment.

    Science.gov (United States)

    Linnell, Charles C.

    1993-01-01

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

  1. 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...

  2. Robotics in Protected Cultivation

    NARCIS (Netherlands)

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

    2013-01-01

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

  3. 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...

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

    Data.gov (United States)

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

  5. Marinization concept for the TRICEPT TR600 robot

    Energy Technology Data Exchange (ETDEWEB)

    Meyer, A.; Aust, E.; Niemann, H.R.; Santos, J.F. dos [GKSS-Forschungszentrum Geesthacht GmbH (Germany). Inst. fuer Materialforschung; Hammerin, R.; Neumann, K.E. [Neos Robotics AB, Taeby (Sweden); Gibson, D. [National Hyperbaric Centre, Aberdeen (United Kingdom)

    1998-11-01

    The need for automated welding repair systems of marine structures, ship hulls and nuclear installations had lead to an increasing demand for subsea robots. Considering the application of friction welding to perform underwater repairs, a TRICEPT TR600 robot has been identified as the most suitable system to withstand the high reaction forces characteristic of this process. This study reviews initially the research and development work carried out at GKSS to modify and test a Siemens-MANUTEC robot. After a description of the TRICEPT TR600 robot a marinization concept is presented and discussed in detail. Problems of galvanic corrosion in seawater are addressed in a separate chapter. The deflection of the robot in subsea water currents is estimated with a worst-case calculation. (orig.) [Deutsch] Der Wunsch, Roboter auch unter Wasser einsetzen zu koennen, waechst mit steigendem Interesse nach automatisierten Schweissverfahren fuer Reparaturen an marinen Bauwerken, Schiffsruempfen und in Kernenergieanlagen. Fuer den Einsatz von Reibschweissverfahren fuer diese Reparaturen wurde der TRICEPT TR600-Roboter ausgewaehlt, da dieser auch den charakteristisch hohen Prozesskraeften widerstehen kann. Die notwendigen Modifikationen und Pruefungen werden beispielhaft anhand des bei der GKSS modifizierten Siemens-MANUTEC-Roboters vorgestellt. Nach einer Beschreibung des TRICEPT-Roboters werden die notwendigen Umbaumassnahmen detailliert dargestellt und diskutiert. Auf die Problematik der galvanischen Korrosion in Seewasser wird in einem gesonderten Kapitel naeher eingegangen. Zusaetzlich wird eine moegliche Ablenkung des Roboters durch Wasserstroemung ueberschlaegig berechnet. (orig.)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-12-31

    This paper presents work done by Oak Ridge National Laboratory and Remotec, Inc., to develop a new operator-centered control system for Remotec`s Andros telerobot. Andros robots are presently used by numerous electric utilities, the armed forces, and numerous law enforcement agencies to perform tasks which are hazardous for human operators. This project has automated task components and enhanced the video graphics display of the robot`s position in the environment to significantly reduce operator workload. The procedure of automating a telerobot requires the addition of computer power to the robot, along with a variety of sensors and encoders to provide information about the robots performance in and relationship to its environment The resulting vehicle serves as a platform for research on strategies to integrate automated tasks with those performed by a human operator. The addition of these capabilities will greatly enhance the safety and efficiency of performance in hazardous environments.

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

    CERN Document Server

    S., Raja Mohamed

    2012-01-01

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

  8. Mearsurement and control system for agricultural robot

    Science.gov (United States)

    Sun, Tong; Zhang, Fangming; Ying, Yibin

    2006-10-01

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

  9. Autonomous Dome for Robotic Telescope

    CERN Document Server

    Kumar, Akash; Ganesh, Shashikiran

    2016-01-01

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

  10. 3D-Printed Microfluidic Automation

    Science.gov (United States)

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

    2015-01-01

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

  11. 3D-printed microfluidic automation.

    Science.gov (United States)

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

    2015-04-21

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

  12. Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

    Science.gov (United States)

    Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

    2017-08-01

    One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

  13. Soft robotics: a bioinspired evolution in robotics.

    Science.gov (United States)

    Kim, Sangbae; Laschi, Cecilia; Trimmer, Barry

    2013-05-01

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

  14. Teleoperated Modular Robots for Lunar Operations

    Science.gov (United States)

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

    2004-01-01

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

  15. Robotic technologies for outdoor industrial vehicles

    Science.gov (United States)

    Stentz, Anthony

    2001-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Marivic Gatan Dizon

    2014-12-01

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

  17. Fully automated apparatus for the proximate analysis of coals

    Energy Technology Data Exchange (ETDEWEB)

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

    1985-01-01

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

  18. Automating Finance

    Science.gov (United States)

    Moore, John

    2007-01-01

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

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

    OpenAIRE

    Boonvisut, Pasu; Çavuşoğlu, M. Cenk

    2013-01-01

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

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

    OpenAIRE

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

    2012-01-01

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