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Sample records for film plating robot

  1. On liquid films on an inclined plate

    KAUST Repository

    BENILOV, E. S.

    2010-08-18

    This paper examines two related problems from liquid-film theory. Firstly, a steady-state flow of a liquid film down a pre-wetted plate is considered, in which there is a precursor film in front of the main film. Assuming the former to be thin, a full asymptotic description of the problem is developed and simple analytical estimates for the extent and depth of the precursor film\\'s influence on the main film are provided. Secondly, the so-called drag-out problem is considered, where an inclined plate is withdrawn from a pool of liquid. Using a combination of numerical and asymptotic means, the parameter range where the classical Landau-Levich-Wilson solution is not unique is determined. © 2010 Cambridge University Press.

  2. Robot Arm with Tendon Connector Plate and Linear Actuator

    Science.gov (United States)

    Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Bridgwater, Lyndon (Inventor); Nguyen, Vienny (Inventor); Millerman, Alexander (Inventor)

    2014-01-01

    A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

  3. Numerical investigation of unsteady mixing mechanism in plate film cooling

    Directory of Open Access Journals (Sweden)

    Shuai Li

    2016-09-01

    Full Text Available A large-scale large eddy simulation in high performance personal computer clusters is carried out to present unsteady mixing mechanism of film cooling and the development of films. Simulation cases include a single-hole plate with the inclined angle of 30° and blowing ratio of 0.5, and a single-row plate with hole-spacing of 1.5D and 2D (diameters of the hole. According to the massive simulation results, some new unsteady phenomena of gas films are found. The vortex system is changed in different position with the development of film cooling with the time marching the process of a single-row plate film cooling. Due to the mutual interference effects including mutual exclusion, a certain periodic sloshing and mutual fusion, and the structures of a variety of vortices change between parallel gas films. Macroscopic flow structures and heat transfer behaviors are obtained based on 20 million grids and Reynolds number of 28600.

  4. Electroplated Fe-Co-Ni films prepared from deep-eutectic-solvent-based plating baths

    Directory of Open Access Journals (Sweden)

    Takeshi Yanai

    2016-05-01

    Full Text Available We fabricated soft magnetic films from DES-based plating baths, and investigated magnetic properties of the plated films. The plating baths were obtained by stirring the mixture of choline chloride, ethylene glycol, FeCl2 ⋅ 4H2O, NiCl2 ⋅ 6H2O and CoCl2 ⋅ 6H2O. The composition of the electroplated film depended on the amount of the reagent in the plating bath, and we consequently obtained the films with various composition. The current efficiency of the plating process shows high values (> 88 % in the wide composition range. The soft magnetic films with low coercivity were obtained at the Fe compositions of ≈ 30 at.% and > 80 at.%, and we found that low coercivity could be realized by the control of the film composition. We also found that the Fe-rich films prepared from DES-based plating bath have some advantages as a soft magnetic phase for a nanocomposite magnet due to their high saturation magnetization and very fine crystal structure.

  5. Effects of annealing and pulse plating on soft magnetic properties of electroplated Fe-Ni films

    Directory of Open Access Journals (Sweden)

    T. Yanai

    2016-05-01

    Full Text Available We have already reported that Fe-Ni films prepared in citric-acid-based plating baths show good soft magnetic properties. In this paper, we investigated the effect of the grain size of the Fe-Ni crystalline phase in the films on magnetic properties, and employed an annealing and a pulse plating method in order to vary the grain size. The coercivity of the annealed Fe-Ni films at 600 °C shows large value, and good correlation between the grain growth and the coercivity was observed. The pulse plating enables us to reduce the grain size of the as-plated Fe-Ni films compared with the DC plating method, and we realized smooth surface and low coercivity of the Fe-Ni films using the pulse plating method. From these results, we confirmed the importance of the reduction in the grain size, and concluded that a pulse plating is an effective method to improve the good soft magnetic properties for our previously-reported Fe-Ni films.

  6. Presence and absence of a water film between moving air bubbles and a plate

    International Nuclear Information System (INIS)

    Remenyik, C.J.

    1990-01-01

    The thickness of water films between an inclined Lucite plate submerged in water and air bubbles moving beneath it was measured with a small impedance probe. The instrument was calibrated with a laser interferometer built for this purpose. The bubbles released beneath the plate varied in size from 10 cc to 100 cc. At a plate inclination angle of 0.98 degree, and in tap water, an uninterrupted water film covered most of the bubbles. Some bubbles, however, dewetted the plate, and the water film covered only a forward part of the bubble. When the film was uninterrupted, its thickness was very uniform from front to rear. When the bubble dewetted the plate, a large forward section of the film had the same uniform thickness, but this was followed by a hump on the film the rear slope of which ended at the plate surface. For some of the experiments, the surface tension of the water was reduced by admixing a detergent. In these experiments, dewetting was not observed. In a second set of experiments, a hand held transparent container filled with water and a 1.3 cm3 air bubble was used to observe visually the behavior of the moving bubble and its associated water film

  7. Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

    International Nuclear Information System (INIS)

    Duan Xingguang; Wang Yonggui; Li Meng; Kong Xiangzhan; Liu Qingsong

    2016-01-01

    To reduce labor intensity and irradiation exposure time inside the steam generator during the maintenance period of the nuclear power plant, a blocking plate manipulation robot system, including manipulation robot and pneumatic control console, is developed as an automatic remote-control tool to help staff to complete sealing steam generator primary pipes. The manipulation robot for fastening/loosening bolts utilizes visual guidance for target position, and the recognition algorithm is exerted to extract the bolt center coordinate values from image captured by camera in the procedure. The control strategy based on the position and current feedback is proposed for single bolt operation and whole bolts automatic operation. Meanwhile, the virtual interactive interface and remote monitoring are designed to improve the operability and safety. Finally, the relative experiments have verified the work effectiveness and the future work would be discussed. (author)

  8. Electroplated Fe-Co-Ni films prepared in ammonium-chloride-based plating baths

    Science.gov (United States)

    Yanai, T.; Koda, K.; Kaji, J.; Aramaki, H.; Eguchi, K.; Takashima, K.; Nakano, M.; Fukunaga, H.

    2018-05-01

    We electroplated Fe-Co-Ni films in ammonium-chloride-based plating baths, and investigated the effect of the Co content on the magnetic properties and the structural ones of the as-plated films. The coercivity increased abruptly when the Co content become more than 60 at.%. As the rough surfaces were observed in the high Co content region, we considered that degradation of the surface is a factor of the abrupt increase in the coercivity. From the XRD analysis, we found that another factor of the abrupt increase is fcc-bcc phase transformation, and concluded that we need to keep the fcc structure to obtain Fe-Co-Ni films with low coercivity.

  9. A study of the behavior of a cathode film formed in chromium plating with radioactive tracers

    International Nuclear Information System (INIS)

    Yoshida, Katsuyoshi; Suzuki, Akihira; Doi, Kazuyuki; Arai, Katsutoshi

    1979-01-01

    The behavior and composition of a cathode film formed on a steel cathode during chromium plating were studied with radioactive tracers. A special cell with a rapid washing compartment was used for preventing the cathode film from dissolving in electrolyte after plating. The cathode film was composed of two layers. The outer layer facing to the electrolyte had a loose structure and contained more sulfuric anions than the inner layer, for sulfuric acid probably concentrated in the outer layer. This outer layer is called L-film in this paper. The L-film was easily dissolved in the electrolyte solution. The inner layer (called C-film, compact film) was stable against electrolytes and contained less anions than that of L-film. The C-film had a thickness equivalent to 5 mg/m 2 and the concentration of anions unaffected by the composition of electrolytes. The C-film was not reduced to metallic chromium, but it remained in the cathode film during and after plating. This suggests that chromic acid in the cathode film is not reduced to metallic chromium, that metallic chromium is deposited from chromium complexes reaching the cathode surface through the cathode film, and that the complexes do not play a role on the construction of the cathode film. (author)

  10. Electrodeposited Fe-Co films prepared from a citric-acid-based plating bath

    OpenAIRE

    Yanai, Takeshi; Uto, H.; Shimokawa, Takaya; Nakano, Masaki; Fukunaga, Hirotoshi; Suzuki, K.

    2013-01-01

    Electrodeposited Fe-Co films are commonly prepared in a boric-acid-based bath. In this research, we applied citric acid instead of boric acid for the plating of Fe-Co films because boron in the waste bath is restricted by environmental-protection regulations in Japan. We evaluated the effect of citric acid on the magnetic and structural properties of the films. The saturation magnetization of the Fe-Co films slightly increased while the Fe content in the Fe-Co films decreased with increasing ...

  11. Photo-induced hydrophilicity of TiO2-xNx thin films on PET plates

    International Nuclear Information System (INIS)

    Chou, H.-Y.; Lee, E.-K.; You, J.-W.; Yu, S.-S.

    2007-01-01

    TiO 2-x N x thin films were deposited on PET (polyethylene terephthalate) plates by sputtering a TiN target in a N 2 /O 2 plasma and without heating. X-ray photoemission spectroscopy (XPS) was used to investigate the N 1s, Ti 2p core levels and the nitrogen composition in the TiO 2-x N x films. The results indicate that Ti-O-N bonds are formed in the thin films. Two nitrogen states, substitution and interstitial nitrogen atoms, were attributed to peaks at 396 and 399 eV, respectively. It was observed that the nitrogen atoms occupy both the substitutive and interstitial sites in respective of the nitrogen content in the thin films. UV-VIS absorption spectroscopy of PET coated thin films shows a significant shift of the absorption edge to lower energy in the visible-light region. UV and visible-light irradiation are used to activate PET coated thin films for the development of hydrophilicity. The photo-induced surface wettability conversion reaction of the thin films has been investigated by means of water contact angle measurement. PET plates coated with TiO 2-x N x thin films are found to exhibit lower water contact angle than non-coated plates when the surface is illuminated with UV and visible light. The effects of nitrogen doping on photo-generated hydrophilicity of the thin films are investigated in this work

  12. Charging of carbon thin films in scanning and phase-plate transmission electron microscopy

    DEFF Research Database (Denmark)

    Hettler, Simon; Kano, Emi; Dries, Manuel

    2018-01-01

    A systematic study on charging of carbon thin films under intense electron-beam irradiation was performed in a transmission electron microscope to identify the underlying physics for the functionality of hole-free phase plates. Thin amorphous carbon films fabricated by different deposition techni...

  13. A pinned or free-floating rigid plate on a thin viscous film

    KAUST Repository

    Trinh, Philippe  H.; Wilson, Stephen  K.; Stone, Howard  A.

    2014-01-01

    © 2014 Cambridge University Press. A pinned or free-floating rigid plate lying on the free surface of a thin film of viscous fluid, which itself lies on top of a horizontal substrate that is moving to the right at a constant speed is considered. The focus of the present work is to describe how the competing effects of the speed of the substrate, surface tension, viscosity, and, in the case of a pinned plate, the prescribed pressure in the reservoir of fluid at its upstream end, determine the possible equilibrium positions of the plate, the free surface, and the flow within the film. The present problems are of interest both in their own right as paradigms for a range of fluid-structure interaction problems in which viscosity and surface tension both play an important role, and as a first step towards the study of elastic effects.

  14. A pinned or free-floating rigid plate on a thin viscous film

    KAUST Repository

    Trinh, Philippe H.

    2014-11-11

    © 2014 Cambridge University Press. A pinned or free-floating rigid plate lying on the free surface of a thin film of viscous fluid, which itself lies on top of a horizontal substrate that is moving to the right at a constant speed is considered. The focus of the present work is to describe how the competing effects of the speed of the substrate, surface tension, viscosity, and, in the case of a pinned plate, the prescribed pressure in the reservoir of fluid at its upstream end, determine the possible equilibrium positions of the plate, the free surface, and the flow within the film. The present problems are of interest both in their own right as paradigms for a range of fluid-structure interaction problems in which viscosity and surface tension both play an important role, and as a first step towards the study of elastic effects.

  15. Measurement of fluid film thickness on the valve plate in oil hydraulic axial piston pumps (I): bearing pad effects

    International Nuclear Information System (INIS)

    Kim, Jong Ki; Jung, Jae Youn

    2003-01-01

    The tribological mechanism between the valve plate and the cylinder block in oil hydraulic axial piston pumps plays an important role on high power density. In this study, the fluid film thickness between the valve plate and the cylinder block was measured with discharge pressure and rotational speed by use of a gap sensor, and a slip ring system in the operating period. To investigate the effect of the valve plate shapes, we designed two valve plates with different shapes: the first valve plate was without a bearing pad, while the second valve plate had a bearing pad. It was found that both valve plates behaved differently with respect to the fluid film thickness characteristics. The leakage flow rates and the shaft torque were also experimented in order to clarify the performance difference between the valve plate without a bearing pad and the valve plate with a bearing pad. From the results of this study, we found out that in the oil hydraulic axial piston pumps, the valve plate with a bearing pad showed better film thickness contours than the valve plate without a bearing pad

  16. Stability of film boiling on inclined plates and spheres

    Science.gov (United States)

    Aursand, Eskil; Hammer, Morten; Munkejord, Svend Tollak; Müller, Bernhard; Ytrehus, Tor

    2017-11-01

    In film boiling, a continuous sub-millimeter vapor film forms between a liquid and a heated surface, insulating the two from each other. While quite accurate steady state solutions are readily obtained, the intermediate Reynolds numbers can make transient analysis challenging. The present work is a theoretical study of film boiling instabilities. We study the formation of travelling waves that are a combination of Kelvin-Helmholtz and the Rayleigh-Taylor instabilities. In particular, we study how the nature of this process depends on the Reynolds number, the Bond number, and the inclination of the submerged heated plate. In addition we extend the analysis to the case of a submerged heated sphere. Modelling of the transient dynamics of such films is important for answering practical questions such as how instabilities affect the overall heat transfer, and whether they can lead to complete film boiling collapse (Leidenfrost point). This work has been financed under the MAROFF program. We acknowledge the Research Council of Norway (244076/O80) and The Gas Technology Centre NTNU-SINTEF (GTS) for support.

  17. Morphology Analysis of Cu Film Fractures in Sandwiched Methylmethacrylate Plates

    Directory of Open Access Journals (Sweden)

    Cristiano Fidani

    2015-06-01

    Full Text Available Thin films of Cu were evaporated on solid plates of polymethylmethacrylate (PMMA. A polymerization process was made to realize sandwiched structure to protect the Cu films. Fracturing of the metal film surface was observed with several morphologies showing two different fracture systems. Surface film morphology was analysed in terms of the distribution area of the islands and contour fractal dimension. The island areas showed a maximum corresponding to 42 nm of the Cu thickness, it was also the threshold to observe the second fracture system. The fractures pattern resulted to be scale invariant with fractal dimensions between 1.55 and 1.7. The minimum fractal dimension also occurred at the film thickness corresponding to the maximum island area. The reported effects can be understood on the basis of different thermal expansion coefficients of the two materials and their thermally induced adhesion.DOI: http://dx.doi.org/10.5755/j01.ms.21.2.6518

  18. Development of high-performance X-ray transparent crystallization plates for in situ protein crystal screening and analysis

    Energy Technology Data Exchange (ETDEWEB)

    Soliman, Ahmed S. M.; Warkentin, Matthew [Cornell University, Ithaca, New York (United States); Apker, Benjamin [MiTeGen LLC, Ithaca, New York (United States); Thorne, Robert E., E-mail: ret6@cornell.edu [Cornell University, Ithaca, New York (United States); MiTeGen LLC, Ithaca, New York (United States)

    2011-07-01

    An optically, UV and X-ray transparent crystallization plate suitable for in situ analysis has been developed. The plate uses contact line pinning rather than wells to confine the liquids. X-ray transparent crystallization plates based upon a novel drop-pinning technology provide a flexible, simple and inexpensive approach to protein crystallization and screening. The plates consist of open cells sealed top and bottom by thin optically, UV and X-ray transparent films. The plates do not need wells or depressions to contain liquids. Instead, protein drops and reservoir solution are held in place by rings with micrometre dimensions that are patterned onto the bottom film. These rings strongly pin the liquid contact lines, thereby improving drop shape and position uniformity, and thus crystallization reproducibility, and simplifying automated image analysis of drop contents. The same rings effectively pin solutions containing salts, proteins, cryoprotectants, oils, alcohols and detergents. Strong pinning by rings allows the plates to be rotated without liquid mixing to 90° for X-ray data collection or to be inverted for hanging-drop crystallization. The plates have the standard SBS format and are compatible with standard liquid-handling robots.

  19. Corrosion and drug release properties of EN-plating/PLGA composite coating on MAO film

    International Nuclear Information System (INIS)

    Lu Ping; Liu Yin; Guo Meiqing; Fang Haidong; Xu Xinhua

    2011-01-01

    The electroless nickel plating/poly(DL-lactide-co-glycolide) composite coating (EN-plating/PLGA composite coating) was fabricated on the surface of the micro-arc oxidation (MAO) film of the magnesium alloy AZ81 to double control the corrosion and drug release in the hanks' solution. The EN-plating was fabricated on the MAO coating to improve the corrosion resistance by overlaying most pores and micro-cracks on the surface of the MAO film. Meanwhile, a double layered organic poly(DL-lactide-co-glycolide)/paclitaxel (PLGA/PTX) drug releasing coating with a top layered PLGA drug controlled releasing coating on EN plating was prepared to control the drug release rate by adjusting the different lactide: glycolide (LA:GA) ratio of PLGA. Scanning electron microscopy (SEM) and the X-ray powder diffraction (XRD) were used to analyze the morphology and the composition of the EN-plating. The corrosion behavior of the magnesium alloy substrate and the status of the drug in the PLGA matrix were respectively evaluated by Potentiodynamic polarization and Differential scanning calorimetry (DSC). The drug release was determined by ultraviolet-visible (UV-visible) spectrophotometer. EN-plating coating which was composed of compact cauliflower nodules was uniform in size and defect free with no pores or cracks. EN-plating could seal the microcracks and microholes on the outer layer of the MAO coating effectively. The corrosion resistance was improved by preventing the corrosive ions from diffusing to the magnesium alloy substrate. The drug release rate of PTX exhibited a nearly linear sustained-release profile with no significant burst releases. - Research highlights: → An organic and in organic EN-plating/PLGA composite coating was first fabricated on the surface of the MAO film. → This composite coating the magnesium alloy AZ81could double control the corrosion and drug release in the hanks' solution. → The drug release rate could be controlled by LG:GA ratio and the PTX

  20. Corrosion and drug release properties of EN-plating/PLGA composite coating on MAO film

    Energy Technology Data Exchange (ETDEWEB)

    Lu Ping [School of Materials Science and Engineering, and Tianjin Key Laboratory of Composite and Functional Materials, Tianjin University, Tianjin 300072 (China); Liu Yin [Department of Cardiology, Tianjin Chest Hospital, Tianjin 300051 (China); Guo Meiqing; Fang Haidong [School of Materials Science and Engineering, and Tianjin Key Laboratory of Composite and Functional Materials, Tianjin University, Tianjin 300072 (China); Xu Xinhua, E-mail: xhxu_tju@eyou.com [School of Materials Science and Engineering, and Tianjin Key Laboratory of Composite and Functional Materials, Tianjin University, Tianjin 300072 (China)

    2011-10-10

    The electroless nickel plating/poly(DL-lactide-co-glycolide) composite coating (EN-plating/PLGA composite coating) was fabricated on the surface of the micro-arc oxidation (MAO) film of the magnesium alloy AZ81 to double control the corrosion and drug release in the hanks' solution. The EN-plating was fabricated on the MAO coating to improve the corrosion resistance by overlaying most pores and micro-cracks on the surface of the MAO film. Meanwhile, a double layered organic poly(DL-lactide-co-glycolide)/paclitaxel (PLGA/PTX) drug releasing coating with a top layered PLGA drug controlled releasing coating on EN plating was prepared to control the drug release rate by adjusting the different lactide: glycolide (LA:GA) ratio of PLGA. Scanning electron microscopy (SEM) and the X-ray powder diffraction (XRD) were used to analyze the morphology and the composition of the EN-plating. The corrosion behavior of the magnesium alloy substrate and the status of the drug in the PLGA matrix were respectively evaluated by Potentiodynamic polarization and Differential scanning calorimetry (DSC). The drug release was determined by ultraviolet-visible (UV-visible) spectrophotometer. EN-plating coating which was composed of compact cauliflower nodules was uniform in size and defect free with no pores or cracks. EN-plating could seal the microcracks and microholes on the outer layer of the MAO coating effectively. The corrosion resistance was improved by preventing the corrosive ions from diffusing to the magnesium alloy substrate. The drug release rate of PTX exhibited a nearly linear sustained-release profile with no significant burst releases. - Research highlights: {yields} An organic and in organic EN-plating/PLGA composite coating was first fabricated on the surface of the MAO film. {yields} This composite coating the magnesium alloy AZ81could double control the corrosion and drug release in the hanks' solution. {yields} The drug release rate could be controlled by LG

  1. Robotic thin layer chromatography instrument for synthetic chemistry

    International Nuclear Information System (INIS)

    Corkan, L.A.; Lindsey, J.S.

    1990-01-01

    One of our long-term goals is to develop robotic workstations for automated synthetic chemistry. Toward that goal we have constructed a 2nd generation instrument for performing TLC analysis. TLC has important advantages (over HPLC and GC) in analysis of crude reaction samples and parallel sample development. The TLC instrument consist of four dedicated stations for (1) plate dispensing, (2) sample application, (3) plate development, and (4) plate densitometry. A robot is used to move plates among stations. The combination of fixed automation and robotics gives high sample throughout (up to 10 samples per hour). A second robot performs reaction chemistry and feeds samples to the TLC instrument, thus enabling TLC analysis at the same time as synthetic reactions proceed on the workstation

  2. Anticorrosion Coating of Carbon Nanotube/Polytetrafluoroethylene Composite Film on the Stainless Steel Bipolar Plate for Proton Exchange Membrane Fuel Cells

    Directory of Open Access Journals (Sweden)

    Yoshiyuki Show

    2013-01-01

    Full Text Available Composite film of carbon nanotube (CNT and polytetrafluoroethylene (PTFE was formed from dispersion fluids of CNT and PTFE. The composite film showed high electrical conductivity in the range of 0.1–13 S/cm and hydrophobic nature. This composite film was applied to stainless steel (SS bipolar plates of the proton exchange membrane fuel cell (PEMFC as anticorrosion film. This coating decreased the contact resistance between the surface of the bipolar plate and the membrane electrode assembly (MEA of the PEMFC. The output power of the fuel cell is increased by 1.6 times because the decrease in the contact resistance decreases the series resistance of the PEMFC. Moreover, the coating of this composite film protects the bipolar plate from the surface corrosion.

  3. Effects of Processing Temperatures of Nickel Plating on Capacitance Density of Alumina Film Capacitor.

    Science.gov (United States)

    Jeong, Myung-Sun; Ju, Byeong-Kwon; Lee, Jeon-Kook

    2015-06-01

    We observed the effects of nickel plating temperatures for controlling the surface morphologies of the deposited nickel layers on the alumina nano-pores. The alumina nano-channels were filled with nickel at various processing temperatures of 60-90 degrees C. The electrical properties of the alumina film capacitors were changed with processing temperatures. The electroless nickel plating (ENP) at 60 degrees C improved the nickel penetration into the alumina nano-channels due to the reduced reaction rate. Nickel layers are uniformly formed on the high aspect ratio alumina pores. Due to the uniform nickel electrode, the capacitance density of the alumina film capacitors is improved by the low leakage current, dissipation factor and equivalent series resistance. Alumina film capacitors made by ENP at 60 degrees C had a high capacitance density of 160 nF/cm2.

  4. Image quality in conventional film screen system, digital phosphor storage plate mammography in magnification technique and digital mammography in CCD-technique

    International Nuclear Information System (INIS)

    Schulz-Wendtland, R.; Aichinger, U.; Boehner, C.; Dobritz, M.; Bautz, W.; Saebel, M.

    2000-01-01

    Purpose: Comparison of image quality between conventional film screen system, digital phosphor storage plate mammography in magnification technique and digital mammography in CCD-technique. Materials and Methods: Radiograms of a RMI-mammography phantom were acquired using a conventional film screen system, two digital storage plate systems and two digital systems in CCD-technique. Additionally, the radiograms of one digital phosphor storage plate system were post-processed emphasizing contrast and included in the comparison. Results: The detectability of details was the best with the digital mammography in CCD-technique in comparison with the conventional film screen technique resp. digital phosphor storage plate in magnification technique. Conclusions: Based on these results there is the possibility to replace the conventional film screen system by further studies - this has to be confirmed. (orig.) [de

  5. Deposition of indium tin oxide thin films by cathodic arc ion plating

    International Nuclear Information System (INIS)

    Yang, M.-H.; Wen, J.-C.; Chen, K.-L.; Chen, S.-Y.; Leu, M.-S.

    2005-01-01

    Indium tin oxide (ITO) thin films have been deposited by cathodic arc ion plating (CAIP) using sintered oxide target as the source material. In an oxygen atmosphere of 200 deg. C, ITO films with a lowest resistivity of 2.2x10 -4 Ω-cm were obtained at a deposition rate higher than 450 nm/min. The carrier mobility of ITO shows a maximum at some medium pressures. Although morphologically ITO films with a very fine nanometer-sized structure were observed to possess the lowest resistivity, more detailed analyses based on X-ray diffraction are attempted to gain more insight into the factors that govern electron mobility in this investigation

  6. EVOLUTION OF THE ROBOT DESIGN

    Directory of Open Access Journals (Sweden)

    POPA Marina Andreea

    2011-11-01

    Full Text Available This paper presents the construction of a robot used at a national robot competition in Romania. The robot consists of datasheet sensors (2 long distance measuring sensors, 4 reflective object sensors, 4 engines, 4 gears, a battery and the plates with microcontrollers

  7. Effect of Different Tube Potential Settings on Caries Detection using PSP Plate and Conventional Film.

    Science.gov (United States)

    De Melo, Daniela Pita; Cruz, Adriana Dibo; Melo, Saulo Leonardo Sousa; De Farias, Julyanna Filgueiras GonçAlves; Haiter-Neto, Francisco; De Almeida, Solange Maria

    2015-04-01

    To compare intraoral Phosphor Stimulable Plate digital system and intraoral film using different tube settings on incipient proximal caries detection. Five blocks, with five teeth each, were radiographically examined using phosphor plates and F-speed films. The images were acquired in 07 different tube potentials from 50-80 kV. The films were digitized. Three oral radiologists scored the images for the presence of caries using a 5-point rating scale. The areas under ROC curve were calculated. The influence of tube kilovoltage was verified by ANOVA and pair wise comparisons performed using Tukey test. Mean ROC curve areas varied from 0.446-0.628 for digital images and 0.494-0.559 for conventional images. The tube setting of 70 kV presented the best result both for digital and conventional images. Considering the image type separately, 70 kV scored highest followed by 75 and 65 kV for digital images (p=0.084). For conventional image modality, even though 70 kV presented the best result, it did not differ significantly from 80 kV, not differing from 60 and 55 kV, which did not differ from 75, 65 and 50 kV (p=0.53). Phosphor plate digital images seem to be more susceptible to tube setting potential variations then digitized film images.

  8. Effect of Different Tube Potential Settings on Caries Detection using PSP Plate and Conventional Film

    Science.gov (United States)

    Cruz, Adriana Dibo; Melo, Saulo Leonardo Sousa; De Farias, Julyanna Filgueiras GonçAlves; Haiter-Neto, Francisco; De Almeida, Solange Maria

    2015-01-01

    Purpose To compare intraoral Phosphor Stimulable Plate digital system and intraoral film using different tube settings on incipient proximal caries detection. Materials and Methods Five blocks, with five teeth each, were radiographically examined using phosphor plates and F-speed films. The images were acquired in 07 different tube potentials from 50-80 kV. The films were digitized. Three oral radiologists scored the images for the presence of caries using a 5-point rating scale. The areas under ROC curve were calculated. The influence of tube kilovoltage was verified by ANOVA and pair wise comparisons performed using Tukey test. Results Mean ROC curve areas varied from 0.446-0.628 for digital images and 0.494–0.559 for conventional images. The tube setting of 70 kV presented the best result both for digital and conventional images. Considering the image type separately, 70 kV scored highest followed by 75 and 65 kV for digital images (p=0.084). For conventional image modality, even though 70 kV presented the best result, it did not differ significantly from 80 kV, not differing from 60 and 55 kV, which did not differ from 75, 65 and 50 kV (p=0.53). Conclusion Phosphor plate digital images seem to be more susceptible to tube setting potential variations then digitized film images. PMID:26023645

  9. Antibacterial Properties of Titanate Nano fiber Thin Films Formed on a Titanium Plate

    International Nuclear Information System (INIS)

    Yada, M.; Inoue, Y.; Morita, T.; Torikai, T.; Watari, T.; Noda, I.; Hotokebuchi, T.

    2013-01-01

    A sodium titanate nano fiber thin film and a silver nanoparticle/silver titanate nano fiber thin film formed on the surface of a titanium plate exhibited strong antibacterial activities against methicillin-resistant Staphylococcus aureus, which is one of the major bacteria causing in-hospital infections. Exposure of the sodium titanate nano fiber thin film to ultraviolet rays generated a high antibacterial activity due to photo catalysis and the sodium titanate nano fiber thin film immediately after its synthesis possessed a high antibacterial activity even without exposure to ultraviolet rays. Elution of silver from the silver nanoparticle/silver titanate nano fiber thin film caused by the silver ion exchange reaction was considered to contribute substantially to the strong antibacterial activity. The titanate nano fiber thin films adhered firmly to titanium. Therefore, these titanate nano fiber thin film/titanium composites will be extremely useful as implant materials that have excellent antibacterial activities.

  10. Fundamental processes in ion plating

    International Nuclear Information System (INIS)

    Mattox, D.M.

    1980-01-01

    Ion plating is a generic term applied to film deposition processes in which the substrate surface and/or the depositing film is subjected to a flux of high energy particles sufficient to cause changes in the interfacial region of film properties compared to a nonbombarded deposition. Ion plating is being accepted as an alternative coating technique to sputter deposition, vacuum evaporation and electroplating. In order to intelligently choose between the various deposition techniques, the fundamental mechanisms, relating to ion plating, must be understood. This paper reviews the effects of low energy ion bombardment on surfaces, interface formation and film development as they apply to ion plating and the implementation and applications of the ion plating process

  11. The ion plating of optical thin films for the infrared

    International Nuclear Information System (INIS)

    Reid, I.M.; Macleod, H.A.; Carter, M.J.; Henderson, E.

    1979-01-01

    Although excellent humidity resistance was achieved with diode ion plated zinc sulphide antireflection films on germanium substrates the abrasion resistance was found to be poor. This could be attributed to an intense columnar structure with very loose packing. To improve the abrasion resistance it was found necessary to add a third electrode which allowed the discharge to be sustained at lower pressures, and to heat the substrates during deposition. (author)

  12. Electroless plating of PVC plastic through new surface modification method applying a semi-IPN hydrogel film

    International Nuclear Information System (INIS)

    Wang, Ming-Qiu; Yan, Jun; Du, Shi-Guo; Li, Hong-Guang

    2013-01-01

    A novel palladium-free surface activation process for electroless nickel plating was developed. This method applied a semi-Interpenetrating Polymer Network (semi-IPN) hydrogel film to modify the poly(vinyl chloride) (PVC) surface by chemical bonds. The activation process involved the formation of semi-IPN hydrogel film on the PVC surface and the immobilization of catalyst for electroless plating linking to the pretreated substrate via N-Ni chemical bond. The hydrogel layer was used as the chemisorption sites for nickel ions, and the catalyst could initiate the subsequent electroless nickel plating onto the PVC surface. Finally, a Ni–P layer was deposited on the nickel-activated PVC substrate by electroless plating technique. The composition and morphology of nickel-plated PVC foils were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), energy dispersive X-ray spectroscopy (EDS) and X-ray diffraction (XRD). The results of SEM and XRD show that a compact and continuous Ni–P layer with amorphous nickel phase is formed on the PVC surface. EDS shows that the content of the nickel and the phosphorus in the deposits is 89.4 wt.% and 10.6 wt.%, respectively.

  13. Electroless plating of PVC plastic through new surface modification method applying a semi-IPN hydrogel film

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Ming-Qiu, E-mail: mqwang1514@163.com; Yan, Jun; Du, Shi-Guo; Li, Hong-Guang

    2013-07-15

    A novel palladium-free surface activation process for electroless nickel plating was developed. This method applied a semi-Interpenetrating Polymer Network (semi-IPN) hydrogel film to modify the poly(vinyl chloride) (PVC) surface by chemical bonds. The activation process involved the formation of semi-IPN hydrogel film on the PVC surface and the immobilization of catalyst for electroless plating linking to the pretreated substrate via N-Ni chemical bond. The hydrogel layer was used as the chemisorption sites for nickel ions, and the catalyst could initiate the subsequent electroless nickel plating onto the PVC surface. Finally, a Ni–P layer was deposited on the nickel-activated PVC substrate by electroless plating technique. The composition and morphology of nickel-plated PVC foils were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), energy dispersive X-ray spectroscopy (EDS) and X-ray diffraction (XRD). The results of SEM and XRD show that a compact and continuous Ni–P layer with amorphous nickel phase is formed on the PVC surface. EDS shows that the content of the nickel and the phosphorus in the deposits is 89.4 wt.% and 10.6 wt.%, respectively.

  14. Electroless plating of PVC plastic through new surface modification method applying a semi-IPN hydrogel film

    Science.gov (United States)

    Wang, Ming-Qiu; Yan, Jun; Du, Shi-Guo; Li, Hong-Guang

    2013-07-01

    A novel palladium-free surface activation process for electroless nickel plating was developed. This method applied a semi-Interpenetrating Polymer Network (semi-IPN) hydrogel film to modify the poly(vinyl chloride) (PVC) surface by chemical bonds. The activation process involved the formation of semi-IPN hydrogel film on the PVC surface and the immobilization of catalyst for electroless plating linking to the pretreated substrate via Nsbnd Ni chemical bond. The hydrogel layer was used as the chemisorption sites for nickel ions, and the catalyst could initiate the subsequent electroless nickel plating onto the PVC surface. Finally, a Ni-P layer was deposited on the nickel-activated PVC substrate by electroless plating technique. The composition and morphology of nickel-plated PVC foils were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), energy dispersive X-ray spectroscopy (EDS) and X-ray diffraction (XRD). The results of SEM and XRD show that a compact and continuous Ni-P layer with amorphous nickel phase is formed on the PVC surface. EDS shows that the content of the nickel and the phosphorus in the deposits is 89.4 wt.% and 10.6 wt.%, respectively.

  15. Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

    Science.gov (United States)

    Song, Zhen; Moore, Kevin L.; Chen, YangQuan; Bahl, Vikas

    2003-09-01

    As an outgrowth of series of projects focused on mobility of unmanned ground vehicles (UGV), an omni-directional (ODV), multi-robot, autonomous mobile parking security system has been developed. The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a ``marsupial mothership'' for the ODIS vehicles and performs coarse resolution inspection. A key task for the T4 robot is license plate recognition (LPR). For a successful LPR task without compromising the recognition rate, the robot must be able to identify the bumper locations of vehicles in the parking area and then precisely position the LPR camera relative to the bumper. This paper describes a 2D-laser scanner based approach to bumper identification and laser servoing for the T4 robot. The system uses a gimbal-mounted scanning laser. As the T4 robot travels down a row of parking stalls, data is collected from the laser every 100ms. For each parking stall in the range of the laser during the scan, the data is matched to a ``bumper box'' corresponding to where a car bumper is expected, resulting in a point cloud of data corresponding to a vehicle bumper for each stall. Next, recursive line-fitting algorithms are used to determine a line for the data in each stall's ``bumper box.'' The fitting technique uses Hough based transforms, which are robust against segmentation problems and fast enough for real-time line fitting. Once a bumper line is fitted with an acceptable confidence, the bumper location is passed to the T4 motion controller, which moves to position the LPR camera properly relative to the bumper. The paper includes examples and results that show the effectiveness of the technique, including its ability to work in real-time.

  16. Nonlinear periodic wavetrains in thin liquid films falling on a uniformly heated horizontal plate

    Science.gov (United States)

    Issokolo, Remi J. Noumana; Dikandé, Alain M.

    2018-05-01

    A thin liquid film falling on a uniformly heated horizontal plate spreads into fingering ripples that can display a complex dynamics ranging from continuous waves, nonlinear spatially localized periodic wave patterns (i.e., rivulet structures) to modulated nonlinear wavetrain structures. Some of these structures have been observed experimentally; however, conditions under which they form are still not well understood. In this work, we examine profiles of nonlinear wave patterns formed by a thin liquid film falling on a uniformly heated horizontal plate. For this purpose, the Benney model is considered assuming a uniform temperature distribution along the film propagation on the horizontal surface. It is shown that for strong surface tension but a relatively small Biot number, spatially localized periodic-wave structures can be analytically obtained by solving the governing equation under appropriate conditions. In the regime of weak nonlinearity, a multiple-scale expansion combined with the reductive perturbation method leads to a complex Ginzburg-Landau equation: the solutions of which are modulated periodic pulse trains which amplitude and width and period are expressed in terms of characteristic parameters of the model.

  17. Molecular dynamics simulations of ultrathin water film confined between flat diamond plates

    Directory of Open Access Journals (Sweden)

    A.V. Khomenko

    2008-12-01

    Full Text Available Molecular dynamics simulations of ultrathin water film confined between atomically flat rigid diamond plates are described. Films with thickness of one and two molecular diameters are concerned and TIP4P model is used for water molecules. Dynamical and equilibrium characteristics of the system for different values of the external load and shear force are investigated. An increase of the external load causes the transition of the film to a solidlike state. This is manifested in a decrease of the diffusion constant and in the ordering of the liquid molecules into quasidiscrete layers. For two-layer film under high loads, the molecules also become ordered parallel to the surfaces. Time dependencies of the friction force and the changes of its average value with the load are obtained. In general, the behaviour of the studied model is consistent with the experimental results obtained for simple liquids with spherical molecules.

  18. Doping properties of ZnO thin films for photovoltaic devices grown by URT-IP (ion plating) method

    International Nuclear Information System (INIS)

    Iwata, K.; Sakemi, T.; Yamada, A.; Fons, P.; Awai, K.; Yamamoto, T.; Matsubara, M.; Tampo, H.; Sakurai, K.; Ishizuka, S.; Niki, S.

    2004-01-01

    The Uramoto-gun with Tanaka magnetic field (URT)-ion plating (IP) method is a novel ion plating technique for thin film deposition. This method offers the advantage of low-ion damage, low deposition temperatures, large area deposition and high growth rates. Ga-doped ZnO thin films were grown using the URT-IP method, and the doping properties were evaluated. The opposing goals of low Ga composition and low resistivity are required for industrial applications of transparent conductive oxide (TCO). We have carried out a comparison between the carrier concentration and Ga atomic concentration in Ga-doped ZnO thin films and found the trade-off point for optimal TCO performance. The optimum growth conditions were obtained using a 3% Ga 2 O 3 content ZnO target

  19. Preparation of graphene-enhanced nickel-phosphorus composite films by ultrasonic-assisted electroless plating

    Science.gov (United States)

    Yu, Qian; Zhou, Tianfeng; Jiang, Yonggang; Yan, Xing; An, Zhonglie; Wang, Xibin; Zhang, Deyuan; Ono, Takahito

    2018-03-01

    To improve the mechanical properties of nickel-phosphorus (Ni-P) mold material for glass molding, an ultrasonic-assisted electroless plating method is proposed for the synthesis of graphene-enhanced nickel-phosphorus (G-Ni-P) composite films on heat-resistant stainless steel (06Cr25Ni20). Graphene flakes are prepared by an electrochemical exfoliation method. The surface roughness of the as-plated G-Ni-P composite plating is Ra 2.84 μm, which is higher than that of the Ni-P plating deposited using the same method. After annealing at 400 ºC for 2 h, the main phase of the G-Ni-P composite is transformed to crystalline Ni3P with an average grain size of 32.8 nm. The Vickers hardness and Young's modulus of the G-Ni-P composite are increased by 8.0% and 8.2% compared with the values of Ni-P, respectively. The detailed plating process is of great significance for the fabrication of G-Ni-P mold materials with enhanced mechanical properties.

  20. Study of film dosimetry for radiotherapy with Gafchromic-RTQ plates

    International Nuclear Information System (INIS)

    Diaz Moreno, Rogelio Manuel; Lara Mas, Elier; Alfonso Laguardia, Rodolfo

    2009-01-01

    Film dosimetry allows quality control processes (CC) for advanced radiotherapy treatments, not achievable with other types of systems dosimetry, as is the determination of two-dimensional dose distribution provided with the planned treatment in selected planes. The aim of this work was to establish the possibilities of making this type of CC with the means available in the INOR. Plates were used radiochromic Gafchromic-RTQ, for quality control, which irradiated with Elekta Precise linear accelerator, according to the test planning developed in the treatment planning system Precise Plan. Were used as image processing software the Mephysto mc2, PTW, and routines scheduled at home on Matlab. Was prepared calibration curve Dose-response for these plates, and applied this calibration curve at other boards with known radiation dose to estimate proximity of the dose obtained through calibration. Other tests were performed to determine the conditions of repeatability and optimal parameters of the process. Conditions were established that are obtained more reliable , the which are lower than those reported Gafchromic-EBT plates, especially designed quantitative dosimetric purposes, but in certain ranges allow evaluate the of a plan with an acceptable degree of approximation. (author)

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

    Science.gov (United States)

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

    2017-07-01

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

  2. Preparation of TiN films by arc ion plating using dc and pulsed biases

    International Nuclear Information System (INIS)

    Huang, M.D.; Lee, Y.P.; Dong, C.; Lin, G.Q.; Sun, C.; Wen, L.S.

    2004-01-01

    TiN hard coatings were prepared by arc ion plating with both direct current (dc) and pulsed biases. An extensive investigation was undertaken to determine the effects of the substrate temperature on the mechanical properties and the microstructures of films. The results show that the substrate temperature is decreased evidently when a pulsed bias instead of a dc one is employed. At the same time, the microstructures and the properties are also improved. A low-temperature arc ion plating can be realized by using pulsed biases

  3. Spectral and directional radiation characteristics of thin-film coated isothermal semitransparent plates

    Energy Technology Data Exchange (ETDEWEB)

    Taylor, R P; Viskanta, R

    1975-01-01

    An analysis is presented for predicting the effective spectral directional radiation characteristics of an isothermal, semitransparent sheet surrounded on both sides by massive dielectrics. The sheet can be coated with an optically thin film and used as selective cover plates for solar collectors. Directional and polarization effects and the spectral transmittance and reflectance are considered. Sample results for candidate materials are presented.

  4. Cross-calibration of Fuji TR image plate and RAR 2492 x-ray film to determine the response of a DITABIS Super Micron image plate scanner

    Energy Technology Data Exchange (ETDEWEB)

    Dunham, G., E-mail: gsdunha@sandia.gov; Harding, E. C.; Loisel, G. P.; Lake, P. W.; Nielsen-Weber, L. B. [Sandia National Laboratories, Albuquerque, New Mexico 87185 (United States)

    2016-11-15

    Fuji TR image plate is frequently used as a replacement detector medium for x-ray imaging and spectroscopy diagnostics at NIF, Omega, and Z facilities. However, the familiar Fuji BAS line of image plate scanners is no longer supported by the industry, and so a replacement scanning system is needed. While the General Electric Typhoon line of scanners could replace the Fuji systems, the shift away from photo stimulated luminescence units to 16-bit grayscale Tag Image File Format (TIFF) leaves a discontinuity when comparing data collected from both systems. For the purposes of quantitative spectroscopy, a known unit of intensity applied to the grayscale values of the TIFF is needed. The DITABIS Super Micron image plate scanning system was tested and shown to potentially rival the resolution and dynamic range of Kodak RAR 2492 x-ray film. However, the absolute sensitivity of the scanner is unknown. In this work, a methodology to cross calibrate Fuji TR image plate and the absolutely calibrated Kodak RAR 2492 x-ray film is presented. Details of the experimental configurations used are included. An energy dependent scale factor to convert Fuji TR IP scanned on a DITABIS Super Micron scanner from 16-bit grayscale TIFF to intensity units (i.e., photons per square micron) is discussed.

  5. A Mini-Curriculum for Robotics Education.

    Science.gov (United States)

    Jones, Preston K.

    This practicum report documents the development of a four-lesson multimedia program for robotics instruction for fourth and seventh grade students. The commercial film "Robot Revolution" and the videocassette tape "Robotics" were used, along with two author-developed slide/audiotape presentations and 14 overhead transparency foils. Two robots,…

  6. The optimization of molybdenum back contact films for Cu(In,Ga)Se{sub 2} solar cells by the cathodic arc ion plating method

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Yong Ki, E-mail: choyk@kitech.re.kr [Heat Treatment and Surface Engineering R and D Group, Korea Institute of Industrial Technology, Incheon 406-840 (Korea, Republic of); Department of Physics, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); Kim, Gang Sam; Song, Young Sik; Lim, Tae Hong [Heat Treatment and Surface Engineering R and D Group, Korea Institute of Industrial Technology, Incheon 406-840 (Korea, Republic of); Jung, Donggeun [Department of Physics, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of)

    2013-12-02

    Molybdenum back contact films for Cu(In,Ga)Se{sub 2} (CIGS) solar cells have been deposited using DC magnetron sputtering methods. The electronic pathway properties of the molybdenum film have been highly dependent on the working gas pressure in magnetron sputtering, which should be carefully controlled to obtain high conductivity and adhesion. A coating method, cathodic arc ion plating, was used for molybdenum back contact electrode fabrication. The aim of this work was to find a metallization method for CIGS solar cells, which has less sensitivity on the working pressure. The resistivity, grain size, growth structures, stress, and efficiency of the films in CIGS solar cells were investigated. The results reveal that the growth structures of the molybdenum films mainly affect the conductivity. The lowest electrical resistivity of the ion-plated molybdenum films was 6.9 μΩ-cm at a pressure of 0.7 Pa. The electrical resistivity variation showed a gently increasing slope with linearity under a working gas pressure of 13.3 Pa. However, a high value of the residual stress of over 1.3 GPa was measured. In order to reduce stress, titanium film was selected as the buffer layer material, and the back contact films were optimized by double-layer coating of two kinds of hetero-materials with arc ion plating. CIGS solar cells prepared molybdenum films to measure the efficiency and to examine the effects of the back contact electrode. The resistivity, grain size, and surface morphology of molybdenum films were measured by four-point probe, X-ray diffraction, and a scanning electron microscope. The residual stress of the films was calculated from differences in bending curvatures measured using a laser beam. - Highlights: • Molybdenum back contact films for Cu(In,Ga)Se{sub 2} solar cells were prepared by the cathodic arc ion plating. • The lowest electrical resistivity of molybdenum film was 6.9 μΩ-cm. • Titanium buffer layer reduced the compressive residual stress

  7. Robotic thin layer chromatography instrument for synthetic chemistry

    International Nuclear Information System (INIS)

    Corkan, L.A.; Haynes, E.; Kline, S.; Lindsey, J.S.

    1991-01-01

    We have constructed a second generation instrument for performing automated thin layer chromatography (TLC), The TLC instrument Consists of four dedicated stations for (1) plate dispensing, (2) sample application, (3) plate development, and (4) densitometry. A robot is used to move TLC plates among stations. The TLC instrument functions either as a stand-alone unit or as one analytical module in a robotic workstation for synthetic chemistry. An integrated hardware and software architecture enables automatic TLC analysis of samples produced concurrently from synthetic reactions in progress on the workstation. The combination of fixed automation and robotics gives a throughput of 12 TLC samples per hour. From these results a blueprint has emerged for an advanced automated TLC instrument with far greater throughput and analytical capabilities

  8. Fixation of the stressed state of glass plates by coating them with thin films using a plasma focus installation

    Science.gov (United States)

    Kolokoltsev, V. N.; Degtiarev, V. F.; Borovitskaya, I. V.; Nikulin, V. Ya.; Peregudova, E. N.; Silin, P. V.; Eriskin, A. A.

    2018-01-01

    Elastic deformation in transparent mediums is usually studied by the photoelasticity method. For opaque mediums the method of film coating and strain gauge method are used. After the external load was removed, the interference pattern corresponding to elastic deformation of the material disappears. It is found that the elastic deformation state of the thin glass plate under the action of concentrated load can be fixed during the deposition of a thin metal film. Deposition of thin copper films was carried out by passing of plasma through the copper tube installed inside the Plasma Focus installation. After removing of the load, interference pattern on the glass plates was observed in the form of Newton’s rings and isogers in non-monochromatic light on the CCD scanners which uses uorescent lamps with cold cathode. It is supposed that the copper film fixes the relief of the surface of the glass plate at the time of deformation and saves it when the load is removed. In the case of a concentrated load, this relief has the shape of a thin lens of large radius. For this reason, the interference of coherent light rays in a thin air gap between the glass of the scanners atbed and the lens surface has the shape of Newton's rings. In this case, when scanning the back side of the plate, isogyres are observed. The presented method can be used in the analysis of the mechanical stress in a various optical elements.

  9. Gain stabilized microchannel plates and a treatment method for microchannel plates

    International Nuclear Information System (INIS)

    1979-01-01

    Microchannel plates having increased gain and significantly improved aging characteristics are provided by forming a thin film of a cesium compound on the channel walls. In an exemplary embodiment, a suface film of cesium hydroxide is applied to the interior wall surfaces of an MCP by saturating the plate with a solution of the compound, then allowing the solvent to evaporate. The cesium hydroxide residue on the walls subsequently is converted to cesium oxide by a high temperature bake. Microchannel plates are used in image amplifiers, radiation detectors and such like equipment. (Auth.)

  10. Thick film nickel plating - the alternative. Long-term experiences; Dickschichtvernickelung - die Alternative. Langzeiterfahrungen

    Energy Technology Data Exchange (ETDEWEB)

    Senff-Wollenberg, Ralf [Baumgarte Boiler Systems GmbH, Bielefeld (Germany). Technik; Ansey, Johann-Wilhelm [Baumgarte Boiler Systems GmbH, Bielefeld (Germany). Forschung und Entwicklung; Reinmoeller, Frank [Baumgarte Boiler Systems GmbH, Bielefeld (Germany)

    2013-03-01

    The ecologic and energetic demands on modern plants fort he thermal utilization of waste materials increase continuously. Beside low costs of investment, enhanced efficiencies, an enhanced availability, long journey times as well as low costs of operation and maintenance are important factors for the investment decision. The primary and secondary measures for the shrinkage of corrosion are decisive for achieving the factors for the decision of investment and maintenance. The authors of the contribution under consideration report on long-term experiences on the thick film nickel plating. Especially, the process of galvanic nickel plating, the fields of application as well as the operational experiences are described.

  11. Combined Effect of Piezoviscous Dependency and Non-Newtonian Couple Stress on Squeeze-Film Porous Annular Plate

    Science.gov (United States)

    Vasanth, K. R.; Hanumagowda, B. N.; Santhosh Kumar, J.

    2018-04-01

    Squeeze film investigations focus upon film pressure, load bearing quantity and the minimum thickness of film. The combined effect of pressure viscous dependent and non- Newtonian couple stress in porous annular plate is studied. The modified equations of one dimensional pressure, load bearing quantity, non dimensional squeeze time are obtained. The conclusions obtained in the study are found to be in very good agreement compared to the previous results which are published. The load carrying capacity is increased due to the variation in the pressure dependent viscosity and also due to the couple stress effect. Finally this results in change in the squeeze film timings.

  12. Corrosion resistance of siloxane–poly(methyl methacrylate) hybrid films modified with acetic acid on tin plate substrates: Influence of tetraethoxysilane addition

    Energy Technology Data Exchange (ETDEWEB)

    Kunst, S.R.; Cardoso, H.R.P. [LAPEC, Federal University of Rio Grande do Sul – UFRGS, Avenida Bento Gonçalves, 9500 Porto Alegre, RS (Brazil); Oliveira, C.T. [ICET, University Feevale, RS-239, 2755 Novo Hamburgo, RS (Brazil); Santana, J.A.; Sarmento, V.H.V. [Department of Chemistry, Federal University of Sergipe – UFS, Av. Vereador Olímpio Grande s/n, Centro, Itabaiana, SE (Brazil); Muller, I.L. [LAPEC, Federal University of Rio Grande do Sul – UFRGS, Avenida Bento Gonçalves, 9500 Porto Alegre, RS (Brazil); Malfatti, C.F., E-mail: celia.malfatti@ufrgs.br [LAPEC, Federal University of Rio Grande do Sul – UFRGS, Avenida Bento Gonçalves, 9500 Porto Alegre, RS (Brazil)

    2014-04-01

    Highlights: • Siloxane–PMMA film was produced by dip-coating on tin plate substrate. • It was evaluated the influence of (TEOS) addition on siloxane–PMMA hybrid films. • Siloxane–PMMA films without TEOS presented a regular coverage and lowest roughness. • The TEOS addition decrease the corrosion resistance of siloxane–PMMA films. • Siloxane–PMMA without TEOS presented is higher durability in the film wear test. - Abstract: The aim of this paper is to study the corrosion resistance of hybrid films. Tin plate was coated with a siloxane–poly (methyl methacrylate) (PMMA) hybrid film prepared by sol–gel route with covalent bonds between the organic (PMMA) and inorganic (siloxane) phases obtained by hydrolysis and polycondensation of 3-(trimethoxysilylpropyl) methacrylate (TMSM) and polymerization of methyl methacrylate (MMA) using benzoyl peroxide (BPO) as a thermic initiator. Hydrolysis reactions were catalyzed by acetic acid solution avoiding the use of chlorine or stronger acids in the film preparation. The effect of the addition of tetraethoxysilane (TEOS) on the protective properties of the film was evaluated. The hydrophobicity of the film was determined by contact angle measurements, and the morphology was evaluated by scanning electron microscopy (SEM) and profilometry. The local nanostructure was investigated by Fourier transform infrared spectroscopy (FT-IR). The electrochemical behavior of the films was assessed by open circuit potential monitoring, potentiodynamic polarization and electrochemical impedance spectroscopy (EIS) measurements in a 0.05 M NaCl solution. The mechanical behavior was evaluated by tribology. The results highlighted that the siloxane–PMMA hybrid films modified with acetic acid are promising anti-corrosive coatings that acts as an efficient diffusion barrier, protecting tin plates against corrosion. However, the coating properties were affected by the TEOS addition, which contributed for the thickness increase

  13. Conjugate heat transfer of laminar film condensation along a horizontal plate

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Euk Soo [Pusan National Univesity, Busan (Korea, Republic of)

    2006-03-15

    This paper proposes appropriate conjugate parameters and dimensionless temperatures to analysis the conjugate problem of heat conduction in solid wall coupled with laminar film condensation flow adjacent to horizontal flat plate. An efficient methods for some fluids are proposed for its solution. The momentum and energy balance equations are reduced to a nonlinear system of ordinary differential equations with four parameters: the Prandtl number, Pr, Modified Jacob number, Ja{sup *}/Pr, defined by an overall temperature difference, a property ratio {radical}{rho}{sub {iota}}{mu}{sub {iota}} {radical}{rho}{sub {upsilon}}{mu}{sub {upsilon}} and the conjugate parameter {zeta}. The obtained similarity solution reveals the effect of the conjugate parameter, and the results are compared with the simplified solution. The variations of the heat transfer rates as well as the interface temperature and frictions along the plate are shown explicitly.

  14. Effect of negative bias voltage on CrN films deposited by arc ion plating. I. Macroparticles filtration and film-growth characteristics

    International Nuclear Information System (INIS)

    Wang Qimin; Kim, Kwang Ho

    2008-01-01

    Chromium nitride (CrN) films were deposited on Si wafers by arc ion plating (AIP) at various negative bias voltages and several groups of N 2 /Ar gas flux ratios and chamber gas pressures. The authors systematically investigated the influence of negative bias voltage on the synthesis, composition, microstructure, and properties of the AIP CrN films. In this part (Part I), the investigations were mainly focused on the macroparticle distributions and film-growth characteristics. The results showed that macroparticle densities on the film surfaces decreased greatly by applying negative bias voltage, which can be affected by partial pressure of N 2 and Ar gases. From the statistical analysis of the experimental results, they proposed a new hybrid mechanism of ion bombardment and electrical repulsion. Also, the growth of the AIP CrN films was greatly altered by applying negative bias voltage. By increasing the bias voltage, the film surfaces became much smoother and the films evolved from apparent columnar microstructures to an equiaxed microstructure. The impinging high-energy Cr ions accelerated by negative bias voltages were deemed the inherent reason for the evolution of growth characteristics

  15. Conversion from film to image plates for transfer method neutron radiography of nuclear fuel

    Energy Technology Data Exchange (ETDEWEB)

    Craft, Aaron E.; Papaioannou, Glen C.; Chichester, David L.; Williams, Walter J.

    2017-02-01

    This paper summarizes efforts to characterize and qualify a computed radiography (CR) system for neutron radiography of irradiated nuclear fuel at Idaho National Laboratory (INL). INL has multiple programs that are actively developing, testing, and evaluating new nuclear fuels. Irradiated fuel experiments are subjected to a number of sequential post-irradiation examination techniques that provide insight into the overall behavior and performance of the fuel. One of the first and most important of these exams is neutron radiography, which provides more comprehensive information about the internal condition of irradiated nuclear fuel than any other non-destructive technique to date. Results from neutron radiography are often the driver for subsequent examinations of the PIE program. Features of interest that can be evaluated using neutron radiography include irradiation-induced swelling, isotopic and fuel-fragment redistribution, plate deformations, and fuel fracturing. The NRAD currently uses the foil-film transfer technique with film for imaging fuel. INL is pursuing multiple efforts to advance its neutron imaging capabilities for evaluating irradiated fuel and other applications, including conversion from film to CR image plates. Neutron CR is the current state-of-the-art for neutron imaging of highly-radioactive objects. Initial neutron radiographs of various types of nuclear fuel indicate that radiographs can be obtained of comparable image quality currently obtained using film. This paper provides neutron radiographs of representative irradiated fuel pins along with neutron radiographs of standards that informed the qualification of the neutron CR system for routine use. Additionally, this paper includes evaluations of some of the CR scanner parameters and their effects on image quality.

  16. Plating on some difficult-to-plate metals and alloys

    International Nuclear Information System (INIS)

    Dini, J.W.; Johnson, H.R.

    1980-02-01

    Electrodeposition of coatings on metals such as beryllium, beryllium-copper, Kovar, lead, magnesium, thorium, titanium, tungsten, uranium, zirconium, and their alloys can be problematic. This is due in most cases to a natural oxide surface film that readily reforms after being removed. The procedures we recommend for plating on these metals rely on replacing the oxide film with a displacement coating, or etching to allow mechanical keying between the substrate and plated deposit. The effectiveness of the procedures is demonstrated by interface bond strengths found in ring-shear and conical-head tensile tests

  17. Fabrication and Characteristics of High Capacitance Al Thin Films Capacitor Using a Polymer Inhibitor Bath in Electroless Plating Process.

    Science.gov (United States)

    Cho, Young-Lae; Lee, Jung-Woo; Lee, Chang-Hyoung; Choi, Hyung-Seon; Kim, Sung-Su; Song, Young Il; Park, Chan; Suh, Su-Jeong

    2015-10-01

    An aluminum (Al) thin film capacitor was fabricated for a high capacitance capacitor using electrochemical etching, barrier-type anodizing, and electroless Ni-P plating. In this study, we focused on the bottom-up filling of Ni-P electrodes on Al2O3/Al with etched tunnels. The Al tunnel pits were irregularly distributed on the Al foil, diameters were in the range of about 0.5~1 μm, the depth of the tunnel pits was approximately 35~40 μm, and the complex structure was made full filled hard metal. To control the plating rate, the experiment was performed by adding polyethyleneimine (PEI, C2H5N), a high molecular substance. PEI forms a cross-link at the etching tunnel inlet, playing the role of delaying the inlet plating. When the PEI solution bath was used after activation, the Ni-P layer was deposited selectively on the bottoms of the tunnels. The characteristics were analyzed by adding the PEI addition quantity rate of 100~600 mg/L into the DI water. The capacitance of the Ni-P/Al2O3 (650~700 nm)/Al film was measured at 1 kHz using an impedance/gain phase analyzer. For the plane film without etch tunnels the capacitance was 12.5 nF/cm2 and for the etch film with Ni-P bottom-up filling the capacitance was 92 nF/cm2. These results illustrate a remarkable maximization of capacitance for thin film metal capacitors.

  18. Electroless plating of low-resistivity Cu–Mn alloy thin films with self-forming capacity and enhanced thermal stability

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Sung-Te, E-mail: stchen@mail.hust.edu.tw [Department of Electronic Engineering, Hsiuping University of Science and Technology, Dali 412, Taichung, Taiwan (China); Chen, Giin-Shan [Department of Materials Science and Engineering, Feng Chia University, Seatwen 407, Taichung, Taiwan (China)

    2015-11-05

    Previous studies have typically used sputter deposition to fabricate Cu–Mn alloy thin films with concentrated solute additions which have exceeded several atomic percentages, and the electrical resistivity values of the resultant films from previous studies are relatively high, ranging from 2.5 to 3.5 μΩ-cm. Herein, we proposed a different approach by using electroless process to plate dilute Cu–Mn (0.1 at.%) alloy thin films on dielectric layers (SiO{sub 2}). Upon forming-gas annealing, the Mn incorporated into Cu–Mn films was segregated toward the SiO{sub 2} side, eventually converting itself into a few atomic layer thickness at the Cu/SiO{sub 2} interface, and forming films with a low level of resistivity the same as that of pure Cu films (2.0 μΩ-cm). The interfacial layer served as not only a diffusion barrier, but also an adhesion promoter that prevented the film’s agglomeration during annealing at elevated temperatures. The mechanism for the dual-function performance by the Mn addition was elucidated by interfacial bonding analysis, as well as dynamic (adhesive strength) and thermodynamic (surface-tension) measurements. - Highlights: • Electroless plating is proposed to grow dilute (0.1%) Cu–Mn films on SiO{sub 2} layers. • Adequate annealing results in a self-forming of MnO{sub x} at the Cu/SiO{sub 2} interface. • The role of interfacial MnO{sub x} as a barrier and adhesion promoter is demonstrated. • The treated dilute film has a low ρ level of pure Cu, in contrast to concentrated films. • Its potential as a single entity replacement of Cu interconnect is presented.

  19. Experimental investigations of image quality in X-ray mammography with conventional screen film system (SFS), digital phosphor storage plate in/without magnification technique (CR) and digital CCD-technique (CCD)

    International Nuclear Information System (INIS)

    Schulz-Wendtland, R.; Aichinger, U.; Boehner, C.; Dobritz, M.; Wenkel, E.; Bautz, W.; Saebel, M.

    2001-01-01

    Comparison of image quality in X-ray mammography between conventional film screen film system (SFS), digital phosphor storage plate in and without magnification technique (CR) and digital CCD-technique (CCD). Radiograms of an RMI-mammography phantom were acquired using a conventional screen film system, three digital storage plate systems and two digital systems in CCD-technique. Additionally the radiograms of one digital phosphor storage plate system were post-processed regarding contrast and included in the comparison. The detectability of details was best with the digital mammography in CCD-technique. After confirming these promising results in clinical studies, digital mammography should be able to replace conventional screen film technique. (orig.)

  20. Neutron radiography using neutron imaging plate

    International Nuclear Information System (INIS)

    Chankow, Nares; Wonglee, Sarinrat

    2008-01-01

    Full text: The aims of this research are to study properties of neutron imaging plate, to obtain a suitable condition for neutron radiography and to use the neutron imaging plate for testing of materials nondestructively. The experiments were carried out by using a neutron beam from the Thai Research Reactor TRR-1/M1 at a power of 1.2 MW. A BAS-ND 2040 FUJI neutron imaging plate and a MX125 Kodak X-ray film/Gadolinium neutron converter screen combination were tested for comparison. It was found that the photostimulated light (PSL) read out of the imaging plate was directly proportional to the exposure time. It was also found that radiography with neutron using the imaging plate was approximately 40 times faster than the conventional neutron radiography using x-ray film/Gd converter screen combination. The sensitivity of the imaging plate to gamma-rays was investigated by using gamma-rays from an 192 Ir and a 60 Co radiographic sources. The imaging plate was found to be 5-6 times less sensitive to gamma-rays than a FUJI BAS-MS 2040 gamma-ray imaging plate. Finally, some specimens were selected to be radiographed with neutrons using the imaging plate and the x-ray film/Gd converter screen combination in comparison to x-rays. Parts containing light elements could be clearly observed by the two neutron radiographic techniques. It could be concluded that the image quality from the neutron imaging plate was comparable to the conventional x-ray film/Gd converter screen combination but the exposure time could be approximately reduced by a factor of 40

  1. BAO Plate Archive Project

    Science.gov (United States)

    Mickaelian, A. M.; Gigoyan, K. S.; Gyulzadyan, M. V.; Paronyan, G. M.; Abrahamyan, H. V.; Andreasyan, H. R.; Azatyan, N. M.; Kostandyan, G. R.; Samsonyan, A. L.; Mikayelyan, G. A.; Farmanyan, S. V.; Harutyunyan, V. L.

    2017-12-01

    We present the Byurakan Astrophysical Observatory (BAO) Plate Archive Project that is aimed at digitization, extraction and analysis of archival data and building an electronic database and interactive sky map. BAO Plate Archive consists of 37,500 photographic plates and films, obtained with 2.6m telescope, 1m and 0.5m Schmidt telescopes and other smaller ones during 1947-1991. The famous Markarian Survey (or the First Byurakan Survey, FBS) 2000 plates were digitized in 2002-2005 and the Digitized FBS (DFBS, www.aras.am/Dfbs/dfbs.html) was created. New science projects have been conducted based on this low-dispersion spectroscopic material. Several other smaller digitization projects have been carried out as well, such as part of Second Byurakan Survey (SBS) plates, photographic chain plates in Coma, where the blazar ON 231 is located and 2.6m film spectra of FBS Blue Stellar Objects. However, most of the plates and films are not digitized. In 2015, we have started a project on the whole BAO Plate Archive digitization, creation of electronic database and its scientific usage. Armenian Virtual Observatory (ArVO, www.aras.am/Arvo/arvo.htm) database will accommodate all new data. The project runs in collaboration with the Armenian Institute of Informatics and Automation Problems (IIAP) and will continues during 4 years in 2015-2018. The final result will be an Electronic Database and online Interactive Sky map to be used for further research projects. ArVO will provide all standards and tools for efficient usage of the scientific output and its integration in international databases.

  2. Improvement of copper plating adhesion on silane modified PET film by ultrasonic-assisted electroless deposition

    International Nuclear Information System (INIS)

    Lu Yinxiang

    2010-01-01

    Copper thin film on silane modified poly(ethylene terephthalate) (PET) substrate was fabricated by ultrasonic-assisted electroless deposition. The composition and topography of copper plating PET films were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), X-ray diffraction (XRD) and atomic force microscopy (AFM), respectively. Peel adhesion strength, as high as 16.7 N/cm, was achieved for the planting copper layer to the modified PET substrate with ultrasonic-assisted deposition; however, a relative low value as 11.9 N/cm was obtained for the sample without ultrasonic vibration by the same measurement. The electrical conductivity of Cu film was changed from 7.9 x 10 4 to 2.1 x 10 5 S/cm by using ultrasonic technique. Ultrasonic operation has the significant merits of fast deposition and formation of good membranes for electroless deposition of Cu on PET film.

  3. Effect of an annealing on magnetic properties of Fe-Ni films electroplated in citric-acid-based plating baths

    Science.gov (United States)

    Yanai, T.; Koda, K.; Eguchi, K.; Morimura, T.; Takashima, K.; Nakano, M.; Fukunaga, H.

    2018-04-01

    We have already reported Fe-Ni films with good soft magnetic properties prepared by using an electroplating method. In the present study, we employed an annealing for further improvement in soft magnetic properties of the electroplated Fe-Ni films. The annealing reduces the coercivity of the films, and the reduction rate of the coercivity depended on the Cl- ion concentration in the bath. The Fe22Ni78 films prepared in the plating bath with high Cl- ion concentration showed large reduction rate of the coercivity, and we found that the annealing is more effective for high Cl- ion concentration bath since much lower coercivity value can be obtained compared with that for low Cl- ion concentration one.

  4. Optimization of the Adhesion Strength of Arc Ion Plating TiAlN Films by the Taguchi Method

    Directory of Open Access Journals (Sweden)

    Tong-Yul Cho

    2009-06-01

    Full Text Available A three-level six-factor (arc power, substrate temperature, pre-treatment bias voltage, working pressure, deposition bias voltage and pretreatment time orthogonal experimental array (L18 to optimize the adhesion strength of arc ion plating (AIP TiAlN films was designed using the Taguchi method. An optimized film process, namely substrate temperature 220 °C, arc power 60 A, negative bias voltage -800 V, nitrogen pressure 10-2 Torr, pretreated voltage -450 V and pretreated time 15 minutes was obtained by the Taguchi program for the purpose of obtaining a larger critical load. The critical load of the optimized TiAlN film (53 N was increased by 43% compared to the film with the highest critical load before optimization. The improvement in the adhesion strength of the films was attributed to the enhancement of hardness and the competitive growth of the (111, (200 and (220 orientations in the film.

  5. Irreversibility analysis for gravity driven non-Newtonian liquid film along an inclined isothermal plate

    International Nuclear Information System (INIS)

    Makinde, O.D.

    2005-10-01

    In this paper, the first and second law of thermodynamics are employed in order to study the inherent irreversibility for a gravity driven non-Newtonian Ostwald-de Waele power law liquid film along an inclined isothermal plate. Based on some simplified assumptions, the governing equations are obtained and solved analytically. Expressions for fluid velocity, temperature, volumetric entropy generation numbers, irreversibility distribution ratio and the Bejan number are also determined. (author)

  6. Electroless plating of Ni–B film as a binder-free highly efficient electrocatalyst for hydrazine oxidation

    Energy Technology Data Exchange (ETDEWEB)

    Wen, Xiao-Ping; Dai, Hong-Bin, E-mail: mshbdai@scut.edu.cn; Wu, Lin-Song; Wang, Ping, E-mail: mspwang@scut.edu.cn

    2017-07-01

    Graphical abstract: A Ni–B film was grown on Ni foam to form a binder-free highly efficient electrocatalyst for hydrazine oxidation in alkaline medium. The newly-developed Ni–B/Ni foam electrocatalyst may promote the practical application of hydrazine as a viable energy carrier for fuel cells. - Highlights: • A Ni–B film grown on Ni foam electrocatalyst is prepared by the electrless plating. • The Ni–B film shows high activity and stability for N{sub 2}H{sub 4} electrooxidation reaction. • The improved catalytic property is ascribed to B-tuned electronic structure of Ni. • The resultant catalyst may promote application of N{sub 2}H{sub 4} as a viable energy carrier. - Abstract: Hydrazine is a promising energy carrier for fuel cells owing to its combined advantages of high theoretical cell voltage, high-power density, and no greenhouse gas emission. By using an electroless plating process, we have prepared a robust Ni–B film grown on Ni foam that is highly effective for hydrazine electrooxidation in alkaline media. The effects of reaction temperature, concentrations of hydrous hydrazine and sodium hydroxide in the fuel solution on performance of hydrazine electrooxidation reaction are investigated. The mechanistic reason for the property advantage of as-prepared Ni–B/Ni foam catalyst over the relevant catalysts is discussed based on careful kinetics studies and characterization. The facile synthesis of Ni-based catalyst with high activity and good stability is of clear significance for the development of hydrous hydrazine as a viable energy carrier.

  7. Electroless plating of Ni–B film as a binder-free highly efficient electrocatalyst for hydrazine oxidation

    International Nuclear Information System (INIS)

    Wen, Xiao-Ping; Dai, Hong-Bin; Wu, Lin-Song; Wang, Ping

    2017-01-01

    Graphical abstract: A Ni–B film was grown on Ni foam to form a binder-free highly efficient electrocatalyst for hydrazine oxidation in alkaline medium. The newly-developed Ni–B/Ni foam electrocatalyst may promote the practical application of hydrazine as a viable energy carrier for fuel cells. - Highlights: • A Ni–B film grown on Ni foam electrocatalyst is prepared by the electrless plating. • The Ni–B film shows high activity and stability for N_2H_4 electrooxidation reaction. • The improved catalytic property is ascribed to B-tuned electronic structure of Ni. • The resultant catalyst may promote application of N_2H_4 as a viable energy carrier. - Abstract: Hydrazine is a promising energy carrier for fuel cells owing to its combined advantages of high theoretical cell voltage, high-power density, and no greenhouse gas emission. By using an electroless plating process, we have prepared a robust Ni–B film grown on Ni foam that is highly effective for hydrazine electrooxidation in alkaline media. The effects of reaction temperature, concentrations of hydrous hydrazine and sodium hydroxide in the fuel solution on performance of hydrazine electrooxidation reaction are investigated. The mechanistic reason for the property advantage of as-prepared Ni–B/Ni foam catalyst over the relevant catalysts is discussed based on careful kinetics studies and characterization. The facile synthesis of Ni-based catalyst with high activity and good stability is of clear significance for the development of hydrous hydrazine as a viable energy carrier.

  8. 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

  9. Effect of an annealing on magnetic properties of Fe-Ni films electroplated in citric-acid-based plating baths

    Directory of Open Access Journals (Sweden)

    T. Yanai

    2018-04-01

    Full Text Available We have already reported Fe-Ni films with good soft magnetic properties prepared by using an electroplating method. In the present study, we employed an annealing for further improvement in soft magnetic properties of the electroplated Fe-Ni films. The annealing reduces the coercivity of the films, and the reduction rate of the coercivity depended on the Cl- ion concentration in the bath. The Fe22Ni78 films prepared in the plating bath with high Cl- ion concentration showed large reduction rate of the coercivity, and we found that the annealing is more effective for high Cl- ion concentration bath since much lower coercivity value can be obtained compared with that for low Cl- ion concentration one.

  10. BioComponent Robots

    Science.gov (United States)

    2014-02-13

    to the bottom of a Petri-dish that had previously been coated with a thin layer of Sylgard 184 silicone elastomer (Dow Corning , Midland, MI...coated with Mann Ease Release 200 mold release spray. Sylgard 184 silicone elastomer (PDMS, Dow Corning , Midland, MI) was prepared according to the...Triangle Park, NC 27709-2211 cell-based actuators, biostability, robot, elastomer films, silk , fibroin, thin films REPORT DOCUMENTATION PAGE 11

  11. Screening and Crystallization Plates for Manual and High-throughput Protein Crystal Growth

    Science.gov (United States)

    Thorne, Robert E. (Inventor); Berejnov, Viatcheslav (Inventor); Kalinin, Yevgeniy (Inventor)

    2010-01-01

    In one embodiment, a crystallization and screening plate comprises a plurality of cells open at a top and a bottom, a frame that defines the cells in the plate, and at least two films. The first film seals a top of the plate and the second film seals a bottom of the plate. At least one of the films is patterned to strongly pin the contact lines of drops dispensed onto it, fixing their position and shape. The present invention also includes methods and other devices for manual and high-throughput protein crystal growth.

  12. Functionalized Nano-Film Microchannel Plate: A Single High Aspect Ratio Device for High Resolution, Low Noise Astronomical Imaging, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed innovation is to apply proven nano-film technology to enable Microchannel plate (MCP) devices to be manufactured on a range of insulating substrates and...

  13. Military robots: the fighting force of the future

    Science.gov (United States)

    2016-03-03

    propaganda films of World War II, culminating with Walt Disney’s Victory Through Air Power, based on de Seversky’s book. After World War II, the number of...combat aviation films dwindled, with some notable exceptions. This was due in part to the plateauing of military aviation’s capabilities, along with...Military Robot Theorists The theory of military robots has its origin in science fiction. Some of the greatest authors of the genre have written about

  14. Film boiling heat transfer and vapour film collapse for various geometries

    International Nuclear Information System (INIS)

    Jouhara, H.I.; Axcell, B.P.

    2005-01-01

    Full text of publication follows: Film boiling heat transfer has application to the safe operation of water-cooled nuclear reactors under fault conditions and it has been studied using nickel-plated copper specimens in transient and steady state experiments. In the transient tests the specimens were held in a water flow; in the steady state investigation a specimen was mounted in an essentially quiescent pool of water. The transient investigation was conducted on two spheres with different diameters, two cylindrical specimens of different lengths in parallel flow, a short cylinder in cross flow and two flat plates with different lengths. The heat transfer coefficient, vapour film thickness (which was estimated from the heat transfer coefficient) and heat flux followed a similar behaviour with changing experimental conditions for all specimens studied. The heat transfer coefficient increased and the vapour film thickness and heat flux decreased as the specimen temperature decreased. As the water subcooling increased the heat transfer coefficient and the heat flux increased while the vapour film thickness decreased. The water velocity was found to have little influence on the film boiling heat transfer results except for the short cylinder in cross flow. The sphere diameter was found to affect the heat transfer results; the heat transfer coefficient and the heat flux were larger, for the larger sphere. No significant effect of the cylinder length on the heat transfer data was observed. However, the heat transfer coefficient was higher (and the average vapour film thinner) for the longer plate than for the shorter plate. Three vapour/liquid interface types were observed namely: 'smooth', 'rippled' and 'turbulent' depending largely on specimen and water temperatures. For all specimens, the maximum heat transfer coefficient, minimum heat flux and minimum film boiling temperature, occurring just before vapour film collapse, were found to increase as the water subcooling

  15. Scalable 96-well Plate Based iPSC Culture and Production Using a Robotic Liquid Handling System.

    Science.gov (United States)

    Conway, Michael K; Gerger, Michael J; Balay, Erin E; O'Connell, Rachel; Hanson, Seth; Daily, Neil J; Wakatsuki, Tetsuro

    2015-05-14

    Continued advancement in pluripotent stem cell culture is closing the gap between bench and bedside for using these cells in regenerative medicine, drug discovery and safety testing. In order to produce stem cell derived biopharmaceutics and cells for tissue engineering and transplantation, a cost-effective cell-manufacturing technology is essential. Maintenance of pluripotency and stable performance of cells in downstream applications (e.g., cell differentiation) over time is paramount to large scale cell production. Yet that can be difficult to achieve especially if cells are cultured manually where the operator can introduce significant variability as well as be prohibitively expensive to scale-up. To enable high-throughput, large-scale stem cell production and remove operator influence novel stem cell culture protocols using a bench-top multi-channel liquid handling robot were developed that require minimal technician involvement or experience. With these protocols human induced pluripotent stem cells (iPSCs) were cultured in feeder-free conditions directly from a frozen stock and maintained in 96-well plates. Depending on cell line and desired scale-up rate, the operator can easily determine when to passage based on a series of images showing the optimal colony densities for splitting. Then the necessary reagents are prepared to perform a colony split to new plates without a centrifugation step. After 20 passages (~3 months), two iPSC lines maintained stable karyotypes, expressed stem cell markers, and differentiated into cardiomyocytes with high efficiency. The system can perform subsequent high-throughput screening of new differentiation protocols or genetic manipulation designed for 96-well plates. This technology will reduce the labor and technical burden to produce large numbers of identical stem cells for a myriad of applications.

  16. New Methods for Kinematic Modelling and Calibration of Robots

    DEFF Research Database (Denmark)

    Søe-Knudsen, Rune

    2014-01-01

    the accuracy in an easy and accessible way. The required equipment is accessible, since the cost is held to a minimum and can be made with conventional processing equipment. Our first method calibrates the kinematics of a robot using known relative positions measured with the robot itself and a plate...... with holes matching the robot tool flange. The second method calibrates the kinematics using two robots. This method allows the robots to carry out the collection of measurements and the adjustment, by themselves, after the robots have been connected. Furthermore, we also propose a method for restoring......Improving a robot's accuracy increases its ability to solve certain tasks, and is therefore valuable. Practical ways of achieving this improved accuracy, even after robot repair, is also valuable. In this work, we introduce methods that improve the robot's accuracy and make it possible to maintain...

  17. Biomimetic actuator and sensor for robot hand

    International Nuclear Information System (INIS)

    Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon

    2012-01-01

    To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor

  18. Biomimetic actuator and sensor for robot hand

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon [Sungkyunkwan Univ., Seoul (Korea, Republic of)

    2012-12-15

    To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor.

  19. In vitro comparison between the image obtained using PSP plates and Kodak E-speed films.

    Science.gov (United States)

    Petel, R; Yaroslavsky, L; Kaffe, I

    2014-07-01

    The aim of this study was to compare the intra-oral radiographic images obtained by a PSP digital radiography system ("Orex", Israel) with that obtained using Kodak Ultra speed films in terms of image quality, radiation dosage and diagnostic value. The physical measurement of image quality was conducted with an aluminum step-wedge. Radiation dosage was measured with a dosimeter. Fog and base levels were measured by developing unexposed films and scanning unexposed PSP plates. The in vitro model included preparation and radiographic evaluation of approximal artificial lesions in premolars and molars in depths ranging from 0.25 mm to 1.00 mm. Radiographs were evaluated for the existence of a lesion and its size by 8 experienced clinicians. Relative contrast was similar in both methods. The resolving power of the digital system was lower than that of the E-speed film. As for the subjective evaluation of artificial lesions, there was no significant difference between the two methods excluding those tooth images without lesions, where the analog method was found to be more accurate. The PSP system ("Orex") provides good image quality and diagnostic information with reduced exposure when compared with E-speed film.

  20. Development of a selective thin film and of a hermetically sealed flat plate solar collector with gas filling

    Science.gov (United States)

    Zernial, W.

    1982-12-01

    The industrial productibility of a selective absorbing thin film was investigated on the basis of reactive cathodic sputtering of Ni. On substrates of 1.8 sq m of Al, Cu, steel and stainless steel, solar absorption values up to 97% were achieved at emissivities of 5 to 10%. A prototype flat plate collector for high temperatures with two covers and hermetical sealing was developed. The technical data of the collector were measured, dependent on the selectivity of the absorber, gas fillings of dry air, argon or SF6 and the geometry and were compared with those of an evacuated flat plate collector. A hermetical sealed double flat plate collector for low temperatures was developed which has the advantage of lower no load temperatures and higher energy gain for heating swimming pool water compared with a conventional flat plate collector. The insolation values on collectors were measured and were used for a calculation of the energy gains of different collector types.

  1. Effects of surface roughness, MHD and couple stress on squeeze film characteristics between curved circular plates

    Science.gov (United States)

    Hanumagowda, B. N.; Salma, A.; Nagarajappa, C. S.

    2018-04-01

    The theoretical discussion is carried out for understanding the combined study of MHD, rough surface and couple-stress in the presence of applied magnetic field between two curved circular plates is present analysis. Modified Reynolds Equations accounting for rough surface using stochastic model of Christensen are mathematically formulated. The close form derivations for pressure, load-supporting capacity and response-film time are obtained. Our results shows that, there is an significant increase (decrease) for pressure, load-supporting capacity and squeeze film time due to the effect of azimuthal (radial) roughness parameter when compared to the Hanumagowda.et.al [14] and numerical data of load supporting capacity and response time are given in Table for engineering applications.

  2. The study on corrosion resistance of decorative satin nickel plating

    Directory of Open Access Journals (Sweden)

    LU Wenya

    2012-10-01

    Full Text Available This study examined the corrosion resistance of satin nickel plating on conductive plastic.The electrochemical tests were to analyze the corrosion behavior of satin nickel plating with different processes in 3.5% NaCl solution.The results show that,because the satin nickel plating has an organic film on its surface due to process characteristics,the film results in different corrosion resistance.By increasing satin additive dosage,the nickel plating chroma decreases,the microsurface of the plating becomes rough,and the corrosion resistance is followed by decrease.

  3. The study on corrosion resistance of decorative satin nickel plating

    OpenAIRE

    LU Wenya; CHENG Xianhua

    2012-01-01

    This study examined the corrosion resistance of satin nickel plating on conductive plastic.The electrochemical tests were to analyze the corrosion behavior of satin nickel plating with different processes in 3.5% NaCl solution.The results show that,because the satin nickel plating has an organic film on its surface due to process characteristics,the film results in different corrosion resistance.By increasing satin additive dosage,the nickel plating chroma decreases,the microsurface of the p...

  4. Fabrication of a thin-film capacitive force sensor array for tactile feedback in robotic surgery.

    Science.gov (United States)

    Paydar, Omeed H; Wottawa, Christopher R; Fan, Richard E; Dutson, Erik P; Grundfest, Warren S; Culjat, Martin O; Candler, Rob N

    2012-01-01

    Although surgical robotic systems provide several advantages over conventional minimally invasive techniques, they are limited by a lack of tactile feedback. Recent research efforts have successfully integrated tactile feedback components onto surgical robotic systems, and have shown significant improvement to surgical control during in vitro experiments. The primary barrier to the adoption of tactile feedback in clinical use is the unavailability of suitable force sensing technologies. This paper describes the design and fabrication of a thin-film capacitive force sensor array that is intended for integration with tactile feedback systems. This capacitive force sensing technology could provide precise, high-sensitivity, real-time responses to both static and dynamic loads. Capacitive force sensors were designed to operate with optimal sensitivity and dynamic range in the range of forces typical in minimally invasive surgery (0-40 N). Initial results validate the fabrication of these capacitive force-sensing arrays. We report 16.3 pF and 146 pF for 1-mm(2) and 9-mm(2) capacitive areas, respectively, whose values are within 3% of theoretical predictions.

  5. Opkomend risico voor arbeidsveiligheid door inzet van robots op de werkvloer

    NARCIS (Netherlands)

    Steijn, W.; Luiijf, E.; Beek, D. van der

    2016-01-01

    Al decennia lang spreken robots tot de verbeelding in toekomstvisioenen in films en boeken. Karel Čapek schreef al in 1920 een toneelstuk genaamd RUR (Rossums Universele Robots). De eerste echte robot ‘Gargantuan’ werd in de periode 1935 tot 1937 geconstrueerd. Deze was volledig opgebouwd uit

  6. Reverse control for humanoid robot task recognition.

    Science.gov (United States)

    Hak, Sovannara; Mansard, Nicolas; Stasse, Olivier; Laumond, Jean Paul

    2012-12-01

    Efficient methods to perform motion recognition have been developed using statistical tools. Those methods rely on primitive learning in a suitable space, for example, the latent space of the joint angle and/or adequate task spaces. Learned primitives are often sequential: A motion is segmented according to the time axis. When working with a humanoid robot, a motion can be decomposed into parallel subtasks. For example, in a waiter scenario, the robot has to keep some plates horizontal with one of its arms while placing a plate on the table with its free hand. Recognition can thus not be limited to one task per consecutive segment of time. The method presented in this paper takes advantage of the knowledge of what tasks the robot is able to do and how the motion is generated from this set of known controllers, to perform a reverse engineering of an observed motion. This analysis is intended to recognize parallel tasks that have been used to generate a motion. The method relies on the task-function formalism and the projection operation into the null space of a task to decouple the controllers. The approach is successfully applied on a real robot to disambiguate motion in different scenarios where two motions look similar but have different purposes.

  7. The effect of a flat-plate-type obstacle on the thin liquid film accompanied by a high speed gas flow

    International Nuclear Information System (INIS)

    Fukano, Tohru; Kadoguchi, Katsuhiko; Kanamori, Mikio; Tominaga, Akira.

    1989-01-01

    A flatplate-type obstacle, which simulates a grid-type spacer in a nuclear reactor, is set in an air-water cocurrent stratified flow to investigate liquid film breakdown occurring near the obstacle. We made detailed visual observations and measurements of the velocity profile of the air flow and the axial distributions of liquid film thickness and static pressure near the obstacle. Experimental parameters were the inclination of the rectangular duct, the configuration of the obstacle, i.e., with and without a projection and a hole, which is bored in order to delay the onset of dry patch formation near the obstacle and the gap between the plate and the lower-wall surface. The results show that the plate itself does not promote dry patch formation but the projection, even if it is in contact with the wall surface at only one point, has a strong effect on the liquid film breakdown. In general the film breakdown occurs in front of the projection in a wide range of flow conditions due to the leading edge down-wash of the stream and due also to the rejection of water by gravitational force in the case of the upward flow in the inclined duct. By setting a hole in or in front of the projection the occurrence of the dry patch formation is delayed. (author)

  8. Non-destructive evaluation utilizing imaging plates for field radiography applications

    International Nuclear Information System (INIS)

    White, Brian S.

    2016-01-01

    The oil and gas industry has utilized film radiography for the evaluation of pipeline welds for many years. The world has evolved, and today people are easily sharing digital images as part of the information revolution. Computed radiography is ready to replace film radiography for portable outdoor use applications. Computed radiography technology adoption has been contingent upon achieving acceptable image quality and getting enough imaging plate use cycles to be profitable. Image quality is dependent upon shot conditions, imaging plate type, reader settings, and scatter control. Likewise, the number of achievable use cycles is dependent upon the imaging plate design for durability and the user's operating environment. This presentation reviews the basic principles of storage phosphor imaging plates. Usage criteria and guidelines for optimum image quality and maximized overall use cycles will be discussed for various imaging plate types. A comparison of film and computed radiography imaging plate technology will be presented.

  9. Seeding of silicon by copper ion implantation for selective electroless copper plating

    Energy Technology Data Exchange (ETDEWEB)

    Bhansali, S.; Sood, D.K.; Zmood, R.B. [Microelectronic and Materials Technology Centre, Royal Melbourne Institute of Technolgy, Melbourne, VIC (Australia)

    1993-12-31

    We report on the successful use of copper(self) ion implantation into silicon to seed the electroless plating of copper on silicon (100) surfaces. Copper ions have been implanted to doses of 5E14-6.4E16 ions/cm{sup 2} using a MEEVA ion implanter at extraction voltage of 40kV. Dose was varied in fine steps to determine the threshold dose of 2E15 Cu ions/cm{sup 2} for `seed` formation of copper films on silicon using a commercial electroless plating solution. Plated films were studied with Rutherford backscattering spectrometry, scanning electron microscopy, EDX and profilometry . The adhesion of films was measured by `scotch tape test`. The adhesion was found to improve with increasing dose. However thicker films exhibited rather poor adhesion and high internal stress. SEM results show that the films grow first as isolated islands which become larger and eventually impinge into a continuous film as the plating time is increased. (authors). 5 refs., 1 tab., 3 figs.

  10. Seeding of silicon by copper ion implantation for selective electroless copper plating

    Energy Technology Data Exchange (ETDEWEB)

    Bhansali, S; Sood, D K; Zmood, R B [Microelectronic and Materials Technology Centre, Royal Melbourne Institute of Technolgy, Melbourne, VIC (Australia)

    1994-12-31

    We report on the successful use of copper(self) ion implantation into silicon to seed the electroless plating of copper on silicon (100) surfaces. Copper ions have been implanted to doses of 5E14-6.4E16 ions/cm{sup 2} using a MEEVA ion implanter at extraction voltage of 40kV. Dose was varied in fine steps to determine the threshold dose of 2E15 Cu ions/cm{sup 2} for `seed` formation of copper films on silicon using a commercial electroless plating solution. Plated films were studied with Rutherford backscattering spectrometry, scanning electron microscopy, EDX and profilometry . The adhesion of films was measured by `scotch tape test`. The adhesion was found to improve with increasing dose. However thicker films exhibited rather poor adhesion and high internal stress. SEM results show that the films grow first as isolated islands which become larger and eventually impinge into a continuous film as the plating time is increased. (authors). 5 refs., 1 tab., 3 figs.

  11. Seeding of silicon by copper ion implantation for selective electroless copper plating

    International Nuclear Information System (INIS)

    Bhansali, S.; Sood, D.K.; Zmood, R.B.

    1993-01-01

    We report on the successful use of copper(self) ion implantation into silicon to seed the electroless plating of copper on silicon (100) surfaces. Copper ions have been implanted to doses of 5E14-6.4E16 ions/cm 2 using a MEEVA ion implanter at extraction voltage of 40kV. Dose was varied in fine steps to determine the threshold dose of 2E15 Cu ions/cm 2 for 'seed' formation of copper films on silicon using a commercial electroless plating solution. Plated films were studied with Rutherford backscattering spectrometry, scanning electron microscopy, EDX and profilometry . The adhesion of films was measured by 'scotch tape test'. The adhesion was found to improve with increasing dose. However thicker films exhibited rather poor adhesion and high internal stress. SEM results show that the films grow first as isolated islands which become larger and eventually impinge into a continuous film as the plating time is increased. (authors). 5 refs., 1 tab., 3 figs

  12. Ultrasonic decontamination robot

    International Nuclear Information System (INIS)

    Patenaude, R.S.

    1984-01-01

    An ultrasonic decontamination robot removes radioactive contamination from the internal surface of the inlet and outlet headers, divider plate, tube sheet, and lower portions of tubes of a nuclear power plant steam generator. A programmable microprocessor controller guides the movement of a robotic arm mounted in the header manway. An ultrasonic transducer having a solvent delivery subsystem through which ultrasonic action is achieved is moved by the arm over the surfaces. A solvent recovery suction tube is positioned within the header to remove solvent therefrom while avoiding interference with the main robotic arm. The solvent composition, temperature, pressure, viscosity, and purity are controlled to optimize the ultrasonic scrubbing action. The ultrasonic transducer is controlled at a power density, frequency, and on-off mode cycle such as to optimize scrubbing action within the range of transducer-to-surface distance and solvent layer thickness selected for the particular conditions encountered. Both solvent and transducer control actions are optimized by the programmable microprocessor. (author)

  13. Film-Screen Mammography versus digital storage plate mammography: Hard copy and monitor display of microcalcifications and focal findings - A retrospective clinical and histologic analysis

    International Nuclear Information System (INIS)

    Schulz-Wendtland, R.; Wenkel, E.; Aichinger, U.; Tartsch, M.; Kuchar, I.; Bautz, W.

    2003-01-01

    Purpose: A retrospective clinical-histological study to determine the diagnostic accuracy of mammography using conventional screen-film cassettes (hard copy), high-resolution digital phosphor storage plates (hard copy) and monitor display (soft copy) for microcalcifications and focal lesions (BI-RADS TM category 4 or 5). Materials and methods: From April to November 2001, 76 patients underwent conventional film-screen mammography and, after diagnosis and preoperative wire localization, digital mammography with the same exposure parameters. Five investigators retrospectively determined the diagnosis after the operation from randomly distributed mediolateral views (hard-copy reading) and from the monitor display (soft-copy reading). These results were correlated with the final histology. Results: The accuracy of conventional screen-film mammography, digital mammography and monitor-displayed mammography was 67%, 65% and 68% for all findings, (n = 76), 59%, 59% and 68% for microcalcifications (n = 44) and 75%, 72% and 63% for focal lesions (n = 32). The overall results showed no difference. Conclusions: Our findings indicate equivalence of conventional screen-film mammography, high-resolution digital phosphor storage plate mammography and monitor-displayed mammography. (orig.) [de

  14. Folding System for the Clothes by a Robot and Tools

    OpenAIRE

    大澤, 文明; 関, 啓明; 神谷, 好承

    2004-01-01

    The works of a home robot has the laundering. The purpose of this study is to find a means of folding of the clothes and store the clothes in a drawer by a home robot. Because the shape of cloth tends to change in various ways depending on the situation, it is difficult for robot hands to fold the clothes. In this paper, we propose a realistic folding system for the clothes by a robot and tools. The function of a tool is folding the clothes in half by inserting the clothes using two plates. T...

  15. Improving wettability of photo-resistive film surface with plasma surface modification for coplanar copper pillar plating of IC substrates

    International Nuclear Information System (INIS)

    Xiang, Jing; Wang, Chong; Chen, Yuanming; Wang, Shouxu; Hong, Yan; Zhang, Huaiwu; Gong, Lijun; He, Wei

    2017-01-01

    Highlights: • Air atmosphere plasmacould generatehydrophilic groups of photo-resistive film. • Better wettability of photo-resistive filmled tohigher plating uniformity of copper pillars. • New flow isreduced cost, simplified process and elevated productivity. - Abstract: The wettability of the photo-resistive film (PF) surfaces undergoing different pretreatments including the O_2−CF_4 low-pressure plasma (OCLP) and air plasma (AP), is investigated by water contact angle measurement instrument (WCAMI) before the bottom-up copper pillar plating. Chemical groups analysis performed by attenuated total reflectance Fourier transform infrared spectroscopy (ATR-FTIR) and X-ray photoelectron spectra (XPS) shows that after the OCLP and wash treatment, the wettability of PF surface is attenuated, because embedded fluorine and decreased oxygen content both enhance hydrophobicity. Compared with OCLP treatment, the PF surface treatment by non-toxic air plasma displays features of C−O, O−C=O, C=O and −NO_2 by AIR-FTIR and XPS, and a promoted wettability by WCAM. Under the identical electroplating condition, the surface with a better wettability allows electrolyte to spontaneously soak all the places of vias, resulting in improved copper pillar uniformity. Statistical analysis of metallographic data shows that more coplanar and flat copper pillars are achieved with the PF treatment of air plasma. Such modified copper-pillar-plating technology meets the requirement of accurate impedance, the high density interconnection for IC substrates.

  16. Behaviors of MC3T3-E1 cells on carbonated apatite films, with a characteristic network structure, fabricated on a titanium plate by aqueous spray coating

    International Nuclear Information System (INIS)

    Mochizuki, Chihiro; Hara, Hiroki; Oya, Kei; Aoki, Shun; Hayakawa, Tohru; Fujie, Hiromichi; Sato, Mitsunobu

    2014-01-01

    Four carbonated apatite films having average thicknesses of 1.3–0.11 μm, proportions of network sizes above 10 μm of 41–68%, and average border heights of the characteristic network structure of 0.98–0.29 μm were fabricated on a titanium plate by aqueous spray coating. These carbonated apatite films after heat treatment showed good mineralization ability in Hanks' balanced salt solution. Assessment of initial cell attachment and calcination on these films and on the Ti plate using osteoblastic MC3T3-E1 indicated that the carbonated apatite film heat treated at 600 °C, whose film thickness, proportion of network sizes above 10 μm, and border height were 0.11 μm, 61%, and 0.31 μm, respectively, was most preferred by osteoblastic cells. Field emission scanning electron microscopic observation of the cells attached to the films showed that the wide network and low border height of the network structure on the carbonated apatite film play an important role in the development of the filopodia of the osteoblastic cells. - Highlights: • Osteoblastic MC3T3-E1 behaviors on aqueous spray coating-derived carbonated apatite (CA) films • The network size of CA films is important. • CA films having a low network border height are better for cell proliferation

  17. Behaviors of MC3T3-E1 cells on carbonated apatite films, with a characteristic network structure, fabricated on a titanium plate by aqueous spray coating

    Energy Technology Data Exchange (ETDEWEB)

    Mochizuki, Chihiro; Hara, Hiroki [Division of Liberal Arts, Kogakuin University, 2665-1 Nakano, Hachioji, Tokyo 192-0015 (Japan); Oya, Kei [Research Institute for Science and Technology, Kogakuin University, 2665-1 Nakano, Hachioji, Tokyo 192-0015 (Japan); School of Engineering, Tokai University, 4-1-1 Kitakanane, Hiratsuka, Kanagawa 259-1292 (Japan); Aoki, Shun [Faculty of System Design, Tokyo Metropolitan University, 6-6 Asahigaoka, Hino, Tokyo 191-0065 (Japan); Hayakawa, Tohru [Department of Dental Engineering, Tsurumi University School of Dental Medicine, 2-1-3 Tsurumi, Yokohama City, Kanagawa 230-8501 (Japan); Fujie, Hiromichi [Faculty of System Design, Tokyo Metropolitan University, 6-6 Asahigaoka, Hino, Tokyo 191-0065 (Japan); Sato, Mitsunobu, E-mail: lccsato@cc.kogakuin.ac.jp [Division of Liberal Arts, Kogakuin University, 2665-1 Nakano, Hachioji, Tokyo 192-0015 (Japan)

    2014-06-01

    Four carbonated apatite films having average thicknesses of 1.3–0.11 μm, proportions of network sizes above 10 μm of 41–68%, and average border heights of the characteristic network structure of 0.98–0.29 μm were fabricated on a titanium plate by aqueous spray coating. These carbonated apatite films after heat treatment showed good mineralization ability in Hanks' balanced salt solution. Assessment of initial cell attachment and calcination on these films and on the Ti plate using osteoblastic MC3T3-E1 indicated that the carbonated apatite film heat treated at 600 °C, whose film thickness, proportion of network sizes above 10 μm, and border height were 0.11 μm, 61%, and 0.31 μm, respectively, was most preferred by osteoblastic cells. Field emission scanning electron microscopic observation of the cells attached to the films showed that the wide network and low border height of the network structure on the carbonated apatite film play an important role in the development of the filopodia of the osteoblastic cells. - Highlights: • Osteoblastic MC3T3-E1 behaviors on aqueous spray coating-derived carbonated apatite (CA) films • The network size of CA films is important. • CA films having a low network border height are better for cell proliferation.

  18. Robotic Patterning a Superhydrophobic Surface for Collective Cell Migration Screening.

    Science.gov (United States)

    Pang, Yonggang; Yang, Jing; Hui, Zhixin; Grottkau, Brian E

    2018-04-01

    Collective cell migration, in which cells migrate as a group, is fundamental in many biological and pathological processes. There is increasing interest in studying the collective cell migration in high throughput. Cell scratching, insertion blocker, and gel-dissolving techniques are some methodologies used previously. However, these methods have the drawbacks of cell damage, substrate surface alteration, limitation in medium exchange, and solvent interference. The superhydrophobic surface, on which the water contact angle is greater than 150 degrees, has been recently utilized to generate patterned arrays. Independent cell culture areas can be generated on a substrate that functions the same as a conventional multiple well plate. However, so far there has been no report on superhydrophobic patterning for the study of cell migration. In this study, we report on the successful development of a robotically patterned superhydrophobic array for studying collective cell migration in high throughput. The array was developed on a rectangular single-well cell culture plate consisting of hydrophilic flat microwells separated by the superhydrophobic surface. The manufacturing process is robotic and includes patterning discrete protective masks to the substrate using 3D printing, robotic spray coating of silica nanoparticles, robotic mask removal, robotic mini silicone blocker patterning, automatic cell seeding, and liquid handling. Compared with a standard 96-well plate, our system increases the throughput by 2.25-fold and generates a cell-free area in each well non-destructively. Our system also demonstrates higher efficiency than conventional way of liquid handling using microwell plates, and shorter processing time than manual operating in migration assays. The superhydrophobic surface had no negative impact on cell viability. Using our system, we studied the collective migration of human umbilical vein endothelial cells and cancer cells using assays of endpoint

  19. A Novel Implementation of a Flexible Robotic Fin Actuated by Shape Memory Alloy

    Institute of Scientific and Technical Information of China (English)

    Qin Yan; Lei Wang; Bo Liu; Jie Yang; Shiwu Zhang

    2012-01-01

    In this paper,study of a novel flexible robotic-fin actuated by Shape Memory Alloy (SMA) is presented.The developed robotic fin is capable of implementing various 3-Dimensional (3D) motions,which plays an important role in robot propulsion and maneuverability.Firstly,the morphological and mechanics parameters of a real pectoral fin from a carp are investigated.Secondly,a detailed design of the flexible pectoral fin driven by SMA is presented according to the previous morphological and mechanics analyses.Thirdly,a simplified theoretical model on the SMA fin plate is derived.The thermodynamics of the SMA plate and the relationship between curvature and phase transformation are analyzed.Finally,several simulations and model experiments are conducted according to the previous analyses.The results of the experiments are useful for the control of the robotic fin.The experimental results reveal that the SMA actuated fin ray has a good actuating performance.

  20. Ion-plated metal/ceramic interfaces

    International Nuclear Information System (INIS)

    Rigsbee, J.M.; Scott, P.A.; Knipe, R.K.; Ju, C.P.; Hock, V.F.

    1986-01-01

    Elemental Cu and Ti films have been deposited onto magnesia-alumina-silica ceramic substrates with a plasma-aided physical vapour deposition (ion-plating) process. Modifications in the structure and chemistry of the film, interface and substrate regions were investigated as a function of deposition process parameters (eg applied bias, voltage and current). The strength of the Cu/ceramic interface was found to be strongly influenced by both applied substrate bias voltage and substrate roughness. Films deposited with an applied substrate bias showed increasing adhesive strength with increasing bias. Microchemical analysis indicated that this enhanced adhesion is directly correlated with the development of a chemically graded interface region. The adhesive strength of the ion plated Cu films was also found to be improved with increasing substrate smoothness. The behaviour of Ti was found to be quite different from that of Cu. Ti generally has superior adhesion. This adhesion decreased for films deposited with a high bias voltage/current. From interfacial TEM it is shown that this is due to the formation of a compound at the Ti/ceramic interface. The thickness of this compound is important in adhesion. (UK)

  1. Effects of Velocity-Slip and Viscosity Variation in Squeeze Film Lubrication of Two Circular Plates

    Directory of Open Access Journals (Sweden)

    R.R. Rao

    2013-03-01

    Full Text Available A generalized form of Reynolds equation for two symmetrical surfaces is taken by considering velocity-slip at the bearing surfaces. This equation is applied to study the effects of velocity-slip and viscosity variation for the lubrication of squeeze films between two circular plates. Expressions for the load capacity and squeezing time obtained are also studied theoretically for various parameters. The load capacity and squeezing time decreases due to slip. They increase due to the presence of high viscous layer near the surface and decrease due to low viscous layer.

  2. Site-selective electroless nickel plating on patterned thin films of macromolecular metal complexes.

    Science.gov (United States)

    Kimura, Mutsumi; Yamagiwa, Hiroki; Asakawa, Daisuke; Noguchi, Makoto; Kurashina, Tadashi; Fukawa, Tadashi; Shirai, Hirofusa

    2010-12-01

    We demonstrate a simple route to depositing nickel layer patterns using photocross-linked polymer thin films containing palladium catalysts, which can be used as adhesive interlayers for fabrication of nickel patterns on glass and plastic substrates. Electroless nickel patterns can be obtained in three steps: (i) the pattern formation of partially quaterized poly(vinyl pyridine) by UV irradiation, (ii) the formation of macromolecular metal complex with palladium, and (iii) the nickel metallization using electroless plating bath. Metallization is site-selective and allows for a high resolution. And the resulting nickel layered structure shows good adhesion with glass and plastic substrates. The direct patterning of metallic layers onto insulating substrates indicates a great potential for fabricating micro/nano devices.

  3. College of Engineering team to build battlefield robots for 2010 competition

    OpenAIRE

    Mackay, Steven D.

    2010-01-01

    The roving, walking robotic soldiers of the "Terminator" films are becoming less sci-fi, and more certain future every day. Now, a team of robotics researchers from the Virginia Tech College of Engineering will build a team of fully autonomous cooperative battle-ready robots as part of a 2010 international war games challenge that could spur real-life battle bots.

  4. Study of Nd:YAG laser annealing of electroless Ni-P film on spiegel-iron plate by Taguchi method and grey system theory

    Energy Technology Data Exchange (ETDEWEB)

    Liu, W.L. [Department of Materials Science and Engineering, National Formosa University, 64, Wunhua Road, Huwei, Yunlin 632, Taiwan (China); Chien, W.T.; Jiang, M.H. [Department of Mechanical Engineering, National Pingtung University of Science and Technology, 1, Shuehfu Road, Neipu, Pingtung 912, Taiwan (China); Chen, W.J., E-mail: chenwjau@yuntech.edu.t [Graduate School of Materials Science, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan (China)

    2010-04-09

    An electroless Ni-P film was first deposited on a spiegel-iron plate and then annealed by an Nd:YAG pulsed wave laser. In order to obtain the optimal laser annealing parameters for maximizing the hardness and minimizing the surface roughness of electroless Ni-P films, the Taguchi method and grey system theory were used to analyze the experimental data. The electroless Ni-P film was also characterized by scanning electron microscopy for the morphology, and transmission electron microscopy for the microstructure and crystal structure. The results showed that the hardness and the surface roughness of electroless Ni-P films can be, at the same time, improved to 50.8% and 68%, respectively, by the laser annealing with the optimal parameters.

  5. Study of Nd:YAG laser annealing of electroless Ni-P film on spiegel-iron plate by Taguchi method and grey system theory

    International Nuclear Information System (INIS)

    Liu, W.L.; Chien, W.T.; Jiang, M.H.; Chen, W.J.

    2010-01-01

    An electroless Ni-P film was first deposited on a spiegel-iron plate and then annealed by an Nd:YAG pulsed wave laser. In order to obtain the optimal laser annealing parameters for maximizing the hardness and minimizing the surface roughness of electroless Ni-P films, the Taguchi method and grey system theory were used to analyze the experimental data. The electroless Ni-P film was also characterized by scanning electron microscopy for the morphology, and transmission electron microscopy for the microstructure and crystal structure. The results showed that the hardness and the surface roughness of electroless Ni-P films can be, at the same time, improved to 50.8% and 68%, respectively, by the laser annealing with the optimal parameters.

  6. Improving wettability of photo-resistive film surface with plasma surface modification for coplanar copper pillar plating of IC substrates

    Energy Technology Data Exchange (ETDEWEB)

    Xiang, Jing; Wang, Chong; Chen, Yuanming; Wang, Shouxu; Hong, Yan; Zhang, Huaiwu [State Key Laboratory of Electronic Thin Films and Integrated Devices, University of Electronic Science and Technology of China, Chengdu 610054 (China); Gong, Lijun [Research and Development Department, Guangzhou Fastprint Circuit Tech Co., Ltd., Guangzhou 510663 (China); He, Wei, E-mail: heweiz@uestc.edu.cn [State Key Laboratory of Electronic Thin Films and Integrated Devices, University of Electronic Science and Technology of China, Chengdu 610054 (China); Research and Development Department, Guangdong Guanghua Sci-Tech Co., Ltd., Shantou 515000 (China)

    2017-07-31

    Highlights: • Air atmosphere plasmacould generatehydrophilic groups of photo-resistive film. • Better wettability of photo-resistive filmled tohigher plating uniformity of copper pillars. • New flow isreduced cost, simplified process and elevated productivity. - Abstract: The wettability of the photo-resistive film (PF) surfaces undergoing different pretreatments including the O{sub 2}−CF{sub 4} low-pressure plasma (OCLP) and air plasma (AP), is investigated by water contact angle measurement instrument (WCAMI) before the bottom-up copper pillar plating. Chemical groups analysis performed by attenuated total reflectance Fourier transform infrared spectroscopy (ATR-FTIR) and X-ray photoelectron spectra (XPS) shows that after the OCLP and wash treatment, the wettability of PF surface is attenuated, because embedded fluorine and decreased oxygen content both enhance hydrophobicity. Compared with OCLP treatment, the PF surface treatment by non-toxic air plasma displays features of C−O, O−C=O, C=O and −NO{sub 2} by AIR-FTIR and XPS, and a promoted wettability by WCAM. Under the identical electroplating condition, the surface with a better wettability allows electrolyte to spontaneously soak all the places of vias, resulting in improved copper pillar uniformity. Statistical analysis of metallographic data shows that more coplanar and flat copper pillars are achieved with the PF treatment of air plasma. Such modified copper-pillar-plating technology meets the requirement of accurate impedance, the high density interconnection for IC substrates.

  7. Mechanized hyperbaric welding by robots

    International Nuclear Information System (INIS)

    Aust, E.; Santos, J.F. dos; Bohm, K.H.; Hensel, H.D.

    1988-01-01

    At the GKSS-Forschungszentrum investigations are carried out on mechanized welded test plates produced under working pressure between 10 to 110 bar in breathable TRIMIX-5-atmosphere. The welds are performed by a modified industrial robot, which was adapted in its components to withstand these severe conditions. Variations on the welding parameters were made to maintain a stable arc as well as to provide on indication of the effect of the variables on the mechanical properties of the welded joint. During all tests the robot showed a very good function. Good reliable welds were achieved meeting the requirements according API II04 or BS 4515-1984. (orig.) [de

  8. A Novel Method for Measurements of the Penetration Depth of MgB2 Superconductor Films by Using Sapphire Resonators with Short-Circuited Parallel Plates

    International Nuclear Information System (INIS)

    Jung, Ho Sang; Lee, J. H.; Cho, Y. H.; Lee, Sang Young; Seong, W. K.; Lee, N. H.; Kang, W. N.

    2009-01-01

    We introduce a measurement method that enables to measure the penetration depth(λ) of superconductor films by using a short-ended parallel plate sapphire resonator. Variations in the (λof MgB 2 films could be measured down to the lowest temperature using a sapphire resonator with a YBa 2 Cu 3 O 7-x film at the bottom. A model equation of λλ 0 [1-(T/T c ) τ ] -1/2 for MgB 2 films appeared to describe the observed variations of the resonant frequency of the sapphire resonator with temperature, with λ 0 , τ and T c used as the fitting parameters.

  9. A crawling robot driven by multi-stable origami

    Science.gov (United States)

    Pagano, Alexander; Yan, Tongxi; Chien, Brian; Wissa, A.; Tawfick, S.

    2017-09-01

    Using origami folding to construct and actuate mechanisms and machines offers attractive opportunities from small, scalable, and cheap robots to deployable adaptive structures. This paper presents the design of a bio-inspired origami crawling robot constructed by folding sheets of paper. The origami building block structure is based on the Kresling crease pattern (CP), a chiral tower with a polygonal base, which expands and contracts through coupled longitudinal and rotational motion similar to a screw. We design the origami to have multi-stable structural equilibria which can be tuned by changing the folding CP. Kinematic analysis of these structures based on rigid-plates and hinges at fold lines precludes the shape transformation associated with the bistability of the physical models. To capture the kinematics of the bi-stable origami, the panels’ deformation behavior is modeled utilizing principles of virtual folds. Virtual folds approximate material bending by hinged, rigid panels, which facilitates the development of a kinematic solution via rigid-plate rotation analysis. As such, the kinetics and stability of folded structures are investigated by assigning suitable torsional spring constants to the fold lines. The results presented demonstrate the effect of fold-pattern geometries on the snapping behavior of the bi-stable origami structure based on the Kresling pattern. The crawling robot is presented as a case study for the use of this origami structure to mimic crawling locomotion. The robot is comprised of two origami towers nested inside a paper bellow, and connected by 3D printed end plates. DC motors are used to actuate the expansion and contraction of the internal origami structures to achieve forward locomotion and steering. Beyond locomotion, this simple design can find applications in manipulators, booms, and active structures.

  10. Heat transfer from a plate cooled by a water film with countercurrent air flow

    International Nuclear Information System (INIS)

    Ambrosini, W.; Manfredini, A.; Mariotti, F.; Oriolo, F.; Vigni, P.

    1995-01-01

    An experimental program at the University of Pisa provides specific data for the evaluation of heat and mass transfer by falling film evaporation. The problem is addressed primarily because of its relevance to the study of the behavior of passive containment cooling systems in simplified pressurized water reactors. In these plants, after an accident that releases vapor from the primary circuit, the steel containment envelope is cooled either by an ascending stream of air in natural circulation or by the combination of air flow and falling film evaporation. To qualify models for the prediction of the heat transfer capabilities in postulated accident conditions, researchers have built an experimental facility consisting of a flat heated plate with water sprays and a fan to simulate a countercurrent air stream. The range of relevant parameters to be investigated has been determined on the basis of integral calculations performed for the AP600 reactor containment. The facility has enabled the collection of data that confirm the adequacy of the classical heat and mass transfer analogy in predicting evaporation phenomena. Further developments in the research are needed to confirm the first results and to extend the experimental database by considering more subtle aspects of the phenomenon such as the characteristics of surface waviness of the water film and its effect on heat transfer

  11. Visualization study of interaction with 2-D film flow on the vertical plate and lateral air velocity for DVI system

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Han Sol; Lee, Jae Young [Handong Global University, Pohang (Korea, Republic of); Euh, Dong Jin; Kim, Jong Rok [KAERI, Daejeon (Korea, Republic of)

    2016-05-15

    The present study investigates liquid film flow generated in a downcomer of direct vessel injection (DVI) system which is employed as an emergency core cooling (ECC) system during a loss of coolant accident in the Korea nuclear power plant APR1400. During the late reflooding, complicated multi-phase flow phenomena including the wavy film flow, film breakup, entrainment, liquid film shift due to interfacial drag and gas jet impingement occur. In order to obtain a proper scaling law of the flow, local information of the flow was investigated experimentally and also numerically. A series of experiments were conducted in the 1/20 modified linear scaled plate type test rig to analyze a liquid film from ECC water injection through the DVI nozzle to the downcomer wall. A confocal chromatic sensor was used to measure the local instantaneous liquid film thickness. In this study, the average flow information of the downcomer was analyzed through the information about the thickness, speed, droplet size and speed of highly precise liquid film flow in the structure that occurs in a 2-dimensional liquid film flow, rather than film flow, onset of entrainment, droplet velocity, and size which have been studied in 1-dimension of the existing annular flow. The multi-dimensional flow characteristic information of downcomer can be utilized as the basic data for nuclear safety analysis in the future.

  12. Film sheet cassette

    International Nuclear Information System (INIS)

    1981-01-01

    A novel film sheet cassette is described for handling CAT photographic films under daylight conditions and facilitating their imaging. A detailed description of the design and operation of the cassette is given together with appropriate illustrations. The resulting cassette is a low-cost unit which is easily constructed and yet provides a sure light-tight seal for the interior contents of the cassette. The individual resilient fingers on the light-trap permit the ready removal of the slide plate for taking pictures. The stippled, non-electrostatic surface of the pressure plate ensures an air layer and free slidability of the film for removal and withdrawal of the film sheet. The advantage of the daylight system is that a darkroom need not be used for inserting and removing the film in and out of the cassette resulting in a considerable time saving. (U.K.)

  13. Evaluation and mitigation of potential errors in radiochromic film dosimetry due to film curvature at scanning.

    Science.gov (United States)

    Palmer, Antony L; Bradley, David A; Nisbet, Andrew

    2015-03-08

    This work considers a previously overlooked uncertainty present in film dosimetry which results from moderate curvature of films during the scanning process. Small film samples are particularly susceptible to film curling which may be undetected or deemed insignificant. In this study, we consider test cases with controlled induced curvature of film and with film raised horizontally above the scanner plate. We also evaluate the difference in scans of a film irradiated with a typical brachytherapy dose distribution with the film naturally curved and with the film held flat on the scanner. Typical naturally occurring curvature of film at scanning, giving rise to a maximum height 1 to 2 mm above the scan plane, may introduce dose errors of 1% to 4%, and considerably reduce gamma evaluation passing rates when comparing film-measured doses with treatment planning system-calculated dose distributions, a common application of film dosimetry in radiotherapy. The use of a triple-channel dosimetry algorithm appeared to mitigate the error due to film curvature compared to conventional single-channel film dosimetry. The change in pixel value and calibrated reported dose with film curling or height above the scanner plate may be due to variations in illumination characteristics, optical disturbances, or a Callier-type effect. There is a clear requirement for physically flat films at scanning to avoid the introduction of a substantial error source in film dosimetry. Particularly for small film samples, a compression glass plate above the film is recommended to ensure flat-film scanning. This effect has been overlooked to date in the literature.

  14. Organized organic ultrathin films fundamentals and applications

    CERN Document Server

    Ariga, Katsuhiko

    2012-01-01

    This handy reference is the first comprehensive book covering both fundamentals and recent developments in the field with an emphasis on nanotechnology. Written by a highly regarded author in the field, the book details state-of-the-art preparation, characterization and applications of thin films of organic molecules and biomaterials fabricated by wet processes and also highlights applications in nanotechnology The categories of films covered include monomolecular films (monolayers) both on a water surface and on a solid plate, Langmuir-Blodgett films (transferred multilayer films on a solid plate from a water surface), layer-by-layer films (adsorbed multilayer films on a solid support), and spontaneously assembled films in solution.

  15. Image quality and radiation exposure in digital storage plate mammography with magnification technique

    International Nuclear Information System (INIS)

    Fiedler, E.; Aichinger, U.; Boehner, C.; Schulz-Wendtland, R.; Bautz, W.; Saebel, M.

    1999-01-01

    Purpose: Comparison of image quality between digital phosphor storage plate mammography in magnification technique and a conventional film screen system regarding the special aspect of radiation exposure. Materials and Methods: Radiograms of a RMI-mammography phantom were acquired using a conventional film screen system and two digital storage plate systems. Additionally, the radiograms of one digital system were postprocessed emphasizing contrast and included in the comparison. Results: The detectability of details in storage plate mammographies with magnification technique is almost equal to that of film screen mammographies. Thereby, lower radiation exposures were necessary using the digital systems. Conclusions: Based on these results, storage plate mammography in magnification technique is used in clinical routine at our institution. The correct parameters in image postprocessing are of elementary importance for detail detectability. Future studies must show, whether the lower radiation exposure in digital radiograms of the breast, revealing much higher background noise, will allow the same detail detectability as film screen mammographies. (orig.) [de

  16. Portal verification using the KODAK ACR 2000 RT storage phosphor plate system and EC films. A semiquantitative comparison.

    Science.gov (United States)

    Geyer, Peter; Blank, Hilbert; Alheit, Horst

    2006-03-01

    The suitability of the storage phosphor plate system ACR 2000 RT (Eastman Kodak Corp., Rochester, MN, USA), that is destined for portal verification as well as for portal simulation imaging in radiotherapy, had to be proven by the comparison with a highly sensitive verification film. The comparison included portal verification images of different regions (head and neck, thorax, abdomen, and pelvis) irradiated with 6- and 15-MV photons and electrons. Each portal verification image was done at the storage screen and the EC film as well, using the EC-L cassettes (both: Eastman Kodak Corp., Rochester, MN, USA) for both systems. The soft-tissue and bony contrast and the brightness were evaluated and compared in a ranking of the two compared images. Different phantoms were irradiated to investigate the high- and low-contrast resolution. To account for quality assurance application, the short-time exposure of the unpacked and irradiated storage screen by green and red room lasers was also investigated. In general, the quality of the processed ACR images was slightly higher than that of the films, mostly due to cases of an insufficient exposure to the film. The storage screen was able to verify electron portals even for low electron energies with only minor photon contamination. The laser lines were sharply and clearly visible on the ACR images. The ACR system may replace the film without any noticeable decrease in image quality thereby reducing processing time and saving the costs of films and avoiding incorrect exposures.

  17. Experimental investigation of the unsteady one-phase flow through perforated plates

    International Nuclear Information System (INIS)

    Casadei, F.

    1982-07-01

    The flow of the coolant through the perforated dip-plate during a hypothetical core-disruptive accident in a sodium-cooled fast breeder reactor was simulated in a one-dimensional model. Several experiments with water as fluid and with various perforation ratios of the dip-plate and different initial heights of the fluid head over the dip plate were run. The pressure drop through the dip-plate and the forces acting on the dip-plate and on the upper plug of the reactor vessel in a wide range of the Reynolds and Strouhal numbers were measured. The flow pattern downstreams the perforated plate was filmed with high-speed cameras. The resistance coefficients for the unsteady flow of the coolant through the perforated plate were obtained as a function of the acceleration. The forces acting on the upper plug and their time integral were compared with those acting on the dip-plate. Finally, using the high-speed film pictures the formation of fluid jets downstream the dip-plate was investigated. (orig.) [de

  18. An integrated tunable isolator based on NiZn film fabricated by spin-spray plating

    Science.gov (United States)

    Guo, Rongdi; Lin, Hwaider; Shi, Wei; Gao, Yuan; Wang, Zhiguang; Sun, Nian Xiang; Yu, Zhong; Lan, Zhongwen

    2018-05-01

    An innovative type of tunable isolator with a planar comb-like microstrip transmission line, which generate circular polarization magnetic field, has been realized with polycrystalline NiZn ferrite thick films fabricated by spin-spray plating (SSP) process with thickness of 10μm. The phase compositions, microstructure, magnetic hysteresis loop, and ferromagnetic resonance (FMR) linewidth of NiZn ferrite thick films have been characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), vibrating sample magnetometer (VSM) and electron spin resonance (ESR) spectrometer, respectively. The NiZn ferrite thick films possess 4800Gauss saturation magnetization and 190Oe FMR linewidth measured at X-band. With an in-plane dc magnetic bias perpendicular to the comb-like microstrip transmission line, the transmission direction of left-hand circular polarization (LHCP) and right-hand circular polarization (RHCP) were proved to be opposite. The non-reciprocal ferromagnetic resonance absorption leads to 11.6dB isolation and 5.78dB insertion loss at 17.57GHz with magnetic bias field of 3.5kOe. Furthermore, with external in-plane magnetic fields range from 0.5kOe to 3.5kOe, the central frequency was tuned from 5.63GHz to 17.57GHz. The state-of-the-art tunable isolator with a planar comb-like microstrip transmission line exhibit a great potential to be applied in different microwave components and radar system.

  19. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  20. Effects of oxygen gas flow rates and Ga contents on structural properties of Ga-doped ZnO films prepared by ion-plating with a DC arc discharge

    International Nuclear Information System (INIS)

    Terasako, Tomoaki; Nomoto, Junichi; Makino, Hisao; Yamamoto, Naoki; Shirakata, Sho; Yamamoto, Tetsuya

    2015-01-01

    Structural properties of highly c-axis oriented polycrystalline Ga-doped ZnO (GZO) films prepared by ion-plating with a DC arc discharge were studied in terms of the oxygen gas flow rate (F O2 ) introduced into the chamber during the deposition process and the Ga 2 O 3 content in the GZO sintered pellet. The X-ray diffraction (XRD) measurements revealed that the GZO films have the residual compressive stress along the a-axis direction (in-plane) and the tensile stress along the c-axis direction (out-of-plane). The increase in F O2 or the increase in Ga 2 O 3 content was effective for relaxing the in-plane compressive stress induced by the so-called atomic peening effect. The positive correlation between the carrier concentration (n) and the primitive cell volume (V) would be due to the incorporation of Ga atoms substituting Zn sites (Ga Zn s) together with the generation of n-type intrinsic defects or complex defects. - Highlights: • Films of Ga-doped ZnO (GZO) films were deposited by ion-plating with a DC arc discharge. • Structural properties of GZO films were examined by X-ray diffraction measurements. • GZO films had the residual compressive stress along the a-axis direction. • There was the correlation between the carrier concentration and the cell volume.

  1. Effects of oxygen gas flow rates and Ga contents on structural properties of Ga-doped ZnO films prepared by ion-plating with a DC arc discharge

    Energy Technology Data Exchange (ETDEWEB)

    Terasako, Tomoaki, E-mail: terasako.tomoaki.mz@ehime-u.ac.jp [Graduate School of Science and Engineering, Ehime University, 3 Bunkyo-cho, Matsuyama-shi, Ehime 790-8577 (Japan); Nomoto, Junichi; Makino, Hisao; Yamamoto, Naoki [Research Institute, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-cho, Kami-shi, Kochi 782-8502 (Japan); Shirakata, Sho [Graduate School of Science and Engineering, Ehime University, 3 Bunkyo-cho, Matsuyama-shi, Ehime 790-8577 (Japan); Yamamoto, Tetsuya [Research Institute, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-cho, Kami-shi, Kochi 782-8502 (Japan)

    2015-12-01

    Structural properties of highly c-axis oriented polycrystalline Ga-doped ZnO (GZO) films prepared by ion-plating with a DC arc discharge were studied in terms of the oxygen gas flow rate (F{sub O2}) introduced into the chamber during the deposition process and the Ga{sub 2}O{sub 3} content in the GZO sintered pellet. The X-ray diffraction (XRD) measurements revealed that the GZO films have the residual compressive stress along the a-axis direction (in-plane) and the tensile stress along the c-axis direction (out-of-plane). The increase in F{sub O2} or the increase in Ga{sub 2}O{sub 3} content was effective for relaxing the in-plane compressive stress induced by the so-called atomic peening effect. The positive correlation between the carrier concentration (n) and the primitive cell volume (V) would be due to the incorporation of Ga atoms substituting Zn sites (Ga{sub Zn}s) together with the generation of n-type intrinsic defects or complex defects. - Highlights: • Films of Ga-doped ZnO (GZO) films were deposited by ion-plating with a DC arc discharge. • Structural properties of GZO films were examined by X-ray diffraction measurements. • GZO films had the residual compressive stress along the a-axis direction. • There was the correlation between the carrier concentration and the cell volume.

  2. Spark counting technique with an aluminium oxide film

    International Nuclear Information System (INIS)

    Kawai, H.; Koga, T.; Morishima, H.; Niwa, T.; Nishiwaki, Y.

    1980-01-01

    Automatic spark counting of etch-pits on a polycarbonate film produced by nuclear fission fragments is now used for neutron monitoring in several countries. A method was developed using an aluminium oxide film instead of a polycarbonate as the neutron detector. Aluminium oxide films were prepared as follows: A cleaned aluminium plate as an anode and a nickel plate as a cathode were immersed in dilute sulfuric acid solution and electric current flowed between the electrodes at 12degC for 10-30 minutes. Electric current density was about 10 mA/cm 2 . The aluminium plate was then kept in boiling water for 10-30 minutes for sealing. The thickness of the aluminium oxide layer formed was about 1μm. The aluminium plate attached to a plate of suitable fissionable material, such as uranium or thorium, was irradiated with neutrons and set in a usual spark counter for fission track counting. One electrode was the aluminium plate and the other was an aluminized polyester sheet. Sparked pulses were counted with a usual scaler. The advantage of using spark counting with an aluminium oxide film for neutron monitoring is rapid measurement of neutron exposure, since chemical etching which is indispensable for spark counting with a polycarbonate detector film, is not needed. (H.K.)

  3. Modeling, Fabrication and Characterization of Scalable Electroless Gold Plated Nanostructures for Enhanced Surface Plasmon Resonance

    Science.gov (United States)

    Jang, Gyoung Gug

    The scientific and industrial demand for controllable thin gold (Au) film and Au nanostructures is increasing in many fields including opto-electronics, photovoltaics, MEMS devices, diagnostics, bio-molecular sensors, spectro-/microscopic surfaces and probes. In this study, a novel continuous flow electroless (CF-EL) Au plating method is developed to fabricate uniform Au thin films in ambient condition. The enhanced local mass transfer rate and continuous deposition resulting from CF-EL plating improved physical uniformity of deposited Au films and thermally transformed nanoparticles (NPs). Au films and NPs exhibited improved optical photoluminescence (PL) and surface plasmon resonance (SPR), respectively, relative to batch immersion EL (BI-EL) plating. Suggested mass transfer models of Au mole deposition are consistent with optical feature of CF-EL and BI-EL films. The prototype CF-EL plating system is upgraded an automated scalable CF-EL plating system with real-time transmission UV-vis (T-UV) spectroscopy which provides the advantage of CF-EL plating, such as more uniform surface morphology, and overcomes the disadvantages of conventional EL plating, such as no continuous process and low deposition rate, using continuous process and controllable deposition rate. Throughout this work, dynamic morphological and chemical transitions during redox-driven self-assembly of Ag and Au film on silica surfaces under kinetic and equilibrium conditions are distinguished by correlating real-time T-UV spectroscopy with X-ray photoelectron spectroscopy (XPS) and scanning electron microscopy (SEM) measurements. The characterization suggests that four previously unrecognized time-dependent physicochemical regimes occur during consecutive EL deposition of silver (Ag) and Au onto tin-sensitized silica surfaces: self-limiting Ag activation; transitory Ag NP formation; transitional Au-Ag alloy formation during galvanic replacement of Ag by Au; and uniform morphology formation under

  4. Electroless Cu Plating on Anodized Al Substrate for High Power LED.

    Science.gov (United States)

    Rha, Sa-Kyun; Lee, Youn-Seoung

    2015-03-01

    Area-selective copper deposition on screen printed Ag pattern/anodized Al/Al substrate was attempted using a neutral electroless plating processes for printed circuit boards (PCBs), according to a range of variation of pH 6.5-pH 8 at 70 °C. The utilized basic electroless solution consisted of copper(II) sulfate pentahydrate, sodium phosphinate monohydrate, sodium citrate tribasic dihydrate, ammonium chloride, and nickel(II) sulfate hexahydrate. The pH of the copper plating solutions was adjusted from pH 6.5 to pH 8 using NH4OH. Using electroless plating in pH 6.5 and pH 7 baths, surface damage to the anodized Al layer hardly occurred; the structure of the plated Cu-rich films was a typical fcc-Cu, but a small Ni component was co-deposited. In electroless plating at pH 8, the surface of the anodized Al layer was damaged and the Cu film was composed of a lot of Ni and P which were co-deposited with Cu. Finally, in a pH 7 bath, we can make a selectively electroless plated Cu film on a PCB without any lithography and without surface damage to the anodized Al layer.

  5. Integrating photo-stimulable phosphor plates into dental and dental hygiene radiography curricula.

    Science.gov (United States)

    Tax, Cara L; Robb, Christine L; Brillant, Martha G S; Doucette, Heather J

    2013-11-01

    It is not known whether the integration of photo-stimulable phosphor (PSP) plates into dental and dental hygiene curricula creates unique learning challenges for students. The purpose of this two-year study was to determine if dental hygiene students had more and/or different types of errors when using PSP plates compared to film and whether the PSP imaging plates had any particular characteristics that needed to be addressed in the learning process. Fifty-nine first-year dental hygiene students at one Canadian dental school were randomly assigned to two groups (PSP or film) before exposing their initial full mouth series on a teaching manikin using the parallel technique. The principal investigator determined the number and types of errors based on a specific set of performance criteria. The two groups (PSP vs. film) were compared for total number and type of errors made. Results of the study indicated the difference in the total number of errors made using PSP or film was not statistically significant; however, there was a difference in the types of errors made, with the PSP group having more horizontal errors than the film group. In addition, the study identified a number of unique characteristics of the PSP plates that required special consideration for teaching this technology.

  6. Influence of Deposition Conditions on Fatigue Properties of Martensitic Stainless Steel with Tin Film Coated by Arc Ion Plating Method

    Science.gov (United States)

    Fukui, Satoshi; Yonekura, Daisuke; Murakami, Ri-Ichi

    The surface properties like roughness etc. strongly influence the fatigue strength of high-tensile steel. To investigate the effect of surface condition and TiN coating on the fatigue strength of high-strength steel, four-point bending fatigue tests were carried out for martensitic stainless steel with TiN film coated using arc ion plating (AIP) method. This study, using samples that had been polished under several size of grind particle, examines the influence of pre-coating treatment on fatigue properties. A 2-µm-thick TiN film was deposited onto the substrate under three kinds of polishing condition. The difference of the hardness originated in the residual stress or thin deformation layer where the difference of the size of grinding particle of the surface polishing. And it leads the transformation of the interface of the substrate and the TiN film and improves fatigue limit.

  7. Effect of microstructure of TiN film on properties as bipolar plate coatings in polymer electrolyte membrane fuel cell prepared by inductively coupled plasma assisted magnetron sputtering

    International Nuclear Information System (INIS)

    Feng, Kai; Li, Zhuguo

    2013-01-01

    As potential application in bipolar plate of polymer electrolyte membrane fuel cell, the microstructure, corrosion resistance and the electrical conductivity of titanium nitride (TiN) and Si doped titanium nitride (Ti 0.9 Si 0.1 N) films deposited by magnetron sputtering with different bias voltages are investigated by X-ray diffraction (XRD), scanning electron microscope (SEM), atomic force microscope (AFM), electrochemical test and four-point probe method, respectively. XRD, SEM and AFM results reveal that the texture and topography of TiN film depend on the bias voltage and incorporation of Si. When the bias voltage is − 20 V and − 30 V, the TiN and Ti 0.9 Si 0.1 N films exhibit a dense (111) plane preferred growth, denser structure and smoother surface topography. The potentiodynamic test results indicate that the TiN and Ti 0.9 Si 0.1 N films have higher chemical inertness and better corrosion resistance. The films can satisfy the requirement of current density for bipolar plate materials. Incorporation of Si element into TiN film makes the passive current density more stable. Four-point probe measurement results show that the resistivity of both TiN and Ti 0.9 Si 0.1 N films reaches minimum when the deposition bias voltage is − 20 V. - Highlights: • Dense TiN and Ti 0.9 Si 0.1 N films are deposited by magnetron sputtering. • Preferred growth orientation of TiN depends on the bias voltage and Si doping. • TiN and Ti 0.9 Si 0.1 N films have excellent corrosion resistance. • Surface conductivity of TiN and Ti 0.9 Si 0.1 N films evolves with bias voltage

  8. Radiographic control of mineral fibre-reinforced cement plates

    International Nuclear Information System (INIS)

    Domanus, J.C.; Moeller Jensen, L.

    1980-03-01

    The usefulnes of the radiographic technique in the examination of Spinrock fibres reinforced cement plates was investigated with soft X-rays. A preliminary investigation has shown that soft X-rays are most suitable for radiography of cement plates, and therefore a 50 kV X-ray machine with a 0.5 mm focus and beryllium window X-ray tube was used througout the investigation. X-ray films of different speed and graininess were used, and it was proved that a relatively fast Kodak Industrex D film can produce radiographs of adequate quality. An Agfa-Gevaert Structurix IC paper can also be used. (author)

  9. Investigating the Optimum Efficiency of Acoustoelectric Conversion Plate Devices

    Directory of Open Access Journals (Sweden)

    Chien-Chih Chen

    2014-04-01

    Full Text Available This study aims to develop the acoustoelectric conversion plate in terms of electromagnetic induction law to convert sound energy to electricity, where the developed apparatus is made of three parts, the thin film coil, the spring, and the high-intensity magnetic framework. In process, the thin film coil receives the injecting sound vibration in connection with the spring to cause the reciprocating motion between the coil and the high-intensity magnet, which yields the electromotive force (EMF. In this study, a pearl plate of length 95 mm, width 95 mm, and thickness 1.5 mm adhered with a PET film of thickness 0.08mm is built as the substrate plate due to it has good properties of light and elasticity. In connection with the substrate plate and the electric coil is the thin film coil. Experiments used the speaker with output frequencies of 30~156 Hz and sound power of 0.5 W (sound intensity 0.32 W/m2, sound pressure level 115 dB as the sound source. The sound energy is captured by the acoustoelectric conversion plate for working efficiency and optimization parameters analysis. The studied parameters content of diameter, turns, and width of electric coil as well as distance between high intensity magnet and coil. The results show that diameter 0.11 mm, turns 220, and width 3 mm of the electric coil, in connection with steel spring of diameter 0.2 mm while input sound is 30 Hz, receives the average output voltage of 0.57 V, the average output current of 5.46 mA, the average output power of 3.13 mW, and the sound electric conversion efficiency of 0.63%. This innovation device could be used in highway, near waterfalls, and some high noise factories to capture energy for immediately charging cell-phone to save human life.

  10. A Quadruped Micro-Robot Based on Piezoelectric Driving

    Directory of Open Access Journals (Sweden)

    Qi Su

    2018-03-01

    Full Text Available Inspired by a way of rowing, a new piezoelectric driving quadruped micro-robot operating in bending-bending hybrid vibration modes was proposed and tested in this work. The robot consisted of a steel base, four steel connecting pins and four similar driving legs, and all legs were bonded by four piezoelectric ceramic plates. The driving principle is discussed, which is based on the hybrid of first order vertical bending and first order horizontal bending vibrations. The bending-bending hybrid vibration modes motivated the driving foot to form an elliptical trajectory in space. The vibrations of four legs were used to provide the driving forces for robot motion. The proposed robot was fabricated and tested according to driving principle. The vibration characteristics and elliptical movements of the driving feet were simulated by FEM method. Experimental tests of vibration characteristics and mechanical output abilities were carried out. The tested resonance frequencies and vibration amplitudes agreed well with the FEM calculated results. The size of robot is 36 mm × 98 mm × 14 mm, its weight is only 49.8 g, but its maximum load capacity achieves 200 g. Furthermore, the robot can achieve a maximum speed of 33.45 mm/s.

  11. Formation and microstructure of nickel oxide films

    Energy Technology Data Exchange (ETDEWEB)

    Marcius, Marijan [Ruder Boskovic Institute, P.O. Box 180, HR-10002 Zagreb (Croatia); Ristic, Mira, E-mail: ristic@irb.hr [Ruder Boskovic Institute, P.O. Box 180, HR-10002 Zagreb (Croatia); Ivanda, Mile; Music, Svetozar [Ruder Boskovic Institute, P.O. Box 180, HR-10002 Zagreb (Croatia)

    2012-11-15

    Highlights: Black-Right-Pointing-Pointer Difference in NiO films formed on Ni plate or glass substrate were found. Black-Right-Pointing-Pointer NiO particle sizes on Ni plate changed from nano to micron dimensions. Black-Right-Pointing-Pointer NiO particle sizes on glass substrate changed from {approx}16 to {approx}27 nm. Black-Right-Pointing-Pointer Raman and UV/Vis/NIR spectra are related to the microstructure of NiO films. - Abstract: The formation and microstructure of NiO films on different substrates were monitored using XRD, Raman, UV/Vis/NIR and FE-SEM/EDS techniques. The formation of NiO films on Ni plates in air atmosphere between 400 and 800 Degree-Sign C was confirmed by XRD and Raman spectroscopy. The origin of Raman bands and corresponding Raman shifts in the samples are discussed. An increase in the size of NiO particles in the films from nano to micro dimensions was demonstrated. A change in the atomic ratio Ni:O with an increase in heating temperature was observed. Polished Ni plates coated with a thin Ni-acetate layer upon heating at high temperatures gave similar NiO microstructures on the surface like in the case of non-treated Ni plates. Glass substrates coated with thin Ni-acetate films upon heating between 400 and 800 Degree-Sign C yielded pseudospherical NiO nanoparticles. The dominant Raman band as an indicator of NiO formation on a glass substrate was shown. The formation of NiO nanoparticles on glass substrates with maximum size distribution from 16 to 27 nm in a broad temperature range from 400 to 800 Degree-Sign C can be explained by the absence of a constant source of metallic nickel which was present in the case of Ni plates.

  12. Plating on Zircaloy-2

    International Nuclear Information System (INIS)

    Dini, J.W.; Johnson, H.R.; Jones, A.

    1979-03-01

    Zircaloy-2 is a difficult alloy to coat with an adherent electroplate because it easily forms a tenacious oxide film in air and aqueous solutions. Procedures reported in the literature and those developed at SLL for surmounting this problem were investigated. The best results were obtained when specimens were first etched in either an ammonium bifluoride/sulfuric acid or an ammonium bifluoride solution, plated, and then heated at 700 0 C for 1 hour in a constrained condition. Machining threads in the Zircaloy-2 for the purpose of providing sites for mechanical interlocking of the plating also proved satisfactory

  13. The fabrication and characterization of an ex situ plated lead film electrode prepared with the use of a reversibly deposited mediator metal

    International Nuclear Information System (INIS)

    Tyszczuk, Katarzyna

    2011-01-01

    Research highlights: → The lead film electrode prepared with use of the mediator metal was elaborated. → The lead-based sensors were characterized by optical and voltammetric methods. → The adsorptive system of folic acid was employed to investigate a new electrode. → The application of the mediator metal improved properties of a lead film electrode. - Abstract: In this paper an ex situ plated lead film electrode prepared with use of the mediator metal (Zn) was elaborated. The electrochemical method for lead film formation is based on a co-deposition of a metal of interest (Pb) with a reversibly deposited mediator metal (Zn) and then on an oxidation of zinc and further deposition of lead by the appropriate potential. This serves to increase the density of islands of lead atoms, promoting lead film growth. The lead-based sensors were characterized by optical method (atomic force microscopy (AFM)) and as well as cyclic, linear sweep and square wave voltammetry. The adsorptive system of folic acid was employed to investigate the electrochemical characteristics a novel type of lead film electrode. Well-formed stripping peaks and a linear dependence of the stripping current on the folic acid concentration were observed on the lead film electrode prepared with use of the mediator metal while comparative measurements attempted with the lead film electrode prepared without use of the mediator metal were unsuccessful.

  14. An analytic study on laminar film condensation along the interior surface of a cave-shaped cavity of a flat plate heat pipe

    International Nuclear Information System (INIS)

    Lee, Jin Sung; Kim, Tae Gyu; Park, Tae Sang; Kim, Choong Sik; Park, Chan Hoon

    2002-01-01

    An analytic approach has been employed to study condensate film thickness distribution inside cave-shaped cavity of a flat plate heat pipe. The results indicate that the condensate film thickness largely depends on mass flow rate and local velocity of condensate. The increasing rate of condensate film for circular region reveals about 50% higher value than that of vertical region. The physical properties of working fluid affect significantly the condensate film thickness, such as the condensate film thickness for the case of FC-40 are 5 times larger than that of water. In comparison with condensation on a vertical wall, the average heat transfer coefficient in the cave-shaped cavity presented 10∼15% lower values due to the fact that the average film thickness formed inside the cave-shaped cavity was larger than that of the vertical wall with an equivalent flow length. A correlation formula which is based on the condensate film analysis for the cave-shaped cavity to predict average heat transfer coefficient is presented. Also, the critical minimum fill charge ratio of working fluid based on condensate film analysis has been predicted, and the minimum fill charge ratios for FC-40 and water are about Ψ crit =3∼7%, Ψ crit =0.5∼1.3%, respectively, in the range of heat flux q = 5∼90kW/m 2

  15. A radiophotoluminescent glass plate system for medium-sized field dosimetry

    International Nuclear Information System (INIS)

    Nakagawa, Keiichi; Koyanagi, Hiroki; Shiraki, Takashi; Saegusa, Shigeki; Sasaki, Katsutake; Oritate, Takashi; Mima, Kazuo; Miyazawa, Masanori; Ishidoya, Tatsuyo; Ohtomo, Kuni; Yoda, Kiyoshi

    2005-01-01

    A two-dimensional radiophotoluminescent system for medium-sized field dosimetry has been developed using a silver-activated phosphate glass plate with a dimension of 120 mmx120 mmx1 mm and a readout unit comprising a UV excitation lamp and a CCD imager. A dose ranging from 0 to 400 cGy, provided by a 6 MV x-ray beam, was delivered to the glass plate oriented perpendicularly to the beam and positioned in a water phantom at a depth of 10 cm, where the center of the glass plate coincided with the linac isocenter. After the dose delivery, the glass plate was placed in the readout system. The CCD output intensity increased linearly with the applied dose. The angular dependence of response on the direction of radiation incidence was measured by rotating the glass plate in the water phantom, indicating that the output remained constant up to 75 deg. from perpendicular incident direction, followed by a steep reduction down to 85% at an angle of 90 deg. A lateral dose distribution resulting from a 60 mmx60 mm irradiation was compared between the glass plate and an x-ray film having had the same exposure, showing that the glass plate and the x-ray film led to identical dose distributions. The dose reproducibility for a glass plate and the sensitivity variation among different glass plates were also evaluated

  16. Portal verification using the KODAK ACR 2000 RT storage phosphor plate system and EC registered films. A semiquantitative comparison

    International Nuclear Information System (INIS)

    Geyer, P.; Blank, H.; Alheit, H.

    2006-01-01

    Background and Purpose: the suitability of the storage phosphor plate system ACR 2000 RT (Eastman Kodak Corp., Rochester, MN, USA), that is destined for portal verification as well as for portal simulation imaging in radiotherapy, had to be proven by the comparison with a highly sensitive verification film. Material and Methods: the comparison included portal verification images of different regions (head and neck, thorax, abdomen, and pelvis) irradiated with 6- and 15-MV photons and electrons. Each portal verification image was done at the storage screen and the EC registered film as well, using the EC-L registered cassettes (both: Eastman Kodak Corp., Rochester, MN, USA) for both systems. The soft-tissue and bony contrast and the brightness were evaluated and compared in a ranking of the two compared images. Different phantoms were irradiated to investigate the high- and low-contrast resolution. To account for quality assurance application, the short-time exposure of the unpacked and irradiated storage screen by green and red room lasers was also investigated. Results: in general, the quality of the processed ACR images was slightly higher than that of the films, mostly due to cases of an insufficient exposure to the film. The storage screen was able to verify electron portals even for low electron energies with only minor photon contamination. The laser lines were sharply and clearly visible on the ACR images. Conclusion: the ACR system may replace the film without any noticeable decrease in image quality thereby reducing processing time and saving the costs of films and avoiding incorrect exposures. (orig.)

  17. Emergent risk to workplace safety as a result of the use of robots in the work place

    NARCIS (Netherlands)

    Steijn, W.; Luiijf, E.; Beek, D. van der

    2016-01-01

    For decades now, robots have been a key part of future visions in films and books. As long ago as 1920, Karel Čapek wrote a play called RUR (Rossum’s Universal Robots). The first real robot, ‘Gargantuan’, was constructed between 1935 and 1937. It was made completely out of Meccano. Today’s

  18. Imaging plate, a new type of x-ray area detector

    International Nuclear Information System (INIS)

    Kamiya, Nobuo; Amemiya, Yoshiyuki; Miyahara, Junji.

    1986-01-01

    In respective fields of X-ray crystallography, for the purpose of the efficient collection of reciprocal space information, two-dimensional X-ray detectors such as multiwire proportional chambers and X-ray television sets have been used together with conventional X-ray films. X-ray films are characterized by uniform sensitivity and high positional resolution over a wide area, but the sensitivity is low, and the range of action and the linearity of the sensitivity is problematic. They require the development process, accordingly lack promptitude. The MWPCs and X-ray television sets are superior in the sensitivity, its linearity, the range of action and promptitude, but interior in the uniformity and resolution to the films. Imaging plate is a new X-ray area detector developed by Fuji Photo Film Co., Ltd., for digital X-ray medical image diagnosis. This detector is superior in all the above mentioned performances, and it seems very useful also for X-ray crystallography. In this paper, the system composed of an imaging plate and its reader is described, and the basic performance as an X-ray area detector and the results of having recorded the diffraction images of protein crystals as the example of applying it to X-ray crystallography are reported. The imaging plate is that the crystalline fluorescent powder of BaFBr doped with Eu 2+ ions is applied on plastic films. (Kako, I.)

  19. Liquid-handling Lego robots and experiments for STEM education and research.

    Directory of Open Access Journals (Sweden)

    Lukas C Gerber

    2017-03-01

    Full Text Available Liquid-handling robots have many applications for biotechnology and the life sciences, with increasing impact on everyday life. While playful robotics such as Lego Mindstorms significantly support education initiatives in mechatronics and programming, equivalent connections to the life sciences do not currently exist. To close this gap, we developed Lego-based pipetting robots that reliably handle liquid volumes from 1 ml down to the sub-μl range and that operate on standard laboratory plasticware, such as cuvettes and multiwell plates. These robots can support a range of science and chemistry experiments for education and even research. Using standard, low-cost household consumables, programming pipetting routines, and modifying robot designs, we enabled a rich activity space. We successfully tested these activities in afterschool settings with elementary, middle, and high school students. The simplest robot can be directly built from the widely used Lego Education EV3 core set alone, and this publication includes building and experiment instructions to set the stage for dissemination and further development in education and research.

  20. Liquid-handling Lego robots and experiments for STEM education and research.

    Science.gov (United States)

    Gerber, Lukas C; Calasanz-Kaiser, Agnes; Hyman, Luke; Voitiuk, Kateryna; Patil, Uday; Riedel-Kruse, Ingmar H

    2017-03-01

    Liquid-handling robots have many applications for biotechnology and the life sciences, with increasing impact on everyday life. While playful robotics such as Lego Mindstorms significantly support education initiatives in mechatronics and programming, equivalent connections to the life sciences do not currently exist. To close this gap, we developed Lego-based pipetting robots that reliably handle liquid volumes from 1 ml down to the sub-μl range and that operate on standard laboratory plasticware, such as cuvettes and multiwell plates. These robots can support a range of science and chemistry experiments for education and even research. Using standard, low-cost household consumables, programming pipetting routines, and modifying robot designs, we enabled a rich activity space. We successfully tested these activities in afterschool settings with elementary, middle, and high school students. The simplest robot can be directly built from the widely used Lego Education EV3 core set alone, and this publication includes building and experiment instructions to set the stage for dissemination and further development in education and research.

  1. Application of low energy electron beam to precoated steel plates

    International Nuclear Information System (INIS)

    Koshiishi, Kenji

    1989-01-01

    Recently in the fields of home electric appliances, machinery and equipment and interior building materials, the needs for the precoated steel plates having the design and function of high class increase rapidly. In order to cope with such needs, the authors have advanced the examination on the application of electron beam hardening technology to precoated steel plates, and developed the precoated steel plates of high grade and high design 'Super Tecstar EB Series' by utilizing low energy electron beam. The features of this process are (1) hardening can be done at room temperature in a short time-thermally weak films can be adhered, (2) high energy irradiation-the hardening of thick enamel coating and the adhesion of colored films are feasible, (3) the use of monomers of low molecular weight-by high crosslinking, the performance of high sharpness, high hardness, anti-contamination property and so on can be given. The application to precoated steel plate production process is the coating and curing of electron beam hardening type paints, the coating of films with electron beam hardening type adhesives, and the reforming of surface polymer layers by impregnating monomers and causing graft polymerization with electron beam irradiation. The outline of the Super Tecstar EB Series is described. (K.I.)

  2. A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect

    Science.gov (United States)

    Wang, Liang; Shu, Chengyou; Jin, Jiamei; Zhang, Jianhui

    2017-03-01

    A novel traveling wave piezoelectric-actuated tracked mobile robot with potential application to robotic rovers was proposed and investigated in this study. The proposed tracked mobile robot is composed of a parallelogram-frame-structure piezoelectric transducer with four rings and a metal track. Utilizing the converse piezoelectric and friction effects, traveling waves were propagated in the rings and then the metal track was actuated by the piezoelectric transducer. Compared with traditional tracked mechanisms, the proposed tracked mobile robot has a simpler and more compact structure without lubricant, which eliminates the problem of lubricant volatilization and deflation, thus, it could be operated in the vacuum environment. Dynamic characteristics were simulated and measured to reveal the mechanism of actuating track of the piezoelectric transducer. Experimental investigations of the traveling wave piezoelectric-actuated tracked mobile robot were then carried out, and the results indicated that the robot prototype with a pair of exciting voltages of 460 Vpp is able to achieve a maximum velocity of 57 mm s-1 moving on the foam plate and possesses the obstacle crossing capability with a maximum height of 27 mm. The proposed tracked mobile robot exhibits potential to be the driving system of robotic rovers.

  3. Experimental investigation of the unsteady two-phase flow through perforated plates

    International Nuclear Information System (INIS)

    Tartaglia, G.P.

    1985-07-01

    The coolant flow across the perforated dip-plate during a hypothetical core disruptive accident (HCDA) in a liquid metal fast breeder reactor was simulated in a one-dimensional model. Experiments with a water-air mixture as fluid were run by varying the following parameters: geometry of the dip-plate (perforation ratio, number of the holes), height of the fluid head over the dip-plate, air volumetric fraction, size of the air bubbles, acceleration of the fluid. The pressure drop across the dip-plate, the forces acting on the dip-plate and on the upper plate, acceleration and displacement of the piston, the air volumetric fraction and the size of the air bubbles were measured in a wide range of Strouhal and acceleration numbers. The flow pattern downstream the dip-plate was filmed with a high-speed camera. The following correlations were investigated: resistance coefficients as a function of the acceleration and Strouhal number, time delay of the force on the upper plate as a function of the cavitation number, and forces and impulses acting on the upper plate compared with those acting on the dip-plate. Finally, using high-speed film pictures, the formation of fluid jets downstream the dip-plate was investigated. The following relations were obtained: displacement of the mixture surface and of the jets as a function of the perforation ratio and of the air volumetric fraction, and cavitation volume as a function of the cavitation number. (orig.) [de

  4. Ultrasonic diagnosis of spot welding in thin plates

    International Nuclear Information System (INIS)

    Kim, No You; Hong, Min Sung

    2005-01-01

    Spot welding widely used in automotive and aerospace industries has made it possible to produce more precise and smaller electric part by robotization and systemization of welding process. The quality of welding depends upon the size of nugget between the overlapped steel plates. Recently, the thickness of the steel plates becomes much thinner and hence, it introduces the smaller size of nugget. Therefore, it is necessary to develop the criterion to evaluate the quality of weld in order to obtain the optimal welding conditions for the better performance. In this paper, a thin steel plates, 0.1 mm through 0.3 mm thickness, have been spot-welded at different welding conditions and the nugget sizes are examined by defocused scanning microscopy. The relationships between nugget sizes and weldability have been investigated experimentally. The result of ultrasonic technique shows the good agreement with that of the tensile test.

  5. Retrofit implementation of Zernike phase plate imaging for cryo-TEM.

    Science.gov (United States)

    Marko, Michael; Leith, Ardean; Hsieh, Chyongere; Danev, Radostin

    2011-05-01

    In-focus phase-plate imaging is particularly beneficial for cryo-TEM because it offers a substantial overall increase in image contrast, without an electron dose penalty, and it simplifies image interpretation. We show how phase-plate cryo-TEM can be implemented with an appropriate existing TEM, and provide a basic practical introduction to use of thin-film (carbon) phase plates. We point out potential pitfalls of phase-plate operation, and discuss solutions. We provide information on evaluating a particular TEM for its suitability. Copyright © 2011 Elsevier Inc. All rights reserved.

  6. Enhancement of plate heat exchanger performance using electric fields

    International Nuclear Information System (INIS)

    Down, E.M.

    2000-12-01

    The falling film plate evaporator is often used in the food processing industry to remove large amounts of water from liquids, pulps and slurries. Although a compact efficient device with high heat transfer rates, there is a requirement for even greater performance, particularly when fuelled by the low grade energy from many renewable sources. Electrohydrodynamics (EHD) has been shown to give large heat transfer enhancements under many conditions, but most of this previous research has been with working fluids having much lower electrical conductivities than the water-based fluids that are the main concern of this study. The liquid flow in falling film plate evaporators is in the form of a very thin (less than a millimetre) film falling down a heated plate under the effect of gravity. The film surface exhibits waviness over much of the operating range of industrial heat exchangers, and the degree of waviness has previously been shown to have a large effect on the rate of heat transfer. A theoretical model was developed which suggested that significant increases in waviness, and therefore heat transfer, could be stimulated using high voltage electrodes, and these were subsequently observed on the surface of a pool of water during bench-top experiments. An experimental falling film rig was designed to study this EHD effect but the 2.5 kV maximum voltage attainable was thought to be too low to stimulate wave enlargement and no heat transfer enhancement was seen. Significant heat transfer enhancement was observed in the falling film rig when utilising corona discharge electrodes. This was thought to be due to a thinning of the film in the vicinity of the electrode via the corona wind and increased fluid mixing downstream of the electrode. Both point and wire electrodes improved heat transfer rates but wire electrodes were thought to have more potential for integration into existing industrial heat exchanger designs, so were studied more closely. Heat transfer rates

  7. Mechanized and robotized welding in shipbuilding; Zosen ni okeru yosetsu no jidoka robot ka

    Energy Technology Data Exchange (ETDEWEB)

    Kanda, Y. [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    1997-12-01

    Large-scale ships such as VLCC are built at the Kure No.1 Works of IHI (Ishikawajima-Harima Heavy Industry). This paper introduces current status of mechanized and robotized welding at the works. For the sub-assembly with short weld length and horizontal fillet, simplified automatic welders are used in which mag-welding method using CO2 is adopted. The frequent wound welding of member ends can be automatically conducted using welders developed by IHI. In the large-scale assembly processes, remarkable rationalization and highly accurate assembly of flat plate welding have been promoted. Tankers, container ships, and bulk carriers can be treated at the same time. Teaching times of welding robots can be greatly reduced by a technique called parametric treatment. In the future, it is essential to enhance the accuracy of members by introducing the laser cutting during machining processes. Completely self-type mechanization is required as well as large-output laser welding and sensor technology. 3 refs., 12 figs., 2 tabs.

  8. 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

  9. Manufacture of a conformal multilayer rf antenna substrate using excimer mask imaging technology and a 6-axis robot

    Science.gov (United States)

    Charrier, Michel; Everett, Daniel; Fieret, Jim; Karrer, Tobias; Rau, Sven; Valard, Jean-Luc

    2001-06-01

    A novel method is presented to produce a high precision pattern of copper tracks on both sides of a 4-layer conformal radar antenna made of PEI polymer and shaped as a truncated pseudo-parabolic cylinder. The antenna is an active emitter-receiver so that an accuracy of a fraction of the wavelength of the microwave radiation is required. After 2D layer design in Allegro, the resulting Gerber file-format circuits are wrapped around the antenna shape, resulting in a cutter-path file which provides the input for a postprocessor that outputs G-code for robot- and laser control. A rules file contains embedded information such as laser parameters and mask aperture related to the Allegro symbols. The robot consists of 6 axes that manipulate the antenna, and 2 axes for the mask plate. The antenna can be manipulated to an accuracy of +/- 20 micrometers over its full dimensions of 200x300x50 mm. The four layers are constructed by successive copper coating, resist coating, laser ablation, copper etching, resist removal, insulation polyimide film lamination and laser dielectric drilling for microvia holes and through-holes drilling. Applications are in space and aeronautical communication and radar detection systems, with possible extensions to automotive and mobile hand-sets, and land stations.

  10. High-throughput film-densitometry: An efficient approach to generate large data sets

    Energy Technology Data Exchange (ETDEWEB)

    Typke, Dieter; Nordmeyer, Robert A.; Jones, Arthur; Lee, Juyoung; Avila-Sakar, Agustin; Downing, Kenneth H.; Glaeser, Robert M.

    2004-07-14

    A film-handling machine (robot) has been built which can, in conjunction with a commercially available film densitometer, exchange and digitize over 300 electron micrographs per day. Implementation of robotic film handling effectively eliminates the delay and tedium associated with digitizing images when data are initially recorded on photographic film. The modulation transfer function (MTF) of the commercially available densitometer is significantly worse than that of a high-end, scientific microdensitometer. Nevertheless, its signal-to-noise ratio (S/N) is quite excellent, allowing substantial restoration of the output to ''near-to-perfect'' performance. Due to the large area of the standard electron microscope film that can be digitized by the commercial densitometer (up to 10,000 x 13,680 pixels with an appropriately coded holder), automated film digitization offers a fast and inexpensive alternative to high-end CCD cameras as a means of acquiring large amounts of image data in electron microscopy.

  11. Performance assessment of imaging plates for the JHR transfer Neutron Imaging System

    Science.gov (United States)

    Simon, E.; Guimbal, P. AB(; )

    2018-01-01

    The underwater Neutron Imaging System to be installed in the Jules Horowitz Reactor (JHR-NIS) is based on a transfer method using a neutron activated beta-emitter like Dysprosium. The information stored in the converter is to be offline transferred on a specific imaging system, still to be defined. Solutions are currently under investigation for the JHR-NIS in order to anticipate the disappearance of radiographic films commonly used in these applications. We report here the performance assessment of Computed Radiography imagers (Imaging Plates) performed at LLB/Orphée (CEA Saclay). Several imaging plate types are studied, in one hand in the configuration involving an intimate contact with an activated dysprosium foil converter: Fuji BAS-TR, Fuji UR-1 and Carestream Flex XL Blue imaging plates, and in the other hand by using a prototypal imaging plate doped with dysprosium and thus not needing any contact with a separate converter foil. The results for these imaging plates are compared with those obtained with gadolinium doped imaging plate used in direct neutron imaging (Fuji BAS-ND). The detection performances of the different imagers are compared regarding resolution and noise. The many advantages of using imaging plates over radiographic films (high sensitivity, linear response, high dynamic range) could palliate its lower intrinsic resolution.

  12. Improvement of the adhesion strength between copper plated layer and resin substrate using a chemically adsorbed monolayer

    Directory of Open Access Journals (Sweden)

    Tsuchiya K.

    2013-08-01

    Full Text Available With reducing the size and weight of electric devices, high-tensile, light and fine copper wire is demanded. So the production technique of a copper wire plated on a super fiber resin (Vectran film was researched for improving the adhesion strength between the copper and the resin. In this study, we used the Cu2+ or Pd2+ complex prepared with a chemically adsorbed monolayer (CAM to improve the adhesion strength between the copper plated layer and the Vectran film. As the result of scotch tape test, it was observed that the adhesion strength between the copper plated layer and Vectran film was improved by the Cu2+ or Pd2+ complex CAM.

  13. Determination of gonad doses during robotic stereotactic radiosurgery for various tumor sites

    International Nuclear Information System (INIS)

    Zorlu, Faruk; Dugel, Gozde; Ozyigit, Gokhan; Hurmuz, Pervin; Cengiz, Mustafa; Yildiz, Ferah; Akyol, Fadil; Gurkaynak, Murat

    2013-01-01

    Purpose: The authors evaluated the absorbed dose received by the gonads during robotic stereotactic radiosurgery (SRS) for the treatment of different tumor localizations. Methods: The authors measured the gonad doses during the treatment of head and neck, thoracic, abdominal, or pelvic tumors in both RANDO phantom and actual patients. The computerized tomography images were transferred to the treatment planning system. The contours of tumor and critical organs were delineated on each slice, and treatment plans were generated. Measurements for gonad doses were taken from the geometric projection of the ovary onto the skin for female patients, and from the scrotal skin for male patients by attaching films and Thermoluminescent dosimeters (TLDs). SRS was delivered with CyberKnife (Accuray Inc., Sunnyvale, CA). Results: The median gonadal doses with TLD and film dosimeter in actual patients were 0.19 Gy (range, 0.035–2.71 Gy) and 0.34 Gy (range, 0.066–3.18 Gy), respectively. In the RANDO phantom, the median ovarian doses with TLD and film dosimeter were 0.08 Gy (range, 0.03–0.159 Gy) and 0.05 Gy (range, 0.015–0.13 Gy), respectively. In the RANDO phantom, the median testicular doses with TLD and film dosimeter were 0.134 Gy (range 0.056–1.97 Gy) and 0.306 Gy (range, 0.065–2.25 Gy). Conclusions: Gonad doses are below sterility threshold in robotic SRS for different tumor localizations. However, particular attention should be given to gonads during robotic SRS for pelvic tumors.

  14. Determination of gonad doses during robotic stereotactic radiosurgery for various tumor sites

    Energy Technology Data Exchange (ETDEWEB)

    Zorlu, Faruk; Dugel, Gozde; Ozyigit, Gokhan; Hurmuz, Pervin; Cengiz, Mustafa; Yildiz, Ferah; Akyol, Fadil; Gurkaynak, Murat [Hacettepe University Faculty of Medicine, Department of Radiation Oncology, Ankara 06100 (Turkey)

    2013-04-15

    Purpose: The authors evaluated the absorbed dose received by the gonads during robotic stereotactic radiosurgery (SRS) for the treatment of different tumor localizations. Methods: The authors measured the gonad doses during the treatment of head and neck, thoracic, abdominal, or pelvic tumors in both RANDO phantom and actual patients. The computerized tomography images were transferred to the treatment planning system. The contours of tumor and critical organs were delineated on each slice, and treatment plans were generated. Measurements for gonad doses were taken from the geometric projection of the ovary onto the skin for female patients, and from the scrotal skin for male patients by attaching films and Thermoluminescent dosimeters (TLDs). SRS was delivered with CyberKnife (Accuray Inc., Sunnyvale, CA). Results: The median gonadal doses with TLD and film dosimeter in actual patients were 0.19 Gy (range, 0.035-2.71 Gy) and 0.34 Gy (range, 0.066-3.18 Gy), respectively. In the RANDO phantom, the median ovarian doses with TLD and film dosimeter were 0.08 Gy (range, 0.03-0.159 Gy) and 0.05 Gy (range, 0.015-0.13 Gy), respectively. In the RANDO phantom, the median testicular doses with TLD and film dosimeter were 0.134 Gy (range 0.056-1.97 Gy) and 0.306 Gy (range, 0.065-2.25 Gy). Conclusions: Gonad doses are below sterility threshold in robotic SRS for different tumor localizations. However, particular attention should be given to gonads during robotic SRS for pelvic tumors.

  15. Structure of colloidal sphere-plate mixtures

    International Nuclear Information System (INIS)

    Doshi, N; Cinacchi, G; Van Duijneveldt, J S; Cosgrove, T; Prescott, S W; Grillo, I; Phipps, J; Gittins, D I

    2011-01-01

    In addition to containing spherical pigment particles, coatings usually contain plate-like clay particles. It is thought that these improve the opacity of the paint film by providing an efficient spacing of the pigment particles. This observation is counterintuitive, as suspensions of particles of different shapes and sizes tend to phase separate on increase of concentration. In order to clarify this matter a model colloidal system is studied here, with a sphere-plate diameter ratio similar to that found in paints. For dilute suspensions, small angle neutron scattering revealed that the addition of plates leads to enhanced density fluctuations of the spheres, in agreement with new theoretical predictions. On increasing the total colloid concentration the plates and spheres phase separate due to the disparity in their shape. This is in agreement with previous theoretical and experimental work on colloidal sphere-plate mixtures, where one particle acts as a depleting agent. The fact that no large scale phase separation is observed in coatings is ascribed to dynamic arrest in intimately mixed, or possibly micro-phase separated structures, at elevated concentration.

  16. Structure of colloidal sphere-plate mixtures

    Energy Technology Data Exchange (ETDEWEB)

    Doshi, N; Cinacchi, G; Van Duijneveldt, J S; Cosgrove, T; Prescott, S W [School of Chemistry, University of Bristol, Bristol BS8 1TS (United Kingdom); Grillo, I [Institut Laue-Langevin, 6 rue Jules Horowitz BP 156, 38042 Grenoble Cedex 9 (France); Phipps, J [Imerys Minerals Ltd, Par Moor Centre, Par Moor Road, Par, Cornwall PL24 2SQ (United Kingdom); Gittins, D I, E-mail: Giorgio.Cinacchi@bristol.ac.uk, E-mail: J.S.van-Duijneveldt@bristol.ac.uk [Imerys Performance and Filtration Minerals Ltd, 130 Castilian Drive, Goleta, CA 93117 (United States)

    2011-05-18

    In addition to containing spherical pigment particles, coatings usually contain plate-like clay particles. It is thought that these improve the opacity of the paint film by providing an efficient spacing of the pigment particles. This observation is counterintuitive, as suspensions of particles of different shapes and sizes tend to phase separate on increase of concentration. In order to clarify this matter a model colloidal system is studied here, with a sphere-plate diameter ratio similar to that found in paints. For dilute suspensions, small angle neutron scattering revealed that the addition of plates leads to enhanced density fluctuations of the spheres, in agreement with new theoretical predictions. On increasing the total colloid concentration the plates and spheres phase separate due to the disparity in their shape. This is in agreement with previous theoretical and experimental work on colloidal sphere-plate mixtures, where one particle acts as a depleting agent. The fact that no large scale phase separation is observed in coatings is ascribed to dynamic arrest in intimately mixed, or possibly micro-phase separated structures, at elevated concentration.

  17. 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.

  18. 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.

  19. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  20. Estimation of Back-Surface Flaw Depth by Laminated Piezoelectric Highpolymer Film

    Directory of Open Access Journals (Sweden)

    Akinobu YAMAMOTO

    2009-08-01

    Full Text Available Piezoelectric thin films have been used to visualize back surface flaws in plates. If the plate with a surface flaw is deformed, the strain distribution appears on the other surface reflecting the location and the shape of the flaw. Such surface strain distribution can be transformed into the electric potential distribution on the piezoelectric film mounted on the plate surface. This paper deals with a NDE technique to estimate the depth of a back-surface flaw from the electric potential distribution on a laminated piezoelectric thin film. It is experimentally verified that the flaw depth can be exactly estimated by the peak height of the electric potential distribution.

  1. The Microphenotron: a robotic miniaturized plant phenotyping platform with diverse applications in chemical biology

    KAUST Repository

    Burrell, Thomas; Fozard, Susan; Holroyd, Geoff H.; French, Andrew P.; Pound, Michael P.; Bigley, Christopher J.; James Taylor, C.; Forde, Brian G.

    2017-01-01

    of developing shoots and roots; (c) software to control the sequence of robotic movements and integrate these with the image capture process; (d) purpose-made image analysis software for automated extraction of quantitative phenotypic data. Imaging of each plate

  2. Sensor based robot laser welding - based on feed forward and gain sceduling algorithms

    DEFF Research Database (Denmark)

    Andersen, Henrik John

    2001-01-01

    A real-time control system forlaser welding of thick steel plates are developed and tested in a industrial environment. The robotic execution of the laser welding process is based on measure weld joint geometry and impirically established welding procedures. The influence of industrial production...

  3. Robot-assisted ultrasound imaging: overview and development of a parallel telerobotic system.

    Science.gov (United States)

    Monfaredi, Reza; Wilson, Emmanuel; Azizi Koutenaei, Bamshad; Labrecque, Brendan; Leroy, Kristen; Goldie, James; Louis, Eric; Swerdlow, Daniel; Cleary, Kevin

    2015-02-01

    Ultrasound imaging is frequently used in medicine. The quality of ultrasound images is often dependent on the skill of the sonographer. Several researchers have proposed robotic systems to aid in ultrasound image acquisition. In this paper we first provide a short overview of robot-assisted ultrasound imaging (US). We categorize robot-assisted US imaging systems into three approaches: autonomous US imaging, teleoperated US imaging, and human-robot cooperation. For each approach several systems are introduced and briefly discussed. We then describe a compact six degree of freedom parallel mechanism telerobotic system for ultrasound imaging developed by our research team. The long-term goal of this work is to enable remote ultrasound scanning through teleoperation. This parallel mechanism allows for both translation and rotation of an ultrasound probe mounted on the top plate along with force control. Our experimental results confirmed good mechanical system performance with a positioning error of < 1 mm. Phantom experiments by a radiologist showed promising results with good image quality.

  4. Hot plate annealing at a low temperature of a thin ferroelectric P(VDF-TrFE) film with an improved crystalline structure for sensors and actuators.

    Science.gov (United States)

    Mahdi, Rahman Ismael; Gan, W C; Abd Majid, W H

    2014-10-14

    Ferroelectric poly(vinylidene fluoride-trifluoroethylene) (P(VDF-TrFE)) copolymer 70/30 thin films are prepared by spin coating. The crystalline structure of these films is investigated by varying the annealing temperature from the ferroelectric phase to the paraelectric phase. A hot plate was used to produce a direct and an efficient annealing effect on the thin film. The dielectric, ferroelectric and pyroelectric properties of the P(VDF-TrFE) thin films are measured as a function of different annealing temperatures (80 to 140 °C). It was found that an annealing temperature of 100 °C (slightly above the Curie temperature, Tc) has induced a highly crystalline β phase with a rod-like crystal structure, as examined by X-ray. Such a crystal structure yields a high remanent polarization, Pr = 94 mC/m2, and pyroelectric constant, p = 24 μC/m2K. A higher annealing temperature exhibits an elongated needle-like crystal domain, resulting in a decrease in the crystalline structure and the functional electrical properties. This study revealed that highly crystalline P(VDF-TrFE) thin films could be induced at 100 °C by annealing the thin film with a simple and cheap method.

  5. Study on nanocomposite Ti-Al-Si-Cu-N films with various Si contents deposited by cathodic vacuum arc ion plating

    Energy Technology Data Exchange (ETDEWEB)

    Shi, J. [State Key Laboratory of Corrosion and Protection, Institute of Metal Research, Chinese Academy of Sciences, 72 Wenhua Road, Shenyang 110016 (China); Institute of Materials Engineering, University of Siegen, Paul-Bonatz-Strasse 9-11, Siegen 57076 (Germany); Muders, C.M.; Kumar, A. [Institute of Materials Engineering, University of Siegen, Paul-Bonatz-Strasse 9-11, Siegen 57076 (Germany); Jiang, X., E-mail: xin.jiang@uni-siegen.de [Institute of Materials Engineering, University of Siegen, Paul-Bonatz-Strasse 9-11, Siegen 57076 (Germany); Pei, Z.L.; Gong, J. [State Key Laboratory of Corrosion and Protection, Institute of Metal Research, Chinese Academy of Sciences, 72 Wenhua Road, Shenyang 110016 (China); Sun, C., E-mail: csun@imr.ac.cn [State Key Laboratory of Corrosion and Protection, Institute of Metal Research, Chinese Academy of Sciences, 72 Wenhua Road, Shenyang 110016 (China)

    2012-10-01

    Highlights: Black-Right-Pointing-Pointer XRD peaks show a tendency of decreasing intensity with increasing Si content. Black-Right-Pointing-Pointer Ti-Al-Si-Cu-N films present different microstructure with increasing Si content. Black-Right-Pointing-Pointer Films with 6 at.% Si content obtain the highest hardness, elastic modulus and H{sup 3}/E{sup 2}. Black-Right-Pointing-Pointer The wear rate decreases with an increase in hardness. - Abstract: In this study, nanocomposite Ti-Al-Si-Cu-N films were deposited on high speed steel substrates by the vacuum cathode arc ion plating (AIP) technique. By virtue of X-ray diffraction (XRD) analysis, X-ray photoelectron spectroscopy (XPS), and field emission scanning electron microscopy (FESEM), the influence of silicon content on the film microstructure and characteristics was investigated systematically, including the chemical composition, crystalline structure as well as cross-section morphologies. With increasing the silicon content, a deterioration of the preferred orientation and a dense globular structure were detected. In the meanwhile, atomic force microscopy (AFM), nano-indentation, Rockwell indenter and reciprocating test were also utilized to analyze the hardness, elastic modulus, H{sup 3}/E{sup 2}, friction coefficient, adhesive strength and wear rate of the Ti-Al-Si-Cu-N films. The results showed that an optimal silicon content correlated with the best mechanical and tribological properties of the presented Ti-Al-Si-Cu-N films existed. With increasing the silicon content, the hardness, elastic modulus and the ratio H{sup 3}/E{sup 2} first were improved gradually, and then were impaired sharply again. When the silicon content reached to 6 at.%, the film possessed the highest hardness, elastic modulus and ratio H{sup 3}/E{sup 2} of approximately 24 GPa, 218 GPa and 0.31, respectively. Besides, films containing both 6 at.% and 10 at.% Si contents obtained a relatively low friction coefficient and a good adhesive

  6. On almost inviscid film flows

    NARCIS (Netherlands)

    Kuiken, H.K.

    1970-01-01

    This study is concerned with flow of liquid films down inclined plates, which carry an increasing amount of fluid in the downstream direction. It is supposed that by some mechanism, e.g. condensation, the fluid enters the film at its outer edge. The rate at which this mass-addition occurs is

  7. 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.

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

    CERN Document Server

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

    2016-01-01

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

  9. Split-plot designs for robotic serial dilution assays.

    Science.gov (United States)

    Buzas, Jeffrey S; Wager, Carrie G; Lansky, David M

    2011-12-01

    This article explores effective implementation of split-plot designs in serial dilution bioassay using robots. We show that the shortest path for a robot to fill plate wells for a split-plot design is equivalent to the shortest common supersequence problem in combinatorics. We develop an algorithm for finding the shortest common supersequence, provide an R implementation, and explore the distribution of the number of steps required to implement split-plot designs for bioassay through simulation. We also show how to construct collections of split plots that can be filled in a minimal number of steps, thereby demonstrating that split-plot designs can be implemented with nearly the same effort as strip-plot designs. Finally, we provide guidelines for modeling data that result from these designs. © 2011, The International Biometric Society.

  10. Selection of Shear Horizontal Wave Transducers for Robotic Nondestructive Inspection in Harsh Environments

    Directory of Open Access Journals (Sweden)

    Sungho Choi

    2016-12-01

    Full Text Available Harsh environments and confined spaces require that nondestructive inspections be conducted with robotic systems. Ultrasonic guided waves are well suited for robotic systems because they can provide efficient volumetric coverage when inspecting for various types of damage, including cracks and corrosion. Shear horizontal guided waves are especially well suited for robotic inspection because they are sensitive to cracks oriented perpendicular or parallel to the wave propagation direction and can be generated with electromagnetic acoustic transducers (EMATs and magnetostrictive transducers (MSTs. Both types of transducers are investigated for crack detection in a stainless steel plate. The MSTs require the robot to apply a compressive normal force that creates frictional force coupling. However, the coupling is observed to be very dependent upon surface roughness and surface debris. The EMATs are coupled through the Lorentz force and are thus noncontact, although they depend on the lift off between transducer and substrate. After comparing advantages and disadvantages of each transducer for robotic inspection the EMATs are selected for application to canisters that store used nuclear fuel.

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

    OpenAIRE

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

    2013-01-01

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

  12. Line-feature-based calibration method of structured light plane parameters for robot hand-eye system

    Science.gov (United States)

    Qi, Yuhan; Jing, Fengshui; Tan, Min

    2013-03-01

    For monocular-structured light vision measurement, it is essential to calibrate the structured light plane parameters in addition to the camera intrinsic parameters. A line-feature-based calibration method of structured light plane parameters for a robot hand-eye system is proposed. Structured light stripes are selected as calibrating primitive elements, and the robot moves from one calibrating position to another with constraint in order that two misaligned stripe lines are generated. The images of stripe lines could then be captured by the camera fixed at the robot's end link. During calibration, the equations of two stripe lines in the camera coordinate system are calculated, and then the structured light plane could be determined. As the robot's motion may affect the effectiveness of calibration, so the robot's motion constraints are analyzed. A calibration experiment and two vision measurement experiments are implemented, and the results reveal that the calibration accuracy can meet the precision requirement of robot thick plate welding. Finally, analysis and discussion are provided to illustrate that the method has a high efficiency fit for industrial in-situ calibration.

  13. 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...

  14. Casimir free energy of dielectric films: classical limit, low-temperature behavior and control.

    Science.gov (United States)

    Klimchitskaya, G L; Mostepanenko, V M

    2017-07-12

    The Casimir free energy of dielectric films, both free-standing in vacuum and deposited on metallic or dielectric plates, is investigated. It is shown that the values of the free energy depend considerably on whether the calculation approach used neglects or takes into account the dc conductivity of film material. We demonstrate that there are material-dependent and universal classical limits in the former and latter cases, respectively. The analytic behavior of the Casimir free energy and entropy for a free-standing dielectric film at low temperature is found. According to our results, the Casimir entropy goes to zero when the temperature vanishes if the calculation approach with neglected dc conductivity of a film is employed. If the dc conductivity is taken into account, the Casimir entropy takes the positive value at zero temperature, depending on the parameters of a film, i.e. the Nernst heat theorem is violated. By considering the Casimir free energy of SiO 2 and Al 2 O 3 films deposited on a Au plate in the framework of two calculation approaches, we argue that physically correct values are obtained by disregarding the role of dc conductivity. A comparison with the well known results for the configuration of two parallel plates is made. Finally, we compute the Casimir free energy of SiO 2 , Al 2 O 3 and Ge films deposited on high-resistivity Si plates of different thicknesses and demonstrate that it can be positive, negative and equal to zero. The effect of illumination of a Si plate with laser light is considered. Possible applications of the obtained results to thin films used in microelectronics are discussed.

  15. Casimir free energy of dielectric films: classical limit, low-temperature behavior and control

    Science.gov (United States)

    Klimchitskaya, G. L.; Mostepanenko, V. M.

    2017-07-01

    The Casimir free energy of dielectric films, both free-standing in vacuum and deposited on metallic or dielectric plates, is investigated. It is shown that the values of the free energy depend considerably on whether the calculation approach used neglects or takes into account the dc conductivity of film material. We demonstrate that there are material-dependent and universal classical limits in the former and latter cases, respectively. The analytic behavior of the Casimir free energy and entropy for a free-standing dielectric film at low temperature is found. According to our results, the Casimir entropy goes to zero when the temperature vanishes if the calculation approach with neglected dc conductivity of a film is employed. If the dc conductivity is taken into account, the Casimir entropy takes the positive value at zero temperature, depending on the parameters of a film, i.e. the Nernst heat theorem is violated. By considering the Casimir free energy of SiO2 and Al2O3 films deposited on a Au plate in the framework of two calculation approaches, we argue that physically correct values are obtained by disregarding the role of dc conductivity. A comparison with the well known results for the configuration of two parallel plates is made. Finally, we compute the Casimir free energy of SiO2, Al2O3 and Ge films deposited on high-resistivity Si plates of different thicknesses and demonstrate that it can be positive, negative and equal to zero. The effect of illumination of a Si plate with laser light is considered. Possible applications of the obtained results to thin films used in microelectronics are discussed.

  16. Thin Film Photovoltaic/Thermal Solar Panels

    Institute of Scientific and Technical Information of China (English)

    David JOHNSTON

    2008-01-01

    A solar panel is described.in which thin films of semiconductor are deposited onto a metal substrate.The semiconductor-metal combination forms a thin film photovoltaic cell,and also acts as a reflector,absorber tandem, which acts as a solar selective surface,thus enhancing the solar thermal performance of the collector plate.The use of thin films reduces the distance heat is required to flow from the absorbing surface to the metal plate and heat exchange conduits.Computer modelling demonstrated that,by suitable choice of materials,photovohaic efficiency call be maintained,with thermal performance slishtly reduced,compared to that for thermal-only panels.By grading the absorber layer-to reduce the band gap in the lower region-the thermal performance can be improved,approaching that for a thermal-only solar panel.

  17. Adherence of coagulase-negative staphylococci to plastic tissue culture plates: a quantitative model for the adherence of staphylococci to medical devices.

    OpenAIRE

    Christensen, G D; Simpson, W A; Younger, J J; Baddour, L M; Barrett, F F; Melton, D M; Beachey, E H

    1985-01-01

    The adherence of coagulase-negative staphylococci to smooth surfaces was assayed by measuring the optical densities of stained bacterial films adherent to the floors of plastic tissue culture plates. The optical densities correlated with the weight of the adherent bacterial film (r = 0.906; P less than 0.01). The measurements also agreed with visual assessments of bacterial adherence to culture tubes, microtiter plates, and tissue culture plates. Selected clinical strains were passed through ...

  18. Improving wettability of photo-resistive film surface with plasma surface modification for coplanar copper pillar plating of IC substrates

    Science.gov (United States)

    Xiang, Jing; Wang, Chong; Chen, Yuanming; Wang, Shouxu; Hong, Yan; Zhang, Huaiwu; Gong, Lijun; He, Wei

    2017-07-01

    The wettability of the photo-resistive film (PF) surfaces undergoing different pretreatments including the O2sbnd CF4 low-pressure plasma (OCLP) and air plasma (AP), is investigated by water contact angle measurement instrument (WCAMI) before the bottom-up copper pillar plating. Chemical groups analysis performed by attenuated total reflectance Fourier transform infrared spectroscopy (ATR-FTIR) and X-ray photoelectron spectra (XPS) shows that after the OCLP and wash treatment, the wettability of PF surface is attenuated, because embedded fluorine and decreased oxygen content both enhance hydrophobicity. Compared with OCLP treatment, the PF surface treatment by non-toxic air plasma displays features of Csbnd O, Osbnd Cdbnd O, Cdbnd O and sbnd NO2 by AIR-FTIR and XPS, and a promoted wettability by WCAM. Under the identical electroplating condition, the surface with a better wettability allows electrolyte to spontaneously soak all the places of vias, resulting in improved copper pillar uniformity. Statistical analysis of metallographic data shows that more coplanar and flat copper pillars are achieved with the PF treatment of air plasma. Such modified copper-pillar-plating technology meets the requirement of accurate impedance, the high density interconnection for IC substrates.

  19. Effect of performance of Zr-Y alloy target on thin film deposition technology

    International Nuclear Information System (INIS)

    Pan Qianfu; Liu Chaohong; Jiang Mingzhong; Yin Changgeng

    2011-01-01

    Yttria-stabilized zirconia (YSZ) films are synthesized on corrosion resistant plates by pulsed bias arc ion plating. The arc starting performance and the stability of thin film deposition is explored by improving the uniformity and compactibility of Zr-Y alloy target. The property of Zr-Y alloy target and depositional thin films were measured with the optical microscope, scanning electron microscope, X-ray diffractometer. The result shows that the target with hot rolling and annealing has a good arc starting performance and stability of thin film deposition, and the depositional thin films made of Yttria and amorphous zirconia are homogeneous and compact. (authors)

  20. Proceedings of the Goddard Space Flight Center Workshop on Robotics for Commercial Microelectronic Processes in Space

    Science.gov (United States)

    1987-01-01

    Potential applications of robots for cost effective commercial microelectronic processes in space were studied and the associated robotic requirements were defined. Potential space application areas include advanced materials processing, bulk crystal growth, and epitaxial thin film growth and related processes. All possible automation of these processes was considered, along with energy and environmental requirements. Aspects of robot capabilities considered include system intelligence, ROM requirements, kinematic and dynamic specifications, sensor design and configuration, flexibility and maintainability. Support elements discussed included facilities, logistics, ground support, launch and recovery, and management systems.

  1. Automated Fiber Placement of PEEK/IM7 Composites with Film Interleaf Layers

    Science.gov (United States)

    Hulcher, A. Bruce; Banks, William I., III; Pipes, R. Byron; Tiwari, Surendra N.; Cano, Roberto J.; Johnston, Norman J.; Clinton, R. G., Jr. (Technical Monitor)

    2001-01-01

    The incorporation of thin discrete layers of resin between plies (interleafing) has been shown to improve fatigue and impact properties of structural composite materials. Furthermore, interleafing could be used to increase the barrier properties of composites used as structural materials for cryogenic propellant storage. In this work, robotic heated-head tape placement of PEEK/IM7 composites containing a PEEK polymer film interleaf was investigated. These experiments were carried out at the NASA Langley Research Center automated fiber placement facility. Using the robotic equipment, an optimal fabrication process was developed for the composite without the interleaf. Preliminary interleaf processing trials indicated that a two-stage process was necessary; the film had to be tacked to the partially-placed laminate then fully melted in a separate operation. Screening experiments determined the relative influence of the various robotic process variables on the peel strength of the film-composite interface. Optimization studies were performed in which peel specimens were fabricated at various compaction loads and roller temperatures at each of three film melt processing rates. The resulting data were fitted with quadratic response surfaces. Additional specimens were fabricated at placement parameters predicted by the response surface models to yield high peel strength in an attempt to gage the accuracy of the predicted response and assess the repeatability of the process. The overall results indicate that quality PEEK/lM7 laminates having film interleaves can be successfully and repeatability fabricated by heated head automated fiber placement.

  2. Alloying behaviour of electroplated Ag film with its underlying Pd/Ti film stack for low resistivity interconnect metallization

    International Nuclear Information System (INIS)

    Ezawa, Hirokazu; Miyata, Masahiro; Tatsumi, Kohei

    2014-01-01

    Highlights: • Alloying behavior of Ag/Pd/Ti film stack was studied by annealing at 400-800 °C. • The Ag film resistivity decreased with increasing annealing temperature. • Formation of the Pd-Ti intermetallics was found to be dominant over Ag-Pd alloying. • The excess Ti was consumed to form Ti oxides, which inhibited Ti alloying with Ag. -- Abstract: In this paper, viability of electroplated Ag film into device application was studied. Alloying behavior of the Ag film with its underlying Pd(50 nm)/Ti(100 nm) film stack was investigated with respect to heat treatment at different temperatures from 400 °C to 800 °C in an argon ambient. After annealing at 400 °C, the electrical resistivity of the Ag film increased due to Pd alloying with Ag. Formation of Pd–Ti intermetallic phases became dominant over Ag–Pd alloying with increasing annealing temperature, leading to the resistivity decrease of the Ag film. The resistivity of the 800 °C annealed Ag film approached that of its as-plated Ag film. The excess Ti atoms which were not consumed to form the intermetallic phases with the Pd atoms migrated to the Ag film surface to form Ti oxides along the Ag grain boundaries on the topmost film surface. The Ag/Pd/Ti film stack has been confirmed to maintain the resistivity of the Ag film at as-plated low levels after high temperature annealing. This paper also discusses process integration issues to enable the Ag metallization process for future scaled and three dimensionally chip stacked devices

  3. EFFECT OF VARIOUS POROUS STRUCTURES ON THE SHLIOMIS MODEL BASED FERROFLUID LUBRICATION OF THE FILM SQUEEZED BETWEEN ROTATING ROUGH CURVED CIRCULAR PLATES

    Directory of Open Access Journals (Sweden)

    Jimit R Patel

    2014-12-01

    Full Text Available Efforts have been made to analyze the Shliomis model based ferrofluid lubrication of a squeeze film between rotating rough curved circular plates where the upper plate has a porous facing. Different models of porosity are treated. The stochastic modeling of Christensen and Tonder has been employed to evaluate the effect of surface roughness. The related stochastically averaged Reynolds type equation is numerically solved to obtain the pressure distribution, leading to the calculation of load carrying capacity. The results presented in graphical form establish that the Kozeny-Carman model is more favorable as compared to the Irmay one from the design point of view. It is observed that the Shliomis model based ferrofluid lubrication performs relatively better than the Neuringer-Rosensweig one. Although the bearing suffers due to transverse surface roughness, with a suitable choice of curvature parameters and rotational ratio, the negative effect of porosity and standard deviation can be minimized by the ferrofluid lubrication at least in the case of negatively skewed roughness.

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

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

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

  5. Imaging plates for nuclear radiations

    International Nuclear Information System (INIS)

    Abe, Ken; Takebe, Masahiro

    1997-01-01

    Full text. The imaging plate (IP, hereafter) is a new opto-electronic X-ray film developed by Fuji Photo Film Co. Ltd., formed with a large area of thin flexible plastic plate coated with photo-estimulable storage phosphor (e.g. Ba F Br: Eu 2+ ). Recently, it has been found highly sensitive to soft X-ray (SR), soft electrons, and also usual alpha, beta, gamma rays and others, e.g. cosmic rays, energy heavy ions, and moreover neutrons through suitable converters inside or outside of the IP. Many types of IP are now used in various fields, such as medical examinations, auto-radiography in vivo/ in situ/ in vitro, X-ray/neutron diffraction/ radiography, electron microscopy. RI contamination, assay of ore. The IP has other striking performances, e.e. extremely low intrinsic noises, a high position resolution, high detection efficiency (100-1000 times) as high as an X-ray film), extremely wide dynamic range of dose (more than 10 5 ). Besides the thermal fading yet left unresolved materially, the only feature lacking and that one has ben longing for is the radiation identification by itself. We found out that the IP has a full potential ability of radiation identification in itself. One evidence found is that the ratio of the twin peaks of the PSL (photo-stimulated luminescence) excitation spectra indicates simply the particle energies, studied and now established. Another is that the photo-beaching provides the fluorescent responses different enough to discriminate the radiations, yet in progress with cyclotron experiments, into the usage of double labeled bio tracers

  6. Antibacterial activity of ciprofloxacin-loaded zein microsphere films

    International Nuclear Information System (INIS)

    Fu Jianxi; Wang Huajie; Zhou Yanqing; Wang Jinye

    2009-01-01

    Our aim was to produce an antibiotic-emitting coating composed of zein microspheres for the prevention of bacterial infection on implanted devices. Ciprofloxacin-loaded zein microspheres were prepared using a phase separation procedure, with particle sizes between 0.5 and 2 μm. Drug encapsulation and drug loading varied with the amount of both zein and ciprofloxacin, and the highest encapsulation efficiency was 8.27% (2 mg/ml ciprofloxacin and 20 mg/ml zein; n = 3). A ciprofloxacin-loaded zein microsphere film (CF-MS film) was generated via solvent evaporation. Continuous drug release from a trypsin-degraded microsphere film was observed for up to 28 days. The liberation of ciprofloxacin from the trypsin-degraded film and the biodegradation of the microsphere film were highly correlated. Proliferation assay of the growth of human umbilical vein endothelial cells (HUVECs) by the MTT method showed that the microsphere film had no toxicity when compared with cells grown on Corning culture plates alone and plates with a zein film alone. Quantification of bacteria adhesion showed that adhesion on the microsphere film is significantly suppressed. In addition, according to the results of bacterial growth tests, ciprofloxacin-loaded microsphere films maintained antibacterial activity for more than 6 days. In contrast, a control medium containing a zein film allowed constant bacterial growth. These results indicate that CF-MS films might be useful as antibacterial films on implanted devices.

  7. Antibacterial activity of ciprofloxacin-loaded zein microsphere films

    Energy Technology Data Exchange (ETDEWEB)

    Fu Jianxi [Shanghai Institute of Organic Chemistry, Chinese Academy of Sciences, 354 Fenglin Road, Shanghai 200032 (China); Henan Normal University, 46 East Construction Road, Xinxiang, Henan 453007 (China); Wang Huajie [College of Life Science and Biotechnology, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai 200030 (China); Zhou Yanqing [Henan Normal University, 46 East Construction Road, Xinxiang, Henan 453007 (China); Wang Jinye, E-mail: jywang@mail.sioc.ac.cn [Shanghai Institute of Organic Chemistry, Chinese Academy of Sciences, 354 Fenglin Road, Shanghai 200032 (China); College of Life Science and Biotechnology, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai 200030 (China)

    2009-05-05

    Our aim was to produce an antibiotic-emitting coating composed of zein microspheres for the prevention of bacterial infection on implanted devices. Ciprofloxacin-loaded zein microspheres were prepared using a phase separation procedure, with particle sizes between 0.5 and 2 {mu}m. Drug encapsulation and drug loading varied with the amount of both zein and ciprofloxacin, and the highest encapsulation efficiency was 8.27% (2 mg/ml ciprofloxacin and 20 mg/ml zein; n = 3). A ciprofloxacin-loaded zein microsphere film (CF-MS film) was generated via solvent evaporation. Continuous drug release from a trypsin-degraded microsphere film was observed for up to 28 days. The liberation of ciprofloxacin from the trypsin-degraded film and the biodegradation of the microsphere film were highly correlated. Proliferation assay of the growth of human umbilical vein endothelial cells (HUVECs) by the MTT method showed that the microsphere film had no toxicity when compared with cells grown on Corning culture plates alone and plates with a zein film alone. Quantification of bacteria adhesion showed that adhesion on the microsphere film is significantly suppressed. In addition, according to the results of bacterial growth tests, ciprofloxacin-loaded microsphere films maintained antibacterial activity for more than 6 days. In contrast, a control medium containing a zein film allowed constant bacterial growth. These results indicate that CF-MS films might be useful as antibacterial films on implanted devices.

  8. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  9. Two-media boundary layer on a flat plate

    OpenAIRE

    Nikolay Ilyich Klyuev; Asgat Gatyatovich Gimadiev; Yuriy Alekseevich Kryukov

    2014-01-01

    The present paper provides a solution to the problem of a flow over a flat semi-infinite plate set at an angle to the horizon, and having a thin liquid film on its surface by external airflow. The film is formed by extrusion of liquid from the porous wall. The paper proposes a mathematical model of a two-media boundary layer flow. The main characteristics of the flow to a zero and a first approximation are determined. A drop of frictional stress is obtained.

  10. Experimental Study of the Cooling of Electrical Components Using Water Film Evaporation

    Directory of Open Access Journals (Sweden)

    S. Harmand

    2012-01-01

    Full Text Available Heat and mass transfer, which occur in the evaporation of a falling film of water, are studied experimentally. This evaporation allows the dissipation of the heat flux produced by twelve resistors, which simulate electrical components on the back side of an aluminium plate. On the front side of the plate, a falling film of water flows by the action of gravity. An inverse heat conduction model, associated with a spatial regularisation, was developed and produces the local heat fluxes on the plate using the measured temperatures. The efficiency of this evaporative process has been studied with respect to several parameters: imposed heat flux, inlet mass flow rate, and geometry. A comparison of the latent and sensible fluxes used to dissipate the imposed heat flux was studied in the case of a plexiglass sheet in front of the falling film at different distances from the aluminium plate.

  11. Radiographic film: surface dose extrapolation techniques

    International Nuclear Information System (INIS)

    Cheung, T.; Yu, P.K.N.; Butson, M.J.; Cancer Services, Wollongong, NSW; Currie, M.

    2004-01-01

    Full text: Assessment of surface dose delivered from radiotherapy x-ray beams for optimal results should be performed both inside and outside the prescribed treatment fields An extrapolation technique can be used with radiographic film to perform surface dose assessment for open field high energy x-ray beams. This can produce an accurate 2 dimensional map of surface dose if required. Results have shown that surface % dose can be estimated within ±3% of parallel plate ionisation chamber results with radiographic film using a series of film layers to produce an extrapolated result. Extrapolated percentage dose assessment for 10cm, 20cmand 30cm square fields was estimated to be 15% ± 2%, 29% ± 3% and 38% ± 3% at the central axis and relatively uniform across the treatment field. Corresponding parallel plate ionisation chamber measurement are 16%, 27% and 37% respectively. Surface doses are also measured outside the treatment field which are mainly due to scattered electron contamination. To achieve this result, film calibration curves must be irradiated to similar x-ray field sizes as the experimental film to minimize quantitative variations in film optical density caused by varying x-ray spectrum with field size. Copyright (2004) Australasian College of Physical Scientists and Engineers in Medicine

  12. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

  13. Design And Implementation Of Integrated Vision-Based Robotic Workcells

    Science.gov (United States)

    Chen, Michael J.

    1985-01-01

    Reports have been sparse on large-scale, intelligent integration of complete robotic systems for automating the microelectronics industry. This paper describes the application of state-of-the-art computer-vision technology for manufacturing of miniaturized electronic components. The concepts of FMS - Flexible Manufacturing Systems, work cells, and work stations and their control hierarchy are illustrated in this paper. Several computer-controlled work cells used in the production of thin-film magnetic heads are described. These cells use vision for in-process control of head-fixture alignment and real-time inspection of production parameters. The vision sensor and other optoelectronic sensors, coupled with transport mechanisms such as steppers, x-y-z tables, and robots, have created complete sensorimotor systems. These systems greatly increase the manufacturing throughput as well as the quality of the final product. This paper uses these automated work cells as examples to exemplify the underlying design philosophy and principles in the fabrication of vision-based robotic systems.

  14. Silicon-micromachined microchannel plates

    CERN Document Server

    Beetz, C P; Steinbeck, J; Lemieux, B; Winn, D R

    2000-01-01

    Microchannel plates (MCP) fabricated from standard silicon wafer substrates using a novel silicon micromachining process, together with standard silicon photolithographic process steps, are described. The resulting SiMCP microchannels have dimensions of approx 0.5 to approx 25 mu m, with aspect ratios up to 300, and have the dimensional precision and absence of interstitial defects characteristic of photolithographic processing, compatible with positional matching to silicon electronics readouts. The open channel areal fraction and detection efficiency may exceed 90% on plates up to 300 mm in diameter. The resulting silicon substrates can be converted entirely to amorphous quartz (qMCP). The strip resistance and secondary emission are developed by controlled depositions of thin films, at temperatures up to 1200 deg. C, also compatible with high-temperature brazing, and can be essentially hydrogen, water and radionuclide-free. Novel secondary emitters and cesiated photocathodes can be high-temperature deposite...

  15. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

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

  16. Nickel films: Nonselective and selective photochemical deposition and properties

    International Nuclear Information System (INIS)

    Smirnova, N.V.; Boitsova, T.B.; Gorbunova, V.V.; Alekseeva, L.V.; Pronin, V.P.; Kon'uhov, G.S.

    2006-01-01

    Nickel films deposited on quartz surfaces by the photochemical reduction of a chemical nickel plating solution were studied. It was found that the deposition of the films occurs after an induction period, the length of which depends on the composition of the photolyte and the light intensity. Ni particles with a mean diameter of 20-30 nm were detected initially by transmission electron microscopy. The particles then increased in size (50 nm) upon irradiation and grouped into rings consisting of 4-5 particles. Irradiation with high-intensity light produces three-dimensional films. The calculated extinction coefficient of the nickel film was found to be 4800 L mol -1 cm -1 . Electron diffraction revealed that the prepared amorphous nickel films crystallize after one day of storage. It was determined that the films exhibit catalytic activity in the process of nickel deposition from nickel plating solution. The catalytic action remains for about 5-7 min after exposure of the films to air. The processes of selective and nonselective deposition of the nickel films are discussed. The use of poly(butoxy titanium) in the process of selective photochemical deposition enables negative and positive images to be prepared on quartz surfaces

  17. An investigation of coated aluminium bipolar plates for PEMFC

    International Nuclear Information System (INIS)

    Lin, Chien-Hung; Tsai, Sung-Ying

    2012-01-01

    Highlights: ► Coated aluminium bipolar plates demonstrate the hydrophobic property than the raw material. ► The corrosion behaviour of bipolar plate decreases the PEMFC performance severely. ► These PEMFCs are measured by current–voltage (I–V) curve test. ► The oxide film increases the interfacial contact resistance. -- Abstract: The performance of Al-alloy bipolar plates for the PEMFC (proton exchange membrane fuel cell) system is investigated in this paper. The metallic bipolar plates are modified with a Ni–P coating. The performance of the Al-alloy bipolar plates is evaluated by the coating structure, corrosion resistance, contact angle and single cell performance. The results indicate that the coated aluminium bipolar plates demonstrate hydrophobic and anti-corrosive properties. The hydrophobic property increases the contact angle on the surface from 46.08° to 80.51°. Meanwhile, the corrosion rate of the Ni–P coating can be over 1 order of magnitude lower than that of the substrate. Hence, the substrate with the coating maintains superior performance under the long term test. The present study proves that both the hydrophobicity and corrosion resistance significantly affect the metallic bipolar plate.

  18. Rough Electrode Creates Excess Capacitance in Thin-Film Capacitors.

    Science.gov (United States)

    Torabi, Solmaz; Cherry, Megan; Duijnstee, Elisabeth A; Le Corre, Vincent M; Qiu, Li; Hummelen, Jan C; Palasantzas, George; Koster, L Jan Anton

    2017-08-16

    The parallel-plate capacitor equation is widely used in contemporary material research for nanoscale applications and nanoelectronics. To apply this equation, flat and smooth electrodes are assumed for a capacitor. This essential assumption is often violated for thin-film capacitors because the formation of nanoscale roughness at the electrode interface is very probable for thin films grown via common deposition methods. In this work, we experimentally and theoretically show that the electrical capacitance of thin-film capacitors with realistic interface roughness is significantly larger than the value predicted by the parallel-plate capacitor equation. The degree of the deviation depends on the strength of the roughness, which is described by three roughness parameters for a self-affine fractal surface. By applying an extended parallel-plate capacitor equation that includes the roughness parameters of the electrode, we are able to calculate the excess capacitance of the electrode with weak roughness. Moreover, we introduce the roughness parameter limits for which the simple parallel-plate capacitor equation is sufficiently accurate for capacitors with one rough electrode. Our results imply that the interface roughness beyond the proposed limits cannot be dismissed unless the independence of the capacitance from the interface roughness is experimentally demonstrated. The practical protocols suggested in our work for the reliable use of the parallel-plate capacitor equation can be applied as general guidelines in various fields of interest.

  19. Socially intelligent robots: dimensions of human-robot interaction.

    Science.gov (United States)

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

  20. Film cooling for a closed loop cooled airfoil

    Science.gov (United States)

    Burdgick, Steven Sebastian; Yu, Yufeng Phillip; Itzel, Gary Michael

    2003-01-01

    Turbine stator vane segments have radially inner and outer walls with vanes extending therebetween. The inner and outer walls are compartmentalized and have impingement plates. Steam flowing into the outer wall plenum passes through the impingement plate for impingement cooling of the outer wall upper surface. The spent impingement steam flows into cavities of the vane having inserts for impingement cooling the walls of the vane. The steam passes into the inner wall and through the impingement plate for impingement cooling of the inner wall surface and for return through return cavities having inserts for impingement cooling of the vane surfaces. At least one film cooling hole is defined through a wall of at least one of the cavities for flow communication between an interior of the cavity and an exterior of the vane. The film cooling hole(s) are defined adjacent a potential low LCF life region, so that cooling medium that bleeds out through the film cooling hole(s) reduces a thermal gradient in a vicinity thereof, thereby the increase the LCF life of that region.

  1. Deposition of Cu-doped PbS thin films with low resistivity using DC sputtering

    Directory of Open Access Journals (Sweden)

    Hariyadi Soetedjo

    2018-03-01

    Full Text Available Investigation of the electrical resistivity of Cu-doped PbS thin films has been carried out. The films were prepared using a DC sputtering technique. The doping was achieved by introducing the Cu dopant plate material directly on the surface of the PbS sputtering target plate. SEM-EDX data shows the Cu concentration in the PbS film to be proportional to the Cu plate diameter. The XRD pattern indicates the film is in crystalline cubic form. The Hall effect measurement shows that Cu doping yields an increase in the carrier concentration to 3.55 × 1019 cm−3 and a significant decrease in electrical resistivity. The lowest resistivity obtained was 0.13 Ωcm for a Cu concentration of 18.5%. Preferential orientation of (1 1 1 and (2 0 0 occurs during deposition. Keywords: Thin films, Lead sulfide, Sputtering, Resistivity, Semiconductor, Infrared

  2. Film Cooling Optimization Using Numerical Computation of the Compressible Viscous Flow Equations and Simplex Algorithm

    Directory of Open Access Journals (Sweden)

    Ahmed M. Elsayed

    2013-01-01

    Full Text Available Film cooling is vital to gas turbine blades to protect them from high temperatures and hence high thermal stresses. In the current work, optimization of film cooling parameters on a flat plate is investigated numerically. The effect of film cooling parameters such as inlet velocity direction, lateral and forward diffusion angles, blowing ratio, and streamwise angle on the cooling effectiveness is studied, and optimum cooling parameters are selected. The numerical simulation of the coolant flow through flat plate hole system is carried out using the “CFDRC package” coupled with the optimization algorithm “simplex” to maximize overall film cooling effectiveness. Unstructured finite volume technique is used to solve the steady, three-dimensional and compressible Navier-Stokes equations. The results are compared with the published numerical and experimental data of a cylindrically round-simple hole, and the results show good agreement. In addition, the results indicate that the average overall film cooling effectiveness is enhanced by decreasing the streamwise angle for high blowing ratio and by increasing the lateral and forward diffusion angles. Optimum geometry of the cooling hole on a flat plate is determined. In addition, numerical simulations of film cooling on actual turbine blade are performed using the flat plate optimal hole geometry.

  3. Media-fill simulation tests in manual and robotic aseptic preparation of injection solutions in syringes.

    Science.gov (United States)

    Krämer, Irene; Federici, Matteo; Kaiser, Vanessa; Thiesen, Judith

    2016-04-01

    The purpose of this study was to evaluate the contamination rate of media-fill products either prepared automated with a robotic system (APOTECAchemo™) or prepared manually at cytotoxic workbenches in the same cleanroom environment and by experienced operators. Media fills were completed by microbiological environmental control in the critical zones and used to validate the cleaning and disinfection procedures of the robotic system. The aseptic preparation of patient individual ready-to-use injection solutions was simulated by using double concentrated tryptic soy broth as growth medium, water for injection and plastic syringes as primary packaging materials. Media fills were either prepared automated (500 units) in the robot or manually (500 units) in cytotoxic workbenches in the same cleanroom over a period of 18 working days. The test solutions were incubated at room temperature (22℃) over 4 weeks. Products were visually inspected for turbidity after a 2-week and 4-week period. Following incubation, growth promotion tests were performed with Staphylococcus epidermidis. During the media-fill procedures, passive air monitoring was performed with settle plates and surface monitoring with contact plates on predefined locations as well as fingerprints. The plates got incubated for 5-7 days at room temperature, followed by 2-3 days at 30-35℃ and the colony forming units (cfu) counted after both periods. The robot was cleaned and disinfected according to the established standard operating procedure on two working days prior to the media-fill session, while on six other working days only six critical components were sanitized at the end of the media-fill sessions. Every day UV irradiation was operated for 4 h after finishing work. None of the 1000 media-fill products prepared in the two different settings showed turbidity after the incubation period thereby indicating no contamination with microorganisms. All products remained uniform, clear, and light

  4. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

  5. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  6. DESI focal plate mechanical integration and cooling

    Science.gov (United States)

    Lambert, A. R.; Besuner, R. W.; Claybaugh, T. M.; Silber, J. H.

    2016-08-01

    The Dark Energy Spectroscopic Instrument (DESI) is under construction to measure the expansion history of the Universe using the Baryon Acoustic Oscillation technique[1]. The spectra of 40 million galaxies over 14000 sq. deg will be measured during the life of the experiment. A new prime focus corrector for the KPNO Mayall telescope will deliver light to 5000 fiber optic positioners. The fibers in turn feed ten broad-band spectrographs. This paper describes the mechanical integration of the DESI focal plate and the thermal system design. The DESI focal plate is comprised of ten identical petal assemblies. Each petal contains 500 robotic fiber positioners. Each petal is a complete, self-contained unit, independent from the others, with integrated power supply, controllers, fiber routing, and cooling services. The major advantages of this scheme are: (1) supports installation and removal of complete petal assemblies in-situ, without disturbing the others, (2) component production, assembly stations, and test procedures are repeated and parallelizable, (3) a complete, full-scale prototype can be built and tested at an early date, (4) each production petal can be surveyed and tested as a complete unit, prior to integration, from the fiber tip at the focal surface to the fiber slit at the spectrograph. The ten petal assemblies will be installed in a single integration ring, which is mounted to the DESI corrector. The aluminum integration ring attaches to the steel corrector barrel via a flexured steel adapter, isolating the focal plate from differential thermal expansions. The plate scale will be kept stable by conductive cooling of the petal assembly. The guider and wavefront sensors (one per petal) will be convectively cooled by forced flow of air. Heat will be removed from the system at ten liquid-cooled cold plates, one per petal, operating at ambient temperature. The entire focal plate structure is enclosed in an insulating shroud, which serves as a thermal barrier

  7. Deposition of Cu-doped PbS thin films with low resistivity using DC sputtering

    Science.gov (United States)

    Soetedjo, Hariyadi; Siswanto, Bambang; Aziz, Ihwanul; Sudjatmoko

    2018-03-01

    Investigation of the electrical resistivity of Cu-doped PbS thin films has been carried out. The films were prepared using a DC sputtering technique. The doping was achieved by introducing the Cu dopant plate material directly on the surface of the PbS sputtering target plate. SEM-EDX data shows the Cu concentration in the PbS film to be proportional to the Cu plate diameter. The XRD pattern indicates the film is in crystalline cubic form. The Hall effect measurement shows that Cu doping yields an increase in the carrier concentration to 3.55 × 1019 cm-3 and a significant decrease in electrical resistivity. The lowest resistivity obtained was 0.13 Ωcm for a Cu concentration of 18.5%. Preferential orientation of (1 1 1) and (2 0 0) occurs during deposition.

  8. Facile One-Pot Synthesis of Flower Like Cobalt Oxide Nanostructures on Nickel Plate and Its Supercapacitance Properties.

    Science.gov (United States)

    Kandasamy, N; Venugopal, T; Kannan, K

    2018-06-01

    A flower like cobalt oxide nanostructured thin film (Co2O3) on Nickel (Ni) plate as have been successfully developed via alcoholic Seed Layer assisted chemical bath Deposition (SLD) process. Through the controlled alkaline electrolytes, the flower and paddles like Co2O3 nanoarchitectures were formed. The prepared thin film was characterized by X-ray diffraction (XRD), scanning electron microscope with energy dispersive X-ray (SEM and EDX), Atomic Force Microscope (AFM), Raman spectroscopy techniques. Electron micrograph reveals the flower and paddles like nanostructured Co2O3 thin film deposited on Ni plates. The electrochemical characteristics were investigated using cyclic voltammetry (CV), charge-discharge and AC impedance spectroscopy in different aqueous electrolytes such as NaOH, KOH, and LiOH. The maximum specific capacitance of 856 Fg-1 was attained with 2 M KOH electrolyte with 2 mVs-1 of the Co2O3 thin film coated Ni plate at 80 °C using SLD method. The capacitance values obtained with various electrolytes are in the order of KOH > NaOH > LiOH. The results indicate that the present method is economical and the material is ecofriendly with enhanced capacitance property.

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

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

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

  10. Surface dose extrapolation measurements with radiographic film

    International Nuclear Information System (INIS)

    Butson, Martin J; Cheung Tsang; Yu, Peter K N; Currie, Michael

    2004-01-01

    Assessment of surface dose delivered from radiotherapy x-ray beams for optimal results should be performed both inside and outside the prescribed treatment fields. An extrapolation technique can be used with radiographic film to perform surface dose assessment for open field high energy x-ray beams. This can produce an accurate two-dimensional map of surface dose if required. Results have shown that the surface percentage dose can be estimated within ±3% of parallel plate ionization chamber results with radiographic film using a series of film layers to produce an extrapolated result. Extrapolated percentage dose assessment for 10 cm, 20 cm and 30 cm square fields was estimated to be 15% ± 2%, 29% ± 3% and 38% ± 3% at the central axis and relatively uniform across the treatment field. The corresponding parallel plate ionization chamber measurements are 16%, 27% and 37%, respectively. Surface doses are also measured outside the treatment field which are mainly due to scattered electron contamination. To achieve this result, film calibration curves must be irradiated to similar x-ray field sizes as the experimental film to minimize quantitative variations in film optical density caused by varying x-ray spectrum with field size. (note)

  11. A study on the electrodeposition of NiFe alloy thin films using chronocoulometry and electrochemical quartz crystal microgravimetry

    CERN Document Server

    Myung, N S

    2001-01-01

    Ni, Fe and NiFe alloy thin films were electrodeposited at a polycrystalline Au surface using a range of electrolytes and potentials. Coulometry and EQCM were used for real-time monitoring of electroplating efficiency of the Ni and Fe. The plating efficiency of NiFe alloy thin films was computed with the aid of ICP spectrometry. In general, plating efficiency increased to a steady value with deposition time. Plating efficiency of Fe was lower than that of Ni at -0.85 and -1.0 V but the efficiency approached to the similar plateau value to that of Ni at more negative potentials. The films with higher content of Fe showed different stripping behavior from the ones with higher content of Ni. Finally, compositional data and real-time plating efficiency are presented for films electrodeposited using a range of electrolytes and potentials.

  12. Silicon-micromachined microchannel plates

    International Nuclear Information System (INIS)

    Beetz, Charles P.; Boerstler, Robert; Steinbeck, John; Lemieux, Bryan; Winn, David R.

    2000-01-01

    Microchannel plates (MCP) fabricated from standard silicon wafer substrates using a novel silicon micromachining process, together with standard silicon photolithographic process steps, are described. The resulting SiMCP microchannels have dimensions of ∼0.5 to ∼25 μm, with aspect ratios up to 300, and have the dimensional precision and absence of interstitial defects characteristic of photolithographic processing, compatible with positional matching to silicon electronics readouts. The open channel areal fraction and detection efficiency may exceed 90% on plates up to 300 mm in diameter. The resulting silicon substrates can be converted entirely to amorphous quartz (qMCP). The strip resistance and secondary emission are developed by controlled depositions of thin films, at temperatures up to 1200 deg. C, also compatible with high-temperature brazing, and can be essentially hydrogen, water and radionuclide-free. Novel secondary emitters and cesiated photocathodes can be high-temperature deposited or nucleated in the channels or the first strike surface. Results on resistivity, secondary emission and gain are presented

  13. Deodorisation effect of diamond-like carbon/titanium dioxide multilayer thin films deposited onto polypropylene

    Energy Technology Data Exchange (ETDEWEB)

    Ozeki, K., E-mail: ozeki@mx.ibaraki.ac.jp [Department of Mechanical Engineering, Ibaraki University, 4-12-1, Nakanarusawa, Hitachi, Ibaraki 316-8511 (Japan); Frontier Research Center for Applied Atomic Sciences, 162-1 Shirakata, Toukai, Ibaraki 319-1106 (Japan); Hirakuri, K.K. [Applied Systems Engineering, Graduate School of Science and Engineering, Tokyo Denki University, Ishizaka, Hatoyama, Hiki, Saitama 350-0394 (Japan); Masuzawa, T. [Department of Mechanical Engineering, Ibaraki University, 4-12-1, Nakanarusawa, Hitachi, Ibaraki 316-8511 (Japan)

    2011-04-15

    Many types of plastic containers have been used for the storage of food. In the present study, diamond-like carbon (DLC)/titanium oxide (TiO{sub 2}) multilayer thin films were deposited on polypropylene (PP) to prevent flavour retention and to remove flavour in plastic containers. For the flavour removal test, two types of multilayer films were prepared, DLC/TiO{sub 2} films and DLC/TiO{sub 2}/DLC films. The residual gas concentration of acetaldehyde, ethylene, and turmeric compounds in bottle including the DLC/TiO{sub 2}-coated and the DLC/TiO{sub 2}/DLC-coated PP plates were measured after UV radiation, and the amount of adsorbed compounds to the plates was determined. The percentages of residual gas for acetaldehyde, ethylene, and turmeric with the DLC/TiO{sub 2} coated plates were 0.8%, 65.2% and 75.0% after 40 h of UV radiation, respectively. For the DLC/TiO{sub 2}/DLC film, the percentages of residual gas for acetaldehyde, ethylene and turmeric decreased to 34.9%, 76.0% and 85.3% after 40 h of UV radiation, respectively. The DLC/TiO{sub 2}/DLC film had a photocatalytic effect even though the TiO{sub 2} film was covered with the DLC film.

  14. Deodorisation effect of diamond-like carbon/titanium dioxide multilayer thin films deposited onto polypropylene

    International Nuclear Information System (INIS)

    Ozeki, K.; Hirakuri, K.K.; Masuzawa, T.

    2011-01-01

    Many types of plastic containers have been used for the storage of food. In the present study, diamond-like carbon (DLC)/titanium oxide (TiO 2 ) multilayer thin films were deposited on polypropylene (PP) to prevent flavour retention and to remove flavour in plastic containers. For the flavour removal test, two types of multilayer films were prepared, DLC/TiO 2 films and DLC/TiO 2 /DLC films. The residual gas concentration of acetaldehyde, ethylene, and turmeric compounds in bottle including the DLC/TiO 2 -coated and the DLC/TiO 2 /DLC-coated PP plates were measured after UV radiation, and the amount of adsorbed compounds to the plates was determined. The percentages of residual gas for acetaldehyde, ethylene, and turmeric with the DLC/TiO 2 coated plates were 0.8%, 65.2% and 75.0% after 40 h of UV radiation, respectively. For the DLC/TiO 2 /DLC film, the percentages of residual gas for acetaldehyde, ethylene and turmeric decreased to 34.9%, 76.0% and 85.3% after 40 h of UV radiation, respectively. The DLC/TiO 2 /DLC film had a photocatalytic effect even though the TiO 2 film was covered with the DLC film.

  15. Application of high-resolution film for lithography to synchrotron X-ray topography

    International Nuclear Information System (INIS)

    Mizuno, Kaoru; Ito, Kazuyoshi; Iwami, Masayuki; Hashimoto, Eiji; Kino, Takao.

    1994-01-01

    A high-resolution film for lithography is applied to a detector for synchrotron radiation topography, instead of a nuclear plate. The film shows much better resolution than that of the plate although exposure time an about 500 times longer is required. The size distribution of interstitial loops grown as vacancy sources in a nearly perfect aluminum crystal after a temperature rise is examined from the while beam topograph. (author)

  16. 4D Printed Actuators with Soft-Robotic Functions.

    Science.gov (United States)

    López-Valdeolivas, María; Liu, Danqing; Broer, Dick Jan; Sánchez-Somolinos, Carlos

    2018-03-01

    Soft matter elements undergoing programed, reversible shape change can contribute to fundamental advance in areas such as optics, medicine, microfluidics, and robotics. Crosslinked liquid crystalline polymers have demonstrated huge potential to implement soft responsive elements; however, the complexity and size of the actuators are limited by the current dominant thin-film geometry processing toolbox. Using 3D printing, stimuli-responsive liquid crystalline elastomeric structures are created here. The printing process prescribes a reversible shape-morphing behavior, offering a new paradigm for active polymer system preparation. The additive character of this technology also leads to unprecedented geometries, complex functions, and sizes beyond those of typical thin-films. The fundamental concepts and devices presented therefore overcome the current limitations of actuation energy available from thin-films, thereby narrowing the gap between materials and practical applications. © 2017 The Authors. Published by WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  17. Composition profiles of several contaminated and cleaned surfaces of gold thick films on copper plates by Auger electron and secondary ion mass spectroscopies

    International Nuclear Information System (INIS)

    Komiya, S.; Mizuno, M.; Narusawa, T.; Maeda, H.; Yoshikawa, M.

    1974-01-01

    Preparation and evaluation of a clean Au film are investigated. Development of a preparation method for obtaining clean surface on a copper shell in the JFT-2a (DIVA) TOKAMAK toroidal vacuum chamber is the aim of the present work. Au films prepared by ion plating and vacuum evaporation have been analysed by a cylindrical mirror Auger electron analyser in combination with a quadrupole mass spectrometer during 2 keV Xe ion bombardment from a sputter ion gun over the whole range of thickness of several microns. Contaminants are found to segregate on the top surface and at the interface. To expose a clean Au surface by the ion bombardment, surface layers within 1000 A had to be removed from the surfaces contaminated by touching with either a naked hand or a nylon glove or covered by a small amount of Ti. Mutual diffusions across the interfaces are also analyzed as a function of the substrate temperature. A Nb sandwich layer inhibites effectively the mutual diffusion. (auth.)

  18. Mechanically robust silver coatings prepared by electroless plating on thermoplastic polyurethane

    Science.gov (United States)

    Vasconcelos, B.; Vediappan, K.; Oliveira, J. C.; Fonseca, C.

    2018-06-01

    A simple and low-cost surface functionalization method is proposed to activate a thermoplastic polyurethane (TPU) for the electroless deposition of a silver coating with excellent adhesion and low resistivity. The TPU surface functionalization was performed in solution and consisted in forming a physical interpenetrating network at the TPU surface, involving TPU and polyvinylpyrrolidone (PVP), a polymer displaying a strong affinity for metals. The presence of PVP on the TPU surface and its stability in aqueous solution were assessed by ATR-FTIR and contact angle measurements as a function of the PVP concentration and treatment time. A modified Tollens solution was used to grow a silver film on the TPU substrate, by using the electroless plating method. Compact silver films with an average thickness of 12.5 μm and a resistivity of 8.57 mΩ·cm were obtained for a 24 h plating time. The adhesion strength of the silver film proved to be higher than 8.5 N/cm. The resistance to fatigue of the silver films was studied by performing series of compression/stretching tests (150 cycles). It was concluded that the films kept low resistance values, although displaying a higher sensitivity to compression than to stretching. Furthermore, the films keep a good conductivity for strains up to 400%. The excellent electrical and mechanical properties of the films make them suitable candidates for the coating of multipin dry bioelectrodes. Owing to the high affinity of many metals for PVP, this activation technique has the potential to be extended to the deposition of other metals and other polymers as well, provided a suitable solvent is used.

  19. Optimal usage of FujiFilm's supply chain

    NARCIS (Netherlands)

    Belhaj, Z.

    2009-01-01

    The following report presents the results of the logistics design project carried out in FujiFilm B.V. in the plant of PS-plates (P3) in Tilburg. The project was conducted from September 2008 to July 2009. FujiP3, one of the most important production units of FujiFilm, manufactures and sells

  20. Effect of Surface Texturing Parameters on the Lubrication Characteristics of an Axial Piston Pump Valve Plate

    Directory of Open Access Journals (Sweden)

    Zhaoqiang Wang

    2018-05-01

    Full Text Available In this article, a geometrical model of different microtextures is established for an axial piston pump valve plate. A finite differential method was used to solve the Reynolds equation for the oil film thickness and pressure, which were simulated under different microtextures. The influence of microtexture shape and structure on performance was studied and optimal parameters sought. Different convergence gaps are formed by different microtexture radii, and they produce different hydrodynamic effects. The lubrication characteristics of the valve plate are better when a microtexture is used and are influenced by the type of microtexture. We reached the following conclusions: (1 The lubrication characteristics of the valve plate are influenced by different microtexture parameters and can be improved by optimizing the microtexture parameters; (2 There is an optimal parameter combination when adding microtexture with three shapes (spherical, cylindrical and square and the optimal dimensionless oil film pressure lubrication characteristics can be obtained; (3 The degree of improvement in the dimensionless oil film pressure lubrication characteristics was (listed from highest to lowest: micro-hemispherical texture > micro-cylindrical texture > micro-square texture.

  1. Magnetic field concentration using ferromagnetic material to propel a wireless power transfer based micro-robot

    Directory of Open Access Journals (Sweden)

    Dongwook Kim

    2018-05-01

    Full Text Available In this paper, we propose a novel coil structure, using a ferromagnetic material which concentrates the magnetic field, as the propulsion system of a wireless power transfer (WPT based micro-robot. This structure uses an incident magnetic field to induce current during wireless power transfer, to generate a Lorentz force. To prevent net cancelation of the Lorentz force in the load coil, ferrite films were applied to one side of the coil segment. The demonstrated simplicity and effectiveness of the proposed micro-robot showed its suitability for applications. Simulation and experimental results confirmed a velocity of 1.02 mm/s with 6 mW power transfer capacity for the 3 mm sized micro-robot.

  2. Magnetic field concentration using ferromagnetic material to propel a wireless power transfer based micro-robot

    Science.gov (United States)

    Kim, Dongwook; Park, Bumjin; Park, Jaehyoung; Park, Hyun Ho; Ahn, Seungyoung

    2018-05-01

    In this paper, we propose a novel coil structure, using a ferromagnetic material which concentrates the magnetic field, as the propulsion system of a wireless power transfer (WPT) based micro-robot. This structure uses an incident magnetic field to induce current during wireless power transfer, to generate a Lorentz force. To prevent net cancelation of the Lorentz force in the load coil, ferrite films were applied to one side of the coil segment. The demonstrated simplicity and effectiveness of the proposed micro-robot showed its suitability for applications. Simulation and experimental results confirmed a velocity of 1.02 mm/s with 6 mW power transfer capacity for the 3 mm sized micro-robot.

  3. 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.

  4. Molecular Robots Obeying Asimov's Three Laws of Robotics.

    Science.gov (United States)

    Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

    2017-01-01

    Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

  5. Phosphor plate mammography: contrast studies and clinical experience

    International Nuclear Information System (INIS)

    Chang, C.H.J.; Martin, N.L.; Templeton, A.W.; Cook, L.T.; Harrison, L.A.; McFadden, M.A.; Dwyer, S.J. III; Spicer, J.; Crystal, J.M.

    1992-01-01

    Mammography and accurate microcalcification detection require very good spatial resolution. We have compared the diagnostic capabilities of reduced-exposure, third-generation, 5 cycles/mm computed radiography (CR) phosphor plates with conventional screen-film in 67 patients. No difference in diagnostic accuracy was detected. The digital characteristics of storage phosphor plates erabled us to study the relationship between contrast and spatial resolution. We developed a computer program to identify a single 100 μm pixel in a digital image and assign various gray levels to that pixel. Using this model, we determined that, for our 5 cycles/mm CR system, the imaged contrast of a 100 μm object was 62% of the original contrast. Current 5 cycles/mm phosphor plate systems cannot adequately detect microcalcifications that approximate 100 μm or smaller unless a magnification technique is used. (orig.)

  6. Colias: An Autonomous Micro Robot for Swarm Robotic Applications

    Directory of Open Access Journals (Sweden)

    Farshad Arvin

    2014-07-01

    Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

  7. Two-phase flow patterns in adiabatic and diabatic corrugated plate gaps

    Science.gov (United States)

    Polzin, A.-E.; Kabelac, S.; de Vries, B.

    2016-09-01

    Correlations for two-phase heat transfer and pressure drop can be improved considerably, when they are adapted to specific flow patterns. As plate heat exchangers find increasing application as evaporators and condensers, there is a need for flow pattern maps for corrugated plate gaps. This contribution presents experimental results on flow pattern investigations for such a plate heat exchanger background, using an adiabatic visualisation setup as well as a diabatic setup. Three characteristic flow patterns were observed in the considered range of two-phase flow: bubbly flow, film flow and slug flow. The occurrence of these flow patterns is a function of mass flux, void fraction, fluid properties and plate geometry. Two different plate geometries having a corrugation angle of 27° and 63°, respectively and two different fluids (water/air and R365mfc liquid/vapor) have been analysed. A flow pattern map using the momentum flux is presented.

  8. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  9. Validation of Heat Transfer and Film Cooling Capabilities of the 3-D RANS Code TURBO

    Science.gov (United States)

    Shyam, Vikram; Ameri, Ali; Chen, Jen-Ping

    2010-01-01

    The capabilities of the 3-D unsteady RANS code TURBO have been extended to include heat transfer and film cooling applications. The results of simulations performed with the modified code are compared to experiment and to theory, where applicable. Wilcox s k-turbulence model has been implemented to close the RANS equations. Two simulations are conducted: (1) flow over a flat plate and (2) flow over an adiabatic flat plate cooled by one hole inclined at 35 to the free stream. For (1) agreement with theory is found to be excellent for heat transfer, represented by local Nusselt number, and quite good for momentum, as represented by the local skin friction coefficient. This report compares the local skin friction coefficients and Nusselt numbers on a flat plate obtained using Wilcox's k-model with the theory of Blasius. The study looks at laminar and turbulent flows over an adiabatic flat plate and over an isothermal flat plate for two different wall temperatures. It is shown that TURBO is able to accurately predict heat transfer on a flat plate. For (2) TURBO shows good qualitative agreement with film cooling experiments performed on a flat plate with one cooling hole. Quantitatively, film effectiveness is under predicted downstream of the hole.

  10. Modelling of industrial robot in LabView Robotics

    Science.gov (United States)

    Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

    2017-08-01

    Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

  11. Performance of a thermal neutron radiographic system using imaging plates

    International Nuclear Information System (INIS)

    Silvani, Maria Ines; Almeida, Gevaldo L. de; Furieri, Rosanne; Lopes, Ricardo T.

    2009-01-01

    A performance evaluation of a neutron radiographic system equipped with a thermal neutron sensitive imaging plate has been undertaken. It includes the assessment of spatial resolution, linearity, dynamic range and the response to exposure time, as well as a comparison of these parameters with the equivalent ones for neutron radiography employing conventional films and a gadolinium foil as converter. The evaluation and comparison between the radiographic systems have been performed at the Instituto de Engenharia Nuclear - CNEN, using the Argonauta Reactor as source of thermal neutrons and a commercially available imaging plate reader. (author)

  12. Mandibular reconstruction using a titanium plate: the impact of radiation therapy on plate preservation

    Energy Technology Data Exchange (ETDEWEB)

    Ryu, Janice K; Stern, Robin L; Robinson, Marilyn G; Bowers, Michael K; Kubo, Hideo D; Donald, Paul J; Rosenthal, Seth A; Fu, Karen K

    1995-06-15

    Purpose: To evaluate the soft tissue and bone tolerance of radiation therapy (RT) in patients undergoing radical composite resection and mandibular reconstruction using a bridging titanium plate with myocutaneous flap closure. Methods and Materials: From 1990 to 1994, 47 patients with primary or recurrent oral cavity or oropharyngeal carcinomas were treated with radical composite resection and mandibular reconstruction using a bridging titanium plate with myocutaneous flap closure. Eleven patients received no RT (no RT), 10 patients received RT greater than 10 months from the time of surgery (remote RT), and 26 patients received RT within 12 weeks of surgery (perioperative RT). The radiation dose to the reconstructed mandible ranged from 45 to 75 Gy (median 63 Gy). The effect of the titanium plate on the radiation dose was measured using film dosimetry and soft tissue and bone-equivalent materials. The median follow-up was 17 months (range: 3-50 months). Results: Late complications included four patients with osteomyelitis or necrosis, two plate exposures requiring flap revision, one chronic infection, two cases of chronic pain, two fistulae, and one case of trismus and malocclusion. The crude incidence of late complications by treatment was: (a) no RT: 3 of 11 patients (27%); (b) remote RT: 2 of 10 patients (20%); and (c) perioperative RT: 9 of 26 patients (35%). One patient in the no-RT group lost the plate due to chronic pain. Five patients in the perioperative RT group also had plate loss, four due to osteomyelitis and/or necrosis, and one due to pain related to a recurrent tumor. No patients in the remote RT group had plate loss. The actuarial prosthesis preservation rate at 2 years was 88% for the no RT, 100% for the remote RT, and 57% for the perioperative RT groups (p = 0.05). Phantom dose measurements showed that for parallel opposed 6 MV photon beams, there was no significant increase in the dose proximal or distal to the plate in either a soft tissue- or

  13. 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...

  14. Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-09-15

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

  15. 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....

  16. 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.

  17. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    OpenAIRE

    Lyder, Andreas

    2010-01-01

    Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...

  18. 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...

  19. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

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

  20. Selective inorganic thin films

    Energy Technology Data Exchange (ETDEWEB)

    Phillips, M.L.F.; Weisenbach, L.A.; Anderson, M.T. [Sandia National Laboratories, Albuquerque, NM (United States)] [and others

    1995-05-01

    This project is developing inorganic thin films as membranes for gas separation applications, and as discriminating coatings for liquid-phase chemical sensors. Our goal is to synthesize these coatings with tailored porosity and surface chemistry on porous substrates and on acoustic and optical sensors. Molecular sieve films offer the possibility of performing separations involving hydrogen, air, and natural gas constituents at elevated temperatures with very high separation factors. We are focusing on improving permeability and molecular sieve properties of crystalline zeolitic membranes made by hydrothermally reacting layered multicomponent sol-gel films deposited on mesoporous substrates. We also used acoustic plate mode (APM) oscillator and surface plasmon resonance (SPR) sensor elements as substrates for sol-gel films, and have both used these modified sensors to determine physical properties of the films and have determined the sensitivity and selectivity of these sensors to aqueous chemical species.

  1. Wave structure in the radial film flow with a circular hydraulic jump

    Science.gov (United States)

    Rao, A.; Arakeri, J. H.

    A circular hydraulic jump is commonly seen when a circular liquid jet impinges on a horizontal plate. Measurements of the film thickness, jump radius and the wave structure for various jet Reynolds numbers are reported. Film thickness measurements are made using an electrical contact method for regions both upstream and downstream of the jump over circular plates without a barrier at the edge. The jump radius and the separation bubble length are measured for various flow rates, plate edge conditions, and radii. Flow visualization using high-speed photography is used to study wave structure and transition. Waves on the jet amplify in the film region upstream of the jump. At high flow rates, the waves amplify enough to cause three-dimensional breakdown and what seems like transition to turbulence. This surface wave induced transition is different from the traditional route and can be exploited to enhance heat and mass transfer rates.

  2. Numerical Study of Wavy Film Flow on Vertical Plate Using Different Turbulent Models

    Energy Technology Data Exchange (ETDEWEB)

    Min, June Kee [Pusan National University, Busan (Korea, Republic of); Park, Il Seouk [Kyungpook National University, Daegu (Korea, Republic of)

    2014-05-15

    Film flows applied to shell-and-tube heat exchangers in various industrial fields have been studied for a long time. One boundary of the film flow interfaces with a fixed wall, and the other boundary interfaces with a gaseous region. Thus, the flows become so unstable that wavy behaviors are generated on free surfaces as the film Reynolds number increases. First, high-amplitude solitary waves are detected in a low Reynolds number laminar region; then, the waves transit to a low-amplitude, high frequency ripple in a turbulent region. Film thickness is the most significant factor governing heat transfer. Since the wave accompanied in the film flow results in temporal and spatial variations in film thickness, it can be of importance for numerically predicting the film's wavy behavior. In this study, various turbulent models are applied for predicting low-amplitude ripple flows in turbulent regions. The results are compared with existing experimental results, and finally, the applied turbulent models are appraised in from the viewpoint of wavy behaviors.

  3. Numerical Study of Wavy Film Flow on Vertical Plate Using Different Turbulent Models

    International Nuclear Information System (INIS)

    Min, June Kee; Park, Il Seouk

    2014-01-01

    Film flows applied to shell-and-tube heat exchangers in various industrial fields have been studied for a long time. One boundary of the film flow interfaces with a fixed wall, and the other boundary interfaces with a gaseous region. Thus, the flows become so unstable that wavy behaviors are generated on free surfaces as the film Reynolds number increases. First, high-amplitude solitary waves are detected in a low Reynolds number laminar region; then, the waves transit to a low-amplitude, high frequency ripple in a turbulent region. Film thickness is the most significant factor governing heat transfer. Since the wave accompanied in the film flow results in temporal and spatial variations in film thickness, it can be of importance for numerically predicting the film's wavy behavior. In this study, various turbulent models are applied for predicting low-amplitude ripple flows in turbulent regions. The results are compared with existing experimental results, and finally, the applied turbulent models are appraised in from the viewpoint of wavy behaviors

  4. EQCM Study of Influence of Anion Nature on Electrochemical Reduction of Bismuth Sulfide in Nickel Plating Solution

    Directory of Open Access Journals (Sweden)

    Loreta TAMAŠAUSKAITĖ-TAMAŠIŪNAITĖ

    2011-03-01

    Full Text Available The influence of anion nature on the reduction of bismuth sulfide film deposited on gold using the successive ionic layer adsorption and reaction method in solutions containing Ni2+ ions has been investigated by electrochemical quartz crystal microbalance combined with cyclic voltammetry and X-ray photoelectron spectroscopy. It has been determined that the reduction of bismuth sulfide film in the nickel plating solution depends on the anion nature: larger cathodic current and mass changes (Dƒ are observed in the solution containing acetate anion as compared to those in the solution containing sulfate anion. As the reduction of bismuth sulfide film in the background solutions depends on the nature of anion, it influences the cathodic reduction of Ni2+ ions prior to OPD of Ni. A greater current and mass change (Dƒ is conditioned by simultaneously occurring reduction of bismuth sulfide film when the film is reduced in the acetate nickel plating electrolyte in contrast to that in the sulfate one.http://dx.doi.org/10.5755/j01.ms.17.1.244

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

    OpenAIRE

    Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong

    2012-01-01

    A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...

  6. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  7. Study on evaluation method for image quality of radiograph by step plate, (2)

    International Nuclear Information System (INIS)

    Terada, Yukihiro; Hirayama, Kazuo; Katoh, Mitsuaki.

    1992-01-01

    Recently, penetrameter sensitivity is used not only for the evaluation of radiographic image quality but also as a control method for examination conditions. However, it is necessary to take the parametric data for radiation quality in order to use it for the second purpose. The quantitative factor of radiation quality is determined by the absorption coefficient and the ratio of scattered radiation to transmitted radiation reaching the X-ray film. When the X-ray equipment changes in conducting the radiographic examination, these data must be measured in each case. This is a demerit in controlling examination conditions based on parametric data. As shown theoretically in the first report, the image quality value of a step plate which is defined by the density difference divided by film contrast and step plate thickness is useful to obtain the value of the radiation quality factor. This report deal with experimental investigation to measure it with the step plate. The result is showing that the value of the radiation quality factor calculated by the parametric data corresponded well with the image quality value measured by the step plate. Therefore, the convenient method to measure the value of the radiation quality factor has been established in order to control examination conditions in radiographic examination. (author)

  8. Isodose curves recorded in radiochromic film of an iodine seed array

    International Nuclear Information System (INIS)

    Mourao, Arnaldo Prata; Tomaz, Lucas Crusoe; Grynberg, Suely Epzstein

    2015-01-01

    Brachytherapy seeds are frequently used in cancer treatment. Iodine seeds are ranked among the top choices when it comes to the treatment of prostate cancer. Iodine-125 emits X and gamma photons with an average energy of 28 keV and a half-life of 59.4 days. A set of four iodine-125 seeds, model 6711 produced by Amersham Health, were used in this work. The dosimetric characteristics for a seed were obtained taking into account the recommendations of TG-43 protocol, developed by the AAPM (American Association of Physicists in Medicine). To realize the experiment three plates of Standard Grade Solid Water, model 457 ® Gammex were used. One solid water plate was machined for accommodate the seed set. The set of seeds was placed in a symmetrical configuration trying to simulate an arrangement which may occur in vivo during treatment. A radiochromic film sheet was placed on the plate machined after the seed charge. The machined plate charged and with the film sheet was placed between two others solid water plate to recorder the radiation dose. The machined plate was placed between the other two plates for better reliability in measurements. The radio chromic film was irradiated by an equivalent X-ray beam using the reference radiation RQR 3 IEC (International Electrotechnical Commission) with different doses (0.5 to 1.0 Gy) to obtain the calibration curve in the dose region measured. After validation of the methodology, the study of the interaction between the radiation fields of the set of seeds became possible and the survey of isodose curves of these setting was conducted. (author)

  9. Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

  10. ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

    Directory of Open Access Journals (Sweden)

    Hidetsugu Suto

    2013-12-01

    Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.

  11. 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

  12. 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.

  13. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  14. 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.

  15. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

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

  16. 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...

  17. Wave structure in the radial film flow with a circular hydraulic jump

    Energy Technology Data Exchange (ETDEWEB)

    Rao, A.; Arakeri, J.H. [Indian Inst. of Science, Bangalore (India). Dept. of Mechanical Engineering

    2001-11-01

    A circular hydraulic jump is commonly seen when a circular liquid jet impinges on a horizontal plate. Measurements of the film thickness, jump radius and the wave structure for various jet Reynolds numbers are reported. Film thickness measurements are made using an electrical contact method for regions both upstream and downstream of the jump over circular plates without a barrier at the edge. The jump radius and the separation bubble length are measured for various flow rates, plate edge conditions, and radii. Flow visualization using high-speed photography is used to study wave structure and transition. Waves on the jet amplify in the film region upstream of the jump. At high flow rates, the waves amplify enough to cause three-dimensional breakdown and what seems like transition to turbulence. This surface wave induced transition is different from the traditional route and can be exploited to enhance heat and mass transfer rates. (orig.)

  18. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  19. Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

    Energy Technology Data Exchange (ETDEWEB)

    Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

    1999-05-15

    Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

  20. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

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

  1. Adherence and scratching resistance of nanometric titania films

    International Nuclear Information System (INIS)

    Pascoali, S.; Dominguini, L.; Borges, J.B.

    2012-01-01

    TiO 2 films has been used to extend the wear resistance in bearing, seals for pumps and bone prostheses. In this study was analyzed the conventional hardness and scratch toughness. The scratching test equipment used was developed at the Laboratory of materials Labmat / UFSC. The tests were performed on Titania films deposited on glass plates and ceramics via reactive DC magnetron sputtering. The films were deposited by 10, 15 and 60 min. One of the samples has a titanium metal film of a few nanometers thick between the substrate and the Titania film, the oxide has been deposited for 30 min. At this rang of tests loads the deposited films show good adhesion to substrate, there was no cracking or spalling of the film. (author)

  2. 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....

  3. Magnetic Fluid-Based Squeeze Film Behaviour in Curved Porous-Rotating Rough Annular Plates and Elastic Deformation Effect

    Directory of Open Access Journals (Sweden)

    M. E. Shimpi

    2012-01-01

    Full Text Available Efforts have been directed to study and analyze the squeeze film performance between rotating transversely rough curved porous annular plates in the presence of a magnetic fluid lubricant considering the effect of elastic deformation. A stochastic random variable with nonzero mean, variance, and skewness characterizes the random roughness of the bearing surfaces. With the aid of suitable boundary conditions, the associated stochastically averaged Reynolds' equation is solved to obtain the pressure distribution in turn, which results in the calculation of the load-carrying capacity. The graphical representations establish that the transverse roughness, in general, adversely affects the performance characteristics. However, the magnetization registers a relatively improved performance. It is found that the deformation causes reduced load-carrying capacity which gets further decreased by the porosity. This investigation tends to indicate that the adverse effect of porosity, standard deviation and deformation can be compensated to certain extent by the positive effect of the magnetic fluid lubricant in the case of negatively skewed roughness by choosing the rotational inertia and the aspect ratio, especially for suitable ratio of curvature parameters.

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

    International Nuclear Information System (INIS)

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

    1989-01-01

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

  5. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

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

  6. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  7. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  8. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

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

  9. Controlled morphologies and optical properties of ZnO films and their photocatalytic activities

    Energy Technology Data Exchange (ETDEWEB)

    Duan Jingjing [Key Laboratory for Soft Chemistry and Functional Materials, Nanjing University of Science and Technology, Ministry of Education, Nanjing 210094 (China); Liu Xiaoheng, E-mail: xhliu@mail.njust.edu.cn [Key Laboratory for Soft Chemistry and Functional Materials, Nanjing University of Science and Technology, Ministry of Education, Nanjing 210094 (China); Han Qiaofeng [Key Laboratory for Soft Chemistry and Functional Materials, Nanjing University of Science and Technology, Ministry of Education, Nanjing 210094 (China); Wang Xin, E-mail: wangx@mail.njust.edu.cn [Key Laboratory for Soft Chemistry and Functional Materials, Nanjing University of Science and Technology, Ministry of Education, Nanjing 210094 (China)

    2011-09-15

    Highlights: > Gelatin acts as a capping reagent in the morphology synthesis of ZnO films. > The microstructures of ZnO films are hexagonal prisms, plates and rose-like crystals. > The hexagonal prisms and rose-like films exhibit excellent photocatalytic activities. - Abstract: ZnO films with three different microstructures including hexagonal prisms, plates and rose-like twinned crystals were fabricated using chemical bath deposition with different concentration of gelatin. The growth mechanisms of ZnO films were discussed, and the gelatin played a vital role as a polyelectrolyte capping the formation of microstructures. The photoluminescence and Raman properties were found sensitive to the crystal morphologies of ZnO films. Significantly, the photodegradation efficiencies of methylene blue under UV light irradiation in the presence of ZnO films consisted of hexagonal prisms and rose-like twinned crystals were 95% and 96%, respectively. The excellent photocatalytic activities can be ascribed to the high oxygen vacancies concentration and high percentage of polar planes, and this result was important in addressing the origin of high photocatalytic activity.

  10. Neuro-robotics from brain machine interfaces to rehabilitation robotics

    CERN Document Server

    Artemiadis

    2014-01-01

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

  11. Chained Iron Microparticles for Directionally Controlled Actuation of Soft Robots.

    Science.gov (United States)

    Schmauch, Marissa M; Mishra, Sumeet R; Evans, Benjamin A; Velev, Orlin D; Tracy, Joseph B

    2017-04-05

    Magnetic field-directed self-assembly of magnetic particles in chains is useful for developing directionally responsive materials for applications in soft robotics. Using materials with greater complexity allows advanced functions, while still using simple device architectures. Elastomer films containing chained magnetic microparticles were prepared through solvent casting and formed into magnetically actuated lifters, accordions, valves, and pumps. Chaining both enhances actuation and imparts a directional response. Cantilevers used as lifters were able to lift up to 50 times the mass of the polymer film. We introduce the "specific torque", the torque per field per mass of magnetic particles, as a figure of merit for assessing and comparing the performance of lifters and related devices. Devices in this work generated specific torques of 68 Nm/kgT, which is significantly higher than in previously reported actuators. Applying magnetic fields to folded accordion structures caused extension and compression, depending on the accordion's orientation. In peristaltic pumps comprised of composite tubes containing embedded chains, magnetic fields caused a section of the tube to pinch closed where the field was applied. These results will facilitate both the further development of soft robots based on chained magnetic particles and efforts to engineer materials with higher specific torque.

  12. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

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

  13. Space Robotics Challenge

    Data.gov (United States)

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

  14. Are Sex Robots as Bad as Killing Robots

    OpenAIRE

    Richardson, Kathleen

    2016-01-01

    In 2015 the Campaign Against Sex Robots was launched to draw attention to the technological production of new kinds of objects: sex robots of women and children. The campaign was launched shortly after the Future of Life Institute published an online petition: “Autonomous Weapons: An Open Letter From AI and Robotics Researchers” which was signed by leading luminaries in the field of AI and Robotics. In response to the Campaign, an academic at Oxford University opened an ethics thread “Are sex...

  15. Applicability of a track-based multiprocess portable robot to some maintenance tasks in CANDU nuclear plants

    International Nuclear Information System (INIS)

    Hazel, B.; Fihey, J.-L.; Laroche, Y.

    2000-01-01

    Hydro-Quebec has developed a six-axis, track-based, multiprocess robot. This lightweight (30 kg) compact robot travels on a bent track with a radius of curvature ranging from 1 m to infinity (straight track). Standard and tandem wires GMAW, FCAW and Narrow gap TIG welding as well as plasma gouging and cutting, electrical and pneumatic rough and precision grinding, and profile measurement functionalities have been incorporated. A description of this technology an its newly developed functionalities is given in this paper. Since 1995, a number of industrial and R and D projects have been performed using this technology now called the Scompi technology. The main field of application is the in situ repair of hydraulic turbine runners. However some applications have been developed in the nuclear field. One particular development was funded by the International Thermonuclear Experimental Reactor (ITER) project. Scompi was selected by the ITER US Home Team for a demonstration of remote techniques for welding, cutting and rewelding the 30 m diameter, 17 m high, vacuum vessel. The demonstration involved all position robotic plasma cutting and NG-TIG welding of a 316L, 40 mm thick, double wall. In 1998, two Scompi robots working in tandem performed in York, Pa, the joint welding and cutting of a full scale portion of the vacuum vessel. In 1995, the applicability of the Scompi technology to the repair of the divider plates in the four steam generators at Gentilly-2 was evaluated based on a joint proposal by Ontario Hydro Technologies (now Ontario Power Technologies-OPT) and Hydro-Quebec. A MIG welding procedure was proposed for the horizontal and vertical divider plates welds. A complete simulation of the robot and primary head demonstrated the feasibility of the concept. However, based on cost and scheduling, it was decided to proceed with a manual repair. Nevertheless it is anticipated that this technology will find its niche in the maintenance of Candu reactors. (author)

  16. Applicability of a track-based multiprocess portable robot to some maintenance tasks in CANDU nuclear plants

    Energy Technology Data Exchange (ETDEWEB)

    Hazel, B.; Fihey, J.-L.; Laroche, Y. [Hydro-Quebec, Varennes, Quebec (Canada)

    2000-07-01

    Hydro-Quebec has developed a six-axis, track-based, multiprocess robot. This lightweight (30 kg) compact robot travels on a bent track with a radius of curvature ranging from 1 m to infinity (straight track). Standard and tandem wires GMAW, FCAW and Narrow gap TIG welding as well as plasma gouging and cutting, electrical and pneumatic rough and precision grinding, and profile measurement functionalities have been incorporated. A description of this technology an its newly developed functionalities is given in this paper. Since 1995, a number of industrial and R and D projects have been performed using this technology now called the Scompi technology. The main field of application is the in situ repair of hydraulic turbine runners. However some applications have been developed in the nuclear field. One particular development was funded by the International Thermonuclear Experimental Reactor (ITER) project. Scompi was selected by the ITER US Home Team for a demonstration of remote techniques for welding, cutting and rewelding the 30 m diameter, 17 m high, vacuum vessel. The demonstration involved all position robotic plasma cutting and NG-TIG welding of a 316L, 40 mm thick, double wall. In 1998, two Scompi robots working in tandem performed in York, Pa, the joint welding and cutting of a full scale portion of the vacuum vessel. In 1995, the applicability of the Scompi technology to the repair of the divider plates in the four steam generators at Gentilly-2 was evaluated based on a joint proposal by Ontario Hydro Technologies (now Ontario Power Technologies-OPT) and Hydro-Quebec. A MIG welding procedure was proposed for the horizontal and vertical divider plates welds. A complete simulation of the robot and primary head demonstrated the feasibility of the concept. However, based on cost and scheduling, it was decided to proceed with a manual repair. Nevertheless it is anticipated that this technology will find its niche in the maintenance of Candu reactors. (author)

  17. Development of the hull inspection robot (RTV-SHIP); Sentai kensayo suichu robot (RTV-SHIP) no kaihatsu (atarashii sentai kensaho no ichiteian)

    Energy Technology Data Exchange (ETDEWEB)

    Nakata, Y.; Otsuka, M.; Ozawa, H.; Konosu, M. [Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan)

    1997-08-01

    A compact and lightweight underwater RTV robot (RTV-SHIP) that enables the remote sensing in the double-shell structure of a tanker and the six-freedom motion control was developed based on the technology of the conventional portable underwater robot. The motion performance test in a water tank showed that the RTV-SHIP can freely access the manhole in the double-shell structure of a tanker and completely satisfies the thrust and swing force required for movement and measurement in a tank. The in-tank function confirmation test also shows that the main measurement items such as positioning in the tank, large deflection of panels, and plate thickness have a satisfactory measurement accuracy and that the RTV-SHIP has the same tone discrimination function as for a visual check. The method of inputting the tank shape during measurement and miniaturizing the recording unit should be improved until the RTV-SHIP is put to practical use. This system can be widely used by improving the above points according to the result of a future measurement test for the actual ships. 1 ref., 9 figs.

  18. Cell spreading on titanium dioxide film formed and modified with aerosol beam and femtosecond laser

    International Nuclear Information System (INIS)

    Shinonaga, Togo; Tsukamoto, Masahiro; Nagai, Akiko; Yamashita, Kimihiro; Hanawa, Takao; Matsushita, Nobuhiro; Xie, Guoqiang; Abe, Nobuyuki

    2014-01-01

    Titanium (Ti) is widely used in biomaterials because of its excellent anti-corrosion properties and high strength. However, Ti has no biological function, so its bioactivity must be improved. Coating a titanium dioxide (TiO 2 ) film on a Ti plate surface has been shown to improve the biocompatibility of Ti plates. If periodic nanostructures were formed on the film surface, the direction of cell spreading might be controlled by the direction of the grooves. Controlling cell spreading on biomaterials would contribute to the creation of advanced biomaterials. In this paper, a TiO 2 film was formed on a Ti plate with an aerosol beam composed of sub micron-sized TiO 2 particles and helium gas. Periodic nanostructures, lying perpendicular to the laser electric field polarization vector, were formed on the film by scanning the femtosecond laser focusing spot. The period and height of the periodic nanostructures were about 230 nm and 150 nm, respectively. In a cell test, cell spreading was observed along the grooves of the periodic nanostructures; in contrast, cell spreading did not show a definite direction on TiO 2 a film without periodic nanostructures. These results suggest that the direction of cell spreading on the film can be controlled by periodic nanostructure formation generated using a femtosecond laser.

  19. Multi-robot control interface

    Science.gov (United States)

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

    2011-12-06

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

  20. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

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

  1. FPGA for Robotic Applications: from Android/Humanoid Robots to Artificial Men

    Directory of Open Access Journals (Sweden)

    Tole Sutikno

    2011-12-01

    Full Text Available Researches on home robots have been increasing enormously. There has always existed a continuous research effort on problems of anthropomorphic robots which is now called humanoid robots. Currently, robotics has evolved to the point that different branches have reached a remarkable level of maturity, that neural network and fuzzy logic are the main artificial intelligence as intelligent control on the robotics. Despite all this progress, while aiming at accomplishing work-tasks originally charged only to humans, robotic science has perhaps quite naturally turned into the attempt to create artificial men. It is true that artificial men or android humanoid robots open certainly very broad prospects. This “robot” may be viewed as a personal helper, and it will be called a home-robot, or personal robot. This is main reason why the two special sections are issued in the TELKOMNIKA sequentially.

  2. Teaching Joint-Level Robot Programming with a New Robotics Software Tool

    Directory of Open Access Journals (Sweden)

    Fernando Gonzalez

    2017-12-01

    Full Text Available With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.

  3. Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

    DEFF Research Database (Denmark)

    Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel

    2017-01-01

    In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....

  4. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System

    Directory of Open Access Journals (Sweden)

    Il Jae Lee

    2009-09-01

    Full Text Available In this study, we propose a precise 3D lug pose detection sensor for automatic robot welding of a lug to a huge steel plate used in shipbuilding, where the lug is a handle to carry the huge steel plate. The proposed sensor consists of a camera and four laser line diodes, and its design parameters are determined by analyzing its detectable range and resolution. For the lug pose acquisition, four laser lines are projected on both lug and plate, and the projected lines are detected by the camera. For robust detection of the projected lines against the illumination change, the vertical threshold, thinning, Hough transform and separated Hough transform algorithms are successively applied to the camera image. The lug pose acquisition is carried out by two stages: the top view alignment and the side view alignment. The top view alignment is to detect the coarse lug pose relatively far from the lug, and the side view alignment is to detect the fine lug pose close to the lug. After the top view alignment, the robot is controlled to move close to the side of the lug for the side view alignment. By this way, the precise 3D lug pose can be obtained. Finally, experiments with the sensor prototype are carried out to verify the feasibility and effectiveness of the proposed sensor.

  5. A theoretical model and experiments on the nonlinear dynamics of parallel plates subjected to laminar/turbulent squeeze-film forces

    International Nuclear Information System (INIS)

    Piteau, Philippe; Antunes, Jose

    2012-01-01

    Squeeze film dynamical effects are relevant in many industrial contexts, bearings and seals being the most conspicuous applications, but also in other industrial contexts, for instance when dealing with the seismic excitation of spent fuel racks. The significant nonlinearity of the squeeze-film forces which arise prevents the use of linearized flow models, and a fully nonlinear formulation must be used for adequate computational predictions. Because it can easily accommodate both laminar and turbulence flow effects, a simplified bulk-flow model based on gap-averaged Navier-Stokes equations, incorporating all relevant inertial and dissipative terms was previously developed by the authors, assuming a constant skin-friction coefficient. In this paper we develop an improved theoretical formulation, where the dependence of the friction coefficient on the local flow velocity is explicitly accounted for, such that it can be applied to laminar, turbulent and mixed flows. Numerical solutions for both the basic and improved nonlinear one-dimensional time-domain formulations are presented in the paper. Furthermore, we present and discuss the results of an extensive series of experiments performed at CEA/Saclay, which were performed on a test rig consisting on a long gravity-driven instrumented plate of rectangular shape colliding with a planar surface. Theoretical results stemming from both theoretical flow models are confronted with the experimental measurements, in order to assert the strengths and drawbacks of the simpler original model, as well as the improvements brought by the new but more involved flow formulation. (authors)

  6. Determination of acoustic properties of thin polymer films utilizing the frequency dependence of the reflection coefficient of ultrasound.

    Science.gov (United States)

    Tohmyoh, Hironori; Sakamoto, Yuhei

    2015-11-01

    This paper reports on a technique to measure the acoustic properties of a thin polymer film utilizing the frequency dependence of the reflection coefficient of ultrasound reflected back from a system comprising a reflection plate, the film, and a material that covers the film. The frequency components of the echo reflected from the back of the plate, where the film is attached, take their minimum values at the resonant frequency, and from these frequency characteristics, the acoustic impedance, sound velocity, and the density of the film can be determined. We applied this technique to characterize an ion exchange membrane, which has high water absorbability, and successfully determined the acoustic properties of the membrane without getting it wet.

  7. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  8. Nanomechanical testing of circular freestanding polymer films with sub-micron thickness

    International Nuclear Information System (INIS)

    Maner, Kyle C.; Begley, Matthew R.; Oliver, Warren C.

    2004-01-01

    This paper describes techniques to create freestanding films over perfectly circular spans (windows) and measure their mechanical properties using instrumented nanoindentation. Test samples were created by spin-casting polymer films over glass plates with embedded fibers, which were subsequently etched using a relatively weak acid to leave freestanding circular spans. The freestanding spans were tested using an instrumented nanoindenter over a wide range of applied loads and displacements. Material properties can be extracted from measured load-deflection responses using straightforward models for point-loads on circular plates or membranes. Results are presented for poly(methyl methacrylate) and poly(2,6,dimethyl,1,4,phenylene ether) films with thickness ranging from 350 to 750 nm. The properties derived from freestanding tests are compared with traditional nanoindentation of films on intact substrates. The freestanding approach has key advantages for characterizing micron-scale behavior of compliant materials, notably greater ease and applicability of sample preparation over other micro-fabrication techniques and straightforward analytical or numerical models

  9. Dynamics of a thermally driven film climbing the outside of a vertical cylinder.

    Science.gov (United States)

    Smolka, Linda B

    2017-10-01

    The dynamics of a film climbing the outside of a vertical cylinder under the competing effects of a thermally driven surface tension gradient and gravity is examined through numerical simulations of a thin-film model for the film height. The model, including boundary conditions, depends on three parameters, the scaled cylinder radius R[over ̂], the upstream film height h_{∞}, and the downstream precursor film thickness b, and reduces to the model for Marangoni driven film climbing a vertical plate in the limit R[over ̂]→∞. The axisymmetric advancing front displays dynamics similar to that found along a vertical plate where, depending on h_{∞}, the film forms a single Lax shock, an undercompressive double shock, or a rarefaction-undercompressive shock. A linear stability analysis of the Lax shock reveals the number of fingers that form along the contact line increases linearly with cylinder circumference while no fingers form for sufficiently small cylinders (below R[over ̂]≈1.15 when b=0.1). The substrate curvature controls the height of the Lax shock, bounds on h_{∞} that define the three distinct solutions, and the maximum growth rate of contact line perturbations to the Lax shock when R[over ̂]=O(1), whereas the three solutions and the stability of the Lax shock converge to the behavior one observes on a vertical plate when R[over ̂]≥O(10). An energy analysis reveals that the azimuthal curvatures of the base state and perturbation, which arise from the annular geometry of the film, promote instability of the advancing contact line.

  10. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

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

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  12. Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

    Science.gov (United States)

    Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

    2017-01-01

    Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

  13. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

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

  14. Origami Wheel Transformer: A Variable-Diameter Wheel Drive Robot Using an Origami Structure.

    Science.gov (United States)

    Lee, Dae-Young; Kim, Sa-Reum; Kim, Ji-Suk; Park, Jae-Jun; Cho, Kyu-Jin

    2017-06-01

    A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain is seriously limited. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By changing the radius of its wheels, the robot becomes able to pass over not only high steps but also narrow gaps. In this article, we propose a novel design for a variable-diameter wheel using an origami-based soft robotics design approach. By simply folding a patterned sheet into a wheel shape, a variable-diameter wheel was built without requiring lots of mechanical parts and a complex assembly process. The wheel's diameter can change from 30 to 68 mm, and it is light in weight at about 9.7 g. Although composed of soft materials (fabrics and films), the wheel can bear more than 400 times its weight. The robot was able to change the wheel's radius in response to terrain conditions, allowing it to pass over a 50-mm gap when the wheel is shrunk and a 50-mm step when the wheel is enlarged.

  15. A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation

    Science.gov (United States)

    Plante, Jean-Sébastien; Devita, Lauren M.; Dubowsky, Steven

    2007-04-01

    Fundamental studies of Dielectric Elastomer Actuators (DEAs) using viscoelastic materials such as VHB 4905/4910 from 3M showed significant advantages at high stretch rates. The film's viscous forces increase actuator life and the short power-on times minimize energy losses through current leakage. This paper presents a design paradigm that exploits these fundamental properties of DEAs called discrete actuation. Discrete actuation uses DEAs at high stretch rates to change the states of robotic or mechatronic systems in discrete steps. Each state of the system is stable and can be maintained without actuator power. Discrete actuation can be used in robotic and mechatronic applications such as manipulation and locomotion. The resolution of such systems increases with the number of discrete states, 10 to 100 being sufficient for many applications. An MRI-guided needle positioning device for cancer treatments and a space exploration robot using hopping for locomotion are presented as examples of this concept.

  16. Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

    Science.gov (United States)

    Kazakoff, Elizabeth R.; Bers, Marina Umaschi

    2014-01-01

    This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

  17. Modeling particulate removal in plate-plate and wire-plate electrostatic precipitators

    Directory of Open Access Journals (Sweden)

    S Ramechecandane

    2016-09-01

    Full Text Available The present study is concerned with the modeling of electrically charged particles in a model plate-plate and a single wire-plate electrostatic precipitator (ESP. The particle concentration distributions for both a plate-plate and a wire-plate ESP are calculated using a modified drift flux model. Numerical investigations are performed using the modified drift flux model for particle number concentration, in addition to the RNG k - ε model for the mean turbulent flow field and the Poisson equation for the electric field. The proposed model and the outlined methodology for coupling the flow field, electric field, charging kinetics and particle concentration is applied to two model precipitators that are truly representative of a wide class of commercialized ESPs. The present investigation is quite different from the earlier studies as it does not make assumptions like a homogeneous electric field or an infinite turbulent diffusivity. The electric field calculated is a strong function of position and controls the migration velocity of particles. Hence, the proposed model can be implemented in a flow solver to obtain a full-fledged solution for any kind of ESP with no limitations on the particle number concentration, as encountered in a Lagrangian approach. The effect of turbulent diffusivity on particle number concentration in a plate-plate ESP is investigated in detail and the results obtained are compared with available experimental data. Similarly, the effect of particle size/diameter and applied electric potential on the accumulative collection performance in the case of a wire-plate ESP is studied and the results obtained are compared with available numerical data. The numerical results obtained using the modified drift flux model for both the plate-plate and wire-plate ESP are in close agreement with available experimental and numerical data.

  18. Stabilized copper plating method by programmed electroplated current: Accumulation of densely packed copper grains in the interconnect

    Energy Technology Data Exchange (ETDEWEB)

    Kao, Li-Chi; Hsu, Li-Hsuan; Brahma, Sanjaya; Huang, Bo-Chia; Liu, Chun-Chu; Lo, Kuang-Yao, E-mail: kuanglo@mail.ncku.edu.tw

    2016-12-01

    Highlights: • Actual Cu interconnect experiences many times of annealing and then cause the stress. • Stack Cu grains with varying grain size successively to enhance packed density. • XRD and PBR analyze the residual stress of local and average area of plated Cu film. • High packed Cu grain with stable stress proved by texture of Cu(1 1 1) and Cu(2 0 0). - Abstract: In this work, we programmed the plating current to stack the different size of copper (Cu) grain and analyzed the relation between the sequence of different Cu grain size and the stability of the residual stress. The residual stress was measured with varying times of annealing process in order to reach the purpose of simulating the actual Cu interconnect process. We found that varied plating strategy will make different stabilization condition of residual stress through the proof of X-ray diffraction (XRD) and optical parallel beams reflection (PBR) method. The accumulation of Cu grains, formed by Cu grain with successive variation in grain size, would enhance the packing density better than only single grain size in the finite space. The high density of the grain boundary in the electroplated Cu film will be eliminated through annealing process and it will help to suppress the void formation in further interconnect process. The electroplated Cu film with the plating current of saw tooth wave can soon reach a stable tensile stress through annealing since the Cu grains with high packing density will be quickly eliminated to approach the minimum of the strain energy which reflects to variation in the texture of Cu (2 0 0). The result of this work illustrates the importance of how to stack different size of Cu grain, for achieving a densely packed Cu film which close to the Cu bulk.

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

    Science.gov (United States)

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

    2010-01-01

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

  20. Fabrication of Hydrophobic Surface on Wood Veneer via Electroless Nickel Plating Combined with Chemical Corrosion

    Directory of Open Access Journals (Sweden)

    Zhaojun Tang

    2015-12-01

    Full Text Available Birch veneers were coated with Ni-P films by a combined process of KBH4 activation and electroless plating. The plated veneers were further chemically corroded to obtain hydrophobic surfaces on wood. The effect of chemical corrosion on the contact angle of the veneers was investigated. The hydrophobic veneers were characterized by X-ray photo electron spectroscopy (XPS, scanning electron microscopy (SEM, and X-ray diffraction (XRD. The surface contact angle of birch veneer before and after it was plated with Ni-P alloy coating was 41º and 121º, respectively. The contact angle reached 136.7º when the nickel-coated veneers were corroded in CuSO4 aqueous solution for 30 min. XPS analysis showed that Cu0 cluster doped with little CuO formed on the corroded surface of Ni-P alloy film after chemical corrosion. SEM and XRD showed that rough copper clusters formed on the surface of the wood veneer and revealed the reason of the surface hydrophobicity. This study provides a new pathway for fabricating hydrophobic wood.

  1. Comparison of stimulable phosphor technology and conventional screen-film technology in pediatric scoliosis

    International Nuclear Information System (INIS)

    Stringer, D.A.; Cairns, R.A.; Poskitt, K.J.; Bray, H.; Milner, R.; Kennedy, B.

    1994-01-01

    One hundred consecutive patients being investigated for scoliosis were studied using a double cassette containing a conventional film screen and a stimulable phosphor plate. The images were separated, randomised and scored thrice by three radiologists for anatomic structure visualisation. The exposure to the plate and film and repeat rate were measured. Scoliosis angles were comparable on both sets of images, however, visualisation of vertebrae, vertebral end plates, pedicles, spinous processes and other structures were significantly improved (p < 0.0001). Intra- and inter-observer reliability was high with good intraclass correlation. There was a 40% potential exposure reduction, and retakes were decreased from 3 to 0%. We conclude that stimulable phosphor images give better anatomic structure visualisation with potential radiation exposure reduction and lower repeat rate. (orig.)

  2. Process for forming thin film, heat treatment process of thin film sheet, and heat treatment apparatus therefor

    International Nuclear Information System (INIS)

    Watanabe, S.

    1984-01-01

    The invention provides a process for forming a magnetic thin film on a base film, a heat treatment process of a thin film sheet consisting of the base film and the magnetic thin film, and an apparatus for performing heat treatment of the thin film sheet. Tension applied to the thin film sheet is substantially equal to that applied to the base film when the magnetic thin film is formed thereon. Then, the thin film sheet is treated with heat. The thin film sheet is heated with a given temperature gradient to a reactive temperature at which heat shrinkage occurs, while the tension is being applied thereto. Thereafter, the thin film sheet to which the tension is still applied is cooled with substantially the same temperature gradient as applied in heating. The heat treatment apparatus has a film driving unit including a supply reel, a take-up reel, a drive source and guide rollers; a heating unit including heating plates, heater blocks and a temperature controller for heating the sheet to the reactive temperature; and a heat insulating unit including a thermostat and another temperature controller for maintaining the sheet at the nonreactive temperature which is slightly lower than the reactive temperature

  3. Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mazen Ghandour

    2017-06-01

    Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

  4. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

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

  5. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

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

  6. Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

    CERN Document Server

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

    Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

  7. Robot Wars: US Empire and geopolitics in the robotic age

    Science.gov (United States)

    Shaw, Ian GR

    2017-01-01

    How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

  8. Cell spreading on titanium dioxide film formed and modified with aerosol beam and femtosecond laser

    Energy Technology Data Exchange (ETDEWEB)

    Shinonaga, Togo, E-mail: togo@jwri.osaka-u.ac.jp [Graduate School of Engineering, Osaka University, 1-1 Yamadaoka, Suita, Osaka 565-0871 (Japan); Tsukamoto, Masahiro [Joining and Welding Research Institute, Osaka University, 11-1 Mihogaoka, Ibaraki, Osaka 567-0047 (Japan); Nagai, Akiko; Yamashita, Kimihiro; Hanawa, Takao [Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, 2-3-10 Kanda-Surugadai, Chiyoda-ku, Tokyo 101-0062 (Japan); Matsushita, Nobuhiro [Materials and Structures Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503 (Japan); Xie, Guoqiang [Institute for Materials Research, Tohoku University, 2-1-1 Karahira, Aoba-ku, Sendai, Miyagi 980-8577 (Japan); Abe, Nobuyuki [Joining and Welding Research Institute, Osaka University, 11-1 Mihogaoka, Ibaraki, Osaka 567-0047 (Japan)

    2014-01-01

    Titanium (Ti) is widely used in biomaterials because of its excellent anti-corrosion properties and high strength. However, Ti has no biological function, so its bioactivity must be improved. Coating a titanium dioxide (TiO{sub 2}) film on a Ti plate surface has been shown to improve the biocompatibility of Ti plates. If periodic nanostructures were formed on the film surface, the direction of cell spreading might be controlled by the direction of the grooves. Controlling cell spreading on biomaterials would contribute to the creation of advanced biomaterials. In this paper, a TiO{sub 2} film was formed on a Ti plate with an aerosol beam composed of sub micron-sized TiO{sub 2} particles and helium gas. Periodic nanostructures, lying perpendicular to the laser electric field polarization vector, were formed on the film by scanning the femtosecond laser focusing spot. The period and height of the periodic nanostructures were about 230 nm and 150 nm, respectively. In a cell test, cell spreading was observed along the grooves of the periodic nanostructures; in contrast, cell spreading did not show a definite direction on TiO{sub 2} a film without periodic nanostructures. These results suggest that the direction of cell spreading on the film can be controlled by periodic nanostructure formation generated using a femtosecond laser.

  9. Method for the radioimmunoassay of large numbers of samples using quantitative autoradiography of multiple-well plates

    International Nuclear Information System (INIS)

    Luner, S.J.

    1978-01-01

    A double antibody assay for thyroxine using 125 I as label was carried out on 10-μl samples in Microtiter V-plates. After an additional centrifugation to compact the precipitates the plates were placed in contact with x-ray film overnight and the spots were scanned. In the 20 to 160 ng/ml range the average coefficient of variation for thyroxine concentration determined on the basis of film spot optical density was 11 percent compared to 4.8 percent obtained using a standard gamma counter. Eliminating the need for each sample to spend on the order of 1 min in a crystal well detector makes the method convenient for large-scale applications involving more than 3000 samples per day

  10. Electrochemical estimation on the applicability of nickel plating to EAC problems in CRDM nozzle

    International Nuclear Information System (INIS)

    Oh, Si Hyoung; Hwang, Il Soon

    2002-01-01

    The applicability of nickel-plating to EAC problems in CRDM nozzle was estimated in the light of electrochemical aspect. The passive film growth law for nickel was improved to include oxide dissolution rate improving conventional point defect model to explain retarded passivation of plated nickel in PWR primary side water environment and compared with experimental data. According to this model, oxide growth and passivation current is closely related with oxide dissolution rate because steady state is made only if oxide formation and oxide destruction rate are same, from which oxide dissolution rate constant, k s , was quantitatively obtained utilizing experimental data. Commonly observed current-time behavior, i∝t m ,where m is different from 1 or 0.5, for passive film formation can be accounted for by virtue of enhanced oxide dissolution in high temperature aqueous environment

  11. Robotic vision system for random bin picking with dual-arm robots

    Directory of Open Access Journals (Sweden)

    Kang Sangseung

    2016-01-01

    Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

  12. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

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

  13. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

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

  14. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

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

  15. Social Robots

    DEFF Research Database (Denmark)

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

  16. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

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

  17. Static friction of porous bioceramic beta-TCP on intestinal mucus films.

    Science.gov (United States)

    Wang, Xin-Yu; Han, Ying-Chao; Jiang, Xin; Dai, Hong-Lian; Li, Shi-Pu

    2006-09-01

    The static friction behavior between a porous bioceramic material and an intestinal mucus film was investigated in order to develop a new intestine robotic endoscope. Here, the friction couple is porous beta-tricalcium phosphate (beta-TCP) and an artificial intestine mucus film. The effect of pore size of the beta-TCP material on the friction behavior is investigated. The results illustrated that in this friction system there is a relatively small normal force upon the intestinal mucus film of the intestine wall during locomotion. The maximum static friction force in this friction couple varies with the pore size of the porous beta-TCP material.

  18. Static friction of porous bioceramic β-TCP on intestinal mucus films

    International Nuclear Information System (INIS)

    Wang Xinyu; Han Yingchao; Jiang Xin; Dai Honglian; Li Shipu

    2006-01-01

    The static friction behavior between a porous bioceramic material and an intestinal mucus film was investigated in order to develop a new intestine robotic endoscope. Here, the friction couple is porous β-tricalcium phosphate (β-TCP) and an artificial intestine mucus film. The effect of pore size of the β-TCP material on the friction behavior is investigated. The results illustrated that in this friction system there is a relatively small normal force upon the intestinal mucus film of the intestine wall during locomotion. The maximum static friction force in this friction couple varies with the pore size of the porous β-TCP material

  19. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-01-01

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

  20. Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots

    Science.gov (United States)

    2010-04-01

    you are performing the low crawl 4.25 5.00 Drive the robot while you are negotiating the hill 6.00 5.00 Drive the robot while you are climbing the... stairs 4.67 5.00 Drive the robot while you are walking 5.70 5.27 HMD It was fairly doable. 1 When you’re looking through the lens, it’s not...Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots by Elizabeth S. Redden, Rodger A. Pettitt

  1. Human-Robot Interaction

    Science.gov (United States)

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

    2015-01-01

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

  2. 75 FR 49893 - Polyethylene Terephthalate Film, Sheet, and Strip From the People's Republic of China...

    Science.gov (United States)

    2010-08-16

    ..., Stretch Wrap Film, Plastic Bag, Paper Plate, PE Foam using November 2008 through October 2009 weighted... Teijin Films, Mitsubishi Polyester Film, Inc., SKC, Inc., and Toray Plastics (America), Inc.... U.S. Price In accordance with section 772(a) of the Act, the Department used EP as the basis for U.S...

  3. Nickel-plating for active metal dissolution resistance in molten fluoride salts

    Energy Technology Data Exchange (ETDEWEB)

    Olson, Luke [Department of Engineering Physics, 1500 Engineering Drive, University of Wisconsin, Madison, WI 53706 (United States); Sridharan, Kumar, E-mail: kumar@engr.wisc.edu [Department of Engineering Physics, 1500 Engineering Drive, University of Wisconsin, Madison, WI 53706 (United States); Anderson, Mark; Allen, Todd [Department of Engineering Physics, 1500 Engineering Drive, University of Wisconsin, Madison, WI 53706 (United States)

    2011-04-15

    Ni electroplating of Incoloy-800H was investigated with the goal of mitigating Cr dissolution from this alloy into molten 46.5%LiF-11.5%NaF-42%KF eutectic salt, commonly referred to as FLiNaK. Tests were conducted in graphite crucibles at a molten salt temperature of 850 deg. C. The crucible material graphite accelerates the corrosion process due to the large activity difference between the graphite and the alloy. For the purposes of providing a baseline for this study, un-plated Incoloy-800H and a nearly pure Ni-alloy, Ni-201 were also tested. Results indicate that Ni-plating has the potential to significantly improve the corrosion resistance of Incoloy-800H in molten fluoride salts. Diffusion of Cr from the alloy through the Ni-plating does occur and if the Ni-plating is thin enough this Cr eventually dissolves into the molten salt. The post-corrosion test microstructure of the Ni-plating, particularly void formation was also observed to depend on the plating thickness. Diffusion anneals in a helium environment of Ni-plated Incoloy-800H and an Fe-Ni-Cr model alloy were also investigated to understand Cr diffusion through the Ni-plating. Further enhancements in the efficacy of the Ni-plating as a protective barrier against Cr dissolution from the alloy into molten fluoride salts can be achieved by thermally forming a Cr{sub 2}O{sub 3} barrier film on the surface of the alloy prior to Ni electroplating.

  4. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  5. Parallel-plate third sound waveguides with fixed and variable plate spacings for the study of fifth sound in superfluid helium

    International Nuclear Information System (INIS)

    Jelatis, G.J.

    1983-01-01

    Third sound in superfluid helium four films has been investigated using two parallel-plate waveguides. These investigations led to the observation of fifth sound, a new mode of sound propagation. Both waveguides consisted of two parallel pieces of vitreous quartz. The sound speed was obtained by measuring the time-of-flight of pulsed third sound over a known distance. Investigations from 1.0-1.7K were possible with the use of superconducting bolometers, which measure the temperature component of the third sound wave. Observations were initially made with a waveguide having a plate separation fixed at five microns. Adiabatic third sound was measured in the geometry. Isothermal third sound was also observed, using the usual, single-substrate technique. Fifth sound speeds, calculated from the two-fluid theory of helium and the speeds of the two forms of third sound, agreed in size and temperature dependence with theoretical predictions. Nevertheless, only equivocal observations of fifth sound were made. As a result, the film-substrate interaction was examined, and estimates of the Kapitza conductance were made. Assuming the dominance of the effects of this conductance over those due to the ECEs led to a new expression for fifth sound. A reanalysis of the initial data was made, which contained no adjustable parameters. The observation of fifth sound was seen to be consistent with the existence of an anomalously low boundary conductance

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

    Directory of Open Access Journals (Sweden)

    Kristel Knaepen

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

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

    Science.gov (United States)

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

    2015-01-01

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

  8. Comparative study of CdTe sources used for deposition of CdTe thin films by close spaced sublimation technique

    Directory of Open Access Journals (Sweden)

    Wagner Anacleto Pinheiro

    2006-03-01

    Full Text Available Unlike other thin film deposition techniques, close spaced sublimation (CSS requires a short source-substrate distance. The kind of source used in this technique strongly affects the control of the deposition parameters, especially the deposition rate. When depositing CdTe thin films by CSS, the most common CdTe sources are: single-crystal or polycrystalline wafers, powders, pellets or pieces, a thick CdTe film deposited onto glass or molybdenum substrate (CdTe source-plate and a sintered CdTe powder. In this work, CdTe thin films were deposited by CSS technique from different CdTe sources: particles, powder, compact powder, a paste made of CdTe and propylene glycol and source-plates (CdTe/Mo and CdTe/glass. The largest deposition rate was achieved when a paste made of CdTe and propylene glycol was used as the source. CdTe source-plates led to lower rates, probably due to the poor heat transmission, caused by the introduction of the plate substrate. The results also showed that compacting the powder the deposition rate increases due to the better thermal contact between powder particles.

  9. Fabrication of barium titanate nanoparticles/poly (methylmethacrylate composite films by a combination of deposition process and spin-coating technique

    Directory of Open Access Journals (Sweden)

    Yoshio Kobayashi

    2014-10-01

    Full Text Available The present work proposes a method for fabricating poly(methylmethacrylate (PMMA film containing barium titanate (BT nanoparticles (BT/PMMA film. BT particles with an average size of 77.6 ± 30.5 nm and a crystal size of 28.1 nm were synthesized by adding sodium hydroxide aqueous solution to titanium tetraisopropoxide/acetylacetone/i-propanol solution suspending barium hydroxide. A sodium glass plate, of which surface was modified with polyvinylpyrrolidone, was immersed into water suspending the BT particles, which resulted in deposition of the BT particles on the plate. A BT/PMMA film was fabricated by twice performance of a process composed of spin-coating of N-methyl-2-pyrrolidone (NMP dissolving PMMA on the plate, and then drying the coated plate in the atmosphere at room temperature. Spin-coating of a PMMA/NMP solution with a PMMA concentration of 150 g/L at a rotating speed of 5000 rpm provided fabrication of a BT/PMMA film with a BT volume fraction of 35.5%, a thickness of ca. 300 nm, and a transmittance of ca. 90% in the visible light region.

  10. Roles and Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

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

    2007-01-01

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

  11. Linear temporal and spatio-temporal stability analysis of a binary liquid film flowing down an inclined uniformly heated plate

    Science.gov (United States)

    Hu, Jun; Hadid, Hamda Ben; Henry, Daniel; Mojtabi, Abdelkader

    Temporal and spatio-temporal instabilities of binary liquid films flowing down an inclined uniformly heated plate with Soret effect are investigated by using the Chebyshev collocation method to solve the full system of linear stability equations. Seven dimensionless parameters, i.e. the Kapitza, Galileo, Prandtl, Lewis, Soret, Marangoni, and Biot numbers (Ka, G, Pr, L, ) are used to control the flow system. In the case of pure spanwise perturbations, thermocapillary S- and P-modes are obtained. It is found that the most dangerous modes are stationary for positive Soret numbers (0), and oscillatory for =0 remains so for >0 and even merges with the long-wave S-mode. In the case of streamwise perturbations, a long-wave surface mode (H-mode) is also obtained. From the neutral curves, it is found that larger Soret numbers make the film flow more unstable as do larger Marangoni numbers. The increase of these parameters leads to the merging of the long-wave H- and S-modes, making the situation long-wave unstable for any Galileo number. It also strongly influences the short-wave P-mode which becomes the most critical for large enough Galileo numbers. Furthermore, from the boundary curves between absolute and convective instabilities (AI/CI) calculated for both the long-wave instability (S- and H-modes) and the short-wave instability (P-mode), it is shown that for small Galileo numbers the AI/CI boundary curves are determined by the long-wave instability, while for large Galileo numbers they are determined by the short-wave instability.

  12. Robot Teachers

    DEFF Research Database (Denmark)

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

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

  13. Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

    NARCIS (Netherlands)

    Kooijmans, T.; Kanda, T.; Bartneck, C.; Ishiguro, H.; Hagita, N.

    2007-01-01

    The development of interactive robots is a complicated process, involving a plethora of psychological, technical, and contextual influences. To design a robot capable of operating "intelligently" in everyday situations, one needs a profound understanding of human-robot interaction (HRI). We propose

  14. A Novel Continuous Extrusion Process to Fabricate Wedge-Shaped Light Guide Plates

    Directory of Open Access Journals (Sweden)

    Wen-Tse Hsiao

    2013-01-01

    Full Text Available Backlight modules are key components in thin-film transistor liquid crystal displays (TFT-LCD. Among the components of a backlight module, the light guide plate (LGP plays the most important role controlling the light projected to the eyes of users. A wedge-shaped LGP, with its asymmetrical structure, is usually fabricated by an injection proces, but the fabrication time of this process is long. This study proposes a continuous extrusion process to fabricate wedge-shaped LGPs. This continuous process has advantages for mass production. Besides a T-die and rollers, this system also has an in situ monitor of the melt-bank that forms during the extrusion process, helping control the plate thickness. Results show that the melt bank has a close relationship with the plate thickness. The temperature of the bottom heater and roller was adjusted to reduce the surface deformation of the wedge-shaped plate. This continuous extrusion system can successfully manufacture wedge-shaped LGPs for mass production.

  15. Characteristics of pressure gradients in downflow condensing of nitrogen in plain, brazed aluminium, plate-fin heat exchanger passages

    International Nuclear Information System (INIS)

    Robertson, J.M.; Blundell, N.; Clarke, R.H.

    1987-01-01

    Measurements of the total two-phase gradients have been made during the downflow condensing of nitrogen in a vertical plain, plate-fin test-section. The results show that pressure recovery occurs only at very low qualities, at low mass flux the falling film is smooth and at high mass flux it is rough. A relationship between the apparent film roughness and the calculated film thickness has been established. The implications for designers of heat exchangers are discussed

  16. 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...

  17. Application of anodizing as a pre-treatment for nickel plating on aluminum

    International Nuclear Information System (INIS)

    Mehmood, M.; Ahmad, J.; Aslam, M.; Iqbal, M.; Akhtar, J.I.

    2003-01-01

    Effect of anodizing on subsequent electroplating of nickel on aluminum was investigated. Electroplated nickel did not exhibit any adhesion with un-anodized aluminum. Formation of a very thin anodized alumina film prior to nickel plating led to an excellent adhesion between the nickel film and the substrate. If the thickness of the alumina film increased, adhesion of electroplated nickel was significantly deteriorated and became similar to that of un-anodized bare aluminum. The study revealed that deposition proceeded through pores and defects in the insulator alumina film. These pores and defects also acted as nucleation and anchor points for nickel deposit. There was larger number of nucleation/ anchor points on thin alumina films. This provided better adhesion of nickel with the substrate as well as excellent coverage in relatively shorter times. On the other hand, very rough and poorly adherent nickel deposits formed on thick anodized films. Therefore, it may be used as precursor for producing nickel powder with controlled particle size as well as a catalyst with high specific surface area for hydrogenation and dehydrogenation reactions. (author)

  18. Robot fish bio-inspired fishlike underwater robots

    CERN Document Server

    Li, Zheng; Youcef-Toumi, Kamal; Alvarado, Pablo

    2015-01-01

    This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.

  19. Robotics in endoscopy.

    Science.gov (United States)

    Klibansky, David; Rothstein, Richard I

    2012-09-01

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

  20. Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

    Directory of Open Access Journals (Sweden)

    Addythia Saphala

    2015-10-01

    Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.

  1. SU-E-T-235: Monte Carlo Analysis of the Dose Enhancement in the Scalp of Patients Due to Titanium Plate Backscatter During Post-Operative Radiotherapy

    International Nuclear Information System (INIS)

    Hardin, M; Elson, H; Lamba, M; Wolf, E; Warnick, R

    2014-01-01

    Purpose: To quantify the clinically observed dose enhancement adjacent to cranial titanium fixation plates during post-operative radiotherapy. Methods: Irradiation of a titanium burr hole cover was simulated using Monte Carlo code MCNPX for a 6 MV photon spectrum to investigate backscatter dose enhancement due to increased production of secondary electrons within the titanium plate. The simulated plate was placed 3 mm deep in a water phantom, and dose deposition was tallied for 0.2 mm thick cells adjacent to the entrance and exit sides of the plate. These results were compared to a simulation excluding the presence of the titanium to calculate relative dose enhancement on the entrance and exit sides of the plate. To verify simulated results, two titanium burr hole covers (Synthes, Inc. and Biomet, Inc.) were irradiated with 6 MV photons in a solid water phantom containing GafChromic MD-55 film. The phantom was irradiated on a Varian 21EX linear accelerator at multiple gantry angles (0–180 degrees) to analyze the angular dependence of the backscattered radiation. Relative dose enhancement was quantified using computer software. Results: Monte Carlo simulations indicate a relative difference of 26.4% and 7.1% on the entrance and exit sides of the plate respectively. Film dosimetry results using a similar geometry indicate a relative difference of 13% and -10% on the entrance and exit sides of the plate respectively. Relative dose enhancement on the entrance side of the plate decreased with increasing gantry angle from 0 to 180 degrees. Conclusion: Film and simulation results demonstrate an increase in dose to structures immediately adjacent to cranial titanium fixation plates. Increased beam obliquity has shown to alleviate dose enhancement to some extent. These results are consistent with clinically observed effects

  2. High-current-density electrodeposition using pulsed and constant currents to produce thick CoPt magnetic films on silicon substrates

    Science.gov (United States)

    Ewing, Jacob; Wang, Yuzheng; Arnold, David P.

    2018-05-01

    This paper investigates methods for electroplating thick (>20 μm), high-coercivity CoPt films using high current densities (up to 1 A/cm2) and elevated bath temperatures (70 °C). Correlations are made tying current-density and temperature process parameters with plating rate, elemental ratio and magnetic properties of the deposited CoPt films. It also investigates how pulsed currents can increase the plating rate and film to substrate adhesion. Using 500 mA/cm2 and constant current, high-quality, dense CoPt films were successfully electroplated up to 20 μm thick in 1 hr on silicon substrates (0.35 μm/min plating rate). After standard thermal treatment (675°C, 30 min) to achieve the ordered L10 crystalline phase, strong magnetic properties were measured: coercivities up 850 kA/m, remanences >0.5 T, and maximum energy products up to 46 kJ/m3.

  3. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  4. Proceedings of the Flat-Plate Solar Array Project Research Forum on Photovoltaic Metallization Systems

    Science.gov (United States)

    1983-01-01

    A photovoltaic Metallization Research forum, under the sponsorship of the Flat-Plate Solar Array Project consisted of five sessions, covering: (1) the current status of metallization systems, (2) system design, (3) thick-film metallization, (4) advanced techniques, and (5) future metallization challenges.

  5. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

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

  6. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

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

  7. Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

    Directory of Open Access Journals (Sweden)

    Aimi S. Ghazali

    2018-06-01

    Full Text Available The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans. Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.

  8. Flat plate film cooling at the coolant supply into triangular and cylindrical craters

    Directory of Open Access Journals (Sweden)

    Khalatov Artem A.

    2017-01-01

    Full Text Available The results are given of the film cooling numerical simulation of three different schemes including single-array of the traditional round inclined holes, as well as inclined holes arranged in the cylindrical or triangular dimples (craters. The results of simulation showed that at the medium and high values of the blowing ratio (m > 1.0 the scheme with coolant supply into triangular craters improves the adiabatic film cooling efficiency by 1.5…2.7 times compared to the traditional array of inclined holes, or by 1.3…1.8 times compared to the scheme with coolant supply into cylindrical craters. The greater film cooling efficiency with the coolant supply into triangular craters is explained by decrease in the intensity of secondary vortex structures (“kidney” vortex. This is due to the partial destruction and transformation of the coolant jets structure interacting with front wall of the crater. Simultaneously, the film cooling uniformity is increased in the span-wise direction.

  9. Robotic seeding

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  10. An Adaptive Robot Game

    DEFF Research Database (Denmark)

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

    2010-01-01

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

  11. 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 ...

  12. Control design and robustness analysis of a ball and plate system by using polynomial chaos

    Energy Technology Data Exchange (ETDEWEB)

    Colón, Diego [University of São Paulo, Polytechnic School, LAC -PTC, São Paulo (Brazil); Balthazar, José M. [São Paulo State University - Rio Claro Campus, Rio Claro (Brazil); Reis, Célia A. dos [São Paulo State University - Bauru Campus, Bauru (Brazil); Bueno, Átila M.; Diniz, Ivando S. [São Paulo State University - Sorocaba Campus, Sorocaba (Brazil); Rosa, Suelia de S. R. F. [University of Brasilia, Brasilia (Brazil)

    2014-12-10

    In this paper, we present a mathematical model of a ball and plate system, a control law and analyze its robustness properties by using the polynomial chaos method. The ball rolls without slipping. There is an auxiliary robot vision system that determines the bodies' positions and velocities, and is used for control purposes. The actuators are to orthogonal DC motors, that changes the plate's angles with the ground. The model is a extension of the ball and beam system and is highly nonlinear. The system is decoupled in two independent equations for coordinates x and y. Finally, the resulting nonlinear closed loop systems are analyzed by the polynomial chaos methodology, which considers that some system parameters are random variables, and generates statistical data that can be used in the robustness analysis.

  13. The Microphenotron: a robotic miniaturized plant phenotyping platform with diverse applications in chemical biology

    KAUST Repository

    Burrell, Thomas

    2017-03-01

    Background Chemical genetics provides a powerful alternative to conventional genetics for understanding gene function. However, its application to plants has been limited by the lack of a technology that allows detailed phenotyping of whole-seedling development in the context of a high-throughput chemical screen. We have therefore sought to develop an automated micro-phenotyping platform that would allow both root and shoot development to be monitored under conditions where the phenotypic effects of large numbers of small molecules can be assessed. Results The ‘Microphenotron’ platform uses 96-well microtitre plates to deliver chemical treatments to seedlings of Arabidopsis thaliana L. and is based around four components: (a) the ‘Phytostrip’, a novel seedling growth device that enables chemical treatments to be combined with the automated capture of images of developing roots and shoots; (b) an illuminated robotic platform that uses a commercially available robotic manipulator to capture images of developing shoots and roots; (c) software to control the sequence of robotic movements and integrate these with the image capture process; (d) purpose-made image analysis software for automated extraction of quantitative phenotypic data. Imaging of each plate (representing 80 separate assays) takes 4 min and can easily be performed daily for time-course studies. As currently configured, the Microphenotron has a capacity of 54 microtitre plates in a growth room footprint of 2.1 m2, giving a potential throughput of up to 4320 chemical treatments in a typical 10 days experiment. The Microphenotron has been validated by using it to screen a collection of 800 natural compounds for qualitative effects on root development and to perform a quantitative analysis of the effects of a range of concentrations of nitrate and ammonium on seedling development. Conclusions The Microphenotron is an automated screening platform that for the first time is able to combine large

  14. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

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

  15. Optical properties of gold films and the Casimir force

    International Nuclear Information System (INIS)

    Svetovoy, V. B.; Zwol, P. J. van; Palasantzas, G.; De Hosson, J. Th. M.

    2008-01-01

    Precise optical properties of metals are very important for accurate prediction of the Casimir force acting between two metallic plates. Therefore we measured ellipsometrically the optical responses of Au films in a wide range of wavelengths from 0.14 to 33 μm. The films at various thicknesses were deposited at different conditions on silicon or mica substrates. Considerable variation of the frequency dependent dielectric function from sample to sample was found. Detailed analysis of the dielectric functions was performed to check the Kramers-Kronig consistency, and extract the Drude parameters of the films. It was found that the plasma frequency varies in the range from 6.8 to 8.4 eV. It is suggested that this variation is related with the film density. X-ray reflectivity measurements support qualitatively this conclusion. The Casimir force is evaluated for the dielectric functions corresponding to our samples, and for that typically used in the precise prediction of the force. The force for our films was found to be 5%-14% smaller at a distance of 100 nm between the plates. Noise in the optical data is responsible for the force variation within 1%. It is concluded that prediction of the Casimir force between metals with a precision better than 10% must be based on the material optical response measured from visible to mid-infrared range

  16. On a First Evaluation of ROMOT—A RObotic 3D MOvie Theatre—For Driving Safety Awareness

    Directory of Open Access Journals (Sweden)

    Sergio Casas

    2017-03-01

    Full Text Available In this paper, we introduce ROMOT, a RObotic 3D-MOvie Theatre, and present a case study related to driving safety. ROMOT is built with a robotic motion platform, includes multimodal devices, and supports audience-film interaction. We show the versatility of the system by means of different types of system setups and generated content that includes a first-person movie and others involving the technologies of virtual, augmented, and mixed realities. Finally, we present the results of some preliminary user tests made at the laboratory level, including the system usability scale. They give satisfactory scores for the usability of the system and the individual’s satisfaction.

  17. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

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

  18. Hydrodynamics of a flexible plate between pitching rigid plates

    Science.gov (United States)

    Kim, Junyoung; Kim, Daegyoum

    2017-11-01

    The dynamics of a flexible plate have been studied as a model problem in swimming and flying of animals and fluid-structure interaction of plants and flags. Motivated by fish schooling and an array of sea grasses, we investigate the dynamics of a flexible plate closely placed between two pitching rigid plates. In most studies on passive deformation of the flexible plate, the plate is immersed in a uniform flow or a wavy flow. However, in this study, the flexible plate experiences periodic deformation by the oscillatory flow generated by the prescribed pitching motion of the rigid plates. In our model, the pitching axes of the rigid plates and the clamping position of the flexible plate are aligned on the same line. The flexible plate shows various responses depending on length and pitching frequency of rigid plates, thickness of a flexible plate, and free-stream velocity. To find the effect of each variable on the response of the flexible plate, amplitude of a trailing edge and modal contribution of a flapping motion are compared, and flow structure around the flexible plate is examined.

  19. Design and Implementation of Fire Extinguisher Robot with Robotic Arm

    Directory of Open Access Journals (Sweden)

    Memon Abdul Waris

    2018-01-01

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

  20. The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

    Science.gov (United States)

    Arnold, Thomas; Scheutz, Matthias

    2017-06-01

    Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

  1. Preparation and characterization of thin-film Pd–Ag supported membranes for high-temperature applications

    NARCIS (Netherlands)

    Fernandez Gesalaga, Ekain; Coenen, Kai; Helmi Siasi Farimani, Arash; Melendez, J.; Zuniga, Jon; Pacheco Tanaka, David Alfredo; van Sint Annaland, Martin; Gallucci, Fausto

    2015-01-01

    This paper reports the preparation, characterization and stability tests of thin-film Pd–Ag supported membranes for high-temperature fluidized bed membrane reactor applications. Various thin-film supported membranes have been prepared by simultaneous Pd–Ag electroless plating and have been initially

  2. Robot-assisted general surgery.

    Science.gov (United States)

    Hazey, Jeffrey W; Melvin, W Scott

    2004-06-01

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

  3. A comparison of the imaging characteristics of the new Kodak Hyper Speed G film with the current T-MAT G/RA film and the CR 9000 system.

    Science.gov (United States)

    Monnin, P; Gutierrez, D; Bulling, S; Lepori, D; Verdun, F R

    2005-10-07

    Three standard radiation qualities (RQA 3, RQA 5 and RQA 9) and two screens, Kodak Lanex Regular and Insight Skeletal, were used to compare the imaging performance and dose requirements of the new Kodak Hyper Speed G and the current Kodak T-MAT G/RA medical x-ray films. The noise equivalent quanta (NEQ) and detective quantum efficiencies (DQE) of the four screen-film combinations were measured at three gross optical densities and compared with the characteristics for the Kodak CR 9000 system with GP (general purpose) and HR (high resolution) phosphor plates. The new Hyper Speed G film has double the intrinsic sensitivity of the T-MAT G/RA film and a higher contrast in the high optical density range for comparable exposure latitude. By providing both high sensitivity and high spatial resolution, the new film significantly improves the compromise between dose and image quality. As expected, the new film has a higher noise level and a lower signal-to-noise ratio than the standard film, although in the high frequency range this is compensated for by a better resolution, giving better DQE results--especially at high optical density. Both screen-film systems outperform the phosphor plates in terms of MTF and DQE for standard imaging conditions (Regular screen at RQA 5 and RQA 9 beam qualities). At low energy (RQA 3), the CR system has a comparable low-frequency DQE to screen-film systems when used with a fine screen at low and middle optical densities, and a superior low-frequency DQE at high optical density.

  4. A comparison of the imaging characteristics of the new Kodak Hyper Speed G film with the current T-MAT G/RA film and the CR 9000 system

    Energy Technology Data Exchange (ETDEWEB)

    Monnin, P [Institut universitaire de Radiophysique Appliquee (IRA), CH-1007 Lausanne (Switzerland); Gutierrez, D [Institut universitaire de Radiophysique Appliquee (IRA), CH-1007 Lausanne (Switzerland); Bulling, S [Institut universitaire de Radiophysique Appliquee (IRA), CH-1007 Lausanne (Switzerland); Lepori, D [Department of Radiology, University Hospital Center (CHUV), CH-1011 Lausanne (Switzerland); Verdun, F R [Institut universitaire de Radiophysique Appliquee (IRA), CH-1007 Lausanne (Switzerland)

    2005-10-07

    Three standard radiation qualities (RQA 3, RQA 5 and RQA 9) and two screens, Kodak Lanex Regular and Insight Skeletal, were used to compare the imaging performance and dose requirements of the new Kodak Hyper Speed G and the current Kodak T-MAT G/RA medical x-ray films. The noise equivalent quanta (NEQ) and detective quantum efficiencies (DQE) of the four screen-film combinations were measured at three gross optical densities and compared with the characteristics for the Kodak CR 9000 system with GP (general purpose) and HR (high resolution) phosphor plates. The new Hyper Speed G film has double the intrinsic sensitivity of the T-MAT G/RA film and a higher contrast in the high optical density range for comparable exposure latitude. By providing both high sensitivity and high spatial resolution, the new film significantly improves the compromise between dose and image quality. As expected, the new film has a higher noise level and a lower signal-to-noise ratio than the standard film, although in the high frequency range this is compensated for by a better resolution, giving better DQE results-especially at high optical density. Both screen-film systems outperform the phosphor plates in terms of MTF and DQE for standard imaging conditions (Regular screen at RQA 5 and RQA 9 beam qualities). At low energy (RQA 3), the CR system has a comparable low-frequency DQE to screen-film systems when used with a fine screen at low and middle optical densities, and a superior low-frequency DQE at high optical density.

  5. Strategic Talk in Film.

    Science.gov (United States)

    Payr, Sabine; Skowron, Marcin; Dobrosovestnova, Anna; Trapp, Martin; Trappl, Robert

    2017-01-01

    Conversational robots and agents are being designed for educational and/or persuasive tasks, e.g., health or fitness coaching. To pursue such tasks over a long time, they will need a complex model of the strategic goal, a variety of strategies to implement it in interaction, and the capability of strategic talk. Strategic talk is incipient ongoing conversation in which at least one participant has the objective of changing the other participant's attitudes or goals. The paper is based on the observation that strategic talk can stretch over considerable periods of time and a number of conversational segments. Film dialogues are taken as a source to develop a model of the strategic talk of mentor characters. A corpus of film mentor utterances is annotated on the basis of the model, and the data are interpreted to arrive at insights into mentor behavior, especially into the realization and sequencing of strategies.

  6. Grasping in Robotics

    CERN Document Server

    2013-01-01

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

  7. Comparison of gamma knife validation film's analysis results of different film dose analysis software

    International Nuclear Information System (INIS)

    Cheng Xiaojun; Zhang Conghua; Liu Han; Dai Fuyou; Hu Chuanpeng; Liu Cheng; Yao Zhongfu

    2011-01-01

    Objective: To compare the analytical result of different kinds of film dose analysis software for the same gamma knife, analyze the reasons of difference caused, and explore the measurements and means for quality control and quality assurance during testing gamma knife and analyzing its result. Methods: To test the Moon Deity gamma knife with Kodak EDR2 film and γ-Star gamma knife with GAFCHROMIC® EBT film, respectively. All the validation films are scanned to proper imagine format for dose analysis software by EPSON PERFECTION V750 PRO scanner. Then imagines of Moon Deity gamma knife are analyzed with Robot Knife Adjuvant 1.09 and Fas-09 1.0, and imagines of γ-Star gamma knife with Fas-09 and MATLAB 7.0. Results: There is no significant difference in the maximum deviation of radiation field size (Full Width at Half Maximum, FWHM) and its nominal value between Robot Knife Adjuvant and Fas-09 for Moon Deity gamma knife (t=-2.133, P>0.05). The analysis on the radiation field's penumbra region width of collimators which have different sizes indicated that the differences are significant (t=-8.154, P<0.05). There is no significant difference in the maximum deviation of FWHM and its nominal value between Fas-09 and MATLAB for γ-Star gamma knife (t=-1.384, P>0.05). However, following national standards,analysis of φ4 mm width of collimators can obtain different results according to the two kinds software, and the result of Fas-09 is not qualified while MATLAB is qualified. The analysis on the radiation field's penumbra region width of collimators which have different sizes indicates that the differences are significant (t=3.074, P<0.05). The imagines are processed with Fas-09. The analysis of imagine in the pre-and the post-processing indicates that there is no significant difference in the maximum deviation of FWHM and its nominal value (t=0.647, P>0.05), and the analytical result of the radiation field's penumbra region width indicates that there is

  8. Selective Electroless Nickel Plating on PMMA using Chloroform Pre-Treatment

    Science.gov (United States)

    Sipes, Nicholas

    In the past 5 years, we have discovered that chloroform promotes the adhesion of thin gold films to Poly(methyl methacrylate) surfaces. Based on this new understanding of the interaction of chloroform with PMMA and metal atoms, we were curious to see if chloroform would promote the adhesion of Nickel to PMMA deposited by electroless plating. My goal was to selectively electroless plate Nickel onto PMMA. Chloroform was spun-cast onto 1 inch square PMMA substrates. I used electrical tape to shield one half of the PMMA from the chloroform during spin-casting; this allowed for a direct comparison of treated vs. untreated. The samples were then put through hydrochloric acid and a series of baths provided by Transene Company Inc. to electrolessly deposit nickel on the sample. After many trials, there was a clear distinction in the adhesion strength of the Nickel to the plain PMMA surface vs. the chloroform pre-treated surface. Showing that it is possible to create chloroform sites via spin-casting for electroless nickel plating on PMMA opens up the challenge to better understand the chemistry taking place and to perfect the electroless plating process.

  9. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

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

  10. Characterisation and application of WO3 films for electrochromic devices

    Science.gov (United States)

    Stapinski, Thomas; Marszalek, Konstanty; Swatowska, Barbara; Stanco, Agnieszka

    2013-07-01

    Electrochromic system is the one of the most popular devices using color memory effect under the influence of an applied voltage. The electrochromic system was produced based on the thin WO3 electrochromic films. Films were prepared by RF magnetron sputtering from tungsten targets in a reactive Ar+O2 gas atmosphere of various Ar/O2 ratios. The technological gas mixture pressure was 3 Pa and process temperature 30°C. Structural and optical properties of WO3 films were investigated for as-deposited and heat treated samples at temperature range from 350°C to 450°C in air. The material revealed the dependence of properties on preparation conditions and on post-deposition heat treatment. Main parameters of thin WO3 films: thickness d, refractive index n, extinction coefficient k and energy gap Eg were determined and optimized for application in electrochromic system. The main components of the system were glass plate with transparent conducting oxides, electrolyte, and glass plate with transparent conducting oxides and WO3 layer. The optical properties of the system were investigated when a voltage was applied across it. The electrochromic cell revealed the controllable transmittance depended on the operation voltage.

  11. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

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

    Science.gov (United States)

    Liang, Yuhua Jake; Lee, Seungcheol Austin

    2016-09-01

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

  13. Next-generation robotic surgery--from the aspect of surgical robots developed by industry.

    Science.gov (United States)

    Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

    2015-02-01

    At present, much of the research conducted worldwide focuses on extending the ability of surgical robots. One approach is to extend robotic dexterity. For instance, accessibility and dexterity of the surgical instruments remains the largest issue for reduced port surgery such as single port surgery or natural orifice surgery. To solve this problem, a great deal of research is currently conducted in the field of robotics. Enhancing the surgeon's perception is an approach that uses advanced sensor technology. The real-time data acquired through the robotic system combined with the data stored in the robot (such as the robot's location) provide a major advantage. This paper aims at introducing state-of-the-art products and pre-market products in this technological advancement, namely the robotic challenge in extending dexterity and hopefully providing the path to robotic surgery in the near future.

  14. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

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

  15. Humanlike robots: the upcoming revolution in robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-08-01

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

  16. Design and Analysis of a Collision Detector for Hybrid Robotic Machine Tools

    Directory of Open Access Journals (Sweden)

    Dan ZHANG

    2015-10-01

    Full Text Available Capacitive sensing depends on the physical parameter changing either the spacing between the two plates or the dielectric constant. Based on this idea, a capacitive based collision detection sensor is proposed and designed in this paper for the purpose of detecting any collision between the end effector and peripheral equipment (e.g., fixture for the three degrees of freedom hybrid robotic machine tools when it is in operation. One side of the finger-like capacitor is attached to the moving platform of the hybrid robotic manipulator and the other side of the finger-like capacitor is attached to the tool. When the tool accidently hits the peripheral equipment, the vibration will make the distance of the capacitor change and therefore trigger the machine to stop. The new design is illustrated and modelled. The capacitance, sensitivity and frequency response of the detector are analyzed in detail, and finally, the fabrication process is presented. The proposed collision detector can also be applied to other machine tools.

  17. Encapsulation of electroless copper patterns into diamond films

    Energy Technology Data Exchange (ETDEWEB)

    Pimenov, S.M.; Shafeev, G.A.; Lavrischev, S.V. [General Physics Institute, Moscow (Russian Federation)] [and others

    1995-12-31

    The results are reported on encapsulating copper lines into diamond films grown by a DC plasma CVD. The process includes the steps of (i) laser activation of diamond for electroless metal plating, (ii) electroless copper deposition selectively onto the activated surface regions, and (iii) diamond regrowth on the Cu-patterned diamond films. The composition and electrical properties of the encapsulated copper lines were examined, revealing high purity and low electrical resistivity of the encapsulated electroless copper.

  18. Inverse kinematic solution for near-simple robots and its application to robot calibration

    Science.gov (United States)

    Hayati, Samad A.; Roston, Gerald P.

    1986-01-01

    This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

  19. Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.

    Science.gov (United States)

    Marras, Stefano; Porfiri, Maurizio

    2012-08-07

    The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.

  20. The potential of laser cutting and snake arm robots in aspects of nuclear decommissioning

    International Nuclear Information System (INIS)

    Hilton, Paul; Khan, Ali

    2013-01-01

    This paper will describe recent work conducted in the UK to highlight the potential of applying high power laser cutting to aspects of decommissioning and dismantling in the nuclear sector. A major driver for this activity is size reduction of metallic structures, vessels and tubing, with the objective of efficient stacking of the cut parts for future long term storage. TWI have used a standard 5 kW multi-mode laser with fibre optic delivery of the beam, to demonstrate techniques for cutting stainless steel tubing, at diameters up to 150 mm and wall thicknesses up to 7 mm, and various thicknesses of plate materials. Using specially developed cutting heads, employing long focal length lenses to form the beam, techniques were developed to allow the cutting of tubes from one side only and without changing the focal position of the laser beam with respect to the diameter of the tube perpendicular to the incident beam. The latter means that remote programming of the cutting path becomes much simpler. For cutting plate materials, special gas nozzle dynamics have produced great tolerance of the cutting process to stand-off distance (the distance between the surface of the material being cut and the exit of the cutting nozzle). One particularly interesting method of remote deployment of these cutting techniques is to use 'snake arm' robots. These robots, by nature of their construction, can access areas un-accessible using other techniques. This of course makes them particularly suited to aspects of nuclear decommissioning, particularly in what are termed 'un-structured environments', where the exact disposition of items encountered is not known. The paper will also describe the first time a laser cutting head has been installed on the end of a snake arm robot and the combination used in a simulated nuclear cutting application. (author)

  1. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

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

  2. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

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

  3. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

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

  4. To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

    Directory of Open Access Journals (Sweden)

    Nicole Mirnig

    2017-05-01

    Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior

  5. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

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

  6. Evidence for robots.

    Science.gov (United States)

    Shenoy, Ravikiran; Nathwani, Dinesh

    2017-01-01

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

  7. Heat conduction in a plate-type fuel element with time-dependent boundary conditions

    International Nuclear Information System (INIS)

    Faya, A.J.G.; Maiorino, J.R.

    1981-01-01

    A method for the solution of boundary-value problems with variable boundary conditions is applied to solve a heat conduction problem in a plate-type fuel element with time dependent film coefficient. The numerical results show the feasibility of the method in the solution of this class of problems. (Author) [pt

  8. Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

    Directory of Open Access Journals (Sweden)

    Francisco J. Rodríguez-Lera

    2018-03-01

    Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

  9. 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...

  10. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

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

  11. Innovations in robotic surgery.

    Science.gov (United States)

    Gettman, Matthew; Rivera, Marcelino

    2016-05-01

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

  12. Enhancement of seeding for electroless Cu plating of metallic barrier layers by using alkyl self-assembled monolayers

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Sung-Te [Department of Electronic Engineering, Hsiuping University of Science and Technology, Dali 412, Taichung, Taiwan (China); Chung, Yu-Cheng [Department of Materials Science and Engineering, Feng Chia University, Taichung 407, Taiwan (China); Fang, Jau-Shiung [Department of Materials Science and Engineering, National Formosa University, Huwei 632, Taiwan (China); Cheng, Yi-Lung [Department of Electrical Engineering, National Chi-Nan University, Puli, Nantou 545, Taiwan (China); Chen, Giin-Shan, E-mail: gschen@fcu.edu.tw [Department of Materials Science and Engineering, Feng Chia University, Taichung 407, Taiwan (China)

    2017-05-31

    Highlights: • Ta barrier layers are used as model substrates for seeding of electroless plating. • Ta layers seeded with Ta-OH yield seeds with limited density and large size (>10 nm). • Substantial improvement of seeding is obtained with functionalized SAMs. • The mechanism of seeding improvement by functionalized SAMs is clearly clarified. - Abstract: Tethering a self-assembled monolayer (SAM) on ultralow-k (porous) dielectric materials as a seed-trapping layer for electroless Cu plating has been extensively studied. By contrast, literature on direct electroless Cu plating of metallic barrier layers assisted by SAMs is scarce. Therefore, Ta, a crucial component of barrier materials for Cu interconnect metallization, was investigated as a model substrate for a new seeding (Ni catalyst formation) process of electroless Cu plating. Transmission and scanning electron microscopies indicated that catalytic particles formed on Ta films through Ta−OH groups tend to become aggregates with an average size of 14 nm and density of 2 × 10{sup 15} m{sup −2}. By contrast, Ta films with a plasma-functionalized SAM tightly bound catalytic particles without agglomeration, thus yielding a markedly smaller size (3 nm) and higher density (3 × 10{sup 16} m{sup −2}; one order greater than those formed by other novel methods). X-ray photoelectron spectroscopy clearly identified the types of material species and functional groups induced at each step of the seeding process. Moreover, the phase of the catalytic particles, either nickel alkoxide, Ni(OH){sub 2}, or metallic Ni, along with the seed-bonding mechanism, was also unambiguously distinguished. The enhancement of film-formation quality of Cu by the new seeding process was thus demonstrated.

  13. Surface chemistry and cytotoxicity of reactively sputtered tantalum oxide films on NiTi plates

    Energy Technology Data Exchange (ETDEWEB)

    McNamara, K. [Materials and Surface Science Institute, University of Limerick, Limerick (Ireland); Department of Physics & Energy, University of Limerick, Limerick (Ireland); Kolaj-Robin, O.; Belochapkine, S.; Laffir, F. [Materials and Surface Science Institute, University of Limerick, Limerick (Ireland); Gandhi, A.A. [Materials and Surface Science Institute, University of Limerick, Limerick (Ireland); Department of Physics & Energy, University of Limerick, Limerick (Ireland); Tofail, S.A.M., E-mail: tofail.syed@ul.ie [Materials and Surface Science Institute, University of Limerick, Limerick (Ireland); Department of Physics & Energy, University of Limerick, Limerick (Ireland)

    2015-08-31

    NiTi, an equiatomic alloy containing nickel and titanium, exhibits unique properties such as shape memory effect and superelasticity. NiTi also forms a spontaneous protective titanium dioxide (TiO{sub 2}) layer that allows its use in biomedical applications. Despite the widely perceived biocompatibility there remain some concerns about the sustainability of the alloy's biocompatibility due to the defects in the TiO{sub 2} protective layer and the presence of high amount of sub-surface Ni, which can give allergic reactions. Many surface treatments have been investigated to try to improve both the corrosion resistance and biocompatibility of this layer. For such purposes, we have sputter deposited tantalum (Ta) oxide thin films onto the surface of the NiTi alloy. Despite being one of the promising metals for biomedical applications, Ta, and its various oxides and their interactions with cells have received relatively less attention. The oxidation chemistry, crystal structure, morphology and biocompatibility of these films have been investigated. In general, reactive sputtering especially in the presence of a low oxygen mixture yields a thicker film with better control of the film quality. The sputtering power influenced the surface oxidation states of Ta. Both microscopic and quantitative cytotoxicity measurements show that Ta films on NiTi are biocompatible with little to no variation in cytotoxic response when the surface oxidation state of Ta changes. - Highlights: • Reactive sputtering in low oxygen mixture yields thicker better quality films. • Sputtering power influenced surface oxidation states of Ta. • Cytotoxicity measurements show Ta films on NiTi are biocompatible. • Little to no variation in cytotoxic response when oxidation state changes.

  14. Faster-than-real-time robot simulation for plan development and robot safety

    International Nuclear Information System (INIS)

    Crane, C.D. III; Dalton, R.; Ogles, J.; Tulenko, J.S.; Zhou, X.

    1990-01-01

    The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory (ORNL), is developing an advanced robotic system for the US Department of Energy under the University Program for Robotics for Advanced Reactors. As part of this program, the University of Florida has been pursuing the development of a faster-than-real-time robotic simulation program for planning and control of mobile robotic operations to ensure the efficient and safe operation of mobile robots in nuclear power plants and other hazardous environments

  15. Soft-Material Robotics

    OpenAIRE

    Wang, L; Nurzaman, SG; Iida, Fumiya

    2017-01-01

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

  16. AssistMe robot, an assistance robotic platform

    Directory of Open Access Journals (Sweden)

    A. I. Alexan

    2012-06-01

    Full Text Available This paper presents the design and implementation of a full size assistance robot. Its main purpose it to assist a person and eventually avoid a life threatening situation. Its implementation revolves around a chipKIT Arduino board that interconnects a robotic base controller with a 7 inch TABLET PC and various sensors. Due to the Android and Arduino combination, the robot can interact with the person and provide an easy development platform for future improvement and feature adding. The TABLET PC is Webcam, WIFI and Bluetooth enabled, offering a versatile platform that is able to process data and in the same time provide the user a friendly interface.

  17. Socially Impaired Robots: Human Social Disorders and Robots' Socio-Emotional Intelligence

    OpenAIRE

    Vitale, Jonathan; Williams, Mary-Anne; Johnston, Benjamin

    2016-01-01

    Social robots need intelligence in order to safely coexist and interact with humans. Robots without functional abilities in understanding others and unable to empathise might be a societal risk and they may lead to a society of socially impaired robots. In this work we provide a survey of three relevant human social disorders, namely autism, psychopathy and schizophrenia, as a means to gain a better understanding of social robots' future capability requirements. We provide evidence supporting...

  18. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  19. Robot friendship: Can a robot be a friend?

    DEFF Research Database (Denmark)

    Emmeche, Claus

    2014-01-01

    Friendship is used here as a conceptual vehicle for framing questions about the distinctiveness of human cognition in relation to natural systems such as other animal species and to artificial systems such as robots. By exploring this very common form of a human interpersonal relationship......, the author indicates that even though it is difficult to say something generally true about friendship among humans, distinct forms of friendship as practiced and distinct notions of friendship have been investigated in the social and human sciences and in biology. A more general conceptualization...... of friendship as a triadic relation analogous to the sign relation is suggested. Based on this the author asks how one may conceive of robot-robot and robot-human friendships; and how an interdisciplinary perspective upon that relation can contribute to analyse levels of embodied cognition in natural...

  20. Multi-robot caravanning

    KAUST Repository

    Denny, Jory

    2013-11-01

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

  1. Self-Organizing Robots

    CERN Document Server

    Murata, Satoshi

    2012-01-01

    It is man’s ongoing hope that a machine could somehow adapt to its environment by reorganizing itself. This is what the notion of self-organizing robots is based on. The theme of this book is to examine the feasibility of creating such robots within the limitations of current mechanical engineering. The topics comprise the following aspects of such a pursuit: the philosophy of design of self-organizing mechanical systems; self-organization in biological systems; the history of self-organizing mechanical systems; a case study of a self-assembling/self-repairing system as an autonomous distributed system; a self-organizing robot that can create its own shape and robotic motion; implementation and instrumentation of self-organizing robots; and the future of self-organizing robots. All topics are illustrated with many up-to-date examples, including those from the authors’ own work. The book does not require advanced knowledge of mathematics to be understood, and will be of great benefit to students in the rob...

  2. Human-robot interaction tests on a novel robot for gait assistance.

    Science.gov (United States)

    Tagliamonte, Nevio Luigi; Sergi, Fabrizio; Carpino, Giorgio; Accoto, Dino; Guglielmelli, Eugenio

    2013-06-01

    This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.

  3. Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

    DEFF Research Database (Denmark)

    Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen

    2009-01-01

    Abstract—This paper introduces a new method to determine a person’s pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot......’s pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The interaction motion of the robot is based on adaptive potential functions centered around the person that respect the persons social spaces. The method is tested in experiments...

  4. From sex robots to love robots: is mutual love with a robot possible?

    NARCIS (Netherlands)

    Nyholm, S.R.; Frank, L.E.; Danaher, J.; McArthur, N.

    2017-01-01

    Some critics of sex-robots worry that their use might spread objectifying attitudes about sex, and common sense places a higher value on sex within love-relationships than on casual sex. If there could be mutual love between humans and sex-robots, this could help to ease the worries about

  5. The relation between people's attitudes and anxiety towards robots in human-robot interaction

    NARCIS (Netherlands)

    de Graaf, M.M.A.; Ben Allouch, Soumaya

    2013-01-01

    This paper examines the relation between an interaction with a robot and peoples’ attitudes and emotion towards robots. In our study, participants have had an acquaintance talk with a social robot and both their general attitude and anxiety towards social robots were measured before and after the

  6. Simulated Thin-Film Growth and Imaging

    Science.gov (United States)

    Schillaci, Michael

    2001-06-01

    Thin-films have become the cornerstone of the electronics, telecommunications, and broadband markets. A list of potential products includes: computer boards and chips, satellites, cell phones, fuel cells, superconductors, flat panel displays, optical waveguides, building and automotive windows, food and beverage plastic containers, metal foils, pipe plating, vision ware, manufacturing equipment and turbine engines. For all of these reasons a basic understanding of the physical processes involved in both growing and imaging thin-films can provide a wonderful research project for advanced undergraduate and first-year graduate students. After producing rudimentary two- and three-dimensional thin-film models incorporating ballsitic deposition and nearest neighbor Coulomb-type interactions, the QM tunneling equations are used to produce simulated scanning tunneling microscope (SSTM) images of the films. A discussion of computational platforms, languages, and software packages that may be used to accomplish similar results is also given.

  7. A versatile and low-cost open source pipetting robot for automation of toxicological and ecotoxicological bioassays.

    Science.gov (United States)

    Steffens, Sebastian; Nüßer, Leonie; Seiler, Thomas-Benjamin; Ruchter, Nadine; Schumann, Mark; Döring, Ricarda; Cofalla, Catrina; Ostfeld, Avi; Salomons, Elad; Schüttrumpf, Holger; Hollert, Henner; Brinkmann, Markus

    2017-01-01

    In the past decades, bioassays and whole-organism bioassay have become important tools not only in compliance testing of industrial chemicals and plant protection products, but also in the monitoring of environmental quality. With few exceptions, such test systems are discontinuous. They require exposure of the biological test material in small units, such as multiwell plates, during prolonged incubation periods, and do not allow online read-outs. It is mostly due to these shortcomings that applications in continuous monitoring of, e.g., drinking or surface water quality are largely missing. We propose the use of pipetting robots that can be used to automatically exchange samples in multiwell plates with fresh samples in a semi-static manner, as a potential solution to overcome these limitations. In this study, we developed a simple and low-cost, versatile pipetting robot constructed partly using open-source hardware that has a small footprint and can be used for online monitoring of water quality by means of an automated whole-organism bioassay. We tested its precision in automated 2-fold dilution series and used it for exposure of zebrafish embryos (Danio rerio)-a common model species in ecotoxicology-to cadmium chloride and permethrin. We found that, compared to conventional static or semi-static exposure scenarios, effects of the two chemicals in zebrafish embryos generally occurred at lower concentrations, and analytically verified that the increased frequency of media exchange resulted in a greater availability of the chemical. In combination with advanced detection systems this custom-made pipetting robot has the potential to become a valuable tool in future monitoring strategies for drinking and surface water.

  8. A versatile and low-cost open source pipetting robot for automation of toxicological and ecotoxicological bioassays.

    Directory of Open Access Journals (Sweden)

    Sebastian Steffens

    Full Text Available In the past decades, bioassays and whole-organism bioassay have become important tools not only in compliance testing of industrial chemicals and plant protection products, but also in the monitoring of environmental quality. With few exceptions, such test systems are discontinuous. They require exposure of the biological test material in small units, such as multiwell plates, during prolonged incubation periods, and do not allow online read-outs. It is mostly due to these shortcomings that applications in continuous monitoring of, e.g., drinking or surface water quality are largely missing. We propose the use of pipetting robots that can be used to automatically exchange samples in multiwell plates with fresh samples in a semi-static manner, as a potential solution to overcome these limitations. In this study, we developed a simple and low-cost, versatile pipetting robot constructed partly using open-source hardware that has a small footprint and can be used for online monitoring of water quality by means of an automated whole-organism bioassay. We tested its precision in automated 2-fold dilution series and used it for exposure of zebrafish embryos (Danio rerio-a common model species in ecotoxicology-to cadmium chloride and permethrin. We found that, compared to conventional static or semi-static exposure scenarios, effects of the two chemicals in zebrafish embryos generally occurred at lower concentrations, and analytically verified that the increased frequency of media exchange resulted in a greater availability of the chemical. In combination with advanced detection systems this custom-made pipetting robot has the potential to become a valuable tool in future monitoring strategies for drinking and surface water.

  9. Robotic hand project

    OpenAIRE

    Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

    2014-01-01

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

  10. Effects of temperature and velocity of droplet ejection process of simulated nanojets onto a moving plate's surface

    International Nuclear Information System (INIS)

    Fang, T.-H.; Chang, W.-J.; Lin, S.-L.

    2006-01-01

    This paper uses molecular dynamics simulation based on the Lennard-Jones potential to study the effects that temperature and velocity have on, the nanojet droplet ejection process, when the droplet is ejected at an angle onto a moving plate's surface. According to the analysis, it was found that the width of the spreading droplet increased as the temperature and the time were increased. Also found was an energy wave phenomenon. The contact angle of the droplet deposited on the plate decreased as the temperature was increased. Furthermore, the layer phenomena became apparent when the atoms were deposited on a moving plate. Thinner film layers were obtained as the velocity of the moving plate was increased. The contact angle on the left side of the droplet was larger than that on the right side when the plate was moving from right to left

  11. PEAR: Prototyping Expressive Animated Robots - A framework for social robot prototyping

    OpenAIRE

    Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

    2018-01-01

    International audience; Social robots are transitioning from lab experiments to commercial products, creating new needs for proto-typing and design tools. In this paper, we present a framework to facilitate the prototyping of expressive animated robots. For this, we start by reviewing the design of existing social robots in order to define a set of basic components of social robots. We then show how to extend an existing 3D animation software to enable the animation of these components. By co...

  12. Developing a successful robotics program.

    Science.gov (United States)

    Luthringer, Tyler; Aleksic, Ilija; Caire, Arthur; Albala, David M

    2012-01-01

    Advancements in the robotic surgical technology have revolutionized the standard of care for many surgical procedures. The purpose of this review is to evaluate the important considerations in developing a new robotics program at a given healthcare institution. Patients' interest in robotic-assisted surgery has and continues to grow because of improved outcomes and decreased periods of hospitalization. Resulting market forces have created a solid foundation for the implementation of robotic surgery into surgical practice. Given proper surgeon experience and an efficient system, robotic-assisted procedures have been cost comparable to open surgical alternatives. Surgeon training and experience is closely linked to the efficiency of a new robotics program. Formally trained robotic surgeons have better patient outcomes and shorter operative times. Training in robotics has shown no negative impact on patient outcomes or mentor learning curves. Individual economic factors of local healthcare settings must be evaluated when planning for a new robotics program. The high cost of the robotic surgical platform is best offset with a large surgical volume. A mature, experienced surgeon is integral to the success of a new robotics program.

  13. Communication of Robot Status to Improve Human-Robot Collaboration

    Data.gov (United States)

    National Aeronautics and Space Administration — Future space exploration will require humans and robots to collaborate to perform all the necessary tasks. Current robots mostly operate separately from humans due...

  14. Making Humanoid Robots More Acceptable Based on the Study of Robot Characters in Animation

    Directory of Open Access Journals (Sweden)

    Fatemeh Maleki

    2015-03-01

    Full Text Available In this paper we take an approach in Humanoid Robots are not considered as robots who resembles human beings in a realistic way of appearance and act but as robots who act and react like human that make them more believable by people. Regarding this approach we will study robot characters in animation movies and discuss what makes some of them to be accepted just like a moving body and what makes some other robot characters to be believable as a living human. The goal of this paper is to create a rule set that describes friendly, socially acceptable, kind, cute... robots and in this study we will review example robots in popular animated movies. The extracted rules and features can be used for making real robots more acceptable.

  15. Robotics in medicine

    Science.gov (United States)

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

    2015-11-01

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

  16. Inventing Japan's 'robotics culture': the repeated assembly of science, technology, and culture in social robotics.

    Science.gov (United States)

    Sabanović, Selma

    2014-06-01

    Using interviews, participant observation, and published documents, this article analyzes the co-construction of robotics and culture in Japan through the technical discourse and practices of robotics researchers. Three cases from current robotics research--the seal-like robot PARO, the Humanoid Robotics Project HRP-2 humanoid, and 'kansei robotics' - show the different ways in which scientists invoke culture to provide epistemological grounding and possibilities for social acceptance of their work. These examples show how the production and consumption of social robotic technologies are associated with traditional crafts and values, how roboticists negotiate among social, technical, and cultural constraints while designing robots, and how humans and robots are constructed as cultural subjects in social robotics discourse. The conceptual focus is on the repeated assembly of cultural models of social behavior, organization, cognition, and technology through roboticists' narratives about the development of advanced robotic technologies. This article provides a picture of robotics as the dynamic construction of technology and culture and concludes with a discussion of the limits and possibilities of this vision in promoting a culturally situated understanding of technology and a multicultural view of science.

  17. German robots: The impact of industrial robots on workers

    OpenAIRE

    Dauth, Wolfgang; Findeisen, Sebastian; Südekum, Jens; Wößner, Nicole

    2017-01-01

    We study the impact of rising robot exposure on the careers of individual manufacturing workers, and the equilibrium impact across industries and local labor markets in Germany. We find no evidence that robots cause total job losses, but they do affect the composition of aggregate employment. Every robot destroys two manufacturing jobs. This accounts for almost 23 percent of the overall decline of manufacturing employment in Germany over the period 1994-2014, roughly 275,000 jobs. But this lo...

  18. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

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

  19. Soap Films and GeoGebra in the Study of Fermat and Steiner Points

    Science.gov (United States)

    Flores, Alfinio; Park, Jungeun

    2018-01-01

    We discuss how mathematics and secondary mathematics education majors developed an understanding of Fermat points for the triangle as well as Steiner points for the square and regular pentagon, and also of soap film configurations between parallel plates where forces are in equilibrium. The activities included the use of soap films and the…

  20. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  1. Toward cognitive robotics

    Science.gov (United States)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  2. Interaction of Liquid Film Flow of Direct Vessel Injection Under the Cross Directional Gas Flow

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Han-sol; Lee, Jae-young [Handong Global University, Pohang (Korea, Republic of); Euh, Dong-Jin [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2015-10-15

    In order to obtain a proper scaling law of the flow, local information of the flow was investigated experimentally and also numerically. A series of experiments were conducted in the 1/20 modified linear scaled plate type test rig to analyze a liquid film from ECC water injection through the DVI nozzle to the downcomer wall. The present study investigates liquid film flow generated in a downcomer of direct vessel injection (DVI) system which is employed as an emergency core cooling (ECC) system during a loss of coolant accident in the Korea nuclear power plant APR1400. During the late reflooding, complicated multi-phase flow phenomena including the wavy film flow, film breakup, entrainment, liquid film shift due to interfacial drag and gas jet impingement occur. A confocal chromatic sensor was used to measure the local instantaneous liquid film thickness and a hydraulic jump in the film flow and boundaries of the film flow. It was found that CFD analysis results without surface tension model showed some difference with the data in surface tension dominated flow region. For the interaction between a liquid film and gas shear flow, CFD results make a good agreement with the real liquid film dynamics in the case of low film Reynolds number or low Weber number flow. In the 1/20 scaled plate type experiment and simulation, the deformed spreading profile results seem to accord with each other at the relatively low We and Re regime.

  3. Conceptions of health service robots

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    2015-01-01

    Technology developments create rich opportunities for health service providers to introduce service robots in health care. While the potential benefits of applying robots in health care are extensive, the research into the conceptions of health service robot and its importance for the uptake...... of robotics technology in health care is limited. This article develops a model of the basic conceptions of health service robots that can be used to understand different assumptions and values attached to health care technology in general and health service robots in particular. The article takes...... a discursive approach in order to develop a conceptual framework for understanding the social values of health service robots. First a discursive approach is proposed to develop a typology of conceptions of health service robots. Second, a model identifying four basic conceptions of health service robots...

  4. Continuum limbed robots for locomotion

    Science.gov (United States)

    Mutlu, Alper

    This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

  5. Soft computing in advanced robotics

    CERN Document Server

    Kobayashi, Ichiro; Kim, Euntai

    2014-01-01

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

  6. Robotics and remote systems applications

    International Nuclear Information System (INIS)

    Rabold, D.E.

    1996-01-01

    This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling

  7. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

    Mobile robots have become a mature technology. The first cable guided logistics robots were introduced in the industry almost 60 years ago. In this time the market for mobile robots in industry has only experienced a very modest growth and only 2.100 systems were sold worldwide in 2011. In recent...... years, many other domains have adopted the mobile robots, such as logistics robots at hospitals and the vacuum robots in our homes. However, considering the achievements in research the last 15 years within perception and operation in natural environments together with the reductions of costs in modern...... sensor systems, the growth potential for mobile robot applications are enormous. Many new technological components are available to move the limits of commercial mobile robot applications, but a key hindrance is reliability. Natural environments are complex and dynamic, and thus the risk of robots...

  8. Recent progress of obliquely deposited thin films for industrial applications

    Science.gov (United States)

    Suzuki, Motofumi; Itoh, Tadayoshi; Taga, Yasunori

    1999-06-01

    More than 10 years ago, birefringent films of metal oxides were formed by oblique vapor deposition and investigated with a view of their application to optical retardation plates. The retardation function of the films was explained in terms of the birefringence caused by the characteristic anisotropic nanostructure inside the films. These films are now classified in the genre of the so-called sculptured thin films. However, the birefringent films thus prepared are not yet industrialized even now due to the crucial lack of the durability and the yield of products. In this review paper, we describe the present status of application process of the retardation films to the information systems such as compact disc and digital versatile disc devices with a special emphasis on the uniformity of retardation properties in a large area and the stability of the optical properties of the obliquely deposited thin films. Finally, further challenges for wide application of the obliquely deposited thin films are also discussed.

  9. Computer Vision for Artificially Intelligent Robotic Systems

    Science.gov (United States)

    Ma, Chialo; Ma, Yung-Lung

    1987-04-01

    In this paper An Acoustic Imaging Recognition System (AIRS) will be introduced which is installed on an Intelligent Robotic System and can recognize different type of Hand tools' by Dynamic pattern recognition. The dynamic pattern recognition is approached by look up table method in this case, the method can save a lot of calculation time and it is practicable. The Acoustic Imaging Recognition System (AIRS) is consist of four parts -- position control unit, pulse-echo signal processing unit, pattern recognition unit and main control unit. The position control of AIRS can rotate an angle of ±5 degree Horizental and Vertical seperately, the purpose of rotation is to find the maximum reflection intensity area, from the distance, angles and intensity of the target we can decide the characteristic of this target, of course all the decision is target, of course all the decision is processed bye the main control unit. In Pulse-Echo Signal Process Unit, we ultilize the correlation method, to overcome the limitation of short burst of ultrasonic, because the Correlation system can transmit large time bandwidth signals and obtain their resolution and increased intensity through pulse compression in the correlation receiver. The output of correlator is sampled and transfer into digital data by u law coding method, and this data together with delay time T, angle information OH, eV will be sent into main control unit for further analysis. The recognition process in this paper, we use dynamic look up table method, in this method at first we shall set up serval recognition pattern table and then the new pattern scanned by Transducer array will be devided into serval stages and compare with the sampling table. The comparison is implemented by dynamic programing and Markovian process. All the hardware control signals, such as optimum delay time for correlator receiver, horizental and vertical rotation angle for transducer plate, are controlled by the Main Control Unit, the Main

  10. Fundamentals of soft robot locomotion

    OpenAIRE

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

    2017-01-01

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

  11. Iron films deposited on porous alumina substrates

    Energy Technology Data Exchange (ETDEWEB)

    Yamada, Yasuhiro, E-mail: yyasu@rs.kagu.tus.ac.jp; Tanabe, Kenichi; Nishida, Naoki [Tokyo University of Science (Japan); Kobayashi, Yoshio [The University of Electro-Communications (Japan)

    2016-12-15

    Iron films were deposited on porous alumina substrates using an arc plasma gun. The pore sizes (120 – 250 nm) of the substrates were controlled by changing the temperature during the anodic oxidation of aluminum plates. Iron atoms penetrated into pores with diameters of less than 160 nm, and were stabilized by forming γ-Fe, whereas α-Fe was produced as a flat plane covering the pores. For porous alumina substrates with pore sizes larger than 200 nm, the deposited iron films contained many defects and the resulting α-Fe had smaller hyperfine magnetic fields. In addition, only a very small amount of γ-Fe was obtained. It was demonstrated that the composition and structure of an iron film can be affected by the surface morphology of the porous alumina substrate on which the film is grown.

  12. Open Issues in Evolutionary Robotics.

    Science.gov (United States)

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

    2016-01-01

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

  13. Mergeable nervous systems for robots.

    Science.gov (United States)

    Mathews, Nithin; Christensen, Anders Lyhne; O'Grady, Rehan; Mondada, Francesco; Dorigo, Marco

    2017-09-12

    Robots have the potential to display a higher degree of lifetime morphological adaptation than natural organisms. By adopting a modular approach, robots with different capabilities, shapes, and sizes could, in theory, construct and reconfigure themselves as required. However, current modular robots have only been able to display a limited range of hardwired behaviors because they rely solely on distributed control. Here, we present robots whose bodies and control systems can merge to form entirely new robots that retain full sensorimotor control. Our control paradigm enables robots to exhibit properties that go beyond those of any existing machine or of any biological organism: the robots we present can merge to form larger bodies with a single centralized controller, split into separate bodies with independent controllers, and self-heal by removing or replacing malfunctioning body parts. This work takes us closer to robots that can autonomously change their size, form and function.Robots that can self-assemble into different morphologies are desired to perform tasks that require different physical capabilities. Mathews et al. design robots whose bodies and control systems can merge and split to form new robots that retain full sensorimotor control and act as a single entity.

  14. Robotic system for decommissioning the Gunite tanks at Oak Ridge National Laboratory, Oak Ridge, Tennessee

    International Nuclear Information System (INIS)

    Chesser, J.B.; Evans, J.H.; Norman, R.E.; Peishel, F.L.; Ruppel, F.R.

    1992-01-01

    Robotic systems and equipment to facilitate removal of the contents of the Oak Ridge National Laboratory (ORNL) Gunite Waste Tanks as well as the tanks themselves are one of several options being considered for this site. The technology described consists of proven remote systems and equipment or remote adaptations of proven industrial concepts. The proposed robotic system would be housed in a portable containment structure, fabricated from steel plate, and reinforced with structural shapes. The structure would be cylindrical and have a domed head. The containment structure would be sized to cover one tank. The tanks are in two sizes: 60 ft and 35 ft diameters. The structures would be supported on driven steel piles and would have an earthen berm around the base to enhance the effectiveness of the containment. Internal to the containment structure, a polar crane bridge equipped with a pair of trolley-mounted telescoping masts would be utilized to support and manipulate the systems, tools, etc., which would perform the individual tasks. The bridge and mast control system and the manipulator control system would provide both teleoperated and robotic modes to support either manual or preprogrammed operations. Equipment mounted at the end of the mast would include servomanipulators, water jet cutter, or a clam shell bucket. The mast would feature an interface plate allowing remote changeout of most mounted equipment. The operating system would be required to have the capability to decontaminate the dome and its equipment to the degree necessary to allow it to be relocated. Viewing would be provided by commercial closed-circuit TV (CCTV). It is believed that the systems described herein represent a feasible approach to removing the contents from the ORNL gunite tanks and implementing remediation of the site

  15. Evolving self-assembly in autonomous homogeneous robots: experiments with two physical robots.

    Science.gov (United States)

    Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Christensen, Anders Lyhne; Dorigo, Marco

    2009-01-01

    This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.

  16. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

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

  17. Toward a framework for levels of robot autonomy in human-robot interaction.

    Science.gov (United States)

    Beer, Jenay M; Fisk, Arthur D; Rogers, Wendy A

    2014-07-01

    A critical construct related to human-robot interaction (HRI) is autonomy, which varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots may interact with one another. Thus, there is a need to understand HRI by identifying variables that influence - and are influenced by - robot autonomy. Our overarching goal is to develop a framework for levels of robot autonomy in HRI. To reach this goal, the framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed and redefined within the context of HRI. Additionally, the framework proposes a process for determining a robot's autonomy level, by categorizing autonomy along a 10-point taxonomy. The framework is intended to be treated as guidelines to determine autonomy, categorize the LORA along a qualitative taxonomy, and consider which HRI variables (e.g., acceptance, situation awareness, reliability) may be influenced by the LORA.

  18. [Robot-aided training in rehabilitation].

    Science.gov (United States)

    Hachisuka, Kenji

    2010-02-01

    Recently, new training techniques that involve the use of robots have been used in the rehabilitation of patients with hemiplegia and paraplegia. Robots used for training the arm include the MIT-MANUS, Arm Trainer, mirror-image motion enabler (MIME) robot, and the assisted rehabilitation and measurement (ARM) Guide. Robots that are used for lower-limb training are the Rehabot, Gait Trainer, Lokomat, LOPES Exoskeleton Robot, and Gait Assist Robot. Robot-aided therapy has enabled the functional training of the arm and the lower limbs in an effective, easy, and comfortable manner. Therefore, with this type of therapy, the patients can repeatedly undergo sufficient and accurate training for a prolonged period. However, evidence of the benefits of robot-aided training has not yet been established.

  19. Tribological behavior of in situ Ag nanoparticles/polyelectrolyte composite molecular deposition films

    International Nuclear Information System (INIS)

    Guo Yanbao; Wang Deguo; Liu Shuhai

    2010-01-01

    Multilayer polyelectrolyte films containing silver ions were obtained by molecular deposition method on a glass plate or a quartz substrate. The in situ Ag nanoparticles were synthesized in the multilayer polyelectrolyte films which were put into fresh NaBH 4 aqueous solution. The structure and surface morphology of composite molecular deposition films were observed by UV-vis spectrophotometer, X-ray photoelectron spectroscopy (XPS) and atomic force microscopy (AFM). Tribological characteristic was investigated by AFM and micro-tribometer. It was found that the in situ Ag nanoparticles/polyelectrolyte composite molecular deposition films have lower coefficient of friction and higher anti-wear life than pure polyelectrolyte molecular deposition films.

  20. Current status of robotic simulators in acquisition of robotic surgical skills.

    Science.gov (United States)

    Kumar, Anup; Smith, Roger; Patel, Vipul R

    2015-03-01

    This article provides an overview of the current status of simulator systems in robotic surgery training curriculum, focusing on available simulators for training, their comparison, new technologies introduced in simulation focusing on concepts of training along with existing challenges and future perspectives of simulator training in robotic surgery. The different virtual reality simulators available in the market like dVSS, dVT, RoSS, ProMIS and SEP have shown face, content and construct validity in robotic skills training for novices outside the operating room. Recently, augmented reality simulators like HoST, Maestro AR and RobotiX Mentor have been introduced in robotic training providing a more realistic operating environment, emphasizing more on procedure-specific robotic training . Further, the Xperience Team Trainer, which provides training to console surgeon and bed-side assistant simultaneously, has been recently introduced to emphasize the importance of teamwork and proper coordination. Simulator training holds an important place in current robotic training curriculum of future robotic surgeons. There is a need for more procedure-specific augmented reality simulator training, utilizing advancements in computing and graphical capabilities for new innovations in simulator technology. Further studies are required to establish its cost-benefit ratio along with concurrent and predictive validity.

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

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    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.

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

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    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.

  3. Thermal Molding of Organic Thin-Film Transistor Arrays on Curved Surfaces.

    Science.gov (United States)

    Sakai, Masatoshi; Watanabe, Kento; Ishimine, Hiroto; Okada, Yugo; Yamauchi, Hiroshi; Sadamitsu, Yuichi; Kudo, Kazuhiro

    2017-12-01

    In this work, a thermal molding technique is proposed for the fabrication of plastic electronics on curved surfaces, enabling the preparation of plastic films with freely designed shapes. The induced strain distribution observed in poly(ethylene naphthalate) films when planar sheets were deformed into hemispherical surfaces clearly indicated that natural thermal contraction played an important role in the formation of the curved surface. A fingertip-shaped organic thin-film transistor array molded from a real human finger was fabricated, and slight deformation induced by touching an object was detected from the drain current response. This type of device will lead to the development of robot fingers equipped with a sensitive tactile sense for precision work such as palpation or surgery.

  4. Antimicrobial and physical properties of chitosan films incorporated with turmeric extract.

    Science.gov (United States)

    Kalaycıoğlu, Zeynep; Torlak, Emrah; Akın-Evingür, Gülşen; Özen, İlhan; Erim, F Bedia

    2017-08-01

    In this study, the effects of turmeric extract incorporation on the antibacterial and physical properties of the chitosan films were evaluated. Turmeric containing chitosan-based film was produced with casting procedure and cross-linked with sodium sulfate. Mechanical, optical, thermal properties, and water vapor permeability of the films were studied. The addition of turmeric to chitosan film significantly increased the tensile strength of the film and improved the ultraviolet-visible light barrier of the film. Infrared spectroscopy analysis suggested an interaction between the phenolic compounds of the extract and amin group of chitosan. Antimicrobial activity of the chitosan films was studied against Salmonella and Staphylococcus aureus by plate count agar technique and a better antimicrobial activity was observed with turmeric incorporation. Turmeric incorporated chitosan films with enhanced antimicrobial activity and film stiffness can be suggested as a promising application for food packaging. Copyright © 2017 Elsevier B.V. All rights reserved.

  5. Radiation grafting from binary mixtures of vinyl ether of mono ethanol amine with N-vinylpyrrolidone and vinyl ether of ethylene glycol onto polyolefins films and metallization of obtained films

    International Nuclear Information System (INIS)

    Al'-Saed Abdel' Aal'; Nurkeeva, Z.; Khutoryanskij, V.; Mun, G.; Sangajlo, M.

    2003-01-01

    Radiation grafting from binary mixtures of vinyl ether of mono ethanol amine with N-vinylpyrrolidone and vinyl ether of ethylene glycol onto polyolefins films using γ-radiation and accelerated electrons has been studied. IR-spectroscopy is used to confirm the structure of grafted films. A combination of and metallization of obtained films. A combination of gravimetric and potentiometric techniques is applied to determine the fraction of each monomer in graft copolymer. Water uptake and contact angle measurements confirmed that the grafting process improve the hydrophilic properties of obtained films. The obtained materials are metallized by electroless copper plating. The metallized films have good electro conductive properties. (author)

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

    Science.gov (United States)

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

    2017-01-01

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

  7. Thin Film Microbatteries

    International Nuclear Information System (INIS)

    Dudney, Nancy J.

    2008-01-01

    Thin film batteries are built layer by layer by vapor deposition. The resulting battery is formed of parallel plates, much as an ordinary battery construction, just much thinner. The figure (Fig. 1) shows an example of a thin film battery layout where films are deposited symmetrically onto both sides of a supporting substrate. The full stack of films is only 10 to 15 (micro)m thick, but including the support at least doubles the overall battery thickness. When the support is thin, the entire battery can be flexible. At least six companies have commercialized or are very close to commercializing such all-solid-state thin film batteries and market research predicts a growing market and a variety of applications including sensors, RFID tags, and smarter cards. In principle with a large deposition system, a thin film battery might cover a square meter, but in practice, most development is targeting individual cells with active areas less than 25 cm 2 . For very small battery areas, 2 , microfabrication processes have been developed. Typically the assembled batteries have capacities from 0.1 to 5 mAh. The operation of a thin film battery is depicted in the schematic diagram (Fig. 2). Very simply, when the battery is allowed to discharge, a Li + ion migrates from the anode to the cathode film by diffusing through the solid electrolyte. When the anode and cathode reactions are reversible, as for an intercalation compound or alloy, the battery can be recharged by reversing the current. The difference in the electrochemical potential of the lithium determines the cell voltage. Most of the thin films used in current commercial variations of this thin film battery are deposited in vacuum chambers by RF and DC magnetron sputtering and by thermal evaporation onto unheated substrates. In addition, many publications report exploring a variety of other physical and chemical vapor deposition processes, such as pulsed laser deposition, electron cyclotron resonance sputtering, and

  8. DSLs in robotics

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  9. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

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

  10. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

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

  11. DLC and AlN thin films influence the thermal conduction of HPLED light

    Science.gov (United States)

    Hsu, Ming Seng; Hsu, Ching Yao; Huang, Jen Wei; Shyu, Feng Lin

    2015-08-01

    Thermal dissipation had an important influence in the effect and life of light emitting diodes (LED) because it enables transfer the heat away from electric device to the aluminum plate that can be used for heat removal. In the industrial processing, the quality of the thermal dissipation decides by the gumming technique between the PCB and aluminum plate. In this study, we fabricated double layer ceramic thin films of diamond like carbon (DLC) and alumina nitride (AlN) by vacuum sputtering soldered the substrate of high power light emitting diodes (HPLED) light to check the heat conduction. The ceramic dielectric coatings were characterized by several subsequent analyses, especially the measurement of real work temperature. The X-Ray photoelectron spectroscopy (XPS) patterns reveal those ceramic phases were successfully grown onto the substrate. The work temperatures show DLC and AlN films coating had limited the heat transfer by the lower thermal conductivity of these ceramic films. Obviously, it hadn't transferred heat and limited work temperature of HPLED better than DLC thin film only.

  12. Human-robot skills transfer interfaces for a flexible surgical robot.

    Science.gov (United States)

    Calinon, Sylvain; Bruno, Danilo; Malekzadeh, Milad S; Nanayakkara, Thrishantha; Caldwell, Darwin G

    2014-09-01

    In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

  13. Copper electrodeposition from an acidic plating bath containing accelerating and inhibiting organic additives

    International Nuclear Information System (INIS)

    Pasquale, M.A.; Gassa, L.M.; Arvia, A.J.

    2008-01-01

    Copper electrodeposition on copper from still plating solutions of different compositions was investigated utilising electrochemical impedance spectroscopy (EIS), cyclic voltammetry, and scanning electron microscopy (SEM). An acid copper sulphate plating base solution was employed either with or without sodium chloride in the presence of a single additive, either polyethylene glycol (PEG) or 3-mercapto-2-propanesulphonic acid (MPSA), and their mixture. Thallium underpotential deposition/anodic stripping was employed to determine the adsorption capability of additives on copper. In the absence of chloride ions, MPSA shows a moderate adsorption on copper, whereas PEG is slightly adsorbed. At low cathodic overpotentials, the simultaneous presence of MPSA and chloride ions accelerates copper electrodeposition through the formation of an MPSA-chloride ion complex in the solution, particularly for about 220 μM sodium chloride. The reverse effect occurs in PEG-sodium chloride plating solutions. In this case, from EIS data the formation of a film that interferes with copper electrodeposition can be inferred. At higher cathodic overpotentials, when copper electrodeposition is under mass transport control, the cathode coverage by a PEG-copper chloride-mediated film becomes either partially or completely detached as the concentration of chloride ions at the negatively charged copper surface diminishes. The copper cathode grain topography at the μm scale depends on the cathodic overpotential, plating solution composition and average current density. Available data about the solution constituents and their adsorption on copper make it possible to propose a likely complex mechanism to understand copper electrodeposition from these media, including the accelerating effect of MPSA and the dynamics of PEG-copper chloride complex adsorbate interfering with the surface mobility of depositing copper ad-ions/ad-atoms

  14. Measuring Attitudes Towards Telepresence Robots

    OpenAIRE

    M Tsui, Katherine; Desai, Munjal; A. Yanco, Holly; Cramer, Henriette; Kemper, Nicander

    2011-01-01

    Studies using Nomura et al.’s “Negative Attitude toward Robots Scale” (NARS) [1] as an attitudinal measure have featured robots that were perceived to be autonomous, indepen- dent agents. State of the art telepresence robots require an explicit human-in-the-loop to drive the robot around. In this paper, we investigate if NARS can be used with telepresence robots. To this end, we conducted three studies in which people watched videos of telepresence robots (n=70), operated te...

  15. 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

  16. 2016 International Symposium on Experimental Robotics

    CERN Document Server

    Nakamura, Yoshihiko; Khatib, Oussama; Venture, Gentiane

    2017-01-01

    Experimental Robotics XV is the collection of papers presented at the International Symposium on Experimental Robotics, Roppongi, Tokyo, Japan on October 3-6, 2016. 73 scientific papers were selected and presented after peer review. The papers span a broad range of sub-fields in robotics including aerial robots, mobile robots, actuation, grasping, manipulation, planning and control and human-robot interaction, but shared cutting-edge approaches and paradigms to experimental robotics. The readers will find a breadth of new directions of experimental robotics. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a forum dedicated to experimental robotics research. Robotics has been widening its scientific scope, deepening its methodologies and expanding its applications. However, the significance of experiments remains and will remain at the center of the discipline. The ISER gatherings are...

  17. Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

    Science.gov (United States)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

  18. Development of conductive coated polyester film as RPC electrodes using screen printing

    International Nuclear Information System (INIS)

    Kalmani, S.D.; Mondal, N.K.; Satyanarayana, B.; Verma, P.; Datar, V.M.

    2009-01-01

    Each of the three 16 kton ICAL detector modules at the India-based Neutrino Observatory (INO) will use RPCs as the active element, sandwiched between 6 cm thick soft iron plates, for measurements on atmospheric neutrinos. The electrodes of the RPC are float glass sheets having a volume resistivity of about 10 12 -10 13 Ω cm (at room temperature) covered with carbon/graphite or a conductive paint with a surface resistivity of ∼800 kΩ/square to 1 MΩ/square to apply high voltage on the glass surface, so that this surface does not shield the discharge signal from the external pickup plates and is small compared to the resistivity of the glass to provide a uniform potential across the entire surface. We initially coated the surface with locally available graphite powder, mixed with lacquer and thinner, and were able to get a few hundred kΩ/square resistivity. However, we observed a drastic reduction in surface resistivity with time and it came unstuck from the glass. Subsequently a conductive paint developed by Kansai-Nerolac was used. This paint uses modified acrylic resin as binder, conductive black pigment and solvents, which include aromatic hydrocarbons and alcohols. At room temperature, the surface dries in 10 minutes, while complete drying takes ∼18 hours. The spraying is done at a pressure of 4 kg/cm 2 with the glass plate kept at a distance of 8-10 in. Using this paint, we are able to achieve the required resistance of ∼ few hundred kΩ/square. We still need to study the long term stability and best curing method. We need to automate the procedure to get a uniform coat and to coat a large number of glasses for the final detector. While robotic systems are available abroad costing about 5 000 000 rupees, we are exploring other alternatives. In particular, we are in the process of developing a polyester film, with a conductive coating on one side, which can be glued on to the glass. The coating was done using on a local commercial screen printing

  19. Development of conductive coated polyester film as RPC electrodes using screen printing

    Science.gov (United States)

    Kalmani, S. D.; Mondal, N. K.; Satyanarayana, B.; Verma, P.; Datar, V. M.

    2009-05-01

    Each of the three 16 kton ICAL detector modules at the India-based Neutrino Observatory (INO) will use RPCs as the active element, sandwiched between 6 cm thick soft iron plates, for measurements on atmospheric neutrinos. The electrodes of the RPC are float glass sheets having a volume resistivity of about 10 12-10 13 Ω cm (at room temperature) covered with carbon/graphite or a conductive paint with a surface resistivity of ˜800 kΩ/square to 1 MΩ/square to apply high voltage on the glass surface, so that this surface does not shield the discharge signal from the external pickup plates and is small compared to the resistivity of the glass to provide a uniform potential across the entire surface. We initially coated the surface with locally available graphite powder, mixed with lacquer and thinner, and were able to get a few hundred kΩ/square resistivity. However, we observed a drastic reduction in surface resistivity with time and it came unstuck from the glass. Subsequently a conductive paint developed by Kansai-Nerolac was used. This paint uses modified acrylic resin as binder, conductive black pigment and solvents, which include aromatic hydrocarbons and alcohols. At room temperature, the surface dries in 10 minutes, while complete drying takes ˜18 hours. The spraying is done at a pressure of 4 kg/cm 2 with the glass plate kept at a distance of 8-10 in. Using this paint, we are able to achieve the required resistance of ˜ few hundred kΩ/square. We still need to study the long term stability and best curing method. We need to automate the procedure to get a uniform coat and to coat a large number of glasses for the final detector. While robotic systems are available abroad costing about 5 000 000 rupees, we are exploring other alternatives. In particular, we are in the process of developing a polyester film, with a conductive coating on one side, which can be glued on to the glass. The coating was done using on a local commercial screen printing machine

  20. 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.

  1. Cold plate

    Energy Technology Data Exchange (ETDEWEB)

    Marroquin, Christopher M.; O' Connell, Kevin M.; Schultz, Mark D.; Tian, Shurong

    2018-02-13

    A cold plate, an electronic assembly including a cold plate, and a method for forming a cold plate are provided. The cold plate includes an interface plate and an opposing plate that form a plenum. The cold plate includes a plurality of active areas arranged for alignment over respective heat generating portions of an electronic assembly, and non-active areas between the active areas. A cooling fluid flows through the plenum. The plenum, at the non-active areas, has a reduced width and/or reduced height relative to the plenum at the active areas. The reduced width and/or height of the plenum, and exterior dimensions of cold plate, at the non-active areas allow the non-active areas to flex to accommodate surface variations of the electronics assembly. The reduced width and/or height non-active areas can be specifically shaped to fit between physical features of the electronics assembly.

  2. Studies on morphology of Langmuir-Blodgett films of stearic acid deposited with different orientation of substrates with respect to compression

    Energy Technology Data Exchange (ETDEWEB)

    Choudhary, Keerti; Manjuladevi, V.; Gupta, R. K., E-mail: raj@pilani.bits-pilani.ac.in [Department of physics, Birla Institute of Technology & Science, Pilani-333031, Rajasthan (India)

    2016-05-06

    The Langmuir monolayer at an air-water interface shows remarkably different surface pressure – area isotherm, when measured with the surface normal of a Wilhemly plate parallel or perpendicular to the direction of compression of the monolayer. Such difference arises due to difference in stress exerted by the monolayer on the plate in different direction. In this article, we report the effect of changing the direction of substrate normal with respect to the compression of the monolayer during Langmuir-Blodgett (LB) film deposition on the morphology of the films. The morphology of the LB film of stearic acid was studied using an atomic force microscope (AFM). The morphology of the LB films was found to be different due to difference in the stress in different directions.

  3. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

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

  4. Vision-Based Robot Following Using PID Control

    Directory of Open Access Journals (Sweden)

    Chandra Sekhar Pati

    2017-06-01

    Full Text Available Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.

  5. ROBOTICS 2014 - The International Conference on ROBOTICS, Bucharest, Romania, October 23-24, 2014

    Directory of Open Access Journals (Sweden)

    Iulian TABĂRĂ

    2014-12-01

    Full Text Available ROBOTICS 2014 was organized by Robotics Society of Romania (RSR with the support of University POLITEHNICA of Bucharest (UPB, Institute of Solid Mechanics of the Romanian Academy (ISMRA and Technical University of Civil Engineering Bucharest (TUCEB, Ministry of National Education (MNE, under the patronage of International Federation for the Promotion of Mechanism and Machine Science (IFToMM. The first scientific event in the field of Robotics in Romania was held at the University POLITEHNICA of Bucharest (UPB, in 1981, by Professor Chrisitan PELECUDI, head of the Mechanisms and Robots research and design team MERO (MEchanisms and RObots and was named "National Symposium of Robotics ". Since the first edition have been held in Romania various scientific events dedicated to Robotics under the name of National Seminars (first fifteen events, since 1981 and National and International Conferences (last five editions. This is the 22nd edition of these scientific events, the first three (1981, 1982, and 1983 being held at the Polytechnic University of Bucharest.

  6. Robotic hand with modular extensions

    Science.gov (United States)

    Salisbury, Curt Michael; Quigley, Morgan

    2015-01-20

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

  7. Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

    DEFF Research Database (Denmark)

    Alonso García, Alejandro; Villarmarzo Arruñada, Noelia; Pedersen, Rasmus

    2018-01-01

    The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while...

  8. Experimental simulation of the bubble membrane radiator using a rotating flat plate

    International Nuclear Information System (INIS)

    Al-Baroudi, H.; Klein, A.C.; Pauley, K.A.

    1991-01-01

    The Bubble Membrane Radiator (BMR), to be used in space reactor systems, uses artificial gravity imposed on the working fluid by means of the centrifugal force to pump the fluid from the radiator. Experimental and analytical studies have been initiated to understand the nature of fluid and heat transport under the conditions of rotation. An experiment is described which measures the condensation of vapor on a rotating flat plate which is oriented normal to the earth's gravity vector to simulate the BMR physics. The relationship between vapor flow rates and rotation speed of the flat plate and a number of physical parameters including amount of condensate, overall heat transfer coefficient, and condensate film thickness are studied experimentally

  9. Vision-Based Robot Following Using PID Control

    OpenAIRE

    Chandra Sekhar Pati; Rahul Kala

    2017-01-01

    Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to ...

  10. Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

    Science.gov (United States)

    de Greeff, Joachim; Belpaeme, Tony

    2015-01-01

    Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children's social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference); the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a "mental model" of the robot, tailoring the tutoring to the robot's performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot's bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance.

  11. Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

    Directory of Open Access Journals (Sweden)

    Joachim de Greeff

    Full Text Available Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children's social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference; the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a "mental model" of the robot, tailoring the tutoring to the robot's performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot's bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance.

  12. Robot Tracer with Visual Camera

    Science.gov (United States)

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

    2017-12-01

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

  13. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-01-01

    Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics. (author)

  14. Robotics for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-10-01

    Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics.

  15. 30 Years of Robotic Surgery.

    Science.gov (United States)

    Leal Ghezzi, Tiago; Campos Corleta, Oly

    2016-10-01

    The idea of reproducing himself with the use of a mechanical robot structure has been in man's imagination in the last 3000 years. However, the use of robots in medicine has only 30 years of history. The application of robots in surgery originates from the need of modern man to achieve two goals: the telepresence and the performance of repetitive and accurate tasks. The first "robot surgeon" used on a human patient was the PUMA 200 in 1985. In the 1990s, scientists developed the concept of "master-slave" robot, which consisted of a robot with remote manipulators controlled by a surgeon at a surgical workstation. Despite the lack of force and tactile feedback, technical advantages of robotic surgery, such as 3D vision, stable and magnified image, EndoWrist instruments, physiologic tremor filtering, and motion scaling, have been considered fundamental to overcome many of the limitations of the laparoscopic surgery. Since the approval of the da Vinci(®) robot by international agencies, American, European, and Asian surgeons have proved its factibility and safety for the performance of many different robot-assisted surgeries. Comparative studies of robotic and laparoscopic surgical procedures in general surgery have shown similar results with regard to perioperative, oncological, and functional outcomes. However, higher costs and lack of haptic feedback represent the major limitations of current robotic technology to become the standard technique of minimally invasive surgery worldwide. Therefore, the future of robotic surgery involves cost reduction, development of new platforms and technologies, creation and validation of curriculum and virtual simulators, and conduction of randomized clinical trials to determine the best applications of robotics.

  16. Interfacial microstructure and mechanical properties of joining electroless nickel plated quartz fibers reinforced silica composite to Invar

    International Nuclear Information System (INIS)

    Lei, Zhao; Lixia, Zhang; Xiaoyu, Tian; Peng, He; Jicai, Feng

    2011-01-01

    Vacuum brazing of electroless nickel plated quartz fibers reinforced silica composite (QFSC) to Invar alloy using Ag-Cu eutectic alloy at various temperatures (1073-1163 K) and times (5-35 min) has been investigated. The scanning electron microscopy, energy dispersive spectroscopy and X-ray diffraction examination of the joints showed that the junction between QFSC and Invar produced reaction products like Cu 3.8 Ni, Cu (s, s), Ni (s, s) and Ag (s, s), with the structure of Invar/Cu 3.8 Ni + Ni (s, s)/Ni (s, s) + Cu 3.8 Ni + Ag (s, s) + Cu (s, s)/Cu (s, s) + Cu 3.8 Ni + Ni (s, s) + QFSC. The shear strength of joint was effected by the changes of relative amount of Cu-Ni eutectic structure (Cu 3.8 Ni + Ni (s, s)) and thickness of nickel plating film at different parameters. The shear strength of joint increased when there were proper amount of Cu-Ni eutectic structure and nickel plating film for reinforcement, and decreased while them were consumed excessively in interaction. The maximum shear strength of joint is 29 MPa, which was brazed at 1103 K for 15 min.

  17. Human Robotic Systems (HRS): Controlling Robots over Time Delay Element

    Data.gov (United States)

    National Aeronautics and Space Administration — This element involves the development of software that enables easier commanding of a wide range of NASA relevant robots through the Robot Application Programming...

  18. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  19. Effect of cognitive biases on human-robot interaction: a case study of robot's misattribution

    OpenAIRE

    Biswas, Mriganka; Murray, John

    2014-01-01

    This paper presents a model for developing long-term human-robot interactions and social relationships based on the principle of 'human' cognitive biases applied to a robot. The aim of this work is to study how a robot influenced with human ‘misattribution’ helps to build better human-robot interactions than unbiased robots. The results presented in this paper suggest that it is important to know the effect of cognitive biases in human characteristics and interactions in order to better u...

  20. Robotic systems in spine surgery.

    Science.gov (United States)

    Onen, Mehmet Resid; Naderi, Sait

    2014-01-01

    Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.

  1. Applications of image plates in neutron radiography and neutron diffraction at BARC, Trombay

    International Nuclear Information System (INIS)

    Shaikh, A.M.

    2013-01-01

    Neutron radiography techniques based on Gd, Dy and In metallic foils and X-ray film have been used at this centre since early seventies for various NDT and R and D work in nuclear, defence and aerospace industries. In recent years use of photostimulated luminescence based phosphor imaging plate has been introduced in our work. This has enabled to achieve higher sensitivities and dynamic ranges of recording radiographs with acceptable spatial resolution. It also provides digital image information which is more convenient for quantitative evaluations. Neutron image plates have been used in variety of radiography techniques such as conventional neutron radiography (NR), neutron induced beta radiography (NIBR), hydrogen sensitive epithermal neutron radiography (HYSEN) and for neutron powder diffractometry using Apsara, CIRUS and Dhruva reactors as neutron sources. Recently the image plates have also been used for characterization of thermalized neutron beam from a plasma focus neutron source and recording neutron radiographs. Prior to the utilization image plates have been characterised for their performance. Details of the measurements and applications will be presented. (author)

  2. Robots in the Roses

    OpenAIRE

    2014-01-01

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

  3. 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...

  4. Full autonomous microline trace robot

    Science.gov (United States)

    Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

    2000-10-01

    Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

  5. Fabricating Pinhole-Free YSZ Sub-Microthin Films by Magnetron Sputtering for Micro-SOFCs

    Directory of Open Access Journals (Sweden)

    T. Hill

    2011-01-01

    Full Text Available Submicron thin yttria stabilized zirconia (YSZ films were prepared on a variety of substrates with different surface morphologies by magnetron sputtering followed by thermal oxidation. Pinholes were observed in the films deposited on nanoporous alumina substrates. Initial dense Y/Zr films developed nanocracks after thermal oxidation on smooth Si wafer substrates. At optimal sputtering and oxidation conditions, smooth and crack/pore-free films were achieved on Si wafer substrates. The thin YSZ films exhibited fully ionic conduction with ionic conductivities, and activation energy corroborated well with the values from commercial YSZ plates. The thin YSZ films can be utilized in Solid Oxide Fuel Cells (SOFCs for intermediate temperature operations.

  6. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  7. Robots of the Future

    Indian Academy of Sciences (India)

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

  8. A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

    Directory of Open Access Journals (Sweden)

    Philipp Beckerle

    2017-05-01

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

  9. A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

    Science.gov (United States)

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

    2017-01-01

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

  10. Advances in Robotics and Virtual Reality

    CERN Document Server

    Hassanien, Aboul

    2012-01-01

    A beyond human knowledge and reach, robotics is strongly involved in tackling challenges of new emerging multidisciplinary fields. Together with humans, robots are busy exploring and working on the new generation of ideas and problems whose solution is otherwise impossible to find. The future is near when robots will sense, smell and touch people and their lives. Behind this practical aspect of human-robotics, there is a half a century spanned robotics research, which transformed robotics into a modern science. The Advances in Robotics and Virtual Reality is a compilation of emerging application areas of robotics. The book covers robotics role in medicine, space exploration and also explains the role of virtual reality as a non-destructive test bed which constitutes a premise of further advances towards new challenges in robotics. This book, edited by two famous scientists with the support of an outstanding team of fifteen authors, is a well suited reference for robotics researchers and scholars from related ...

  11. Design technique for all-dielectric non-polarizing beam splitter plate

    Science.gov (United States)

    Rizea, A.

    2012-03-01

    There are many situations when, for the proper working, an opto-electronic device requiring optical components does not change the polarization state of light after a reflection, splitting or filtering. In this paper, a design for a non-polarizing beam splitter plate is proposed. Based on certain optical properties of homogeneous dielectric materials we will establish a reliable thin film package formula, excellent for the start of optimization to obtain a 20-nm bandwidth non-polarizing beam splitter.

  12. Application of imaging plate neutron detector to neutron radiography

    CERN Document Server

    Fujine, S; Kamata, M; Etoh, M

    1999-01-01

    As an imaging plate neutron detector (IP-ND) has been available for thermal neutron radiography (TNR) which has high resolution, high sensitivity and wide range, some basic characteristics of the IP-ND system were measured at the E-2 facility of the KUR. After basic performances of the IP were studied, images with high quality were obtained at a neutron fluence of 2 to 7x10 sup 8 n cm sup - sup 2. It was found that the IP-ND system with Gd sub 2 O sub 3 as a neutron converter material has a higher sensitivity to gamma-ray than that of a conventional film method. As a successful example, clear radiographs of the flat view for the fuel side plates with boron burnable poison were obtained. An application of the IP-ND system to neutron radiography (NR) is presented in this paper.

  13. Can Social Robots Qualify for Moral Consideration? Reframing the Question about Robot Rights

    Directory of Open Access Journals (Sweden)

    Herman T. Tavani

    2018-03-01

    Full Text Available A controversial question that has been hotly debated in the emerging field of robot ethics is whether robots should be granted rights. Yet, a review of the recent literature in that field suggests that this seemingly straightforward question is far from clear and unambiguous. For example, those who favor granting rights to robots have not always been clear as to which kinds of robots should (or should not be eligible; nor have they been consistent with regard to which kinds of rights—civil, legal, moral, etc.—should be granted to qualifying robots. Also, there has been considerable disagreement about which essential criterion, or cluster of criteria, a robot would need to satisfy to be eligible for rights, and there is ongoing disagreement as to whether a robot must satisfy the conditions for (moral agency to qualify either for rights or (at least some level of moral consideration. One aim of this paper is to show how the current debate about whether to grant rights to robots would benefit from an analysis and clarification of some key concepts and assumptions underlying that question. My principal objective, however, is to show why we should reframe that question by asking instead whether some kinds of social robots qualify for moral consideration as moral patients. In arguing that the answer to this question is “yes,” I draw from some insights in the writings of Hans Jonas to defend my position.

  14. Multi-Robot Assembly Strategies and Metrics

    Science.gov (United States)

    MARVEL, JEREMY A.; BOSTELMAN, ROGER; FALCO, JOE

    2018-01-01

    We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies. PMID:29497234

  15. Multi-Robot Assembly Strategies and Metrics.

    Science.gov (United States)

    Marvel, Jeremy A; Bostelman, Roger; Falco, Joe

    2018-02-01

    We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

  16. Present and Future of Nuclear Robotics

    International Nuclear Information System (INIS)

    Bielza Ciaz-Caneja, M.; Carmena Servet, P.; Gomez Santamaria, J.; Gonzalez Fernandez, J.; Izquierdo Mendoza, J.A.; Linares Pintos, F.; Martinez Gonzalez; Muntion Ruesgas, A.; Serna Oliveira, M.A.

    1997-01-01

    New technologies have increased the use of robotic systems in fields other than Industry. As a result, research and developers are focusing their interest in concepts like Intelligent Robotics and Robotics in Services. This paper describes the use of Robotics in Nuclear facilities, where robots can be used to protect workers in high radiation areas, to reduce total worker exposure and to minimise downtime. First, the structure of robot systems is introduced and the benefits of nuclear robots is presented. Next, the paper describes some specific nuclear applications and the families of nuclear robots present in the market. After that, a section is devoted to Nuclear Robotics in Spain, with emphasis in some of the developments being carried out at present. Finally, some reflections about the future of robots in Nuclear Industry are offered. (Author) 18 refs

  17. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  18. Developing new behavior strategies of robot soccer team SjF TUKE Robotics

    Directory of Open Access Journals (Sweden)

    Mikuláš Hajduk

    2016-09-01

    Full Text Available There are too many types of robotic soccer approaches at present. SjF TUKE Robotics, who won robot soccer world tournament for year 2010 in category MiroSot, is a team with multiagent system approach. They have one main agent (master and five agent players, represented by robots. There is a point of view, in the article, for code programmer how to create new behavior strategies by creating a new code for master. There is a methodology how to prepare and create it following some rules.

  19. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

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

  20. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

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