WorldWideScience

Sample records for friendly network robotics

  1. 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.

  2. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    A working group (WG) study was conducted aiming at realizing human type robots. The following six working groups in the basement field were organized to study in terms mostly of items of technical development and final technical targets: platform, and remote attendance control in the basement field, maintenance of plant, etc., home service, disaster/construction, and entertainment in the application field. In the platform WG, a robot of human like form is planning which walks with two legs and works with two arms, and the following were discussed: a length of 160cm, weight of 110kg, built-in LAN, actuator specifications, modulated structure, intelligent driver, etc. In the remote attendance control WG, remote control using working function, stabilized movement, stabilized control, and network is made possible. Studied were made on the decision on a remote control cockpit by open architecture added with function and reformable, problems on the development of the standard language, etc. 77 ref., 82 figs., 21 tabs.

  3. Network-Friendly Gossiping

    Science.gov (United States)

    Serbu, Sabina; Rivière, Étienne; Felber, Pascal

    The emergence of large-scale distributed applications based on many-to-many communication models, e.g., broadcast and decentralized group communication, has an important impact on the underlying layers, notably the Internet routing infrastructure. To make an effective use of network resources, protocols should both limit the stress (amount of messages) on each infrastructure entity like routers and links, and balance as much as possible the load in the network. Most protocols use application-level metrics such as delays to improve efficiency of content dissemination or routing, but the extend to which such application-centric optimizations help reduce and balance the load imposed to the infrastructure is unclear. In this paper, we elaborate on the design of such network-friendly protocols and associated metrics. More specifically, we investigate random-based gossip dissemination. We propose and evaluate different ways of making this representative protocol network-friendly while keeping its desirable properties (robustness and low delays). Simulations of the proposed methods using synthetic and real network topologies convey and compare their abilities to reduce and balance the load while keeping good performance.

  4. 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...

  5. Cooperative robots and sensor networks

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

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

  6. Ocean Robotic Networks

    Energy Technology Data Exchange (ETDEWEB)

    Schofield, Oscar [Rutgers University

    2012-05-23

    We live on an ocean planet which is central to regulating the Earth’s climate and human society. Despite the importance of understanding the processes operating in the ocean, it remains chronically undersampled due to the harsh operating conditions. This is problematic given the limited long term information available about how the ocean is changing. The changes include rising sea level, declining sea ice, ocean acidification, and the decline of mega fauna. While the changes are daunting, oceanography is in the midst of a technical revolution with the expansion of numerical modeling techniques, combined with ocean robotics. Operating together, these systems represent a new generation of ocean observatories. I will review the evolution of these ocean observatories and provide a few case examples of the science that they enable, spanning from the waters offshore New Jersey to the remote waters of the Southern Ocean.

  7. Avoiding object by robot using neural network

    International Nuclear Information System (INIS)

    Prasetijo, D.W.

    1997-01-01

    A Self controlling robot is necessary in the robot application in which operator control is difficult. Serial method such as process on the computer of van newman is difficult to be applied for self controlling robot. In this research, Neural network system for robotic control system was developed by performance expanding at the SCARA. In this research, it was shown that SCARA with application at Neural network system can avoid blocking objects without influence by number and density of the blocking objects, also departure and destination paint. robot developed by this study also can control its moving by self

  8. Control of autonomous robot using neural networks

    Science.gov (United States)

    Barton, Adam; Volna, Eva

    2017-07-01

    The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

  9. Cooperative robots and sensor networks 2014

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

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

  10. Friend suggestion in social network based on user log

    Science.gov (United States)

    Kaviya, R.; Vanitha, M.; Sumaiya Thaseen, I.; Mangaiyarkarasi, R.

    2017-11-01

    Simple friend recommendation algorithms such as similarity, popularity and social aspects is the basic requirement to be explored to methodically form high-performance social friend recommendation. Suggestion of friends is followed. No tags of character were followed. In the proposed system, we use an algorithm for network correlation-based social friend recommendation (NC-based SFR).It includes user activities like where one lives and works. A new friend recommendation method, based on network correlation, by considering the effect of different social roles. To model the correlation between different networks, we develop a method that aligns these networks through important feature selection. We consider by preserving the network structure for a more better recommendations so that it significantly improves the accuracy for better friend-recommendation.

  11. Ethnic Differences among Friend Networks Later in Life

    Science.gov (United States)

    Kang, Hyunsook; Hebert, Corie

    2014-01-01

    This study seeks to broaden the understanding of friend relationships in older adults and the differences in those friend relationships among various ethnic groups. Secondary data from the National Social Life, Health and Aging Project (NSHAP) was analyzed to test the hypothesis that Caucasian older adults have stronger friend networks than older…

  12. An evolution friendly modular architecture to produce feasible robots

    DEFF Research Database (Denmark)

    Faina, Andres; Bellas, Francisco; Orjales, Felix

    2015-01-01

    This paper proposes the use of a modular robotic architecture in order to produce feasible robots through evolution. To this end, the main requirements the architecture must fulfill are analyzed and a top-down methodology is employed to obtain the different types of modules that make it up...... is described and different experiments provide an indication of how versatile the architecture is for evolving robot morphologies and control for specific tasks and how easy it is to build them....

  13. Cooperative robots and sensor networks 2015

    CERN Document Server

    Dios, JRamiro

    2015-01-01

    This book compiles some of the latest research in cooperation between robots and sensor networks. Structured in twelve chapters, this book addresses fundamental, theoretical, implementation and experimentation issues. The chapters are organized into four parts namely multi-robots systems, data fusion and localization, security and dependability, and mobility.

  14. Neural Networks in Mobile Robot Motion

    Directory of Open Access Journals (Sweden)

    Danica Janglová

    2004-03-01

    Full Text Available This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the “free” space using ultrasound range finder data. The second neural network “finds” a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented.

  15. Adaptive Synchronization of Robotic Sensor Networks

    OpenAIRE

    Yıldırım, Kasım Sinan; Gürcan, Önder

    2014-01-01

    The main focus of recent time synchronization research is developing power-efficient synchronization methods that meet pre-defined accuracy requirements. However, an aspect that has been often overlooked is the high dynamics of the network topology due to the mobility of the nodes. Employing existing flooding-based and peer-to-peer synchronization methods, are networked robots still be able to adapt themselves and self-adjust their logical clocks under mobile network dynamics? In this paper, ...

  16. Friends First? The Peer Network Origins of Adolescent Dating

    Science.gov (United States)

    Kreager, Derek A.; Molloy, Lauren E.; Moody, James; Feinberg, Mark E.

    2015-01-01

    The proximity of dating partners in peer friendship networks has important implications for the diffusion of health-risk behaviors and adolescent social development. We derive two competing hypotheses for the friendship-romance association. The first predicts that daters are proximally positioned in friendship networks prior to dating and that opposite-gender friends are likely to transition to dating. The second predicts that dating typically crosses group boundaries and opposite-gender friends are unlikely to later date. We test these hypotheses with longitudinal friendship data for 626 9th grade PROSPER heterosexual dating couples. Results primarily support the second hypothesis: romantic partners are unlikely to be friends in the previous year or share the same cohesive subgroup, and opposite-gender friends are unlikely to transition into dating. PMID:27134511

  17. To friend or not to friend? Social networking and faculty perceptions of online professionalism.

    Science.gov (United States)

    Chretien, Katherine C; Farnan, Jeanne M; Greysen, S Ryan; Kind, Terry

    2011-12-01

    To assess faculty perceptions of professional boundaries and trainee-posted content on social networking sites (SNS). In June 2010, the Clerkship Directors in Internal Medicine conducted its annual survey of U.S. and Canadian member institutions. The survey included sections on demographics and social networking. The authors used descriptive statistics and tests of association to analyze the Likert scale responses and qualitatively analyzed the free-text responses. Of 110 institutional members, 82 (75%) responded to the survey. Of the 40 respondents who reported current or past SNS use, 21 (53%) reported receiving a "friend request" from a current student and 25 (63%) from a current resident. Of these, 4 (19%) accepted the student request and 12 (48%) accepted the resident request. Sixty-three of 80 (79%) felt it was inappropriate to send a friend request to a current student, 61 (76%) to accept a current student's request, 42 (53%) to become friends with a current resident, and 61 (81%) to become friends with a current patient. Becoming friends with a former student, former resident, or colleague was perceived as more appropriate. Younger respondents were less likely to deem specific student behaviors inappropriate (odds ratio [OR] 0.18-0.79; adjusted OR 0.12-0.86, controlling for respondents' sex, rank, and SNS use), although none reached statistical significance. Some internal medicine educators are using SNSs and interacting with trainees online. Their perceptions on the appropriateness of social networking behaviors provide some consensus for professional boundaries between faculty and trainees in the digital world.

  18. User-friendly matching protocol for online social networks

    NARCIS (Netherlands)

    Tang, Qiang

    2010-01-01

    In this paper, we outline a privacy-preserving matching protocol for OSN (online social network) users to find their potential friends. With the proposed protocol, a logged-in user can match her profile with that of an off-line stranger, while both profiles are maximally protected. Our solution

  19. Towards Human-Friendly Efficient Control of Multi-Robot Teams

    Science.gov (United States)

    Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

    2013-01-01

    This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

  20. Intelligent Interaction for Human-Friendly Service Robot in Smart House Environment

    Directory of Open Access Journals (Sweden)

    Z. Zenn Bien

    2008-01-01

    Full Text Available The smart house under consideration is a service-integrated complex system to assist older persons and/or people with disabilities. The primary goal of the system is to achieve independent living by various robotic devices and systems. Such a system is treated as a human-in-the loop system in which human- robot interaction takes place intensely and frequently. Based on our experiences of having designed and implemented a smart house environment, called Intelligent Sweet Home (ISH, we present a framework of realizing human-friendly HRI (human-robot interaction module with various effective techniques of computational intelligence. More specifically, we partition the robotic tasks of HRI module into three groups in consideration of the level of specificity, fuzziness or uncertainty of the context of the system, and present effective interaction method for each case. We first show a task planning algorithm and its architecture to deal with well-structured tasks autonomously by a simplified set of commands of the user instead of inconvenient manual operations. To provide with capability of interacting in a human-friendly way in a fuzzy context, it is proposed that the robot should make use of human bio-signals as input of the HRI module as shown in a hand gesture recognition system, called a soft remote control system. Finally we discuss a probabilistic fuzzy rule-based life-long learning system, equipped with intention reading capability by learning human behavioral patterns, which is introduced as a solution in uncertain and time-varying situations.

  1. Handling uncertainty and networked structure in robot control

    CERN Document Server

    Tamás, Levente

    2015-01-01

    This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams. Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com. The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer...

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

    Science.gov (United States)

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

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Aníbal Ollero

    2010-03-01

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

  4. Visual guidance of a pig evisceration robot using neural networks

    DEFF Research Database (Denmark)

    Christensen, S.S.; Andersen, A.W.; Jørgensen, T.M.

    1996-01-01

    The application of a RAM-based neural network to robot vision is demonstrated for the guidance of a pig evisceration robot. Tests of the combined robot-vision system have been performed at an abattoir. The vision system locates a set of feature points on a pig carcass and transmits the 3D coordin...

  5. Best Friends: Alliances, Friend Ranking, and the MySpace Social Network.

    Science.gov (United States)

    DeScioli, Peter; Kurzban, Robert; Koch, Elizabeth N; Liben-Nowell, David

    2011-01-01

    Like many topics of psychological research, the explanation for friendship is at once intuitive and difficult to address empirically. These difficulties worsen when one seeks, as we do, to go beyond "obvious" explanations ("humans are social creatures") to ask deeper questions, such as "What is the evolved function of human friendship?" In recent years, however, a new window into human behavior has opened as a growing fraction of people's social activity has moved online, leaving a wealth of digital traces behind. One example is a feature of the MySpace social network that allows millions of users to rank their "Top Friends." In this study, we collected over 10 million people's friendship decisions from MySpace to test predictions made by hypotheses about human friendship. We found particular support for the alliance hypothesis, which holds that human friendship is caused by cognitive systems that function to create alliances for potential disputes. Because an ally's support can be undermined by a stronger outside relationship, the alliance model predicts that people will prefer partners who rank them above other friends. Consistent with the alliance model, we found that an individual's choice of best friend in MySpace is strongly predicted by how partners rank that individual. © The Author(s) 2011.

  6. Friends of friends: are indirect connections in social networks important to animal behaviour?

    Science.gov (United States)

    Brent, Lauren J N

    2015-05-01

    Friend of a friend relationships, or the indirect connections between people, influence our health, well-being, financial success and reproductive output. As with humans, social behaviours in other animals often occur within a broad interconnected network of social ties. Yet studies of animal social behaviour tend to focus on associations between pairs of individuals. With the increase in popularity of social network analysis, researchers have started to look beyond the dyad to examine the role of indirect connections in animal societies. Here, I provide an overview of the new knowledge that has been uncovered by these studies. I focus on research that has addressed both the causes of social behaviours, i.e. the cognitive and genetic basis of indirect connections, as well as their consequences, i.e. the impact of indirect connections on social cohesion, information transfer, cultural practices and fitness. From these studies, it is apparent that indirect connections play an important role in animal behaviour, although future research is needed to clarify their contribution.

  7. Friends of friends: are indirect connections in social networks important to animal behaviour?

    Science.gov (United States)

    Brent, Lauren J. N.

    2015-01-01

    Friend of a friend relationships, or the indirect connections between people, influence our health, well-being, financial success and reproductive output. As with humans, social behaviours in other animals often occur within a broad interconnected network of social ties. Yet studies of animal social behaviour tend to focus on associations between pairs of individuals. With the increase in popularity of social network analysis, researchers have started to look beyond the dyad to examine the role of indirect connections in animal societies. Here, I provide an overview of the new knowledge that has been uncovered by these studies. I focus on research that has addressed both the causes of social behaviours, i.e. the cognitive and genetic basis of indirect connections, as well as their consequences, i.e. the impact of indirect connections on social cohesion, information transfer, cultural practices and fitness. From these studies, it is apparent that indirect connections play an important role in animal behaviour, although future research is needed to clarify their contribution. PMID:25937639

  8. A Review on Sensor Network Issues and Robotics

    Directory of Open Access Journals (Sweden)

    Ji Hyoung Ryu

    2015-01-01

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

  9. Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

    Science.gov (United States)

    Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

    2016-01-01

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

  10. Collaboration Layer for Robots in Mobile Ad-hoc Networks

    DEFF Research Database (Denmark)

    Borch, Ole; Madsen, Per Printz; Broberg, Jacob Honor´e

    2009-01-01

    In many applications multiple robots in Mobile Ad-hoc Networks are required to collaborate in order to solve a task. This paper shows by proof of concept that a Collaboration Layer can be modelled and designed to handle the collaborative communication, which enables robots in small to medium size...

  11. Passivity-based control and estimation in networked robotics

    CERN Document Server

    Hatanaka, Takeshi; Fujita, Masayuki; Spong, Mark W

    2015-01-01

    Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques,  the authors provide experimental case studies on testbeds of robotic systems  including networked haptic devices, visual robotic systems,  robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control ...

  12. RoboSmith: Wireless Networked Architecture for Multiagent Robotic System

    Directory of Open Access Journals (Sweden)

    Florin Moldoveanu

    2010-11-01

    Full Text Available In this paper is presented an architecture for a flexible mini robot for a multiagent robotic system. In a multiagent system the value of an individual agent is negligible since the goal of the system is essential. Thus, the agents (robots need to be small, low cost and cooperative. RoboSmith are designed based on these conditions. The proposed architecture divide a robot into functional modules such as locomotion, control, sensors, communication, and actuation. Any mobile robot can be constructed by combining these functional modules for a specific application. An embedded software with dynamic task uploading and multi-tasking abilities is developed in order to create better interface between robots and the command center and among the robots. The dynamic task uploading allows the robots change their behaviors in runtime. The flexibility of the robots is given by facts that the robots can work in multiagent system, as master-slave, or hybrid mode, can be equipped with different modules and possibly be used in other applications such as mobile sensor networks remote sensing, and plant monitoring.

  13. NRES: The Network of Robotic Echelle Spectrographs

    Science.gov (United States)

    Siverd, Robert; Brown, Tim; Henderson, Todd; Hygelund, John; Barnes, Stuart; de Vera, Jon; Eastman, Jason; Kirby, Annie; Smith, Cary; Taylor, Brook; Tufts, Joseph; van Eyken, Julian

    2018-01-01

    Las Cumbres Observatory (LCO) is building the Network of Robotic Echelle Spectrographs (NRES), which will consist of four (up to six in the future) identical, optical (390 - 860 nm) high-precision spectrographs, each fiber-fed simultaneously by up to two 1-meter telescopes and a Thorium-Argon calibration source. We plan to install one at up to 6 observatory sites in the Northern and Southern hemispheres, creating a single, globally-distributed, autonomous spectrograph facility using up to ten 1-m telescopes. Simulations suggest we will achieve long-term radial velocity precision of 3 m/s in less than an hour for stars brighter than V = 11 or 12 once the system reaches full capability. Acting in concert, these four spectrographs will provide a new, unique facility for stellar characterization and precise radial velocities.Following a few months of on-sky evaluation at our BPL test facility, the first spectrograph unit was shipped to CTIO in late 2016 and installed in March 2017. After several more months of additional testing and commissioning, regular science operations began with this node in September 2017. The second NRES spectrograph was installed at McDonald Observatory in September 2017 and released to the network after its own brief commissioning period, extending spectroscopic capability to the Northern hemisphere. The third NRES spectrograph was installed at SAAO in November 2017 and released to our science community just before year's end. The fourth NRES unit shipped in October and is currently en route to Wise Observatory in Israel with an expected release to the science community in early 2018.We will briefly overview the LCO telescope network, the NRES spectrograph design, the advantages it provides, and development challenges we encountered along the way. We will further discuss real-world performance from our first three units, initial science results, and the ongoing software development effort needed to automate such a facility for a wide array of

  14. Biologically based neural network for mobile robot navigation

    Science.gov (United States)

    Torres Muniz, Raul E.

    1999-01-01

    The new tendency in mobile robots is to crete non-Cartesian system based on reactions to their environment. This emerging technology is known as Evolutionary Robotics, which is combined with the Biorobotic field. This new approach brings cost-effective solutions, flexibility, robustness, and dynamism into the design of mobile robots. It also provides fast reactions to the sensory inputs, and new interpretation of the environment or surroundings of the mobile robot. The Subsumption Architecture (SA) and the action selection dynamics developed by Brooks and Maes, respectively, have successfully obtained autonomous mobile robots initiating this new trend of the Evolutionary Robotics. Their design keeps the mobile robot control simple. This work present a biologically inspired modification of these schemes. The hippocampal-CA3-based neural network developed by Williams Levy is used to implement the SA, while the action selection dynamics emerge from iterations of the levels of competence implemented with the HCA3. This replacement by the HCA3 results in a closer biological model than the SA, combining the Behavior-based intelligence theory with neuroscience. The design is kept simple, and it is implemented in the Khepera Miniature Mobile Robot. The used control scheme obtains an autonomous mobile robot that can be used to execute a mail delivery system and surveillance task inside a building floor.

  15. Friends with Faces: How Social Networks Can Enhance Face Recognition and Vice Versa

    Science.gov (United States)

    Mavridis, Nikolaos; Kazmi, Wajahat; Toulis, Panos

    The "friendship" relation, a social relation among individuals, is one of the primary relations modeled in some of the world's largest online social networking sites, such as "FaceBook." On the other hand, the "co-occurrence" relation, as a relation among faces appearing in pictures, is one that is easily detectable using modern face detection techniques. These two relations, though appearing in different realms (social vs. visual sensory), have a strong correlation: faces that co-occur in photos often belong to individuals who are friends. Using real-world data gathered from "Facebook," which were gathered as part of the "FaceBots" project, the world's first physical face-recognizing and conversing robot that can utilize and publish information on "Facebook" was established. We present here methods as well as results for utilizing this correlation in both directions. Both algorithms for utilizing knowledge of the social context for faster and better face recognition are given, as well as algorithms for estimating the friendship network of a number of individuals given photos containing their faces. The results are quite encouraging. In the primary example, doubling of the recognition accuracy as well as a sixfold improvement in speed is demonstrated. Various improvements, interesting statistics, as well as an empirical investigation leading to predictions of scalability to much bigger data sets are discussed.

  16. Inverse kinematics problem in robotics using neural networks

    Science.gov (United States)

    Choi, Benjamin B.; Lawrence, Charles

    1992-01-01

    In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

  17. Autonomous Deployment and Restoration of Sensor Network using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Suzuki

    2010-09-01

    Full Text Available This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN and deploy them into the environment while measuring Received Signal Strength Indication (RSSI values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.

  18. Autonomous Deployment and Restoration of Sensor Network using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Suzuki

    2010-06-01

    Full Text Available This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN and deploy them into the environment while measuring Received Signal Strength Indication (RSSI values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.

  19. Four Degree Freedom Robot Arm with Fuzzy Neural Network Control

    Directory of Open Access Journals (Sweden)

    Şinasi Arslan

    2013-01-01

    Full Text Available In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.

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

    Directory of Open Access Journals (Sweden)

    Widodo Budiharto

    2015-01-01

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

  1. Design and evaluation of an end-user friendly tool for robot programming

    NARCIS (Netherlands)

    Buchina, N.; Barakova, E.I.; Kamel, S.M.W.

    2016-01-01

    End-user programming for robots is becoming an increasingly important topic since robots are being introduced into a wide variety of domains. We propose a design of a web based programming interface that makes it possible for end-users with different backgrounds to program robots using natural

  2. Fractal gene regulatory networks for robust locomotion control of modular robots

    DEFF Research Database (Denmark)

    Zahadat, Payam; Christensen, David Johan; Schultz, Ulrik Pagh

    2010-01-01

    Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed and the ......Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed...

  3. Underage Use of Social Network Sites: It's About Friends.

    Science.gov (United States)

    Barbovschi, Monica; Macháčková, Hana; Ólafsson, Kjartan

    2015-06-01

    European self-regulation to ensure children's safety on social networking sites (SNS) stipulates that children should be old enough to use their services. However, a growing number of children are not. Drawing on data from the Net Children Go Mobile (NCGM) project (2012-2014), this study focuses on children aged 9-12 years, among whom 42% have a profile on Facebook, many with the explicit permission of their parents, despite the explicit policy allowing only children aged 13 years and older. Yet, such parental influence is not the only factor contributing to an underage child having a profile. Hierarchical logistic regressions were conducted in which the odds of having a profile on Facebook among children aged 9-12 years (N=1,723) were predicted. After controlling for demographic variables, Facebook use was connected to daily use of the Internet from home (bedroom and other places), looking for new friends online, and online disinhibition (e.g., being able to talk about different things on the Internet than when speaking to people face-to-face). In terms of parental mediation, restrictions lower the probabilities of an underage child having a SNS profile, while active parental mediation increases the odds. In addition to parental mediation, peer mediation increases the chances of underage Facebook use, indicating that children play a significant role in influencing each other in adoption of new technologies and applications. Finally, digital skills related to communication have a significant effect, suggesting an integrated adoption of communicative practices online. Daily use of mobile devices had no effect in the model.

  4. Social Networking for the Older and Wiser Connect with Family, and Friends Old and New

    CERN Document Server

    McManus, Sean

    2010-01-01

    Social networks enable anyone with a computer and Internet connection to stay in touch with friends and family across the globe, and rediscover old acquaintances.  Social Networking for the Older and Wiser starts with the basics of social networks, before moving onto intermediate topics, all whilst highlighting ways to protect your privacy and keep your details secure. The book is packed with step-by-step instructions on how to use Facebook, Twitter, Friends Reunited, Saga Zone, and other social networks to:Create an account on your chosen social networkReconnect and stay-in-touch with old fr

  5. Robotic Astronomy and the BOOTES Network of Robotic Telescopes

    Directory of Open Access Journals (Sweden)

    A. J. Castro-Tirado

    2011-01-01

    Full Text Available The Burst Observer and Optical Transient Exploring System (BOOTES, started in 1998 as a Spanish-Czech collaboration project, devoted to a study of optical emissions from gamma ray bursts (GRBs that occur in the Universe. The first two BOOTES stations were located in Spain, and included medium size robotic telescopes with CCD cameras at the Cassegrain focus as well as all-sky cameras, with the two stations located 240 km apart. The first observing station (BOOTES-1 is located at ESAt (INTA-CEDEA in Mazag´on (Huelva and the first light was obtained in July 1998. The second observing station (BOOTES-2 is located at La Mayora (CSIC in M´alaga and has been operating fully since July 2001. In 2009 BOOTES expanded abroad, with the third station (BOOTES-3 being installed in Blenheim (South Island, New Zealand as result of a collaboration project with several institutions from the southern hemisphere. The fourth station (BOOTES-4 is on its way, to be deployed in 2011.

  6. Human-friendly robotic manipulators: safety and performance issues in controller design

    NARCIS (Netherlands)

    Tadele, T.S.

    2014-01-01

    Recent advances in robotics have spurred its adoption into new application areas such as medical, rescue, transportation, logistics, personal care and entertainment. In the personal care domain, robots are expected to operate in human-present environments and provide non-critical assistance.

  7. Neural-Network Control Of Prosthetic And Robotic Hands

    Science.gov (United States)

    Buckley, Theresa M.

    1991-01-01

    Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.

  8. MyGeneFriends: A Social Network Linking Genes, Genetic Diseases, and Researchers.

    Science.gov (United States)

    Allot, Alexis; Chennen, Kirsley; Nevers, Yannis; Poidevin, Laetitia; Kress, Arnaud; Ripp, Raymond; Thompson, Julie Dawn; Poch, Olivier; Lecompte, Odile

    2017-06-16

    The constant and massive increase of biological data offers unprecedented opportunities to decipher the function and evolution of genes and their roles in human diseases. However, the multiplicity of sources and flow of data mean that efficient access to useful information and knowledge production has become a major challenge. This challenge can be addressed by taking inspiration from Web 2.0 and particularly social networks, which are at the forefront of big data exploration and human-data interaction. MyGeneFriends is a Web platform inspired by social networks, devoted to genetic disease analysis, and organized around three types of proactive agents: genes, humans, and genetic diseases. The aim of this study was to improve exploration and exploitation of biological, postgenomic era big data. MyGeneFriends leverages conventions popularized by top social networks (Facebook, LinkedIn, etc), such as networks of friends, profile pages, friendship recommendations, affinity scores, news feeds, content recommendation, and data visualization. MyGeneFriends provides simple and intuitive interactions with data through evaluation and visualization of connections (friendships) between genes, humans, and diseases. The platform suggests new friends and publications and allows agents to follow the activity of their friends. It dynamically personalizes information depending on the user's specific interests and provides an efficient way to share information with collaborators. Furthermore, the user's behavior itself generates new information that constitutes an added value integrated in the network, which can be used to discover new connections between biological agents. We have developed MyGeneFriends, a Web platform leveraging conventions from popular social networks to redefine the relationship between humans and biological big data and improve human processing of biomedical data. MyGeneFriends is available at lbgi.fr/mygenefriends. ©Alexis Allot, Kirsley Chennen, Yannis

  9. Learning from Your Network of Friends: A Trajectory Representation Learning Model Based on Online Social Ties

    KAUST Repository

    Alharbi, Basma Mohammed; Zhang, Xiangliang

    2017-01-01

    Location-Based Social Networks (LBSNs) capture individuals whereabouts for a large portion of the population. To utilize this data for user (location)-similarity based tasks, one must map the raw data into a low-dimensional uniform feature space. However, due to the nature of LBSNs, many users have sparse and incomplete check-ins. In this work, we propose to overcome this issue by leveraging the network of friends, when learning the new feature space. We first analyze the impact of friends on individuals's mobility, and show that individuals trajectories are correlated with thoseof their friends and friends of friends (2-hop friends) in an online setting. Based on our observation, we propose a mixed-membership model that infers global mobility patterns from users' check-ins and their network of friends, without impairing the model's complexity. Our proposed model infers global patterns and learns new representations for both usersand locations simultaneously. We evaluate the inferred patterns and compare the quality of the new user representation against baseline methods on a social link prediction problem.

  10. Learning from Your Network of Friends: A Trajectory Representation Learning Model Based on Online Social Ties

    KAUST Repository

    Alharbi, Basma Mohammed

    2017-02-07

    Location-Based Social Networks (LBSNs) capture individuals whereabouts for a large portion of the population. To utilize this data for user (location)-similarity based tasks, one must map the raw data into a low-dimensional uniform feature space. However, due to the nature of LBSNs, many users have sparse and incomplete check-ins. In this work, we propose to overcome this issue by leveraging the network of friends, when learning the new feature space. We first analyze the impact of friends on individuals\\'s mobility, and show that individuals trajectories are correlated with thoseof their friends and friends of friends (2-hop friends) in an online setting. Based on our observation, we propose a mixed-membership model that infers global mobility patterns from users\\' check-ins and their network of friends, without impairing the model\\'s complexity. Our proposed model infers global patterns and learns new representations for both usersand locations simultaneously. We evaluate the inferred patterns and compare the quality of the new user representation against baseline methods on a social link prediction problem.

  11. Collaboration Layer for Robots in Mobile Ad-hoc Networks

    DEFF Research Database (Denmark)

    Borch, Ole; Madsen, Per Printz; Broberg, Jacob Honor´e

    2009-01-01

    networks to solve tasks collaboratively. In this proposal the Collaboration Layer is modelled to handle service and position discovery, group management, and synchronisation among robots, but the layer is also designed to be extendable. Based on this model of the Collaboration Layer, generic services...... are provided to the application running on the robot. The services are generic because they can be used by many different applications, independent of the task to be solved. Likewise, specific services are requested from the underlying Virtual Machine, such as broadcast, multicast, and reliable unicast....... A prototype of the Collaboration Layer has been developed to run in a simulated environment and tested in an evaluation scenario. In the scenario five robots solve the tasks of vacuum cleaning and entrance guarding, which involves the ability to discover potential co-workers, form groups, shift from one group...

  12. A Novel Friendly Jamming Scheme in Industrial Crowdsensing Networks against Eavesdropping Attack.

    Science.gov (United States)

    Li, Xuran; Wang, Qiu; Dai, Hong-Ning; Wang, Hao

    2018-06-14

    Eavesdropping attack is one of the most serious threats in industrial crowdsensing networks. In this paper, we propose a novel anti-eavesdropping scheme by introducing friendly jammers to an industrial crowdsensing network. In particular, we establish a theoretical framework considering both the probability of eavesdropping attacks and the probability of successful transmission to evaluate the effectiveness of our scheme. Our framework takes into account various channel conditions such as path loss, Rayleigh fading, and the antenna type of friendly jammers. Our results show that using jammers in industrial crowdsensing networks can effectively reduce the eavesdropping risk while having no significant influence on legitimate communications.

  13. Friend or Foe? Fake Profile Identification in Online Social Networks

    OpenAIRE

    Fire, Michael; Kagan, Dima; Elyashar, Aviad; Elovici, Yuval

    2013-01-01

    The amount of personal information unwillingly exposed by users on online social networks is staggering, as shown in recent research. Moreover, recent reports indicate that these networks are infested with tens of millions of fake users profiles, which may jeopardize the users' security and privacy. To identify fake users in such networks and to improve users' security and privacy, we developed the Social Privacy Protector software for Facebook. This software contains three protection layers,...

  14. Friend networking sites and their relationship to adolescents' well-being and social self-esteem.

    Science.gov (United States)

    Valkenburg, Patti M; Peter, Jochen; Schouten, Alexander P

    2006-10-01

    The aim of this study was to investigate the consequences of friend networking sites (e.g., Friendster, MySpace) for adolescents' self-esteem and well-being. We conducted a survey among 881 adolescents (10-19-year-olds) who had an online profile on a Dutch friend networking site. Using structural equation modeling, we found that the frequency with which adolescents used the site had an indirect effect on their social self-esteem and well-being. The use of the friend networking site stimulated the number of relationships formed on the site, the frequency with which adolescents received feedback on their profiles, and the tone (i.e., positive vs. negative) of this feedback. Positive feedback on the profiles enhanced adolescents' social self-esteem and well-being, whereas negative feedback decreased their self-esteem and well-being.

  15. Web based educational tool for neural network robot control

    Directory of Open Access Journals (Sweden)

    Jure Čas

    2007-05-01

    Full Text Available Abstract— This paper describes the application for teleoperations of the SCARA robot via the internet. The SCARA robot is used by students of mehatronics at the University of Maribor as a remote educational tool. The developed software consists of two parts i.e. the continuous neural network sliding mode controller (CNNSMC and the graphical user interface (GUI. Application is based on two well-known commercially available software packages i.e. MATLAB/Simulink and LabVIEW. Matlab/Simulink and the DSP2 Library for Simulink are used for control algorithm development, simulation and executable code generation. While this code is executing on the DSP-2 Roby controller and through the analog and digital I/O lines drives the real process, LabVIEW virtual instrument (VI, running on the PC, is used as a user front end. LabVIEW VI provides the ability for on-line parameter tuning, signal monitoring, on-line analysis and via Remote Panels technology also teleoperation. The main advantage of a CNNSMC is the exploitation of its self-learning capability. When friction or an unexpected impediment occurs for example, the user of a remote application has no information about any changed robot dynamic and thus is unable to dispatch it manually. This is not a control problem anymore because, when a CNNSMC is used, any approximation of changed robot dynamic is estimated independently of the remote’s user. Index Terms—LabVIEW; Matlab/Simulink; Neural network control; remote educational tool; robotics

  16. Contrasting Web Robot and Human Behaviors with Network Models

    OpenAIRE

    Brown, Kyle; Doran, Derek

    2018-01-01

    The web graph is a commonly-used network representation of the hyperlink structure of a website. A network of similar structure to the web graph, which we call the session graph has properties that reflect the browsing habits of the agents in the web server logs. In this paper, we apply session graphs to compare the activity of humans against web robots or crawlers. Understanding these properties will enable us to improve models of HTTP traffic, which can be used to predict and generate reali...

  17. A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems

    OpenAIRE

    Tao, Yong; Zheng, Jiaqi; Lin, Yuanchang

    2016-01-01

    A sliding mode control method based on radial basis function (RBF) neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC) has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network par...

  18. Family and Friends: Which Types of Personal Relationships Go Together in a Network?

    Science.gov (United States)

    Rözer, Jesper; Mollenhorst, Gerald; Poortman, Anne-Rigt

    We examine the link between family and personal networks. Using arguments about meeting opportunities, competition and social influence, we hypothesise how the presence of specific types of family members (i.e., a partner, children, parents and siblings) and non-family members (i.e., friends, neighbours and colleagues) in the network mutually affect one another. In addition, we propose that-beyond their mere presence-the active role of family members in the network strongly affects the presence of non-family members in the network. Data from the third wave of the Survey on the Social Networks of the Dutch, collected in 2012 and 2013, show that active involvement is of key importance; more than merely having family members present in one's personal network, the active involvement of specific types of family members in the personal network is associated with having disproportionally more other family members and having somewhat fewer non-family members in the network.

  19. Tracking Mobile Robot in Indoor Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Liping Zhang

    2014-01-01

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

  20. Optimizing Double-Network Hydrogel for Biomedical Soft Robots.

    Science.gov (United States)

    Banerjee, Hritwick; Ren, Hongliang

    2017-09-01

    Double-network hydrogel with standardized chemical parameters demonstrates a reasonable and viable alternative to silicone in soft robotic fabrication due to its biocompatibility, comparable mechanical properties, and customizability through the alterations of key variables. The most viable hydrogel sample in our article shows tensile strain of 851% and maximum tensile strength of 0.273 MPa. The elasticity and strength range of this hydrogel can be customized according to application requirements by simple alterations in the recipe. Furthermore, we incorporated Agar/PAM hydrogel into our highly constrained soft pneumatic actuator (SPA) design and eventually produced SPAs with escalated capabilities, such as larger range of motion, higher force output, and power efficiency. Incorporating SPAs made of Agar/PAM hydrogel resulted in low viscosity, thermos-reversibility, and ultralow elasticity, which we believe can help to combine with the other functions of hydrogel, tailoring a better solution for fabricating biocompatible soft robots.

  1. Motives for online friending and following: The dark side of social network site connections

    NARCIS (Netherlands)

    Ouwerkerk, J.W.; Johnson, B.K.

    Motives for “friending,” following, or connecting with others on social network sites are often positive, but darker motives may also play an important role. A survey with a novel Following Motives Scale (FMS) demonstrates accordingly that positive, sociable motives (i.e., others providing a valued

  2. Parents, Friends, and Romantic Partners: Enmeshment in Deviant Networks and Adolescent Delinquency Involvement

    Science.gov (United States)

    Lonardo, Robert A.; Giordano, Peggy C.; Longmore, Monica A.; Manning, Wendy D.

    2009-01-01

    Adolescent networks include parents, friends, and romantic partners, but research on the social learning mechanisms related to delinquency has not typically examined the characteristics of all three domains simultaneously. Analyses draw on data from the Toledo Adolescent Relationships Study (n = 957), and our analytic sample contains 51% male and…

  3. Do Parental Networks Pay Off? Linking Children's Labor-Market Outcomes to Their Parents' Friends

    NARCIS (Netherlands)

    Plug, E.; van der Klaauw, B.; Ziegler, L.

    In this paper, we examine whether children are better off if their parents have more elaborate social networks. Using data on high-school friendships of parents, we analyze whether the number and characteristics of friends affect the labor-market outcomes of children. While parental friendships

  4. An algorithm for identifying the best current friend in a social network

    Directory of Open Access Journals (Sweden)

    Francisco Javier Moreno

    2015-05-01

    Full Text Available A research field in the area of social networks (SNs is the identification of some types of users and groups. To facilitate this process, a SN is usually represented by a graph. The centrality measures, which identify the most important vertices in a graph according to some criterion, are usual tools to analyze a graph. One of these measures is the PageRank (a measure originally designed to classify web pages. Informally, in the context of a SN, the PageRank of a user i represents the probability that another user of the SN is seeing the page of i after a considerable time of navigation in the SN. In this paper, we define a new type of user in a SN: the best current friend. The idea is to identify, among the friends of a user i, who is the friend k that would generate the highest decrease in the PageRank of i if k stops being his/her friend. This may be useful to identify the users/customers whose friendship/relationship should be a priority to keep. We provide formal definitions, algorithms and some experiments for this subject. Our experiments showed that the best current friend of a user is not necessarily the one who has the highest PageRank in the SN nor the one who has more friends.

  5. 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.

  6. Interactions with parents and friends among chronically ill children: examining social networks.

    Science.gov (United States)

    Herzer, Michele; Umfress, Kris; Aljadeff, Gabriel; Ghai, Kanika; Zakowski, Sandra G

    2009-12-01

    Children with medical conditions often experience a combination of positive and negative social interactions with parents and friends. Adult research examining cross-domain buffering effects has documented that supportive social ties can make up for shortcomings in other social relationships. This study examined whether negative effects of strained relationships with loved ones can be buffered when children feel supported by individuals in different support networks (i.e., cross-domain buffering effects). Children with Type I diabetes (n = 56), chronic asthma (n = 54), and cystic fibrosis (n = 17) completed questionnaires during an outpatient hospital visit that assessed perceptions of support and strain from parents and friends, quality of life, self-concept, and emotional/behavioral difficulties. Parental strain was conceptualized as parental overprotection and parental rejection. Hierarchical regression analyses showed that friend support buffered the adverse effects of parental strain on child quality of life, self-concept, and emotional/behavioral difficulties. Interestingly, parental support did not buffer the negative effects of experiencing strained relationships with friends; only main effects on outcome were found. These findings partially support our hypotheses of cross-domain buffering. In this study, friendships were a protective factor for children who experienced strained relationships with parents. In contrast, although parent support had a direct impact on child outcome, it did not make up for feeling rejected by friends. Because close relationships are often strained during medical stressors, findings underscore the importance of promoting social connectedness in chronically ill children to maximize opportunities for experiencing positive social relationships.

  7. Motives for online friending and following: The dark side of social network site connections

    OpenAIRE

    Ouwerkerk, J.W.; Johnson, B.K.

    2016-01-01

    Motives for “friending,” following, or connecting with others on social network sites are often positive, but darker motives may also play an important role. A survey with a novel Following Motives Scale (FMS) demonstrates accordingly that positive, sociable motives (i.e., others providing a valued source for humor and information, others sharing a common background, as well as relationship maintenance) and inspirational motives (i.e., others providing a target for upward social comparison) c...

  8. Kinematic Analysis of 3-DOF Planer Robot Using Artificial Neural Network

    Directory of Open Access Journals (Sweden)

    Jolly Atit Shah

    2012-07-01

    Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 3-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 3-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.

  9. Privacy‐Preserving Friend Matching Protocol approach for Pre‐match in Social Networks

    DEFF Research Database (Denmark)

    Ople, Shubhangi S.; Deshmukh, Aaradhana A.; Mihovska, Albena Dimitrova

    2016-01-01

    Social services make the most use of the user profile matching to help the users to discover friends with similar social attributes (e.g. interests, location, age). However, there are many privacy concerns that prevent to enable this functionality. Privacy preserving encryption is not suitable...... for use in social networks due to its data sharing problems and information leakage. In this paper, we propose a novel framework for privacy–preserving profile matching. We implement both the client and server portion of the secure match and evaluate its performance network dataset. The results show...

  10. LCOGT: A World-Wide Network of Robotic Telescopes

    Science.gov (United States)

    Brown, T.

    2013-05-01

    Las Cumbres Observatory Global Telescope (LCOGT) is an organization dedicated to time-domain astronomy. To carry out the necessary observations in fields such as supernovae, extrasolar planets, small solar-system bodies, and pulsating stars, we have developed and are now deploying a set of robotic optical telescopes at sites around the globe. In this talk I will concentrate on the core of this network, consisting of up to 15 identical 1m telescopes deployed across multiple sites in both the northern and southern hemispheres. I will summarize the technical and performance aspect of these telescopes, including both their imaging and their anticipated spectroscopic capabilities. But I will also delve into the network organization, including communication among telescopes (to assure that observations are properly carried out), interactions among the institutions and scientists who will use the network (to optimize the scientific returns), and our funding model (which until now has relied entirely on one private donor, but will soon require funding from outside sources, if the full potential of the network is to be achieved).

  11. Implementation of self-organizing neural networks for visuo-motor control of an industrial robot.

    Science.gov (United States)

    Walter, J A; Schulten, K I

    1993-01-01

    The implementation of two neural network algorithms for visuo-motor control of an industrial robot (Puma 562) is reported. The first algorithm uses a vector quantization technique, the ;neural-gas' network, together with an error correction scheme based on a Widrow-Hoff-type learning rule. The second algorithm employs an extended self-organizing feature map algorithm. Based on visual information provided by two cameras, the robot learns to position its end effector without an external teacher. Within only 3000 training steps, the robot-camera system is capable of reducing the positioning error of the robot's end effector to approximately 0.1% of the linear dimension of the work space. By employing adaptive feedback the robot succeeds in compensating not only slow calibration drifts, but also sudden changes in its geometry. Hardware aspects of the robot-camera system are discussed.

  12. HYBRID COMMUNICATION NETWORK OF MOBILE ROBOT AND QUAD-COPTER

    Directory of Open Access Journals (Sweden)

    Moustafa M. Kurdi

    2017-01-01

    Full Text Available This paper introduces the design and development of QMRS (Quadcopter Mobile Robotic System. QMRS is a real-time obstacle avoidance capability in Belarus-132N mobile robot with the cooperation of quadcopter Phantom-4. The function of QMRS consists of GPS used by Mobile Robot and image vision and image processing system from both robot and quad-copter and by using effective searching algorithm embedded inside the robot. Having the capacity to navigate accurately is one of the major abilities of a mobile robot to effectively execute a variety of jobs including manipulation, docking, and transportation. To achieve the desired navigation accuracy, mobile robots are typically equipped with on-board sensors to observe persistent features in the environment, to estimate their pose from these observations, and to adjust their motion accordingly. Quadcopter takes off from Mobile Robot, surveys the terrain and transmits the processed Image terrestrial robot. The main objective of research paper is to focus on the full coordination between robot and quadcopter by designing an efficient wireless communication using WIFI. In addition, it identify the method involving the use of vision and image processing system from both robot and quadcopter; analyzing path in real-time and avoiding obstacles based-on the computational algorithm embedded inside the robot. QMRS increases the efficiency and reliability of the whole system especially in robot navigation, image processing and obstacle avoidance due to the help and connection among the different parts of the system.

  13. Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, S.; Ripel, T.

    2013-01-01

    Roč. 198, č. 2013 (2013), s. 108-113 ISSN 1012-0394 Institutional research plan: CEZ:AV0Z20760514 Institutional support: RVO:61388998 Keywords : mobile robot * reactive navigation * artificial neural networks Subject RIV: JD - Computer Applications, Robotics

  14. Robotic platform for traveling on vertical piping network

    Science.gov (United States)

    Nance, Thomas A; Vrettos, Nick J; Krementz, Daniel; Marzolf, Athneal D

    2015-02-03

    This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.

  15. School, Friends, and Substance Use: Gender Differences on the Influence of Attitudes Toward School and Close Friend Networks on Cannabis Involvement.

    Science.gov (United States)

    Zaharakis, Nikola; Mason, Michael J; Mennis, Jeremy; Light, John; Rusby, Julie C; Westling, Erika; Crewe, Stephanie; Flay, Brian R; Way, Thomas

    2018-02-01

    The school environment is extremely salient in young adolescents' lives. Adolescents who have unfavorable attitudes toward school and teachers are at elevated risk for dropping out of school and engaging in behavioral health risks. Peer network health-a summation of the positive and negative behaviors in which one's close friend group engages-may be one way by which attitudes toward school exert influence on youth substance use. Utilizing a sample of 248 primarily African-American young urban adolescents, we tested a moderated mediation model to determine if the indirect effect of attitude to school on cannabis involvement through peer network health was conditioned on gender. Attitude toward school measured at baseline was the predictor (X), peer network health measured at 6 months was the mediator (M), cannabis involvement (including use, offers to use, and refusals to use) measured at 24 months was the outcome (Y), and gender was the moderator (W). Results indicated that negative attitudes toward school were indirectly associated with increased cannabis involvement through peer network health. This relationship was not moderated by gender. Adolescents in our sample with negative attitudes toward school were more likely to receive more offers to use cannabis and to use cannabis more frequently through the perceived health behaviors of their close friends. Implications from these results point to opportunities to leverage the dynamic associations among school experiences, friends, and cannabis involvement, such as offers and use.

  16. MySpace and Facebook: applying the uses and gratifications theory to exploring friend-networking sites.

    Science.gov (United States)

    Raacke, John; Bonds-Raacke, Jennifer

    2008-04-01

    The increased use of the Internet as a new tool in communication has changed the way people interact. This fact is even more evident in the recent development and use of friend-networking sites. However, no research has evaluated these sites and their impact on college students. Therefore, the present study was conducted to evaluate: (a) why people use these friend-networking sites, (b) what the characteristics are of the typical college user, and (c) what uses and gratifications are met by using these sites. Results indicated that the vast majority of college students are using these friend-networking sites for a significant portion of their day for reasons such as making new friends and locating old friends. Additionally, both men and women of traditional college age are equally engaging in this form of online communication with this result holding true for nearly all ethnic groups. Finally, results showed that many uses and gratifications are met by users (e.g., "keeping in touch with friends"). Results are discussed in light of the impact that friend-networking sites have on communication and social needs of college students.

  17. Sulfates, Clouds and Radiation Brazil (SCAR-B) AERONET (AErosol RObotic NETwork) Data

    Data.gov (United States)

    National Aeronautics and Space Administration — SCAR_B_AERONET data are Smoke, Clouds and Radiation Brazil (SCARB) Aerosol Robotic Network (AERONET) data for aerosol characterization.Smoke/Sulfates, Clouds and...

  18. Experiments in Neural-Network Control of a Free-Flying Space Robot

    National Research Council Canada - National Science Library

    Wilson, Edward

    1995-01-01

    Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype...

  19. A Sliding Mode Control-Based on a RBF Neural Network for Deburring Industry Robotic Systems

    Directory of Open Access Journals (Sweden)

    Yong Tao

    2016-01-01

    Full Text Available A sliding mode control method based on radial basis function (RBF neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network parameters are derived by a Koski function algorithm to ensure the network convergences and enacts stable control. The simulations and experimental results of the deburring robot system are provided to illustrate the effectiveness of the proposed RBFNN-SMC control method. The advantages of the proposed RBFNN-SMC method are also evaluated by comparing it to existing control schemes.

  20. Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Caihong Zhang

    2014-01-01

    Full Text Available This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.

  1. Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information

    Directory of Open Access Journals (Sweden)

    Zheng Zhang

    2013-03-01

    Full Text Available In a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from one static node to another along a planned path in the sensor field, namely the RAC and the IMAP algorithms. Using this, the robot can navigate without the help of a map, GPS or extra sensor modules, only using the received signal strength indication (RSSI and odometry. Therefore, our algorithms have the advantage of being cost-effective. In addition, a path planning algorithm to schedule mobile robots' travelling paths is presented, which focuses on shorter distances and robust paths for robots by considering the RSSI-Distance characteristics. The simulations and experiments conducted with an autonomous mobile robot show the effectiveness of the proposed algorithms in an outdoor environment.

  2. 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

  3. Wireless Visual Sensor Network Robots- Based for the Emulation of Collective Behavior

    Directory of Open Access Journals (Sweden)

    Fredy Hernán Martinez Sarmiento

    2012-03-01

    Full Text Available We consider the problem of bacterial quorum sensing emulate on small mobile robots. Robots that reflect the behavior of bacteria are designed as mobile wireless camera nodes. They are able to structure a dynamic wireless sensor network. Emulated behavior corresponds to a simplification of bacterial quorum sensing, where the action of a network node is conditioned by the population density of robots(nodes in a given area. The population density reading is done visually using a camera. The robot makes an estimate of the population density of the images, and acts according to this information. The operation of the camera is done with a custom firmware, reducing the complexity of the node without loss of performance. It was noted the route planning and the collective behavior of robots without the use of any other external or local communication. Neither was it necessary to develop a model system, precise state estimation or state feedback.

  4. Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Barajas, Leandro G. (Inventor); Permenter, Frank Noble (Inventor); Strawser, Philip A. (Inventor)

    2015-01-01

    A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

  5. The role of gender and friends' gender on peer socialization of adolescent drinking: a prospective multilevel social network analysis.

    Science.gov (United States)

    Deutsch, Arielle R; Steinley, Douglas; Slutske, Wendy S

    2014-09-01

    Although socializing effects of friends' drinking on adolescent drinking behavior have been firmly established in previous literature, study results on the importance of gender, as well as the specific role that gender may play in peer socialization, are very mixed. Given the increasing importance of gender in friendships (particularly opposite-sex friendships) during adolescence, it is necessary to better understand the nuanced roles that gender can play in peer socialization effects on alcohol use. In addition, previous studies focusing on the interplay between individual gender and friends' gender have been largely dyadic; less is known about potential gendered effects of broader social networks. The current study sought to further investigate potential effects of gender on friends' influence on adolescent drinking behavior with particular emphasis on the number of same-sex and opposite-sex friends within one's friendship network, as well as closeness to these friends. Using Waves I and II of the saturated sample of the National Longitudinal Study of Adolescent Health (Add Health), adolescent friendship networks were used to calculate the mean drinking behaviors of adolescent friends. Multi-level models estimated the effects of individual drinking behaviors, friend drinking behaviors, and school-level drinking behaviors on adolescent drinking 1 year later, as well as moderating effects of gender composition of friendship groups and male and female friend closeness on the relationship between friends' drinking behaviors and adolescent drinking behavior. Results documented that gender composition of friendship groups did not influence the effect of friends' drinking on individual drinking 1 year later. However, closeness to friends did influence this relationship. As closeness to male friends decreased, the influence of their drinking behavior increased, for both boys and girls. A similar effect was found for female friends, but only for boys. Female friend

  6. Neural network algorithm for image reconstruction using the grid friendly projections

    International Nuclear Information System (INIS)

    Cierniak, R.

    2011-01-01

    Full text: The presented paper describes a development of original approach to the reconstruction problem using a recurrent neural network. Particularly, the 'grid-friendly' angles of performed projections are selected according to the discrete Radon transform (DRT) concept to decrease the number of projections required. The methodology of our approach is consistent with analytical reconstruction algorithms. Reconstruction problem is reformulated in our approach to optimization problem. This problem is solved in present concept using method based on the maximum likelihood methodology. The reconstruction algorithm proposed in this work is consequently adapted for more practical discrete fan beam projections. Computer simulation results show that the neural network reconstruction algorithm designed to work in this way improves obtained results and outperforms conventional methods in reconstructed image quality. (author)

  7. TROVE: A User-friendly Tool for Visualizing and Analyzing Cancer Hallmarks in Signaling Networks.

    Science.gov (United States)

    Chua, Huey Eng; Bhowmick, Sourav S; Zheng, Jie

    2017-09-22

    Cancer hallmarks, a concept that seeks to explain the complexity of cancer initiation and development, provide a new perspective of studying cancer signaling which could lead to a greater understanding of this complex disease. However, to the best of our knowledge, there is currently a lack of tools that support such hallmark-based study of the cancer signaling network, thereby impeding the gain of knowledge in this area. We present TROVE, a user-friendly software that facilitates hallmark annotation, visualization and analysis in cancer signaling networks. In particular, TROVE facilitates hallmark analysis specific to particular cancer types. Available under the Eclipse Public License from: https://sites.google.com/site/cosbyntu/softwares/trove and https://github.com/trove2017/Trove. hechua@ntu.edu.sg or assourav@ntu.edu.sg. © The Author (2017). Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com

  8. 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.

  9. Decentralized Control of Unmanned Aerial Robots for Wireless Airborne Communication Networks

    Directory of Open Access Journals (Sweden)

    Deok-Jin Lee

    2010-09-01

    Full Text Available This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a flying mobile sensor performing a reconfigurable communication relay node which enabls communication networks with static or slow-moving nodes on gorund or ocean. For distributed optimal deployment of the aerial vehicles for communication networks, an adaptive hill-climbing type decentralized control algorithm is developed to seek out local extremum for optimal localization of the vehicles. The sensor networks estabilished by the decentralized cooperative control approach can adopt its configuraiton in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment. Simulation studies are conducted to evaluate the effectiveness of the proposed decentralized cooperative control technique for robust communication networks.

  10. A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242).

    Science.gov (United States)

    Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin

    2016-01-01

    This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.

  11. A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)

    Science.gov (United States)

    Dülger, L. Canan; Kapucu, Sadettin

    2016-01-01

    This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129

  12. Decentralized coverage control problems for mobile robotic sensor and actuator networks

    CERN Document Server

    Savkin, A; Xi, Z; Javed, F; Matveev, A; Nguyen, H

    2015-01-01

    This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are abl...

  13. FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS

    Directory of Open Access Journals (Sweden)

    Khilda Slyusar

    2016-11-01

    Full Text Available Assume a team of mobile robots operating in environments where no communication infrastructure like routers or access points is available. The robots have to create a mobile ad hoc network, in that case, it provides communication on peer-to-peer basis. The paper gives an overview of existing solutions how to route messages in such ad hoc networks between robots that are not directly connected and introduces a design of a software framework for realization of such communication. Feasibility of the proposed framework is shown on the example of distributed multi-robot exploration of an a priori unknown environment. Testing of developed functionality in an exploration scenario is based on results of several experiments with various input conditions of the exploration process and various sizes of a team and is described herein.

  14. Adaptive training of neural networks for control of autonomous mobile robots

    NARCIS (Netherlands)

    Steur, E.; Vromen, T.; Nijmeijer, H.; Fossen, T.I.; Nijmeijer, H.; Pettersen, K.Y.

    2017-01-01

    We present an adaptive training procedure for a spiking neural network, which is used for control of a mobile robot. Because of manufacturing tolerances, any hardware implementation of a spiking neural network has non-identical nodes, which limit the performance of the controller. The adaptive

  15. Automatic approach to stabilization and control for multi robot teams by multilayer network operator

    Directory of Open Access Journals (Sweden)

    Diveev Askhat

    2016-01-01

    Full Text Available The paper describes a novel methodology for synthesis a high-level control of autonomous multi robot teams. The approach is based on multilayer network operator method that belongs to a symbolic regression class. Synthesis is accomplished in three steps: stabilizing robots about some given position in a state space, finding optimal trajectories of robots’ motion as sets of stabilizing points and then approximating all the points of optimal trajectories by some multi-dimensional function of state variables. The feasibility and effectiveness of the proposed approach is verified on simulations of the task of control synthesis for three mobile robots parking in the constrained space.

  16. Adaptive robotic control driven by a versatile spiking cerebellar network.

    Directory of Open Access Journals (Sweden)

    Claudia Casellato

    Full Text Available The cerebellum is involved in a large number of different neural processes, especially in associative learning and in fine motor control. To develop a comprehensive theory of sensorimotor learning and control, it is crucial to determine the neural basis of coding and plasticity embedded into the cerebellar neural circuit and how they are translated into behavioral outcomes in learning paradigms. Learning has to be inferred from the interaction of an embodied system with its real environment, and the same cerebellar principles derived from cell physiology have to be able to drive a variety of tasks of different nature, calling for complex timing and movement patterns. We have coupled a realistic cerebellar spiking neural network (SNN with a real robot and challenged it in multiple diverse sensorimotor tasks. Encoding and decoding strategies based on neuronal firing rates were applied. Adaptive motor control protocols with acquisition and extinction phases have been designed and tested, including an associative Pavlovian task (Eye blinking classical conditioning, a vestibulo-ocular task and a perturbed arm reaching task operating in closed-loop. The SNN processed in real-time mossy fiber inputs as arbitrary contextual signals, irrespective of whether they conveyed a tone, a vestibular stimulus or the position of a limb. A bidirectional long-term plasticity rule implemented at parallel fibers-Purkinje cell synapses modulated the output activity in the deep cerebellar nuclei. In all tasks, the neurorobot learned to adjust timing and gain of the motor responses by tuning its output discharge. It succeeded in reproducing how human biological systems acquire, extinguish and express knowledge of a noisy and changing world. By varying stimuli and perturbations patterns, real-time control robustness and generalizability were validated. The implicit spiking dynamics of the cerebellar model fulfill timing, prediction and learning functions.

  17. Adaptive robotic control driven by a versatile spiking cerebellar network.

    Science.gov (United States)

    Casellato, Claudia; Antonietti, Alberto; Garrido, Jesus A; Carrillo, Richard R; Luque, Niceto R; Ros, Eduardo; Pedrocchi, Alessandra; D'Angelo, Egidio

    2014-01-01

    The cerebellum is involved in a large number of different neural processes, especially in associative learning and in fine motor control. To develop a comprehensive theory of sensorimotor learning and control, it is crucial to determine the neural basis of coding and plasticity embedded into the cerebellar neural circuit and how they are translated into behavioral outcomes in learning paradigms. Learning has to be inferred from the interaction of an embodied system with its real environment, and the same cerebellar principles derived from cell physiology have to be able to drive a variety of tasks of different nature, calling for complex timing and movement patterns. We have coupled a realistic cerebellar spiking neural network (SNN) with a real robot and challenged it in multiple diverse sensorimotor tasks. Encoding and decoding strategies based on neuronal firing rates were applied. Adaptive motor control protocols with acquisition and extinction phases have been designed and tested, including an associative Pavlovian task (Eye blinking classical conditioning), a vestibulo-ocular task and a perturbed arm reaching task operating in closed-loop. The SNN processed in real-time mossy fiber inputs as arbitrary contextual signals, irrespective of whether they conveyed a tone, a vestibular stimulus or the position of a limb. A bidirectional long-term plasticity rule implemented at parallel fibers-Purkinje cell synapses modulated the output activity in the deep cerebellar nuclei. In all tasks, the neurorobot learned to adjust timing and gain of the motor responses by tuning its output discharge. It succeeded in reproducing how human biological systems acquire, extinguish and express knowledge of a noisy and changing world. By varying stimuli and perturbations patterns, real-time control robustness and generalizability were validated. The implicit spiking dynamics of the cerebellar model fulfill timing, prediction and learning functions.

  18. Facebook friends with (health) benefits? Exploring social network site use and perceptions of social support, stress, and well-being.

    Science.gov (United States)

    Nabi, Robin L; Prestin, Abby; So, Jiyeon

    2013-10-01

    There is clear evidence that interpersonal social support impacts stress levels and, in turn, degree of physical illness and psychological well-being. This study examines whether mediated social networks serve the same palliative function. A survey of 401 undergraduate Facebook users revealed that, as predicted, number of Facebook friends associated with stronger perceptions of social support, which in turn associated with reduced stress, and in turn less physical illness and greater well-being. This effect was minimized when interpersonal network size was taken into consideration. However, for those who have experienced many objective life stressors, the number of Facebook friends emerged as the stronger predictor of perceived social support. The "more-friends-the-better" heuristic is proposed as the most likely explanation for these findings.

  19. A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242

    Directory of Open Access Journals (Sweden)

    Ahmed R. J. Almusawi

    2016-01-01

    Full Text Available This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.

  20. RoCoMAR: Robots' Controllable Mobility Aided Routing and Relay Architecture for Mobile Sensor Networks

    Science.gov (United States)

    Van Le, Duc; Oh, Hoon; Yoon, Seokhoon

    2013-01-01

    In a practical deployment, mobile sensor network (MSN) suffers from a low performance due to high node mobility, time-varying wireless channel properties, and obstacles between communicating nodes. In order to tackle the problem of low network performance and provide a desired end-to-end data transfer quality, in this paper we propose a novel ad hoc routing and relaying architecture, namely RoCoMAR (Robots' Controllable Mobility Aided Routing) that uses robotic nodes' controllable mobility. RoCoMAR repeatedly performs link reinforcement process with the objective of maximizing the network throughput, in which the link with the lowest quality on the path is identified and replaced with high quality links by placing a robotic node as a relay at an optimal position. The robotic node resigns as a relay if the objective is achieved or no more gain can be obtained with a new relay. Once placed as a relay, the robotic node performs adaptive link maintenance by adjusting its position according to the movements of regular nodes. The simulation results show that RoCoMAR outperforms existing ad hoc routing protocols for MSN in terms of network throughput and end-to-end delay. PMID:23881134

  1. Towards the Robotic “Avatar”: An Extensive Survey of the Cooperation between and within Networked Mobile Sensors

    Directory of Open Access Journals (Sweden)

    Aydan M. Erkmen

    2010-09-01

    Full Text Available Cooperation between networked mobile sensors, wearable and sycophant sensor networks with parasitically sticking agents, and also having human beings involved in the loop is the “Avatarization” within the robotic research community, where all networks are connected and where you can connect/disconnect at any time to acquire data from a vast unstructured world. This paper extensively surveys the networked robotic foundations of this robotic biological “Avatar” that awaits us in the future. Cooperation between networked mobile sensors as well as cooperation of nodes within a network are becoming more robust, fault tolerant and enable adaptation of the networks to changing environment conditions. In this paper, we survey and comparatively discuss the current state of networked robotics via their critical application areas and their design characteristics. We conclude by discussing future challenges.

  2. When BOLD is thicker than water: processing social information about kin and friends at different levels of the social network.

    Science.gov (United States)

    Wlodarski, Rafael; Dunbar, Robin I M

    2016-12-01

    The aim of this study was to examine differences in the neural processing of social information about kin and friends at different levels of closeness and social network level. Twenty-five female participants engaged in a cognitive social task involving different individuals in their social network while undergoing functional magnetic resonance imaging scanning to detect BOLD (Blood Oxygen Level Dependent) signals changes. Greater levels of activation occurred in several regions of the brain previously associated with social cognition when thinking about friends than when thinking about kin, including the posterior cingulate cortex (PCC) and the ventral medial prefrontal cortex (vMPFC). Linear parametric analyses across network layers further showed that, when it came to thinking about friends, activation increased in the vMPFC, lingual gyrus, and sensorimotor cortex as individuals thought about friends at closer layers of the network. These findings suggest that maintaining friendships may be more cognitively exacting than maintaining kin relationships. © The Author (2016). Published by Oxford University Press. For Permissions, please email: journals.permissions@oup.com.

  3. Publishing at "the request of friends": Alexander Ross and James Beattie’s Authorial Networks in Eighteenth-Century Aberdeen

    OpenAIRE

    Ruth Knezevich

    2016-01-01

    Authorship in eighteenth-century Aberdeen often functioned differently than in London and Edinburgh. The Aberdeen model of authorship relied heavily on an intricate network of booksellers, patrons, readers, and critics involved in preparing a text to be consumed by the reading public; yet the prevailing narrative of the author as rising to “inspired genius” disallows for this network. The authorial career of poet Alexander Ross and his friend/mentorship with philosopher James Beattie offers a...

  4. Dynamic Mobile RobotNavigation Using Potential Field Based Immune Network

    Directory of Open Access Journals (Sweden)

    Guan-Chun Luh

    2007-04-01

    Full Text Available This paper proposes a potential filed immune network (PFIN for dynamic navigation of mobile robots in an unknown environment with moving obstacles and fixed/moving targets. The Velocity Obstacle method is utilized to determine imminent obstacle collision of a robot moving in the time-varying environment. The response of the overall immune network is derived by the aid of fuzzy system. Simulation results are presented to verify the effectiveness of the proposed methodology in unknown environments with single and multiple moving obstacles

  5. A neural network-based exploratory learning and motor planning system for co-robots

    Directory of Open Access Journals (Sweden)

    Byron V Galbraith

    2015-07-01

    Full Text Available Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or learning by doing, an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.

  6. Estimation of visual maps with a robot network equipped with vision sensors.

    Science.gov (United States)

    Gil, Arturo; Reinoso, Óscar; Ballesta, Mónica; Juliá, Miguel; Payá, Luis

    2010-01-01

    In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM) problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment.

  7. A neural network-based exploratory learning and motor planning system for co-robots.

    Science.gov (United States)

    Galbraith, Byron V; Guenther, Frank H; Versace, Massimiliano

    2015-01-01

    Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or "learning by doing," an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.

  8. Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors

    Directory of Open Access Journals (Sweden)

    Arturo Gil

    2010-05-01

    Full Text Available In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment.

  9. Supervisory Adaptive Network-Based Fuzzy Inference System (SANFIS Design for Empirical Test of Mobile Robot

    Directory of Open Access Journals (Sweden)

    Yi-Jen Mon

    2012-10-01

    Full Text Available A supervisory Adaptive Network-based Fuzzy Inference System (SANFIS is proposed for the empirical control of a mobile robot. This controller includes an ANFIS controller and a supervisory controller. The ANFIS controller is off-line tuned by an adaptive fuzzy inference system, the supervisory controller is designed to compensate for the approximation error between the ANFIS controller and the ideal controller, and drive the trajectory of the system onto a specified surface (called the sliding surface or switching surface while maintaining the trajectory onto this switching surface continuously to guarantee the system stability. This SANFIS controller can achieve favourable empirical control performance of the mobile robot in the empirical tests of driving the mobile robot with a square path. Practical experimental results demonstrate that the proposed SANFIS can achieve better control performance than that achieved using an ANFIS controller for empirical control of the mobile robot.

  10. Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots

    Directory of Open Access Journals (Sweden)

    Rene de Jesus Romero-Troncoso

    2011-04-01

    Full Text Available Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint’s angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.

  11. Fused smart sensor network for multi-axis forward kinematics estimation in industrial robots.

    Science.gov (United States)

    Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; Romero-Troncoso, Rene de Jesus

    2011-01-01

    Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint's angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA) is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.

  12. Robotics

    Indian Academy of Sciences (India)

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

  13. Show me your friends and I will tell you what type of person you are: how own profile, number of friends, and type of friends influence impression formation on social network sites

    NARCIS (Netherlands)

    Utz, S.

    2010-01-01

    This experiment examines how far extraversion of the target (self-generated information), extraversion of the target's friends (friends-generated information), and number of friends (system-generated information) influence the perceived popularity, communal orientation, and social attractiveness of

  14. Sensor Network-Based and User-Friendly User Location Discovery for Future Smart Homes.

    Science.gov (United States)

    Ahvar, Ehsan; Lee, Gyu Myoung; Han, Son N; Crespi, Noel; Khan, Imran

    2016-06-27

    User location is crucial context information for future smart homes where many location based services will be proposed. This location necessarily means that User Location Discovery (ULD) will play an important role in future smart homes. Concerns about privacy and the need to carry a mobile or a tag device within a smart home currently make conventional ULD systems uncomfortable for users. Future smart homes will need a ULD system to consider these challenges. This paper addresses the design of such a ULD system for context-aware services in future smart homes stressing the following challenges: (i) users' privacy; (ii) device-/tag-free; and (iii) fault tolerance and accuracy. On the other hand, emerging new technologies, such as the Internet of Things, embedded systems, intelligent devices and machine-to-machine communication, are penetrating into our daily life with more and more sensors available for use in our homes. Considering this opportunity, we propose a ULD system that is capitalizing on the prevalence of sensors for the home while satisfying the aforementioned challenges. The proposed sensor network-based and user-friendly ULD system relies on different types of inexpensive sensors, as well as a context broker with a fuzzy-based decision-maker. The context broker receives context information from different types of sensors and evaluates that data using the fuzzy set theory. We demonstrate the performance of the proposed system by illustrating a use case, utilizing both an analytical model and simulation.

  15. Sensor Network-Based and User-Friendly User Location Discovery for Future Smart Homes

    Directory of Open Access Journals (Sweden)

    Ehsan Ahvar

    2016-06-01

    Full Text Available User location is crucial context information for future smart homes where many location based services will be proposed. This location necessarily means that User Location Discovery (ULD will play an important role in future smart homes. Concerns about privacy and the need to carry a mobile or a tag device within a smart home currently make conventional ULD systems uncomfortable for users. Future smart homes will need a ULD system to consider these challenges. This paper addresses the design of such a ULD system for context-aware services in future smart homes stressing the following challenges: (i users’ privacy; (ii device-/tag-free; and (iii fault tolerance and accuracy. On the other hand, emerging new technologies, such as the Internet of Things, embedded systems, intelligent devices and machine-to-machine communication, are penetrating into our daily life with more and more sensors available for use in our homes. Considering this opportunity, we propose a ULD system that is capitalizing on the prevalence of sensors for the home while satisfying the aforementioned challenges. The proposed sensor network-based and user-friendly ULD system relies on different types of inexpensive sensors, as well as a context broker with a fuzzy-based decision-maker. The context broker receives context information from different types of sensors and evaluates that data using the fuzzy set theory. We demonstrate the performance of the proposed system by illustrating a use case, utilizing both an analytical model and simulation.

  16. Motives for Online Friending and Following: The Dark Side of Social Network Site Connections

    Directory of Open Access Journals (Sweden)

    Jaap W. Ouwerkerk

    2016-08-01

    Full Text Available Motives for “friending,” following, or connecting with others on social network sites are often positive, but darker motives may also play an important role. A survey with a novel Following Motives Scale (FMS demonstrates accordingly that positive, sociable motives (i.e., others providing a valued source for humor and information, others sharing a common background, as well as relationship maintenance and inspirational motives (i.e., others providing a target for upward social comparison can be distinguished from darker motives related to insecurity (i.e., others providing reassurance, preference for online interaction, mediated voyeurism, as well as social obligation, and even darker antisocial motives related to self-enhancement (i.e., others providing a target for downward social comparison, competition, schadenfreude, gossip, as well as “hate-following”. Results show that lower self-esteem and higher levels of need for popularity, narcissism, and dispositional schadenfreude characterize users with stronger dark side motives, whereas users with more sociable motives report more satisfaction with life, thereby providing construct validity for the novel scale. Convergent validity is demonstrated by positive relations between following motives and both time spent and following counts on different social network sites. Moreover, an embedded experiment shows that antisocial motives predicted acceptance of a Facebook friendship request from a male or female high school acquaintance who suffered a setback in the domain of appearance or status (i.e., a convenient source for self-enhancement, thereby providing additional convergent validity for the Antisocial Motives subscale.

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

    Directory of Open Access Journals (Sweden)

    Deok-Jin Lee

    2011-06-01

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

  18. Precise Localization and Formation Control of Swarm Robots via Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Han Wu

    2014-01-01

    Full Text Available Precise localization and formation control are one of the key technologies to achieve coordination and control of swarm robots, which is also currently a bottleneck for practical applications of swarm robotic systems. Aiming at overcoming the limited individual perception and the difficulty of achieving precise localization and formation, a localization approach combining dead reckoning (DR with wireless sensor network- (WSN- based methods is proposed in this paper. Two kinds of WSN localization technologies are adopted in this paper, that is, ZigBee-based RSSI (received signal strength indication global localization and electronic tag floors for calibration of local positioning. First, the DR localization information is combined with the ZigBee-based RSSI position information using the Kalman filter method to achieve precise global localization and maintain the robot formation. Then the electronic tag floors provide the robots with their precise coordinates in some local areas and enable the robot swarm to calibrate its formation by reducing the accumulated position errors. Hence, the overall performance of localization and formation control of the swarm robotic system is improved. Both of the simulation results and the experimental results on a real schematic system are given to demonstrate the success of the proposed approach.

  19. OA20 The positioning of family, friends, community, and service providers in support networks for caring at end-of-life: a social network analysis.

    Science.gov (United States)

    Leonard, Rosemary; Horsfall, Debbie; Rosenberg, John; Noonan, Kerrie

    2015-04-01

    Although there is ample evidence of the risk to carers from the burden of caring, there is also evidence that a caring network can relieve the burden on the principal carer, strengthen community relationships, and increase 'Death Literacy' in the community. There is often an assumption that, in caring networks, family and service providers are central and friends and community are marginal. We examined whether this is the case in practice using SNA. To identify the relative positioning of family, friends, community, and service providers in caring networks. In interviews with carers (N = 23) and focus groups with caring networks (N = 13) participants were asked to list the people in the caring network and rate the strength of their relationships to them (0 no relationship to 3 strong relationship). SNA in UCInet was used to map the networks, examine density (number and strength of relationships) across time (when caring began to the present) and across relationship types (family, friends, community, and service providers) supplemented by qualitative data. The analysis revealed significant increases in the density of the networks over time. The density of relationships with friends was similar to that other family. Community and service providers had significantly lower density. Qualitative analysis revealed that often service providers were not seen as part of the networks. To avoid carer burnout, it is important not to make assumptions about where carers obtain support but work with each carer to mobilise any support that is available. © 2015, Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

  20. Dynamical Integration of Language and Behavior in a Recurrent Neural Network for Human--Robot Interaction

    Directory of Open Access Journals (Sweden)

    Tatsuro Yamada

    2016-07-01

    Full Text Available To work cooperatively with humans by using language, robots must not only acquire a mapping between language and their behavior but also autonomously utilize the mapping in appropriate contexts of interactive tasks online. To this end, we propose a novel learning method linking language to robot behavior by means of a recurrent neural network. In this method, the network learns from correct examples of the imposed task that are given not as explicitly separated sets of language and behavior but as sequential data constructed from the actual temporal flow of the task. By doing this, the internal dynamics of the network models both language--behavior relationships and the temporal patterns of interaction. Here, ``internal dynamics'' refers to the time development of the system defined on the fixed-dimensional space of the internal states of the context layer. Thus, in the execution phase, by constantly representing where in the interaction context it is as its current state, the network autonomously switches between recognition and generation phases without any explicit signs and utilizes the acquired mapping in appropriate contexts. To evaluate our method, we conducted an experiment in which a robot generates appropriate behavior responding to a human's linguistic instruction. After learning, the network actually formed the attractor structure representing both language--behavior relationships and the task's temporal pattern in its internal dynamics. In the dynamics, language--behavior mapping was achieved by the branching structure. Repetition of human's instruction and robot's behavioral response was represented as the cyclic structure, and besides, waiting to a subsequent instruction was represented as the fixed-point attractor. Thanks to this structure, the robot was able to interact online with a human concerning the given task by autonomously switching phases.

  1. Dynamical Integration of Language and Behavior in a Recurrent Neural Network for Human-Robot Interaction.

    Science.gov (United States)

    Yamada, Tatsuro; Murata, Shingo; Arie, Hiroaki; Ogata, Tetsuya

    2016-01-01

    To work cooperatively with humans by using language, robots must not only acquire a mapping between language and their behavior but also autonomously utilize the mapping in appropriate contexts of interactive tasks online. To this end, we propose a novel learning method linking language to robot behavior by means of a recurrent neural network. In this method, the network learns from correct examples of the imposed task that are given not as explicitly separated sets of language and behavior but as sequential data constructed from the actual temporal flow of the task. By doing this, the internal dynamics of the network models both language-behavior relationships and the temporal patterns of interaction. Here, "internal dynamics" refers to the time development of the system defined on the fixed-dimensional space of the internal states of the context layer. Thus, in the execution phase, by constantly representing where in the interaction context it is as its current state, the network autonomously switches between recognition and generation phases without any explicit signs and utilizes the acquired mapping in appropriate contexts. To evaluate our method, we conducted an experiment in which a robot generates appropriate behavior responding to a human's linguistic instruction. After learning, the network actually formed the attractor structure representing both language-behavior relationships and the task's temporal pattern in its internal dynamics. In the dynamics, language-behavior mapping was achieved by the branching structure. Repetition of human's instruction and robot's behavioral response was represented as the cyclic structure, and besides, waiting to a subsequent instruction was represented as the fixed-point attractor. Thanks to this structure, the robot was able to interact online with a human concerning the given task by autonomously switching phases.

  2. Online Social Network Users’ Attitudes toward Personality Traits Predict Behaviour of their Friends

    Directory of Open Access Journals (Sweden)

    Sergei A. Shchebetenko

    2016-12-01

    Full Text Available The research considers attitudes toward personality traits in online social network (OSN Vkontakte users’ behaviour. Users’ friends’ activity on a given user’s profile was supposed to be affected by attitudes toward traits of the latter. Within a broader context, the role of metacognitive type of characteristic adaptations as a key element of the five-factor theory of personality is studied. Accordingly, along with attitudes toward traits, other metacognitive characteristic adaptations are examined (e.g. dispositional efficiency, reflected trait, and reflected attitude toward a trait. 1030 undergraduates participated in the study. The research results confirm that extraversion is the most important predictor of OSN behavior among other personality traits. The information presented in this research is obtained using behavioural data instead of more convenient self-reports. Moreover, these behavioural data characterise other users’ (friends’ behaviour while addressing a certain user’s profile. Positive attitudes toward each Big Five traits (extraversion, agreeableness, conscientiousness, emotional stability, and openness to experience separately affected the number of “Likes” of the avatars representing users’ photographs. Furthermore, revealed correlations between traits and “Likes” were subsequently eliminated by the attitudes toward respective traits. Positive attitudes toward conscientiousness predicted the increase of friends’ number unlike trait conscientiousness. Positive attitude toward agreeableness predicted the increase of the number of posts written by friends on user’s wall unlike trait agreeableness. Attitudes toward traits are argued to affect social environment governed by an individual: one may select those social relationships and partners that fit better one’s attitudes toward traits. This, in turn, may affect actions of other people towards the given individual including those of online behaviour.

  3. 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.

  4. 75 FR 36456 - Channel America Television Network, Inc., EquiMed, Inc., Kore Holdings, Inc., Robotic Vision...

    Science.gov (United States)

    2010-06-25

    ... SECURITIES AND EXCHANGE COMMISSION [File No. 500-1] Channel America Television Network, Inc., EquiMed, Inc., Kore Holdings, Inc., Robotic Vision Systems, Inc. (n/k/a Acuity Cimatrix, Inc.), Security... accurate information concerning the securities of Robotic Vision Systems, Inc. (n/k/a Acuity Cimatrix, Inc...

  5. Neural Network Control for the Linear Motion of a Spherical Mobile Robot

    Directory of Open Access Journals (Sweden)

    Yao Cai

    2011-09-01

    Full Text Available This paper discussed the stabilization and position tracking control of the linear motion of an underactuated spherical robot. By considering the actuator dynamics, a complete dynamic model of the robot is deduced, which is a complex third order, two variables nonlinear differential system and those two variables have strong coupling due to the mechanical structure of the robot. Different from traditional treatments, no linearization is applied to this system but a single‐input multiple‐output PID (SIMO_PID controller is designed by adopting a six‐input single‐ output CMAC_GBF (Cerebellar Model Articulation Controller with General Basis Function neural network to compensate the actuator nonlinearity and the credit assignment (CA learning method to obtain faster convergence of CMAC_GBF. The proposed controller is generalizable to other single‐input multiple‐output system with good real‐time capability. Simulations in Matlab are used to validate the control effects.

  6. Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform

    Directory of Open Access Journals (Sweden)

    Eduardo Paciência Godoy

    2012-01-01

    Full Text Available A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA. One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS. This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.

  7. Robotic movement preferentially engages the action observation network

    NARCIS (Netherlands)

    Cross, E.S.; Liepelt, R.; Hamilton, A.F.D.C.; Parkinson, J.; Ramsey, R.; Stadler, W.; Prinz, W.G.

    2012-01-01

    As humans, we gather a wide range of information about other people from watching them move. A network of parietal, premotor, and occipitotemporal regions within the human brain, termed the action observation network (AON), has been implicated in understanding others' actions by means of an

  8. Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

    Directory of Open Access Journals (Sweden)

    Vikas Panwar

    2007-01-01

    Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

  9. Social Network Sites, Friends, and Celebrities: The Roles of Social Comparison and Celebrity Involvement in Adolescents’ Body Image Dissatisfaction

    Directory of Open Access Journals (Sweden)

    Shirley S. Ho

    2016-08-01

    Full Text Available This study applies the social comparison theory to examine the effects of adolescents’ engagement in comparison with friends and celebrities on social network sites (SNSs on (a their body image dissatisfaction (BID and (b their drive to be thin (DT or muscular (DM. The study also examines celebrity involvement as an antecedent of the outcome variables. Data were collected through a survey of 1,059 adolescents in Singapore. Regression analyses indicate that SNSs use was related to adolescents’ BID. Specifically, social comparison with friends on SNSs was significantly associated with adolescents’ BID, DT, and DM. Gender differences were also observed—social comparison with celebrities was significantly associated with BID and DT among female adolescents. Celebrity involvement was significantly associated with male BID. Theoretical and practical implications were discussed.

  10. Self-generation of controller of an underwater robot with neural network

    International Nuclear Information System (INIS)

    Suto, T.; Ura, T.

    1994-01-01

    A self-organizing controller system is constructed based on artificial neural networks and applied to constant altitude swimming of the autonomous underwater robot PTEROA 150. The system consists of a controller and a forward model which calculates the values for evaluation as a result of control. Some methods are introduced for quick and appropriate adjustment of the controller network. Modification of the controller network is executed based on error-back-propagation method utilizing the forward model network. The forward model is divided into three sub-networks which represent dynamics of the vehicle, estimation of relative position to the seabed and calculation of the altitude. The proposed adaptive system is demonstrated in computer simulations where objective of a vehicle is keeping a constant altitude from seabed which is constituted of triangular ridges

  11. Friendship selection and friends' influence : Dynamics of networks and actor attributes in early adolescence

    NARCIS (Netherlands)

    Knecht, Andrea Beate

    2008-01-01

    Adolescent friends are often found to be similar. Similarity can be caused by selection and influence processes. This book examines selection and influence processes for delinquency, school attitudes, and alcohol use in early adolescence. For selection processes, we hypothesize that adolescents

  12. Friending, IMing, and hanging out face-to-face: overlap in adolescents' online and offline social networks.

    Science.gov (United States)

    Reich, Stephanie M; Subrahmanyam, Kaveri; Espinoza, Guadalupe

    2012-03-01

    Many new and important developmental issues are encountered during adolescence, which is also a time when Internet use becomes increasingly popular. Studies have shown that adolescents are using these online spaces to address developmental issues, especially needs for intimacy and connection to others. Online communication with its potential for interacting with unknown others, may put teens at increased risk. Two hundred and fifty-one high school students completed an in-person survey, and 126 of these completed an additional online questionnaire about how and why they use the Internet, their activities on social networking sites (e.g., Facebook, MySpace) and their reasons for participation, and how they perceive these online spaces to impact their friendships. To examine the extent of overlap between online and offline friends, participants were asked to list the names of their top interaction partners offline and online (Facebook and instant messaging). Results reveal that adolescents mainly use social networking sites to connect with others, in particular with people known from offline contexts. While adolescents report little monitoring by their parents, there was no evidence that teens are putting themselves at risk by interacting with unknown others. Instead, adolescents seem to use the Internet, especially social networking sites, to connect with known others. While the study found moderate overlap between teens' closest online and offline friends, the patterns suggest that adolescents use online contexts to strengthen offline relationships. PsycINFO Database Record (c) 2012 APA, all rights reserved.

  13. Social Network Analysis Reveals the Negative Effects of Attention-Deficit/Hyperactivity Disorder (ADHD) Symptoms on Friend-Based Student Networks.

    Science.gov (United States)

    Kim, Jun Won; Kim, Bung-Nyun; Kim, Johanna Inhyang; Lee, Young Sik; Min, Kyung Joon; Kim, Hyun-Jin; Lee, Jaewon

    2015-01-01

    Social network analysis has emerged as a promising tool in modern social psychology. This method can be used to examine friend-based social relationships in terms of network theory, with nodes representing individual students and ties representing relationships between students (e.g., friendships and kinships). Using social network analysis, we investigated whether greater severity of ADHD symptoms is correlated with weaker peer relationships among elementary school students. A total of 562 sixth-graders from two elementary schools (300 males) provided the names of their best friends (maximum 10 names). Their teachers rated each student's ADHD symptoms using an ADHD rating scale. The results showed that 10.2% of the students were at high risk for ADHD. Significant group differences were observed between the high-risk students and other students in two of the three network parameters (degree, centrality and closeness) used to assess friendship quality, with the high-risk group showing significantly lower values of degree and closeness compared to the other students. Moreover, negative correlations were found between the ADHD rating and two social network analysis parameters. Our findings suggest that the severity of ADHD symptoms is strongly correlated with the quality of social and interpersonal relationships in students with ADHD symptoms.

  14. Social Network Analysis Reveals the Negative Effects of Attention-Deficit/Hyperactivity Disorder (ADHD Symptoms on Friend-Based Student Networks.

    Directory of Open Access Journals (Sweden)

    Jun Won Kim

    Full Text Available Social network analysis has emerged as a promising tool in modern social psychology. This method can be used to examine friend-based social relationships in terms of network theory, with nodes representing individual students and ties representing relationships between students (e.g., friendships and kinships. Using social network analysis, we investigated whether greater severity of ADHD symptoms is correlated with weaker peer relationships among elementary school students.A total of 562 sixth-graders from two elementary schools (300 males provided the names of their best friends (maximum 10 names. Their teachers rated each student's ADHD symptoms using an ADHD rating scale.The results showed that 10.2% of the students were at high risk for ADHD. Significant group differences were observed between the high-risk students and other students in two of the three network parameters (degree, centrality and closeness used to assess friendship quality, with the high-risk group showing significantly lower values of degree and closeness compared to the other students. Moreover, negative correlations were found between the ADHD rating and two social network analysis parameters.Our findings suggest that the severity of ADHD symptoms is strongly correlated with the quality of social and interpersonal relationships in students with ADHD symptoms.

  15. Synaptic plasticity in a recurrent neural network for versatile and adaptive behaviors of a walking robot

    Directory of Open Access Journals (Sweden)

    Eduard eGrinke

    2015-10-01

    Full Text Available Walking animals, like insects, with little neural computing can effectively perform complex behaviors. They can walk around their environment, escape from corners/deadlocks, and avoid or climb over obstacles. While performing all these behaviors, they can also adapt their movements to deal with an unknown situation. As a consequence, they successfully navigate through their complex environment. The versatile and adaptive abilities are the result of an integration of several ingredients embedded in their sensorimotor loop. Biological studies reveal that the ingredients include neural dynamics, plasticity, sensory feedback, and biomechanics. Generating such versatile and adaptive behaviors for a walking robot is a challenging task. In this study, we present a bio-inspired approach to solve this task. Specifically, the approach combines neural mechanisms with plasticity, sensory feedback, and biomechanics. The neural mechanisms consist of adaptive neural sensory processing and modular neural locomotion control. The sensory processing is based on a small recurrent network consisting of two fully connected neurons. Online correlation-based learning with synaptic scaling is applied to adequately change the connections of the network. By doing so, we can effectively exploit neural dynamics (i.e., hysteresis effects and single attractors in the network to generate different turning angles with short-term memory for a biomechanical walking robot. The turning information is transmitted as descending steering signals to the locomotion control which translates the signals into motor actions. As a result, the robot can walk around and adapt its turning angle for avoiding obstacles in different situations as well as escaping from sharp corners or deadlocks. Using backbone joint control embedded in the locomotion control allows the robot to climb over small obstacles. Consequently, it can successfully explore and navigate in complex environments.

  16. Synaptic plasticity in a recurrent neural network for versatile and adaptive behaviors of a walking robot.

    Science.gov (United States)

    Grinke, Eduard; Tetzlaff, Christian; Wörgötter, Florentin; Manoonpong, Poramate

    2015-01-01

    Walking animals, like insects, with little neural computing can effectively perform complex behaviors. For example, they can walk around their environment, escape from corners/deadlocks, and avoid or climb over obstacles. While performing all these behaviors, they can also adapt their movements to deal with an unknown situation. As a consequence, they successfully navigate through their complex environment. The versatile and adaptive abilities are the result of an integration of several ingredients embedded in their sensorimotor loop. Biological studies reveal that the ingredients include neural dynamics, plasticity, sensory feedback, and biomechanics. Generating such versatile and adaptive behaviors for a many degrees-of-freedom (DOFs) walking robot is a challenging task. Thus, in this study, we present a bio-inspired approach to solve this task. Specifically, the approach combines neural mechanisms with plasticity, exteroceptive sensory feedback, and biomechanics. The neural mechanisms consist of adaptive neural sensory processing and modular neural locomotion control. The sensory processing is based on a small recurrent neural network consisting of two fully connected neurons. Online correlation-based learning with synaptic scaling is applied to adequately change the connections of the network. By doing so, we can effectively exploit neural dynamics (i.e., hysteresis effects and single attractors) in the network to generate different turning angles with short-term memory for a walking robot. The turning information is transmitted as descending steering signals to the neural locomotion control which translates the signals into motor actions. As a result, the robot can walk around and adapt its turning angle for avoiding obstacles in different situations. The adaptation also enables the robot to effectively escape from sharp corners or deadlocks. Using backbone joint control embedded in the the locomotion control allows the robot to climb over small obstacles

  17. Defending one's friends, not one's enemies: A social network analysis of children's defending, friendship, and dislike relationships using XPNet.

    Science.gov (United States)

    Oldenburg, Beau; Van Duijn, Marijtje; Veenstra, René

    2018-01-01

    Previous studies investigating to what extent students in elementary schools defend their victimized classmates typically treated defending as an individual characteristic. Defending should, however, be seen as a directed dyadic relationship between a victim and a defender, who are embedded multiple positive and negative relationships with each other and their classmates. Accordingly, in the present study defending was investigated using social network analysis. More specifically, it was investigated to what extent defending relationships co-occurred with friendship and dislike relationships involving not only the victim and the defender but also other classmates. Bivariate Exponential Random Graph Models (ERGMs) were used to analyze the defending-friendship and defending-dislike relationships in seven grade-three classrooms. As hypothesized, the results indicated that victimized students were likely to be defended by students who they perceive as friends or who perceive them as friends. Moreover, defending was likely to occur when the victim and (potential) defender had the same friends. Victimized students were unlikely to be defended by classmates whom they disliked or who had indicated to dislike them. Finally, defending was likely to occur between students who disliked the same classmates.

  18. Too Many Friends: Social Integration, Network Cohesion and Adolescent Depressive Symptoms

    Science.gov (United States)

    Falci, Christina; McNeely, Clea

    2009-01-01

    Using a nationally representative sample of adolescents, we examine associations among social integration (network size), network cohesion (alter-density), perceptions of social relationships (e.g., social support) and adolescent depressive symptoms. We find that adolescents with either too large or too small a network have higher levels of…

  19. Interference Effects Redress over Power-Efficient Wireless-Friendly Mesh Networks for Ubiquitous Sensor Communications across Smart Cities.

    Science.gov (United States)

    Santana, Jose; Marrero, Domingo; Macías, Elsa; Mena, Vicente; Suárez, Álvaro

    2017-07-21

    Ubiquitous sensing allows smart cities to take control of many parameters (e.g., road traffic, air or noise pollution levels, etc.). An inexpensive Wireless Mesh Network can be used as an efficient way to transport sensed data. When that mesh is autonomously powered (e.g., solar powered), it constitutes an ideal portable network system which can be deployed when needed. Nevertheless, its power consumption must be restrained to extend its operational cycle and for preserving the environment. To this end, our strategy fosters wireless interface deactivation among nodes which do not participate in any route. As we show, this contributes to a significant power saving for the mesh. Furthermore, our strategy is wireless-friendly, meaning that it gives priority to deactivation of nodes receiving (and also causing) interferences from (to) the rest of the smart city. We also show that a routing protocol can adapt to this strategy in which certain nodes deactivate their own wireless interfaces.

  20. An Artificial Neural Network Modeling for Force Control System of a Robotic Pruning Machine

    Directory of Open Access Journals (Sweden)

    Ali Hashemi

    2014-06-01

    Full Text Available Nowadays, there has been an increasing application of pruning robots for planted forests due to the growing concern on the efficiency and safety issues. Power consumption and working time of agricultural machines have become important issues due to the high value of energy in modern world. In this study, different multi-layer back-propagation networks were utilized for mapping the complex and highly interactive of pruning process parameters and to predict power consumption and cutting time of a force control equipped robotic pruning machine by knowing input parameters such as: rotation speed, stalk diameter, and sensitivity coefficient. Results showed significant effects of all input parameters on output parameters except rotational speed on cutting time. Therefore, for reducing the wear of cutting system, a less rotational speed in every sensitivity coefficient should be selected.

  1. Visual control of a robot manipulator using neural networks

    International Nuclear Information System (INIS)

    Kurazume, Ryo; Sekiguchi, Minoru; Nagata, Shigemi

    1994-01-01

    This paper describes a vision-motor fusion system using neural networks, consisting of multiple vision sensors and a manipulator, for grasping an object placed in a desired position and attitude in a three-dimensional workspace. The system does not need complicated vision sensor calibration and calculation of a transformation matrix, and can thus be easily constructed for grasping tasks. An experimental system with two TV cameras and a manipulator with six degrees of freedom grasped a connector suspended in a three-dimensional workspace with high accuracy. (author)

  2. Aperiodic linear networked control considering variable channel delays: application to robots coordination.

    Science.gov (United States)

    Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel

    2015-05-27

    One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.

  3. Aperiodic Linear Networked Control Considering Variable Channel Delays: Application to Robots Coordination

    Directory of Open Access Journals (Sweden)

    Carlos Santos

    2015-05-01

    Full Text Available One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.

  4. Me and my 400 friends: the anatomy of college students' Facebook networks, their communication patterns, and well-being.

    Science.gov (United States)

    Manago, Adriana M; Taylor, Tamara; Greenfield, Patricia M

    2012-03-01

    Is there a trade-off between having large networks of social connections on social networking sites such as Facebook and the development of intimacy and social support among today's generation of emerging adults? To understand the socialization context of Facebook during the transition to adulthood, an online survey was distributed to college students at a large urban university; participants answered questions about their relationships by systematically sampling their Facebook contacts while viewing their Facebook profiles online. Results confirmed that Facebook facilitates expansive social networks that grow disproportionately through distant kinds of relationship (acquaintances and activity connections), while also expanding the number of close relationships and stranger relationships, albeit at slower rates. Those with larger networks estimated that larger numbers of contacts in their networks were observing their status updates, a form of public communication to one's entire contact list. The major function of status updates was emotional disclosure, the key feature of intimacy. This finding indicates the transformation of the nature of intimacy in the environment of a social network site. In addition, larger networks and larger estimated audiences predicted higher levels of life satisfaction and perceived social support on Facebook. These findings emphasize the psychological importance of audience in the Facebook environment. Findings also suggest that social networking sites help youth to satisfy enduring human psychosocial needs for permanent relations in a geographically mobile world--college students with higher proportions of maintained contacts from the past (primarily high school friends) perceived Facebook as a more useful tool for procuring social support. PsycINFO Database Record (c) 2012 APA, all rights reserved.

  5. Parametric motion control of robotic arms: A biologically based approach using neural networks

    Science.gov (United States)

    Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

    1993-01-01

    A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

  6. Creating Communications, Computing, and Networking Technology Development Road Maps for Future NASA Human and Robotic Missions

    Science.gov (United States)

    Bhasin, Kul; Hayden, Jeffrey L.

    2005-01-01

    For human and robotic exploration missions in the Vision for Exploration, roadmaps are needed for capability development and investments based on advanced technology developments. A roadmap development process was undertaken for the needed communications, and networking capabilities and technologies for the future human and robotics missions. The underlying processes are derived from work carried out during development of the future space communications architecture, an d NASA's Space Architect Office (SAO) defined formats and structures for accumulating data. Interrelationships were established among emerging requirements, the capability analysis and technology status, and performance data. After developing an architectural communications and networking framework structured around the assumed needs for human and robotic exploration, in the vicinity of Earth, Moon, along the path to Mars, and in the vicinity of Mars, information was gathered from expert participants. This information was used to identify the capabilities expected from the new infrastructure and the technological gaps in the way of obtaining them. We define realistic, long-term space communication architectures based on emerging needs and translate the needs into interfaces, functions, and computer processing that will be required. In developing our roadmapping process, we defined requirements for achieving end-to-end activities that will be carried out by future NASA human and robotic missions. This paper describes: 10 the architectural framework developed for analysis; 2) our approach to gathering and analyzing data from NASA, industry, and academia; 3) an outline of the technology research to be done, including milestones for technology research and demonstrations with timelines; and 4) the technology roadmaps themselves.

  7. A Novel Robot System Integrating Biological and Mechanical Intelligence Based on Dissociated Neural Network-Controlled Closed-Loop Environment.

    Directory of Open Access Journals (Sweden)

    Yongcheng Li

    Full Text Available We propose the architecture of a novel robot system merging biological and artificial intelligence based on a neural controller connected to an external agent. We initially built a framework that connected the dissociated neural network to a mobile robot system to implement a realistic vehicle. The mobile robot system characterized by a camera and two-wheeled robot was designed to execute the target-searching task. We modified a software architecture and developed a home-made stimulation generator to build a bi-directional connection between the biological and the artificial components via simple binomial coding/decoding schemes. In this paper, we utilized a specific hierarchical dissociated neural network for the first time as the neural controller. Based on our work, neural cultures were successfully employed to control an artificial agent resulting in high performance. Surprisingly, under the tetanus stimulus training, the robot performed better and better with the increasement of training cycle because of the short-term plasticity of neural network (a kind of reinforced learning. Comparing to the work previously reported, we adopted an effective experimental proposal (i.e. increasing the training cycle to make sure of the occurrence of the short-term plasticity, and preliminarily demonstrated that the improvement of the robot's performance could be caused independently by the plasticity development of dissociated neural network. This new framework may provide some possible solutions for the learning abilities of intelligent robots by the engineering application of the plasticity processing of neural networks, also for the development of theoretical inspiration for the next generation neuro-prostheses on the basis of the bi-directional exchange of information within the hierarchical neural networks.

  8. A Novel Robot System Integrating Biological and Mechanical Intelligence Based on Dissociated Neural Network-Controlled Closed-Loop Environment.

    Science.gov (United States)

    Li, Yongcheng; Sun, Rong; Wang, Yuechao; Li, Hongyi; Zheng, Xiongfei

    2016-01-01

    We propose the architecture of a novel robot system merging biological and artificial intelligence based on a neural controller connected to an external agent. We initially built a framework that connected the dissociated neural network to a mobile robot system to implement a realistic vehicle. The mobile robot system characterized by a camera and two-wheeled robot was designed to execute the target-searching task. We modified a software architecture and developed a home-made stimulation generator to build a bi-directional connection between the biological and the artificial components via simple binomial coding/decoding schemes. In this paper, we utilized a specific hierarchical dissociated neural network for the first time as the neural controller. Based on our work, neural cultures were successfully employed to control an artificial agent resulting in high performance. Surprisingly, under the tetanus stimulus training, the robot performed better and better with the increasement of training cycle because of the short-term plasticity of neural network (a kind of reinforced learning). Comparing to the work previously reported, we adopted an effective experimental proposal (i.e. increasing the training cycle) to make sure of the occurrence of the short-term plasticity, and preliminarily demonstrated that the improvement of the robot's performance could be caused independently by the plasticity development of dissociated neural network. This new framework may provide some possible solutions for the learning abilities of intelligent robots by the engineering application of the plasticity processing of neural networks, also for the development of theoretical inspiration for the next generation neuro-prostheses on the basis of the bi-directional exchange of information within the hierarchical neural networks.

  9. A Net of Friends: Investigating Friendship by Integrating Attachment Theory and Social Network Analysis.

    Science.gov (United States)

    Gillath, Omri; Karantzas, Gery C; Selcuk, Emre

    2017-11-01

    The current article focuses on attachment style-an individual difference widely studied in the field of close relationships-and its application to the study of social networks. Specifically, we investigated whether attachment style predicts perception and management of social networks. In Study 1, we examined the associations of attachment style with perceptions of network tie strength and multiplexity. In Studies 2a and 2b, we investigated the association between attachment style and network management skills (initiating, maintaining, and dissolving ties) and whether network management skills mediated the associations of attachment style with network tie strength and multiplexity. In Study 3, experimentally enhancing attachment security made people more likely to initiate and less likely to dissolve social ties (for the latter, especially among those high on avoidance or anxiety). As for maintenance, security priming also increased maintenance; however, mainly among people high on attachment anxiety or low on attachment avoidance.

  10. Synaptic plasticity in a recurrent neural network for versatile and adaptive behaviors of a walking robot

    DEFF Research Database (Denmark)

    Grinke, Eduard; Tetzlaff, Christian; Wörgötter, Florentin

    2015-01-01

    correlation-based learning with synaptic scaling is applied to adequately change the connections of the network. By doing so, we can effectively exploit neural dynamics (i.e., hysteresis effects and single attractors) in the network to generate different turning angles with short-term memory for a walking...... dynamics, plasticity, sensory feedback, and biomechanics. Generating such versatile and adaptive behaviors for a many degrees-of-freedom (DOFs) walking robot is a challenging task. Thus, in this study, we present a bio-inspired approach to solve this task. Specifically, the approach combines neural...... mechanisms with plasticity, exteroceptive sensory feedback, and biomechanics. The neural mechanisms consist of adaptive neural sensory processing and modular neural locomotion control. The sensory processing is based on a small recurrent neural network consisting of two fully connected neurons. Online...

  11. How Many "Friends" Do You Need? Teaching Students How to Network Using Social Media

    Science.gov (United States)

    Sacks, Michael Alan; Graves, Nikki

    2012-01-01

    Student reliance on social media is undeniable. However, while we largely regard social media as a new phenomena, the concepts underlying it come directly from social network theory in sociology and organizational behavior. In this article, the authors examine how the social network concepts of size, quality, complexity, diffusion, and distance…

  12. Experiments in Neural-Network Control of a Free-Flying Space Robot

    Science.gov (United States)

    Wilson, Edward

    1995-01-01

    Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype. The first issue concerns the importance of true system level design of the control system. A new hybrid strategy is developed here, in depth, for the beneficial integration of neural networks into the total control system. A second important issue in neural network control concerns incorporating a priori knowledge into the neural network. In many applications, it is possible to get a reasonably accurate controller using conventional means. If this prior information is used purposefully to provide a starting point for the optimizing capabilities of the neural network, it can provide much faster initial learning. In a step towards addressing this issue, a new generic Fully Connected Architecture (FCA) is developed for use with backpropagation. A third issue is that neural networks are commonly trained using a gradient based optimization method such as backpropagation; but many real world systems have Discrete Valued Functions (DVFs) that do not permit gradient based optimization. One example is the on-off thrusters that are common on spacecraft. A new technique is developed here that now extends backpropagation learning for use with DVFs. The fourth issue is that the speed of adaptation is often a limiting factor in the implementation of a neural network control system. This issue has been strongly resolved in the research by drawing on the above new contributions.

  13. Detection and Localization of Robotic Tools in Robot-Assisted Surgery Videos Using Deep Neural Networks for Region Proposal and Detection.

    Science.gov (United States)

    Sarikaya, Duygu; Corso, Jason J; Guru, Khurshid A

    2017-07-01

    Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition, objective skill assessment, real-time feedback, and human-robot collaborative surgeries. We propose a solution to the tool detection and localization open problem in RAS video understanding, using a strictly computer vision approach and the recent advances of deep learning. We propose an architecture using multimodal convolutional neural networks for fast detection and localization of tools in RAS videos. To the best of our knowledge, this approach will be the first to incorporate deep neural networks for tool detection and localization in RAS videos. Our architecture applies a region proposal network (RPN) and a multimodal two stream convolutional network for object detection to jointly predict objectness and localization on a fusion of image and temporal motion cues. Our results with an average precision of 91% and a mean computation time of 0.1 s per test frame detection indicate that our study is superior to conventionally used methods for medical imaging while also emphasizing the benefits of using RPN for precision and efficiency. We also introduce a new data set, ATLAS Dione, for RAS video understanding. Our data set provides video data of ten surgeons from Roswell Park Cancer Institute, Buffalo, NY, USA, performing six different surgical tasks on the daVinci Surgical System (dVSS) with annotations of robotic tools per frame.

  14. Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

    Science.gov (United States)

    Mclauchlan, Robert A.

    1989-01-01

    Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

  15. Fuzzy mobile-robot positioning in intelligent spaces using wireless sensor networks.

    Science.gov (United States)

    Herrero, David; Martínez, Humberto

    2011-01-01

    This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using wireless sensor networks (WSNs). The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.

  16. Closed loop interactions between spiking neural network and robotic simulators based on MUSIC and ROS

    Directory of Open Access Journals (Sweden)

    Philipp Weidel

    2016-08-01

    Full Text Available In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technically challenging, and even more so if a closed-loop scenario is required. In this work, we present a novel approach to solve this problem, connecting robotics and neural network simulators. We implement a middleware solution that bridges the Robotic Operating System (ROS to the Multi-Simulator Coordinator (MUSIC. This enables any robotic and neural simulators that implement the corresponding interfaces to be efficiently coupled, allowing real-time performance for a wide range of configurations. This work extends the toolset available for researchers in both neurorobotics and computational neuroscience, and creates the opportunity to perform closed-loop experiments of arbitrary complexity to address questions in multiple areas, including embodiment, agency, and reinforcement learning.

  17. Convolutional Neural Network-Based Robot Navigation Using Uncalibrated Spherical Images.

    Science.gov (United States)

    Ran, Lingyan; Zhang, Yanning; Zhang, Qilin; Yang, Tao

    2017-06-12

    Vision-based mobile robot navigation is a vibrant area of research with numerous algorithms having been developed, the vast majority of which either belong to the scene-oriented simultaneous localization and mapping (SLAM) or fall into the category of robot-oriented lane-detection/trajectory tracking. These methods suffer from high computational cost and require stringent labelling and calibration efforts. To address these challenges, this paper proposes a lightweight robot navigation framework based purely on uncalibrated spherical images. To simplify the orientation estimation, path prediction and improve computational efficiency, the navigation problem is decomposed into a series of classification tasks. To mitigate the adverse effects of insufficient negative samples in the "navigation via classification" task, we introduce the spherical camera for scene capturing, which enables 360° fisheye panorama as training samples and generation of sufficient positive and negative heading directions. The classification is implemented as an end-to-end Convolutional Neural Network (CNN), trained on our proposed Spherical-Navi image dataset, whose category labels can be efficiently collected. This CNN is capable of predicting potential path directions with high confidence levels based on a single, uncalibrated spherical image. Experimental results demonstrate that the proposed framework outperforms competing ones in realistic applications.

  18. Convolutional Neural Network-Based Robot Navigation Using Uncalibrated Spherical Images

    Directory of Open Access Journals (Sweden)

    Lingyan Ran

    2017-06-01

    Full Text Available Vision-based mobile robot navigation is a vibrant area of research with numerous algorithms having been developed, the vast majority of which either belong to the scene-oriented simultaneous localization and mapping (SLAM or fall into the category of robot-oriented lane-detection/trajectory tracking. These methods suffer from high computational cost and require stringent labelling and calibration efforts. To address these challenges, this paper proposes a lightweight robot navigation framework based purely on uncalibrated spherical images. To simplify the orientation estimation, path prediction and improve computational efficiency, the navigation problem is decomposed into a series of classification tasks. To mitigate the adverse effects of insufficient negative samples in the “navigation via classification” task, we introduce the spherical camera for scene capturing, which enables 360° fisheye panorama as training samples and generation of sufficient positive and negative heading directions. The classification is implemented as an end-to-end Convolutional Neural Network (CNN, trained on our proposed Spherical-Navi image dataset, whose category labels can be efficiently collected. This CNN is capable of predicting potential path directions with high confidence levels based on a single, uncalibrated spherical image. Experimental results demonstrate that the proposed framework outperforms competing ones in realistic applications.

  19. With a little help from my friends : music consumption and networks

    Directory of Open Access Journals (Sweden)

    Paul Widdop

    2015-01-01

    Full Text Available It is widely accepted that a shift has occurred in the cultural consumption patterns of those higher in the social strata. Where tastes were based around rules of exclusion, they are now based on openness to a variety of cultures, both esoteric and popular. What is less understood is how an individual’s social networks affect their cultural tastes. Using social survey data on cultural participation, we find that musical consumption is mediated and construed through networks, and these networks play a much more significant role in cultural behaviour than current theoretical frameworks suggest.

  20. Friends' Alcohol-Related Social Networking Site Activity Predicts Escalations in Adolescent Drinking: Mediation by Peer Norms.

    Science.gov (United States)

    Nesi, Jacqueline; Rothenberg, W Andrew; Hussong, Andrea M; Jackson, Kristina M

    2017-06-01

    Adolescents' increased use of social networking sites (SNS) coincides with a developmental period of heightened risk for alcohol use initiation. However, little is known regarding associations between adolescents' SNS use and drinking initiation nor the mechanisms of this association. This study examined longitudinal associations among adolescents' exposure to friends' alcohol-related SNS postings, alcohol-favorable peer injunctive norms, and initiation of drinking behaviors. Participants were 658 high-school students who reported on posting of alcohol-related SNS content by self and friends, alcohol-related injunctive norms, and other developmental risk factors for alcohol use at two time points, 1 year apart. Participants also reported on initiation of three drinking behaviors: consuming a full drink, becoming drunk, and heavy episodic drinking (three or more drinks per occasion). Probit regression analyses were used to predict initiation of drinking behaviors from exposure to alcohol-related SNS content. Path analyses examined mediation of this association by peer injunctive norms. Exposure to friends' alcohol-related SNS content predicted adolescents' initiation of drinking and heavy episodic drinking 1 year later, controlling for demographic and known developmental risk factors for alcohol use (i.e., parental monitoring and peer orientation). In addition, alcohol-favorable peer injunctive norms statistically mediated the relationship between alcohol-related SNS exposure and each drinking milestone. Results suggest that social media plays a unique role in contributing to peer influence processes surrounding alcohol use and highlight the need for future investigative and preventive efforts to account for adolescents' changing social environments. Copyright © 2017 Society for Adolescent Health and Medicine. Published by Elsevier Inc. All rights reserved.

  1. Will You Accept the Government's Friend Request? Social Networks and Privacy Concerns

    OpenAIRE

    Siegel, David A.

    2013-01-01

    Participating in social network websites entails voluntarily sharing private information, and the explosive growth of social network websites over the last decade suggests shifting views on privacy. Concurrently, new anti-terrorism laws, such as the USA Patriot Act, ask citizens to surrender substantial claim to privacy in the name of greater security. I address two important questions regarding individuals' views on privacy raised by these trends. First, how does prompting individuals to con...

  2. How people make friends in social networking sites—A microscopic perspective

    Science.gov (United States)

    Hu, Haibo; Wang, Xiaofan

    2012-02-01

    We study the detailed growth of a social networking site with full temporal information by examining the creation process of each friendship relation that can collectively lead to the macroscopic properties of the network. We first study the reciprocal behavior of users, and find that link requests are quickly responded to and that the distribution of reciprocation intervals decays in an exponential form. The degrees of inviters/accepters are slightly negatively correlative with reciprocation time. In addition, the temporal feature of the online community shows that the distributions of intervals of user behaviors, such as sending or accepting link requests, follow a power law with a universal exponent, and peaks emerge for intervals of an integral day. We finally study the preferential selection and linking phenomena of the social networking site and find that, for the former, a linear preference holds for preferential sending and reception, and for the latter, a linear preference also holds for preferential acceptance, creation, and attachment. Based on the linearly preferential linking, we put forward an analyzable network model which can reproduce the degree distribution of the network. The research framework presented in the paper could provide a potential insight into how the micro-motives of users lead to the global structure of online social networks.

  3. Hundred rubles or hundred friends? (The causes of network and market corruption

    Directory of Open Access Journals (Sweden)

    M V Kravtsova

    2014-12-01

    Full Text Available The author distinguishes two forms of corruption - market corruption and network corruption. The market corruption is the use of public office for personal gain, when every firm or individual who pays a bribe receives public services. The network corruption is the use of public office for personal gain, when only those firms or individuals who are in kinship, friendship or business relationships with public officials receive public services. The author believes that network and market corruption may have different causes and consequences, that is why they should be treated separately. Using Life in Transition Survey II from EBRD (2010 the aggregated level of the market corruption, network corruption and the mixed form of corruption was measured. The results showed that the market corruption and the mixed form are strongly positively correlated and are very sensitive to worsening of socio-economic conditions. The pure network corruption correlates negatively with two other forms and is more inert and stable. The pure network corruption is not associated with worsening of socio-economic conditions and is rather a reaction to the strict anticorruption measures in the poor institutional environment.

  4. Will you accept the government's friend request? Social networks and privacy concerns.

    Directory of Open Access Journals (Sweden)

    David A Siegel

    Full Text Available Participating in social network websites entails voluntarily sharing private information, and the explosive growth of social network websites over the last decade suggests shifting views on privacy. Concurrently, new anti-terrorism laws, such as the USA Patriot Act, ask citizens to surrender substantial claim to privacy in the name of greater security. I address two important questions regarding individuals' views on privacy raised by these trends. First, how does prompting individuals to consider security concerns affect their views on government actions that jeopardize privacy? Second, does the use of social network websites alter the effect of prompted security concerns? I posit that prompting individuals to consider security concerns does lead to an increased willingness to accept government actions that jeopardize privacy, but that frequent users of websites like Facebook are less likely to be swayed by prompted security concerns. An embedded survey experiment provides support for both parts of my claim.

  5. An Environment-Friendly Multipath Routing Protocol for Underwater Acoustic Sensor Network

    Directory of Open Access Journals (Sweden)

    Yun Li

    2017-01-01

    Full Text Available Underwater Acoustic Sensor Network (UASN is a promising technique by facilitating a wide range of aquatic applications. However, routing scheme in UASN is a challenging task because of the characteristics of the nodes mobility, interruption of link, and interference caused by other underwater acoustic systems such as marine mammals. In order to achieve reliable data delivery in UASN, in this work, we present a disjoint multipath disruption-tolerant routing protocol for UASN (ENMR, which incorporates the Hue, Saturation, and Value color space (HSV model to establish routing paths to greedily forward data packets to sink nodes. ENMR applies the mechanism to maintain the network topology. Simulation results show that, compared with the classic underwater routing protocols named PVBF, ENMR can improve packet delivery ratio and reduce network latency while avoiding introducing additional energy consumption.

  6. Will you accept the government's friend request? Social networks and privacy concerns.

    Science.gov (United States)

    Siegel, David A

    2013-01-01

    Participating in social network websites entails voluntarily sharing private information, and the explosive growth of social network websites over the last decade suggests shifting views on privacy. Concurrently, new anti-terrorism laws, such as the USA Patriot Act, ask citizens to surrender substantial claim to privacy in the name of greater security. I address two important questions regarding individuals' views on privacy raised by these trends. First, how does prompting individuals to consider security concerns affect their views on government actions that jeopardize privacy? Second, does the use of social network websites alter the effect of prompted security concerns? I posit that prompting individuals to consider security concerns does lead to an increased willingness to accept government actions that jeopardize privacy, but that frequent users of websites like Facebook are less likely to be swayed by prompted security concerns. An embedded survey experiment provides support for both parts of my claim.

  7. User-friendly Establishment of Trust in Distributed Home Automation Networks

    DEFF Research Database (Denmark)

    Solberg Hjorth, Theis; Torbensen, Rune; Madsen, Per Printz

    2014-01-01

    Current wireless technologies use a variety of methods to locally exchange and verify credentials between devices to establish trusted relationships. Scenarios in home automation networks also require this capability over the Internet, but the necessary involvement of non-expert users to setup...... these relationships can lead to misconfiguration or breaches of security. We outline a security system for Home Automation called Trusted Domain that can establish and maintain cryptographically secure relationships between devices connected via IP-based networks and the Internet. Trust establishment is presented...

  8. Friend me: which factors influence top global brands participation in social network sites

    NARCIS (Netherlands)

    Araujo, T.; Neijens, P.

    2012-01-01

    Purpose - This study focuses on how brands participate in social network sites (SNSs) and investigates both the different strategies they adopt and the factors that influence these strategies. Design/methodology/approach - The activities of top brands in SNSs were investigated through a content

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

    Science.gov (United States)

    Xu, Yiliang

    2011-01-01

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

  10. The right friends in the right places: Understanding network structure as a predictor of voluntary turnover.

    Science.gov (United States)

    Ballinger, Gary A; Cross, Rob; Holtom, Brooks C

    2016-04-01

    Research examining the relationship between social networks and employee retention has focused almost exclusively on the number of direct links and generally found that having more ties decreases the likelihood of turnover. The present research moves beyond simple measures of network centrality to investigate the relationship between 2 additional, and theoretically distinct, facets of social capital and voluntary turnover. In 2 organizations, we found consistent evidence of a negative relationship between reputation, as measured by relationships with highly sought-out others (incoming eigenvector centrality) and voluntary turnover. Further, we found that the negative relationship between brokerage (structural holes) and turnover is significant, but only for higher-level employees. The theoretical and practical implications of expanding the suite of social capital measures to understand voluntary turnover are discussed. (c) 2016 APA, all rights reserved).

  11. User-friendly establishment of trust in distributed home automation networks

    DEFF Research Database (Denmark)

    Hjorth, Theis Solberg; Madsen, Per Printz; Torbensen, Rune

    2012-01-01

    Current wireless technologies use a variety of methods to locally exchange and verify credentials between devices to establish trusted relationships. Scenarios in home automation networks also require this capability over the Internet, but the necessary involvement of non-expert users to setup...... these relationships can lead to misconfiguration or breaches of security. We outline a security system for Home Automation called Trusted Domain that can establish and maintain cryptographically secure relationships between devices connected via IP-based networks and the Internet. Trust establishment is presented...... of predefined pictograms. This method is designed to scale from smart-phones and tablets down to low-resource embedded systems. The presented approach is supported by an extensive literature study, and the ease of use and feasibility of the method has been indicated through a preliminary user study...

  12. A Neural Network-Based Gait Phase Classification Method Using Sensors Equipped on Lower Limb Exoskeleton Robots.

    Science.gov (United States)

    Jung, Jun-Young; Heo, Wonho; Yang, Hyundae; Park, Hyunsub

    2015-10-30

    An exact classification of different gait phases is essential to enable the control of exoskeleton robots and detect the intentions of users. We propose a gait phase classification method based on neural networks using sensor signals from lower limb exoskeleton robots. In such robots, foot sensors with force sensing registers are commonly used to classify gait phases. We describe classifiers that use the orientation of each lower limb segment and the angular velocities of the joints to output the current gait phase. Experiments to obtain the input signals and desired outputs for the learning and validation process are conducted, and two neural network methods (a multilayer perceptron and nonlinear autoregressive with external inputs (NARX)) are used to develop an optimal classifier. Offline and online evaluations using four criteria are used to compare the performance of the classifiers. The proposed NARX-based method exhibits sufficiently good performance to replace foot sensors as a means of classifying gait phases.

  13. Research Issues on Customer-Oriented and Eco-friendly Networks for Healthy Fashionable Goods

    OpenAIRE

    Fornasiero , Rosanna; Chiodi , Andrea; Carpanzano , Emanuele; Carneiro , Luis

    2010-01-01

    International audience; Needs and expectations of specific target groups - such as elderly, obese, disabled, or diabetic persons- are arising as challenging opportunities for European companies which are asked to supply small series of functional and fashionable goods of high quality, affordable price and eco-compatible. In order to design, develop, produce and distribute such products, a new framework and related components of collaborative networking need to be developed, enabling the produ...

  14. Formulation based on artificial neural network of thermodynamic properties of ozone friendly refrigerant/absorbent couples

    International Nuclear Information System (INIS)

    Soezen, Adnan; Arcaklioglu, Erol; Oezalp, Mehmet

    2005-01-01

    This paper presents a new approach based on artificial neural networks (ANNs) to determine the properties of liquid and two phase boiling and condensing of two alternative refrigerant/absorbent couples (methanol/LiBr and methanol/LiCl). These couples do not cause ozone depletion and use in the absorption thermal systems (ATSs). ANNs are able to learn the key information patterns within multidimensional information domain. ANNs operate such as a 'black box' model, requiring no detailed information about the system. On the other hand, they learn the relationship between the input and the output. In order to train the neural network, limited experimental measurements were used as training data and test data. In this study, in input layer, there are temperatures in the range of 298-498 K, pressures (0.1-40 MPa) and concentrations of 2%, 7%, 12% of the couples; specific volume is in output layer. The back-propagation learning algorithm with three different variants, namely scaled conjugate gradient (SCG), Pola-Ribiere conjugate gradient (CGP), and Levenberg-Marquardt (LM), and logistic sigmoid transfer function were used in the network so that the best approach can find. The most suitable algorithm and neuron number in the hidden layer are found as SCG with 8 neurons. For this number level, after the training, it is found that maximum error is less than 3%, average error is about 1% and R 2 value are 99.999%. As seen from the results obtained the thermodynamic equations for each pair by using the weights of network have been obviously predicted within acceptable errors. This paper shows that values predicted with ANN can be used to define the thermodynamic properties instead of approximate and complex analytic equations

  15. User-friendly Tool for Power Flow Analysis and Distributed Generation Optimisation in Radial Distribution Networks

    Directory of Open Access Journals (Sweden)

    M. F. Akorede

    2017-06-01

    Full Text Available The intent of power distribution companies (DISCOs is to deliver electric power to their customers in an efficient and reliable manner – with minimal energy loss cost. One major way to minimise power loss on a given power system is to install distributed generation (DG units on the distribution networks. However, to maximise benefits, it is highly crucial for a DISCO to ensure that these DG units are of optimal size and sited in the best locations on the network. This paper gives an overview of a software package developed in this study, called Power System Analysis and DG Optimisation Tool (PFADOT. The main purpose of the graphical user interface-based package is to guide a DISCO in finding the optimal size and location for DG placement in radial distribution networks. The package, which is also suitable for load flow analysis, employs the GUI feature of MATLAB. Three objective functions are formulated into a single optimisation problem and solved with fuzzy genetic algorithm to simultaneously obtain DG optimal size and location. The accuracy and reliability of the developed tool was validated using several radial test systems, and the results obtained are evaluated against the existing similar package cited in the literature, which are impressive and computationally efficient.

  16. A game theoretical approach for cooperative environmentally friendly cellular networks powered by the smart grid

    KAUST Repository

    Ghazzai, Hakim

    2014-11-01

    This paper investigates the collaboration between multiple mobile operators to optimize the energy efficiency of cellular networks, maximize their profits or achieve or tradeoff between both objectives. Mobile operators cooperate together by eliminating redundant base stations (BSs) using a low complexity algorithm that aims to maximize their objective functions subject to a quality of service constraint. The problem is modeled as a two-level Stackelberg game: a mobile operator level and a smart grid level. Indeed, in our framework, we assume that cellular networks are powered by multiple energy providers existing in the smart grid characterized by different pollutant levels in addition to renewable energy source deployed in BS sites. The objective is to find the best active BS combination and the optimal procurement decision needed to the network operation during collaboration by considering electricity real-time pricing. Our study includes the daily traffic variation in addition to the daily green energy availability. Our simulation results show a significant saving in terms of CO2 emissions compared to the non-collaboration case and that cooperative mobile operators exploiting renewables are more awarded than traditional operators. © 2014 IEEE.

  17. Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

    Science.gov (United States)

    Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

    2010-08-01

    This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

  18. Reconstructing social networks : The Importance of friends and family in the acculturation of unaccompanied minors

    OpenAIRE

    Spaun, Hege

    2007-01-01

    The main goal of this study was to explore how social network variables and social skills influence acculturation in a group of immigrants who came to Norway as unaccompanied minor asylum seekers. Acculturation, as measured by ethnic and host culture competence, is seen as a resource for the individual, and a necessity in order to be successful and have a sense of belonging in a given culture. Sixty-two youth who came to Norway as unaccompanied minor asylum seekers (UMAs) between the years 20...

  19. Exploring the acquisition and production of grammatical constructions through human-robot interaction with echo state networks.

    Science.gov (United States)

    Hinaut, Xavier; Petit, Maxime; Pointeau, Gregoire; Dominey, Peter Ford

    2014-01-01

    One of the principal functions of human language is to allow people to coordinate joint action. This includes the description of events, requests for action, and their organization in time. A crucial component of language acquisition is learning the grammatical structures that allow the expression of such complex meaning related to physical events. The current research investigates the learning of grammatical constructions and their temporal organization in the context of human-robot physical interaction with the embodied sensorimotor humanoid platform, the iCub. We demonstrate three noteworthy phenomena. First, a recurrent network model is used in conjunction with this robotic platform to learn the mappings between grammatical forms and predicate-argument representations of meanings related to events, and the robot's execution of these events in time. Second, this learning mechanism functions in the inverse sense, i.e., in a language production mode, where rather than executing commanded actions, the robot will describe the results of human generated actions. Finally, we collect data from naïve subjects who interact with the robot via spoken language, and demonstrate significant learning and generalization results. This allows us to conclude that such a neural language learning system not only helps to characterize and understand some aspects of human language acquisition, but also that it can be useful in adaptive human-robot interaction.

  20. A Velocity-Level Bi-Criteria Optimization Scheme for Coordinated Path Tracking of Dual Robot Manipulators Using Recurrent Neural Network.

    Science.gov (United States)

    Xiao, Lin; Zhang, Yongsheng; Liao, Bolin; Zhang, Zhijun; Ding, Lei; Jin, Long

    2017-01-01

    A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to realize the coordinated path tracking of dual robot manipulators, two subschemes are first presented for the left and right robot manipulators. After that, such two subschemes are reformulated as two general quadratic programs (QPs), which can be formulated as one unified QP. A recurrent neural network (RNN) is thus presented to solve effectively the unified QP problem. At last, computer simulation results based on a dual three-link planar manipulator further validate the feasibility and the efficacy of the velocity-level optimization scheme for coordinated path tracking using the recurrent neural network.

  1. Friend or Foe: MicroRNAs in the p53 network.

    Science.gov (United States)

    Luo, Zhenghua; Cui, Ri; Tili, Esmerina; Croce, Carlo

    2018-04-10

    The critical tumor suppressor gene TP53 is either lost or mutated in more than half of human cancers. As an important transcriptional regulator, p53 modulates the expression of many microRNAs. While wild-type p53 uses microRNAs to suppress cancer development, microRNAs that are activated by gain-of-function mutant p53 confer oncogenic properties. On the other hand, the expression of p53 is tightly controlled by a fine-tune machinery including microRNAs. MicroRNAs can target the TP53 gene directly or other factors in the p53 network so that expression and function of either the wild-type or the mutant forms of p53 is downregulated. Therefore, depending on the wild-type or mutant p53 context, microRNAs contribute substantially to suppress or exacerbate tumor development. Copyright © 2018. Published by Elsevier B.V.

  2. Suicidal Disclosures among Friends: Using Social Network Data to Understand Suicide Contagion*

    Science.gov (United States)

    Mueller, Anna S.; Abrutyn, Seth

    2015-01-01

    A robust literature suggests that suicide is socially contagious; however, we know little about how and why suicide spreads. Using network data from the National Longitudinal Study of Adolescent to Adult Health, we examine the effects of alter’s (1) disclosed and (2) undisclosed suicide attempts, (3) suicide ideation and (4) emotional distress on ego’s mental health one year later to gain insights into the emotional and cultural mechanisms that underlie suicide contagion. We find that when egos know about alter’s suicide attempt, they report significantly higher levels of emotional distress and are more likely to report suicidality, net of extensive controls; however, alter’s undisclosed suicide attempts and ideation have no significant effect on ego’s mental health. Finally, we find evidence that emotional distress is contagious in adolescence, though it does not seem to promote suicidality. We discuss the implications of our findings for suicide contagion specifically and sociology more generally. PMID:25722129

  3. Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    David Herrero

    2011-11-01

    Full Text Available This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using Wireless Sensor Networks (WSNs. The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.

  4. Convolutional Neural Network-Based Embarrassing Situation Detection under Camera for Social Robot in Smart Homes.

    Science.gov (United States)

    Yang, Guanci; Yang, Jing; Sheng, Weihua; Junior, Francisco Erivaldo Fernandes; Li, Shaobo

    2018-05-12

    Recent research has shown that the ubiquitous use of cameras and voice monitoring equipment in a home environment can raise privacy concerns and affect human mental health. This can be a major obstacle to the deployment of smart home systems for elderly or disabled care. This study uses a social robot to detect embarrassing situations. Firstly, we designed an improved neural network structure based on the You Only Look Once (YOLO) model to obtain feature information. By focusing on reducing area redundancy and computation time, we proposed a bounding-box merging algorithm based on region proposal networks (B-RPN), to merge the areas that have similar features and determine the borders of the bounding box. Thereafter, we designed a feature extraction algorithm based on our improved YOLO and B-RPN, called F-YOLO, for our training datasets, and then proposed a real-time object detection algorithm based on F-YOLO (RODA-FY). We implemented RODA-FY and compared models on our MAT social robot. Secondly, we considered six types of situations in smart homes, and developed training and validation datasets, containing 2580 and 360 images, respectively. Meanwhile, we designed three types of experiments with four types of test datasets composed of 960 sample images. Thirdly, we analyzed how a different number of training iterations affects our prediction estimation, and then we explored the relationship between recognition accuracy and learning rates. Our results show that our proposed privacy detection system can recognize designed situations in the smart home with an acceptable recognition accuracy of 94.48%. Finally, we compared the results among RODA-FY, Inception V3, and YOLO, which indicate that our proposed RODA-FY outperforms the other comparison models in recognition accuracy.

  5. The ING Seismic Network Databank (ISND : a friendly parameters and waveform database

    Directory of Open Access Journals (Sweden)

    G. Smriglio

    1995-06-01

    Full Text Available he Istituto Nazionale di Geofisica (ING Seismic Network Database (ISND includes over 300000 arrivaI times of Italian, Mediterranean and teleseismic earthquakes from 1983 to date. This database is a useful tool for Italian and foreign seismologists ( over 1000 data requests in the first 6 months of this year. Recently (1994 the ING began storing in the ISND, the digital waveforms associated with arri,Tal times and experimen- tally allowed users to retrieve waveforms recorded by the ING acquisition system. In this paper we describe the types of data stored and the interactive and batch procedures available to obtain arrivaI times and/or asso- ciated waveforms. The ISND is reachable via telephone line, P.S.I., Internet and DecNet. Users can read and send to their E-mail address alI selected earthquakes locations, parameters, arrivaI times and associated digital waveforms (in SAC, SUDS or ASCII format. For r;aedium or large amounts of data users can ask to receive data by means of magnetic media (DAT, Video 8, floppy disk.

  6. Muscle emulation with DC motor and neural networks for biped robots.

    Science.gov (United States)

    Serhan, Hayssam; Nasr, Chaiban G; Henaff, Patrick

    2010-08-01

    This paper shows how to use a DC motor and its PID controller, to behave analogously to a muscle. A model of the muscle that has been learned by a NNARX (Neural Network Auto Regressive eXogenous) structure is used. The PID parameters are tuned by an MLP Network with a special indirect online learning algorithm. The calculation of the learning algorithm is performed based on a mathematical equation of the DC motor or with a Neural Network identification of the motor. For each of the two algorithms, the output of the muscle model is used as a reference for the DC motor control loop. The results show that we succeeded in forcing the physical system to behave in the same way as the muscle model with acceptable margin of error. An implementation in the knees of a simulated biped robot is realized. Simulation compares articular trajectories with and without the muscle emulator and shows that with muscle emulator, articular trajectories become closer to the human being ones and that total power consumption is reduced.

  7. Video-based peer feedback through social networking for robotic surgery simulation: a multicenter randomized controlled trial.

    Science.gov (United States)

    Carter, Stacey C; Chiang, Alexander; Shah, Galaxy; Kwan, Lorna; Montgomery, Jeffrey S; Karam, Amer; Tarnay, Christopher; Guru, Khurshid A; Hu, Jim C

    2015-05-01

    To examine the feasibility and outcomes of video-based peer feedback through social networking to facilitate robotic surgical skill acquisition. The acquisition of surgical skills may be challenging for novel techniques and/or those with prolonged learning curves. Randomized controlled trial involving 41 resident physicians performing the Tubes (Da Vinci Intuitive Surgical, Sunnyvale, CA) simulator exercise with versus without peer feedback of video-recorded performance through a social networking Web page. Data collected included simulator exercise score, time to completion, and comfort and satisfaction with robotic surgery simulation. There were no baseline differences between the intervention group (n = 20) and controls (n = 21). The intervention group showed improvement in mean scores from session 1 to sessions 2 and 3 (60.7 vs 75.5, P feedback subjects were more comfortable with robotic surgery than controls (90% vs 62%, P = 0.021) and expressed greater satisfaction with the learning experience (100% vs 67%, P = 0.014). Of the intervention subjects, 85% found that peer feedback was useful and 100% found it effective. Video-based peer feedback through social networking appears to be an effective paradigm for surgical education and accelerates the robotic surgery learning curve during simulation.

  8. Network analysis of surgical innovation: Measuring value and the virality of diffusion in robotic surgery.

    Directory of Open Access Journals (Sweden)

    George Garas

    Full Text Available Existing surgical innovation frameworks suffer from a unifying limitation, their qualitative nature. A rigorous approach to measuring surgical innovation is needed that extends beyond detecting simply publication, citation, and patent counts and instead uncovers an implementation-based value from the structure of the entire adoption cascades produced over time by diffusion processes. Based on the principles of evidence-based medicine and existing surgical regulatory frameworks, the surgical innovation funnel is described. This illustrates the different stages through which innovation in surgery typically progresses. The aim is to propose a novel and quantitative network-based framework that will permit modeling and visualizing innovation diffusion cascades in surgery and measuring virality and value of innovations.Network analysis of constructed citation networks of all articles concerned with robotic surgery (n = 13,240, Scopus® was performed (1974-2014. The virality of each cascade was measured as was innovation value (measured by the innovation index derived from the evidence-based stage occupied by the corresponding seed article in the surgical innovation funnel. The network-based surgical innovation metrics were also validated against real world big data (National Inpatient Sample-NIS®.Rankings of surgical innovation across specialties by cascade size and structural virality (structural depth and width were found to correlate closely with the ranking by innovation value (Spearman's rank correlation coefficient = 0.758 (p = 0.01, 0.782 (p = 0.008, 0.624 (p = 0.05, respectively which in turn matches the ranking based on real world big data from the NIS® (Spearman's coefficient = 0.673;p = 0.033.Network analysis offers unique new opportunities for understanding, modeling and measuring surgical innovation, and ultimately for assessing and comparing generative value between different specialties. The novel surgical innovation metrics

  9. Network analysis of surgical innovation: Measuring value and the virality of diffusion in robotic surgery.

    Science.gov (United States)

    Garas, George; Cingolani, Isabella; Panzarasa, Pietro; Darzi, Ara; Athanasiou, Thanos

    2017-01-01

    Existing surgical innovation frameworks suffer from a unifying limitation, their qualitative nature. A rigorous approach to measuring surgical innovation is needed that extends beyond detecting simply publication, citation, and patent counts and instead uncovers an implementation-based value from the structure of the entire adoption cascades produced over time by diffusion processes. Based on the principles of evidence-based medicine and existing surgical regulatory frameworks, the surgical innovation funnel is described. This illustrates the different stages through which innovation in surgery typically progresses. The aim is to propose a novel and quantitative network-based framework that will permit modeling and visualizing innovation diffusion cascades in surgery and measuring virality and value of innovations. Network analysis of constructed citation networks of all articles concerned with robotic surgery (n = 13,240, Scopus®) was performed (1974-2014). The virality of each cascade was measured as was innovation value (measured by the innovation index) derived from the evidence-based stage occupied by the corresponding seed article in the surgical innovation funnel. The network-based surgical innovation metrics were also validated against real world big data (National Inpatient Sample-NIS®). Rankings of surgical innovation across specialties by cascade size and structural virality (structural depth and width) were found to correlate closely with the ranking by innovation value (Spearman's rank correlation coefficient = 0.758 (p = 0.01), 0.782 (p = 0.008), 0.624 (p = 0.05), respectively) which in turn matches the ranking based on real world big data from the NIS® (Spearman's coefficient = 0.673;p = 0.033). Network analysis offers unique new opportunities for understanding, modeling and measuring surgical innovation, and ultimately for assessing and comparing generative value between different specialties. The novel surgical innovation metrics developed may

  10. Is agritourism eco-friendly? A comparison between agritourisms and other farms in Italy using farm accountancy data network dataset.

    Science.gov (United States)

    Mastronardi, Luigi; Giaccio, Vincenzo; Giannelli, Agostino; Scardera, Alfonso

    2015-01-01

    This paper presents the results of research regarding the environmental performances of Italian farms with agritourism compared with farms without agritourism. In Italy, agritourism is considered an agricultural activity and can only be performed by a farmer. Moreover, Italian national legislation forces the farmer to dedicate himself mainly to traditional farming, rather than to tourism activities. For this reason, environmental performances have been highlighted by analyzing only features and production systems of the farms. By utilizing the most frequent indicators used in studies regarding sustainability, the authors show how Italian agritourisms tend to develop more environmentally friendly agricultural methods, which have a positive impact on biodiversity, landscape and natural resources. The empirical analysis is based on the Italian FADN (Farm Accountancy Data Network) dataset. The European FADN was created to represent farms' technical and economic operation in the European Union and on which it drafts the agricultural and rural policies. The dichotomous structure of the dependent variable (presence or absence of agritourism at the farm) has a propensity for an assessment method based on Binary Response Model Regression.

  11. An Improved Recurrent Neural Network for Complex-Valued Systems of Linear Equation and Its Application to Robotic Motion Tracking.

    Science.gov (United States)

    Ding, Lei; Xiao, Lin; Liao, Bolin; Lu, Rongbo; Peng, Hua

    2017-01-01

    To obtain the online solution of complex-valued systems of linear equation in complex domain with higher precision and higher convergence rate, a new neural network based on Zhang neural network (ZNN) is investigated in this paper. First, this new neural network for complex-valued systems of linear equation in complex domain is proposed and theoretically proved to be convergent within finite time. Then, the illustrative results show that the new neural network model has the higher precision and the higher convergence rate, as compared with the gradient neural network (GNN) model and the ZNN model. Finally, the application for controlling the robot using the proposed method for the complex-valued systems of linear equation is realized, and the simulation results verify the effectiveness and superiorness of the new neural network for the complex-valued systems of linear equation.

  12. A design philosophy for multi-layer neural networks with applications to robot control

    Science.gov (United States)

    Vadiee, Nader; Jamshidi, MO

    1989-01-01

    A system is proposed which receives input information from many sensors that may have diverse scaling, dimension, and data representations. The proposed system tolerates sensory information with faults. The proposed self-adaptive processing technique has great promise in integrating the techniques of artificial intelligence and neural networks in an attempt to build a more intelligent computing environment. The proposed architecture can provide a detailed decision tree based on the input information, information stored in a long-term memory, and the adapted rule-based knowledge. A mathematical model for analysis will be obtained to validate the cited hypotheses. An extensive software program will be developed to simulate a typical example of pattern recognition problem. It is shown that the proposed model displays attention, expectation, spatio-temporal, and predictory behavior which are specific to the human brain. The anticipated results of this research project are: (1) creation of a new dynamic neural network structure, and (2) applications to and comparison with conventional multi-layer neural network structures. The anticipated benefits from this research are vast. The model can be used in a neuro-computer architecture as a building block which can perform complicated, nonlinear, time-varying mapping from a multitude of input excitory classes to an output or decision environment. It can be used for coordinating different sensory inputs and past experience of a dynamic system and actuating signals. The commercial applications of this project can be the creation of a special-purpose neuro-computer hardware which can be used in spatio-temporal pattern recognitions in such areas as air defense systems, e.g., target tracking, and recognition. Potential robotics-related applications are trajectory planning, inverse dynamics computations, hierarchical control, task-oriented control, and collision avoidance.

  13. Vision-based mobile robot navigation through deep convolutional neural networks and end-to-end learning

    Science.gov (United States)

    Zhang, Yachu; Zhao, Yuejin; Liu, Ming; Dong, Liquan; Kong, Lingqin; Liu, Lingling

    2017-09-01

    In contrast to humans, who use only visual information for navigation, many mobile robots use laser scanners and ultrasonic sensors along with vision cameras to navigate. This work proposes a vision-based robot control algorithm based on deep convolutional neural networks. We create a large 15-layer convolutional neural network learning system and achieve the advanced recognition performance. Our system is trained from end to end to map raw input images to direction in supervised mode. The images of data sets are collected in a wide variety of weather conditions and lighting conditions. Besides, the data sets are augmented by adding Gaussian noise and Salt-and-pepper noise to avoid overfitting. The algorithm is verified by two experiments, which are line tracking and obstacle avoidance. The line tracking experiment is proceeded in order to track the desired path which is composed of straight and curved lines. The goal of obstacle avoidance experiment is to avoid the obstacles indoor. Finally, we get 3.29% error rate on the training set and 5.1% error rate on the test set in the line tracking experiment, 1.8% error rate on the training set and less than 5% error rate on the test set in the obstacle avoidance experiment. During the actual test, the robot can follow the runway centerline outdoor and avoid the obstacle in the room accurately. The result confirms the effectiveness of the algorithm and our improvement in the network structure and train parameters

  14. Development of a platform to combine sensor networks and home robots to improve fall detection in the home environment.

    Science.gov (United States)

    Della Toffola, Luca; Patel, Shyamal; Chen, Bor-rong; Ozsecen, Yalgin M; Puiatti, Alessandro; Bonato, Paolo

    2011-01-01

    Over the last decade, significant progress has been made in the development of wearable sensor systems for continuous health monitoring in the home and community settings. One of the main areas of application for these wearable sensor systems is in detecting emergency events such as falls. Wearable sensors like accelerometers are increasingly being used to monitor daily activities of individuals at a risk of falls, detect emergency events and send alerts to caregivers. However, such systems tend to have a high rate of false alarms, which leads to low compliance levels. Home robots can enable caregivers with the ability to quickly make an assessment and intervene if an emergency event is detected. This can provide an additional layer for detecting false positives, which can lead to improve compliance. In this paper, we present preliminary work on the development of a fall detection system based on a combination sensor networks and home robots. The sensor network architecture comprises of body worn sensors and ambient sensors distributed in the environment. We present the software architecture and conceptual design home robotic platform. We also perform preliminary characterization of the sensor network in terms of latencies and battery lifetime.

  15. Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots

    OpenAIRE

    Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; Romero-Troncoso, Rene de Jesus

    2011-01-01

    Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of h...

  16. Mobile robot nonlinear feedback control based on Elman neural network observer

    Directory of Open Access Journals (Sweden)

    Khaled Al-Mutib

    2015-12-01

    Full Text Available This article presents a new approach to control a wheeled mobile robot without velocity measurement. The controller developed is based on kinematic model as well as dynamics model to take into account parameters of dynamics. These parameters related to dynamic equations are identified using a proposed methodology. Input–output feedback linearization is considered with a slight modification in the mathematical expressions to implement the dynamic controller and analyze the nonlinear internal behavior. The developed controllers require sensors to obtain the states needed for the closed-loop system. However, some states may not be available due to the absence of the sensors because of the cost, the weight limitation, reliability, induction of errors, failure, and so on. Particularly, for the velocity measurements, the required accuracy may not be achieved in practical applications due to the existence of significant errors induced by stochastic or cyclical noise. In this article, Elman neural network is proposed to work as an observer to estimate the velocity needed to complete the full state required for the closed-loop control and account for all the disturbances and model parameter uncertainties. Different simulations are carried out to demonstrate the feasibility of the approach in tracking different reference trajectories in comparison with other paradigms.

  17. A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications.

    Science.gov (United States)

    Shao, Chenzhong; Tanaka, Shuji; Nakayama, Takahiro; Hata, Yoshiyuki; Bartley, Travis; Nonomura, Yutaka; Muroyama, Masanori

    2017-08-28

    Robot tactile sensation can enhance human-robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as "sensor platform LSI") as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated.

  18. Improved Deep Belief Networks (IDBN Dynamic Model-Based Detection and Mitigation for Targeted Attacks on Heavy-Duty Robots

    Directory of Open Access Journals (Sweden)

    Lianpeng Li

    2018-04-01

    Full Text Available In recent years, the robots, especially heavy-duty robots, have become the hardest-hit areas for targeted attacks. These attacks come from both the cyber-domain and the physical-domain. In order to improve the security of heavy-duty robots, this paper proposes a detection and mitigation mechanism which based on improved deep belief networks (IDBN and dynamic model. The detection mechanism consists of two parts: (1 IDBN security checks, which can detect targeted attacks from the cyber-domain; (2 Dynamic model and security detection, used to detect the targeted attacks which can possibly lead to a physical-domain damage. The mitigation mechanism was established on the base of the detection mechanism and could mitigate transient and discontinuous attacks. Moreover, a test platform was established to carry out the performance evaluation test for the proposed mechanism. The results show that, the detection accuracy for the attack of the cyber-domain of IDBN reaches 96.2%, and the detection accuracy for the attack of physical-domain control commands reaches 94%. The performance evaluation test has verified the reliability and high efficiency of the proposed detection and mitigation mechanism for heavy-duty robots.

  19. A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications †

    Science.gov (United States)

    Shao, Chenzhong; Tanaka, Shuji; Nakayama, Takahiro; Hata, Yoshiyuki; Bartley, Travis; Muroyama, Masanori

    2017-01-01

    Robot tactile sensation can enhance human–robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as “sensor platform LSI”) as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated. PMID:29061954

  20. Exploring the effects of dimensionality reduction in deep networks for force estimation in robotic-assisted surgery

    Science.gov (United States)

    Aviles, Angelica I.; Alsaleh, Samar; Sobrevilla, Pilar; Casals, Alicia

    2016-03-01

    Robotic-Assisted Surgery approach overcomes the limitations of the traditional laparoscopic and open surgeries. However, one of its major limitations is the lack of force feedback. Since there is no direct interaction between the surgeon and the tissue, there is no way of knowing how much force the surgeon is applying which can result in irreversible injuries. The use of force sensors is not practical since they impose different constraints. Thus, we make use of a neuro-visual approach to estimate the applied forces, in which the 3D shape recovery together with the geometry of motion are used as input to a deep network based on LSTM-RNN architecture. When deep networks are used in real time, pre-processing of data is a key factor to reduce complexity and improve the network performance. A common pre-processing step is dimensionality reduction which attempts to eliminate redundant and insignificant information by selecting a subset of relevant features to use in model construction. In this work, we show the effects of dimensionality reduction in a real-time application: estimating the applied force in Robotic-Assisted Surgeries. According to the results, we demonstrated positive effects of doing dimensionality reduction on deep networks including: faster training, improved network performance, and overfitting prevention. We also show a significant accuracy improvement, ranging from about 33% to 86%, over existing approaches related to force estimation.

  1. Brain network involved in visual processing of movement stimuli used in upper limb robotic training: an fMRI study.

    Science.gov (United States)

    Nocchi, Federico; Gazzellini, Simone; Grisolia, Carmela; Petrarca, Maurizio; Cannatà, Vittorio; Cappa, Paolo; D'Alessio, Tommaso; Castelli, Enrico

    2012-07-24

    The potential of robot-mediated therapy and virtual reality in neurorehabilitation is becoming of increasing importance. However, there is limited information, using neuroimaging, on the neural networks involved in training with these technologies. This study was intended to detect the brain network involved in the visual processing of movement during robotic training. The main aim was to investigate the existence of a common cerebral network able to assimilate biological (human upper limb) and non-biological (abstract object) movements, hence testing the suitability of the visual non-biological feedback provided by the InMotion2 Robot. A visual functional Magnetic Resonance Imaging (fMRI) task was administered to 22 healthy subjects. The task required observation and retrieval of motor gestures and of the visual feedback used in robotic training. Functional activations of both biological and non-biological movements were examined to identify areas activated in both conditions, along with differential activity in upper limb vs. abstract object trials. Control of response was also tested by administering trials with congruent and incongruent reaching movements. The observation of upper limb and abstract object movements elicited similar patterns of activations according to a caudo-rostral pathway for the visual processing of movements (including specific areas of the occipital, temporal, parietal, and frontal lobes). Similarly, overlapping activations were found for the subsequent retrieval of the observed movement. Furthermore, activations of frontal cortical areas were associated with congruent trials more than with the incongruent ones. This study identified the neural pathway associated with visual processing of movement stimuli used in upper limb robot-mediated training and investigated the brain's ability to assimilate abstract object movements with human motor gestures. In both conditions, activations were elicited in cerebral areas involved in visual

  2. Brain network involved in visual processing of movement stimuli used in upper limb robotic training: an fMRI study

    Directory of Open Access Journals (Sweden)

    Nocchi Federico

    2012-07-01

    Full Text Available Abstract Background The potential of robot-mediated therapy and virtual reality in neurorehabilitation is becoming of increasing importance. However, there is limited information, using neuroimaging, on the neural networks involved in training with these technologies. This study was intended to detect the brain network involved in the visual processing of movement during robotic training. The main aim was to investigate the existence of a common cerebral network able to assimilate biological (human upper limb and non-biological (abstract object movements, hence testing the suitability of the visual non-biological feedback provided by the InMotion2 Robot. Methods A visual functional Magnetic Resonance Imaging (fMRI task was administered to 22 healthy subjects. The task required observation and retrieval of motor gestures and of the visual feedback used in robotic training. Functional activations of both biological and non-biological movements were examined to identify areas activated in both conditions, along with differential activity in upper limb vs. abstract object trials. Control of response was also tested by administering trials with congruent and incongruent reaching movements. Results The observation of upper limb and abstract object movements elicited similar patterns of activations according to a caudo-rostral pathway for the visual processing of movements (including specific areas of the occipital, temporal, parietal, and frontal lobes. Similarly, overlapping activations were found for the subsequent retrieval of the observed movement. Furthermore, activations of frontal cortical areas were associated with congruent trials more than with the incongruent ones. Conclusions This study identified the neural pathway associated with visual processing of movement stimuli used in upper limb robot-mediated training and investigated the brain’s ability to assimilate abstract object movements with human motor gestures. In both conditions

  3. A user-friendly robotic sample preparation program for fully automated biological sample pipetting and dilution to benefit the regulated bioanalysis.

    Science.gov (United States)

    Jiang, Hao; Ouyang, Zheng; Zeng, Jianing; Yuan, Long; Zheng, Naiyu; Jemal, Mohammed; Arnold, Mark E

    2012-06-01

    Biological sample dilution is a rate-limiting step in bioanalytical sample preparation when the concentrations of samples are beyond standard curve ranges, especially when multiple dilution factors are needed in an analytical run. We have developed and validated a Microsoft Excel-based robotic sample preparation program (RSPP) that automatically transforms Watson worklist sample information (identification, sequence and dilution factor) to comma-separated value (CSV) files. The Freedom EVO liquid handler software imports and transforms the CSV files to executable worklists (.gwl files), allowing the robot to perform sample dilutions at variable dilution factors. The dynamic dilution range is 1- to 1000-fold and divided into three dilution steps: 1- to 10-, 11- to 100-, and 101- to 1000-fold. The whole process, including pipetting samples, diluting samples, and adding internal standard(s), is accomplished within 1 h for two racks of samples (96 samples/rack). This platform also supports online sample extraction (liquid-liquid extraction, solid-phase extraction, protein precipitation, etc.) using 96 multichannel arms. This fully automated and validated sample dilution and preparation process has been applied to several drug development programs. The results demonstrate that application of the RSPP for fully automated sample processing is efficient and rugged. The RSPP not only saved more than 50% of the time in sample pipetting and dilution but also reduced human errors. The generated bioanalytical data are accurate and precise; therefore, this application can be used in regulated bioanalysis.

  4. Contextual Student Learning through Authentic Asteroid Research Projects using a Robotic Telescope Network

    Science.gov (United States)

    Hoette, Vivian L.; Puckett, Andrew W.; Linder, Tyler R.; Heatherly, Sue Ann; Rector, Travis A.; Haislip, Joshua B.; Meredith, Kate; Caughey, Austin L.; Brown, Johnny E.; McCarty, Cameron B.; Whitmore, Kevin T.

    2015-11-01

    Skynet is a worldwide robotic telescope network operated by the University of North Carolina at Chapel Hill with active observing sites on 3 continents. The queue-based observation request system is simple enough to be used by middle school students, but powerful enough to supply data for research scientists. The Skynet Junior Scholars program, funded by the NSF, has teamed up with professional astronomers to engage students from middle school to undergraduates in authentic research projects, from target selection through image analysis and publication of results. Asteroid research is a particularly fruitful area for youth collaboration that reinforces STEM education standards and can allow students to make real contributions to scientific knowledge, e.g., orbit refinement through astrometric submissions to the Minor Planet Center. We have created a set of projects for youth to: 1. Image an asteroid, make a movie, and post it to a gallery; 2. Measure the asteroid’s apparent motion using the Afterglow online image processor; and 3. Image asteroids from two or more telescopes simultaneously to demonstrate parallax. The apparent motion and parallax projects allow students to estimate the distance to their asteroid, as if they were the discoverer of a brand new object in the solar system. Older students may take on advanced projects, such as analyzing uncertainties in asteroid orbital parameters; studying impact probabilities of known objects; observing time-sensitive targets such as Near Earth Asteroids; and even discovering brand new objects in the solar system.Images are acquired from among seven Skynet telescopes in North Carolina, California, Wisconsin, Canada, Australia, and Chile, as well as collaborating observatories such as WestRock in Columbus, Georgia; Stone Edge in El Verano, California; and Astronomical Research Institute in Westfield, Illinois.

  5. Orbit Refinement of Asteroids and Comets Using a Robotic Telescope Network

    Science.gov (United States)

    Lantz Caughey, Austin; Brown, Johnny; Puckett, Andrew W.; Hoette, Vivian L.; Johnson, Michael; McCarty, Cameron B.; Whitmore, Kevin; UNC-Chapel Hill SKYNET Team

    2016-01-01

    We report on a multi-semester project to refine the orbits of asteroids and comets in our Solar System. One of the newest fields of research for undergraduate Astrophysics students at Columbus State University is that of asteroid astrometry. By measuring the positions of an asteroid in a set of images, we can reduce the overall uncertainty in the accepted orbital parameters of that object. These measurements, using our WestRock Observatory (WRO) and several other telescopes around the world, are being published through the Minor Planet Center (MPC) and benefit the global community.Three different methods are used to obtain these observations. First, we use our own 24-inch telescope at WRO, located in at CSU's Coca-Cola Space Science Center in downtown Columbus, Georgia . Second, we have access to data from the 20-inch telescope at Stone Edge Observatory in El Verano, California. Finally, we may request images remotely using Skynet, an online worldwide network of robotic telescopes. Our primary and long-time collaborator on Skynet has been the "41-inch" reflecting telescope at Yerkes Observatory in Williams Bay, Wisconsin. Thus far, we have used these various telescopes to refine the orbits of more than 15 asteroids and comets. We have also confirmed the resulting reduction in orbit-model uncertainties using Monte Carlo simulations and orbit visualizations, using Find_Orb and OrbitMaster software, respectively.Before any observatory site can be used for official orbit refinement projects, it must first become a trusted source of astrometry data for the MPC. We have therefore obtained Observatory Codes not only for our own WestRock Observatory (W22), but also for 3 Skynet telescopes that we may use in the future: Dark Sky Observatory in Boone, North Carolina (W38) Hume Observatory in Santa Rosa, California (U54) and Athabasca University Geophysical Observatory in Athabasca, Alberta, Canada (U96).

  6. Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

    Directory of Open Access Journals (Sweden)

    Long Sheng

    2012-01-01

    for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.

  7. Wireless robot teleoperation via internet using IPv6 over a bluetooth personal area network

    Directory of Open Access Journals (Sweden)

    Carlos Araque Rodríguez

    2010-01-01

    Full Text Available En este artículo se presenta el diseño, construcción y pruebas de un sistema que permite la manipulación y visualización del robot Microbot Teachmover usando una conexión inalámbrica Bluetooth con dirección IPv6, brindando la posibilidad de manejar el robot desde diferentes escenarios: desde un dispositivo móvil que se encuentra en la misma piconet del robot; desde un computador que se encuentre en la misma piconet del robot y desde un computador que se encuentre conectado a Internet con una dirección IPv6.

  8. Intermediate peer contexts and educational outcomes: Do the friends of students' friends matter?

    Science.gov (United States)

    Carbonaro, William; Workman, Joseph

    2016-07-01

    Sociologists of education have long been interested in the effects of peer relations on educational outcomes. Recent theory and research on adolescence suggest that peers on the boundaries of students' friendship networks may play an important role in shaping behaviors and educational outcomes. In this study, we examine the importance of a key "intermediate peer context" for students' outcomes: the friends of a student's friends. Our findings indicate both friends' and friends' friends' characteristics independently predict students' college expectations and their risk of dropping out of high school (although only friends' characteristics predict GPA). Our models suggest the magnitude of students' friends-of-friends' characteristics are at least as large their friends' characteristics. Together, the association between the peer context and students outcomes is considerably larger when accounting for both the characteristics of students' friends and the friends of their friends. Copyright © 2016 Elsevier Inc. All rights reserved.

  9. A friend request from dear old dad: associations between parent-child social networking and adolescent outcomes.

    Science.gov (United States)

    Coyne, Sarah M; Padilla-Walker, Laura M; Day, Randal D; Harper, James; Stockdale, Laura

    2014-01-01

    This study examined the relationship between parent-child social networking, connection, and outcomes for adolescents. Participants (491 adolescents and their parents) completed a number of questionnaires on social networking use, feelings of connection, and behavioral outcomes. Social networking with parents was associated with increased connection between parents and adolescents. Feelings of connection then mediated the relationship between social networking with parents and behavioral outcomes, including higher prosocial behavior and lower relational aggression and internalizing behavior. Conversely, adolescent social networking use without parents was associated with negative outcomes, such as increased relational aggression, internalizing behaviors, delinquency, and decreased feelings of connection. These results indicate that although high levels of social networking use may be problematic for some individuals, social networking with parents may potentially strengthen parent-child relationships and then lead to positive outcomes for adolescents.

  10. Aerosol Robotic Network (AERONET) Version 3 Aerosol Optical Depth and Inversion Products

    Science.gov (United States)

    Giles, D. M.; Holben, B. N.; Eck, T. F.; Smirnov, A.; Sinyuk, A.; Schafer, J.; Sorokin, M. G.; Slutsker, I.

    2017-12-01

    The Aerosol Robotic Network (AERONET) surface-based aerosol optical depth (AOD) database has been a principal component of many Earth science remote sensing applications and modelling for more than two decades. During this time, the AERONET AOD database had utilized a semiautomatic quality assurance approach (Smirnov et al., 2000). Data quality automation developed for AERONET Version 3 (V3) was achieved by augmenting and improving upon the combination of Version 2 (V2) automatic and manual procedures to provide a more refined near real time (NRT) and historical worldwide database of AOD. The combined effect of these new changes provides a historical V3 AOD Level 2.0 data set comparable to V2 Level 2.0 AOD. The recently released V3 Level 2.0 AOD product uses Level 1.5 data with automated cloud screening and quality controls and applies pre-field and post-field calibrations and wavelength-dependent temperature characterizations. For V3, the AERONET aerosol retrieval code inverts AOD and almucantar sky radiances using a full vector radiative transfer called Successive ORDers of scattering (SORD; Korkin et al., 2017). The full vector code allows for potentially improving the real part of the complex index of refraction and the sphericity parameter and computing the radiation field in the UV (e.g., 380nm) and degree of linear depolarization. Effective lidar ratio and depolarization ratio products are also available with the V3 inversion release. Inputs to the inversion code were updated to the accommodate H2O, O3 and NO2 absorption to be consistent with the computation of V3 AOD. All of the inversion products are associated with estimated uncertainties that include the random error plus biases due to the uncertainty in measured AOD, absolute sky radiance calibration, and retrieved MODIS BRDF for snow-free and snow covered surfaces. The V3 inversion products use the same data quality assurance criteria as V2 inversions (Holben et al. 2006). The entire AERONET V3

  11. "You've got a friend in me": can social networks mediate the relationship between mood and MCI?

    Science.gov (United States)

    Yates, Jennifer A; Clare, Linda; Woods, Robert T

    2017-07-13

    Social networks can change with age, for reasons that are adaptive or unwanted. Social engagement is beneficial to both mental health and cognition, and represents a potentially modifiable factor. Consequently this study explored this association and assessed whether the relationship between mild cognitive impairment (MCI) and mood problems was mediated by social networks. This study includes an analysis of data from the Cognitive Function and Ageing Study Wales (CFAS Wales). CFAS Wales Phase 1 data were collected from 2010 to 2013 by conducting structured interviews with older people aged over 65 years of age living in urban and rural areas of Wales, and included questions that assessed cognitive functioning, mood, and social networks. Regression analyses were used to investigate the associations between individual variables and the mediating role of social networks. Having richer social networks was beneficial to both mood and cognition. Participants in the MCI category had weaker social networks than participants without cognitive impairment, whereas stronger social networks were associated with a decrease in the odds of experiencing mood problems, suggesting that they may offer a protective effect against anxiety and depression. Regression analyses revealed that social networks are a significant mediator of the relationship between MCI and mood problems. These findings are important, as mood problems are a risk factor for progression from MCI to dementia, so interventions that increase and strengthen social networks may have beneficial effects on slowing the progression of cognitive decline.

  12. Audio-Visual Tibetan Speech Recognition Based on a Deep Dynamic Bayesian Network for Natural Human Robot Interaction

    Directory of Open Access Journals (Sweden)

    Yue Zhao

    2012-12-01

    Full Text Available Audio-visual speech recognition is a natural and robust approach to improving human-robot interaction in noisy environments. Although multi-stream Dynamic Bayesian Network and coupled HMM are widely used for audio-visual speech recognition, they fail to learn the shared features between modalities and ignore the dependency of features among the frames within each discrete state. In this paper, we propose a Deep Dynamic Bayesian Network (DDBN to perform unsupervised extraction of spatial-temporal multimodal features from Tibetan audio-visual speech data and build an accurate audio-visual speech recognition model under a no frame-independency assumption. The experiment results on Tibetan speech data from some real-world environments showed the proposed DDBN outperforms the state-of-art methods in word recognition accuracy.

  13. An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload.

    Science.gov (United States)

    Sharma, Richa; Kumar, Vikas; Gaur, Prerna; Mittal, A P

    2016-05-01

    Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  14. 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…

  15. Understanding the Selection Bias : Social Network Processes and the Effect of Prejudice on the Avoidance of Outgroup Friends

    NARCIS (Netherlands)

    Stark, Tobias H.|info:eu-repo/dai/nl/335996701

    2015-01-01

    Research has found that prejudiced people avoid friendships with members of ethnic outgroups. Results of this study suggest that this effect is mediated by a social network process. Longitudinal network analysis of a three-wave panel study of 12- to 13-year-olds (N = 453) found that more prejudiced

  16. Me and My 400 Friends: The Anatomy of College Students' Facebook Networks, Their Communication Patterns, and Well-Being

    Science.gov (United States)

    Manago, Adriana M.; Taylor, Tamara; Greenfield, Patricia M.

    2012-01-01

    Is there a trade-off between having large networks of social connections on social networking sites such as Facebook and the development of intimacy and social support among today's generation of emerging adults? To understand the socialization context of Facebook during the transition to adulthood, an online survey was distributed to college…

  17. 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.

  18. Perspectives of construction robots

    Science.gov (United States)

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

    2018-03-01

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

  19. Do narcissism and emotional intelligence win us friends? : modeling dynamics of peer popularity using inferential network analysis

    OpenAIRE

    Czarna, Anna; Leifeld, Philip; Śmieja-Nęcka, Magdalena; Dufner, Michael; Salovey, Peter

    2016-01-01

    This research investigated effects of narcissism and emotional intelligence (EI) on popularity in social networks. In a longitudinal field study, we examined the dynamics of popularity in 15 peer groups in two waves (N = 273). We measured narcissism, ability EI, and explicit and implicit self-esteem. In addition, we measured popularity at zero acquaintance and 3 months later. We analyzed the data using inferential network analysis (temporal exponential random graph modeling, TERGM) accounting...

  20. "You've got a friend in me": can social networks mediate the relationship between mood and MCI?

    OpenAIRE

    Yates, Jennifer A.; Clare, Linda; Woods, Robert T.

    2017-01-01

    Background Social networks can change with age, for reasons that are adaptive or unwanted. Social engagement is beneficial to both mental health and cognition, and represents a potentially modifiable factor. Consequently this study explored this association and assessed whether the relationship between mild cognitive impairment (MCI) and mood problems was mediated by social networks. Methods This study includes an analysis of data from the Cognitive Function and Ageing Study Wales (CFAS Wales...

  1. Utilizing Social Network Services for Enhanced Communication with Elderly Living at Home

    DEFF Research Database (Denmark)

    Wagner, Stefan

    2009-01-01

    This paper discusses whether social network services, like Facebook and Twitter, may be used by elderly living in their own homes to enhance communication with their relatives and friends. It introduces a prototype solution based on the iRobot Roomba 560, iRobot, USA, robot vacuum cleaner, which...... has been enhanced with Facebook and Twitter communication capabilities. The paper points out a number of other relevant applications where the use of social network services may provide better communication for ambient assisted living solutions and intelligent environments....

  2. l-Glutamic acid assisted eco-friendly one-pot synthesis of sheet-assembled platinum-palladium alloy networks for methanol oxidation and oxygen reduction reactions.

    Science.gov (United States)

    Shi, Ya-Cheng; Mei, Li-Ping; Wang, Ai-Jun; Yuan, Tao; Chen, Sai-Sai; Feng, Jiu-Ju

    2017-10-15

    In this work, bimetallic platinum-palladium sheet-assembled alloy networks (PtPd SAANs) were facilely synthesized by an eco-friendly one-pot aqueous approach under the guidance of l-glutamic acid at room temperature, without any additive, seed, toxic or organic solvent involved. l-Glutamic acid was served as the green shape-director and weak-stabilizing agent. A series of characterization techniques were employed to examine the morphology, structure and formation mechanism of the product. The architectures exhibited improved electrocatalytic activity and durable ability toward methanol oxidation reaction (MOR) and oxygen reduction reaction (ORR) in contrast with commercial Pt black and Pd black catalysts. This is ascribed to the unique structures of the obtained PtPd SAANs and the synergistic effects of the bimetals. These results demonstrate the potential application of the prepared catalyst in fuel cells. Copyright © 2017 Elsevier Inc. All rights reserved.

  3. Do Narcissism and Emotional Intelligence Win Us Friends? Modeling Dynamics of Peer Popularity Using Inferential Network Analysis.

    Science.gov (United States)

    Czarna, Anna Z; Leifeld, Philip; Śmieja, Magdalena; Dufner, Michael; Salovey, Peter

    2016-09-27

    This research investigated effects of narcissism and emotional intelligence (EI) on popularity in social networks. In a longitudinal field study, we examined the dynamics of popularity in 15 peer groups in two waves (N = 273). We measured narcissism, ability EI, and explicit and implicit self-esteem. In addition, we measured popularity at zero acquaintance and 3 months later. We analyzed the data using inferential network analysis (temporal exponential random graph modeling, TERGM) accounting for self-organizing network forces. People high in narcissism were popular, but increased less in popularity over time than people lower in narcissism. In contrast, emotionally intelligent people increased more in popularity over time than less emotionally intelligent people. The effects held when we controlled for explicit and implicit self-esteem. These results suggest that narcissism is rather disadvantageous and that EI is rather advantageous for long-term popularity. © 2016 by the Society for Personality and Social Psychology, Inc.

  4. Semiotics and Human-Robot Interaction

    OpenAIRE

    Sequeira, Joao; Ribeiro, M.Isabel

    2007-01-01

    The social barriers that still constrain the use of robots in modern societies will tend to vanish with the sophistication increase of interaction strategies. Communication and interaction between people and robots occurring in a friendly manner and being accessible to everyone, independent of their skills in robotics issues, will certainly foster the breaking of barriers. Socializing behaviors, such as following people, are relatively easy to obtain with current state of the art robotics. Ho...

  5. Customer-Oriented and Eco-friendly Networks for Health Fashionable Goods – The CoReNet Approach

    OpenAIRE

    Azevedo , Américo; Bastos , João; Almeida , António; Soares , Carlos; Magaletti , Nicola; Grosso , Enrico ,; Stellmach , Dieter; Winkler , Marcus; Fornasiero , Rosanna; Zangiacomi , Andrea; Chiodi , Andrea

    2011-01-01

    Part 3: Value Chain for Enhancing Collaborative Networks; International audience; The design, production and distribution of small series of health fashionable goods for specific target groups of wide impact in terms of market for the European industry as elderly, disables, diabetics and obese people represents a challenging opportunity for European companies which are asked to supply the demand with affordable price and eco-compatible products. Added to this challenge, textile, clothing and ...

  6. Deep learning with convolutional neural networks: a resource for the control of robotic prosthetic hands via electromyography

    Directory of Open Access Journals (Sweden)

    Manfredo Atzori

    2016-09-01

    Full Text Available Motivation: Natural control methods based on surface electromyography and pattern recognition are promising for hand prosthetics. However, the control robustness offered by scientific research is still not sufficient for many real life applications and commercial prostheses are in the best case capable to offer natural control for only a few movements. Objective: In recent years deep learning revolutionized several fields of machine learning, including computer vision and speech recognition. Our objective is to test its capabilities for the natural control of robotic hands via surface electromyography by providing a baseline on a large number of intact and amputated subjects. Methods: We tested convolutional networks for the classification of an average of 50 hand movements in 67 intact subjects and 11 hand amputated subjects. The simple architecture of the neural network allowed to make several tests in order to evaluate the effect of pre-processing, layer architecture, data augmentation and optimization. The classification results are compared with a set of classical classification methods applied on the same datasets.Results: The classification accuracy obtained with convolutional neural networks using the proposed architecture is higher than the average results obtained with the classical classification methods but lower than the results obtained with the best reference methods in our tests. Significance: The results show that convolutional neural networks with a very simple architecture can produce accuracy comparable to the average classical classification methods. They show that several factors (including pre-processing, the architecture of the net and the optimization parameters can be fundamental for the analysis of surface electromyography data. Finally, the results suggest that deeper and more complex networks may increase dexterous control robustness, thus contributing to bridge the gap between the market and scientific research

  7. Comigrants and friends: informal networks and the transmission of traditional ecological knowledge among seminomadic pastoralists of Gujarat, India

    Directory of Open Access Journals (Sweden)

    Matthieu Salpeteur

    2016-06-01

    Full Text Available Previous research has shown that social organization may affect the distribution of traditional ecological knowledge (TEK within local communities of natural resource users in multiple ways. However, in this line of research the potential role of informal relationships has mostly been overlooked. In this article, we contribute toward filling this research gap by studying how two types of informal relationships, namely migration partnership and friendship, affect the distribution of TEK within a community of seminomadic pastoralists from the Kutch area, Gujarat, India. Using social network analysis, we map three networks, migration, men friendship, and women friendship, and compare with similarity-based quantitative approaches the clusters extracted from these networks in relation to four domains of TEK: knowledge about soils, about ethnoveterinary practices, about sheep breeds, and in ethnobotany. Our results show that (1 migration clusters are associated to significant variations in three TEK domains, while (2 friendship clusters are associated to minor variations. We relate these results to the importance of common practical experiences involved by joint migration. Moreover, kin relations are shown to strongly underlie friendship and migration relations, and as such appear as a potential driver of the dynamics of the local TEK system. We conclude by advocating for a better inclusion of such informal relationships in future research on local TEK dynamics, following recent developments in studies on natural resource governance.

  8. 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...

  9. What's Love Got to Do with It? Exploring the Impact of Maintenance Rules, Love Attitudes, and Network Support on Friends with Benefits Relationships

    Science.gov (United States)

    Hughes, Mikayla; Morrison, Kelly; Asada, Kelli Jean K.

    2005-01-01

    Friends with benefits relationships (FWBRs) are defined as relationships between cross-sex friends in which the friends engage in sexual activity but do not define their relationship as romantic. Relationship scholars have only recently begun to examine these relationships, despite their mention in the popular media (e.g., HBO's 'Sex in the City,'…

  10. When Sharing Is a Bad Idea: The Effects of Online Social Network Engagement and Sharing Passwords with Friends on Cyberbullying Involvement.

    Science.gov (United States)

    Meter, Diana J; Bauman, Sheri

    2015-08-01

    Every day, children and adolescents communicate online via social networking sites (SNSs). They also report sharing passwords with peers and friends, a potentially risky behavior in regard to cyber safety. This longitudinal study tested the hypotheses that social network engagement in multiple settings would predict more cyberbullying involvement over time, and that youth who reported sharing passwords would also experience an increase in cyberbullying involvement. Data were collected at two time points one year apart from 1,272 third through eighth grade students. In line with the first study hypothesis, participating in more online SNSs was associated with increased cyberbullying involvement over time, as well as sharing passwords over time. Cyberbullying involvement at T1 predicted decreases in sharing passwords over time, suggesting that youth become aware of the dangers of sharing passwords as a result of their experience. Sharing passwords at T1 was unrelated to cyberbullying involvement at T2. Although it seems that youth may be learning from their previous mistakes, due to the widespread use of social media and normality of sharing passwords among young people, it is important to continue to educate youth about cyber safety and risky online behavior.

  11. Distributed, Collaborative Human-Robotic Networks for Outdoor Experiments in Search, Identify and Track

    Science.gov (United States)

    2011-01-11

    and its variance σ2Ûi are determined. Ûi = ûi + Pu,EN (PEN )−1 [( Ejc Njc ) − ( êi n̂i )] (15) σ2 Ûi = Pui − P u,EN i ( PENi )−1 PEN,ui (16) where...screen; the operator can click a robot’s camera view to select it as the Focus Robot. The Focus Robot’s camera stream is enlarged and displayed in the

  12. 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...

  13. 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...

  14. Automated cross-modal mapping in robotic eye/hand systems using plastic radial basis function networks

    Science.gov (United States)

    Meng, Qinggang; Lee, M. H.

    2007-03-01

    Advanced autonomous artificial systems will need incremental learning and adaptive abilities similar to those seen in humans. Knowledge from biology, psychology and neuroscience is now inspiring new approaches for systems that have sensory-motor capabilities and operate in complex environments. Eye/hand coordination is an important cross-modal cognitive function, and is also typical of many of the other coordinations that must be involved in the control and operation of embodied intelligent systems. This paper examines a biologically inspired approach for incrementally constructing compact mapping networks for eye/hand coordination. We present a simplified node-decoupled extended Kalman filter for radial basis function networks, and compare this with other learning algorithms. An experimental system consisting of a robot arm and a pan-and-tilt head with a colour camera is used to produce results and test the algorithms in this paper. We also present three approaches for adapting to structural changes during eye/hand coordination tasks, and the robustness of the algorithms under noise are investigated. The learning and adaptation approaches in this paper have similarities with current ideas about neural growth in the brains of humans and animals during tool-use, and infants during early cognitive development.

  15. Intelligent Control of Welding Gun Pose for Pipeline Welding Robot Based on Improved Radial Basis Function Network and Expert System

    Directory of Open Access Journals (Sweden)

    Jingwen Tian

    2013-02-01

    Full Text Available Since the control system of the welding gun pose in whole-position welding is complicated and nonlinear, an intelligent control system of welding gun pose for a pipeline welding robot based on an improved radial basis function neural network (IRBFNN and expert system (ES is presented in this paper. The structure of the IRBFNN is constructed and the improved genetic algorithm is adopted to optimize the network structure. This control system makes full use of the characteristics of the IRBFNN and the ES. The ADXRS300 micro-mechanical gyro is used as the welding gun position sensor in this system. When the welding gun position is obtained, an appropriate pitch angle can be obtained through expert knowledge and the numeric reasoning capacity of the IRBFNN. ARM is used as the controller to drive the welding gun pitch angle step motor in order to adjust the pitch angle of the welding gun in real-time. The experiment results show that the intelligent control system of the welding gun pose using the IRBFNN and expert system is feasible and it enhances the welding quality. This system has wide prospects for application.

  16. Using strategic movement to calibrate a neural compass: a spiking network for tracking head direction in rats and robots.

    Directory of Open Access Journals (Sweden)

    Peter Stratton

    Full Text Available The head direction (HD system in mammals contains neurons that fire to represent the direction the animal is facing in its environment. The ability of these cells to reliably track head direction even after the removal of external sensory cues implies that the HD system is calibrated to function effectively using just internal (proprioceptive and vestibular inputs. Rat pups and other infant mammals display stereotypical warm-up movements prior to locomotion in novel environments, and similar warm-up movements are seen in adult mammals with certain brain lesion-induced motor impairments. In this study we propose that synaptic learning mechanisms, in conjunction with appropriate movement strategies based on warm-up movements, can calibrate the HD system so that it functions effectively even in darkness. To examine the link between physical embodiment and neural control, and to determine that the system is robust to real-world phenomena, we implemented the synaptic mechanisms in a spiking neural network and tested it on a mobile robot platform. Results show that the combination of the synaptic learning mechanisms and warm-up movements are able to reliably calibrate the HD system so that it accurately tracks real-world head direction, and that calibration breaks down in systematic ways if certain movements are omitted. This work confirms that targeted, embodied behaviour can be used to calibrate neural systems, demonstrates that 'grounding' of modelled biological processes in the real world can reveal underlying functional principles (supporting the importance of robotics to biology, and proposes a functional role for stereotypical behaviours seen in infant mammals and those animals with certain motor deficits. We conjecture that these calibration principles may extend to the calibration of other neural systems involved in motion tracking and the representation of space, such as grid cells in entorhinal cortex.

  17. Using strategic movement to calibrate a neural compass: a spiking network for tracking head direction in rats and robots.

    Science.gov (United States)

    Stratton, Peter; Milford, Michael; Wyeth, Gordon; Wiles, Janet

    2011-01-01

    The head direction (HD) system in mammals contains neurons that fire to represent the direction the animal is facing in its environment. The ability of these cells to reliably track head direction even after the removal of external sensory cues implies that the HD system is calibrated to function effectively using just internal (proprioceptive and vestibular) inputs. Rat pups and other infant mammals display stereotypical warm-up movements prior to locomotion in novel environments, and similar warm-up movements are seen in adult mammals with certain brain lesion-induced motor impairments. In this study we propose that synaptic learning mechanisms, in conjunction with appropriate movement strategies based on warm-up movements, can calibrate the HD system so that it functions effectively even in darkness. To examine the link between physical embodiment and neural control, and to determine that the system is robust to real-world phenomena, we implemented the synaptic mechanisms in a spiking neural network and tested it on a mobile robot platform. Results show that the combination of the synaptic learning mechanisms and warm-up movements are able to reliably calibrate the HD system so that it accurately tracks real-world head direction, and that calibration breaks down in systematic ways if certain movements are omitted. This work confirms that targeted, embodied behaviour can be used to calibrate neural systems, demonstrates that 'grounding' of modelled biological processes in the real world can reveal underlying functional principles (supporting the importance of robotics to biology), and proposes a functional role for stereotypical behaviours seen in infant mammals and those animals with certain motor deficits. We conjecture that these calibration principles may extend to the calibration of other neural systems involved in motion tracking and the representation of space, such as grid cells in entorhinal cortex.

  18. The Effects of Profile Pictures and Friends' Comments on Social Network Site Users' Body Image and Adherence to the Norm.

    Science.gov (United States)

    Flynn, Mark A

    2016-04-01

    This study sought to explore the effects of exposure to Facebook body ideal profile pictures and norm conforming comments on users' body image. In addition, the social identity and self-categorization theoretical frameworks were used to explore users' endorsement of a body ideal norm. A mock Facebook page was used to conduct a pretest posttest 2 × 2 between-group web-based experiment that featured body ideal profile pictures (body ideal vs. no body) and body ideal comments (conforming vs. nonconforming). Five hundred and one participants completed the experiment and passed all manipulation checks. Participants viewed pictures and comments on the status page and were able to leave their own comment before exiting. Results demonstrated no significant main effects. However, predispositional body satisfaction significantly moderated the relationship between body ideal pictures and body satisfaction. Most comments supported the body ideal norm. However, in support of self-categorization theory, participants exposed to nonconforming comments made nonconforming comments themselves significantly more than those exposed to conforming comments. The findings demonstrated the importance of continued body image research in social network sites, as well as the potential for self-categorization theory to guide such research.

  19. An industrial robot singular trajectories planning based on graphs and neural networks

    Science.gov (United States)

    Łęgowski, Adrian; Niezabitowski, Michał

    2016-06-01

    Singular trajectories are rarely used because of issues during realization. A method of planning trajectories for given set of points in task space with use of graphs and neural networks is presented. In every desired point the inverse kinematics problem is solved in order to derive all possible solutions. A graph of solutions is made. The shortest path is determined to define required nodes in joint space. Neural networks are used to define the path between these nodes.

  20. 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.

  1. 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.

  2. Construction of multi-agent mobile robots control system in the problem of persecution with using a modified reinforcement learning method based on neural networks

    Science.gov (United States)

    Patkin, M. L.; Rogachev, G. N.

    2018-02-01

    A method for constructing a multi-agent control system for mobile robots based on training with reinforcement using deep neural networks is considered. Synthesis of the management system is proposed to be carried out with reinforcement training and the modified Actor-Critic method, in which the Actor module is divided into Action Actor and Communication Actor in order to simultaneously manage mobile robots and communicate with partners. Communication is carried out by sending partners at each step a vector of real numbers that are added to the observation vector and affect the behaviour. Functions of Actors and Critic are approximated by deep neural networks. The Critics value function is trained by using the TD-error method and the Actor’s function by using DDPG. The Communication Actor’s neural network is trained through gradients received from partner agents. An environment in which a cooperative multi-agent interaction is present was developed, computer simulation of the application of this method in the control problem of two robots pursuing two goals was carried out.

  3. A Scalable Neuro-inspired Robot Controller Integrating a Machine Learning Algorithm and a Spiking Cerebellar-like Network

    DEFF Research Database (Denmark)

    Baira Ojeda, Ismael; Tolu, Silvia; Lund, Henrik Hautop

    2017-01-01

    Combining Fable robot, a modular robot, with a neuroinspired controller, we present the proof of principle of a system that can scale to several neurally controlled compliant modules. The motor control and learning of a robot module are carried out by a Unit Learning Machine (ULM) that embeds...... the Locally Weighted Projection Regression algorithm (LWPR) and a spiking cerebellar-like microcircuit. The LWPR guarantees both an optimized representation of the input space and the learning of the dynamic internal model (IM) of the robot. However, the cerebellar-like sub-circuit integrates LWPR input...

  4. Hand-Eye Calibration and Inverse Kinematics of Robot Arm using Neural Network

    DEFF Research Database (Denmark)

    Wu, Haiyan; Tizzano, Walter; Andersen, Thomas Timm

    2013-01-01

    Traditional technologies for solving hand-eye calibration and inverse kinematics are cumbersome and time consuming due to the high nonlinearity in the models. An alternative to the traditional approaches is the articial neural network inspired by the remarkable abilities of the animals in dierent...

  5. Multiangle Imaging Spectroradiometer (MISR) Global Aerosol Optical Depth Validation Based on 2 Years of Coincident Aerosol Robotic Network (AERONET) Observations

    Science.gov (United States)

    Kahn, Ralph A.; Gaitley, Barbara J.; Martonchik, John V.; Diner, David J.; Crean, Kathleen A.; Holben, Brent

    2005-01-01

    Performance of the Multiangle Imaging Spectroradiometer (MISR) early postlaunch aerosol optical thickness (AOT) retrieval algorithm is assessed quantitatively over land and ocean by comparison with a 2-year measurement record of globally distributed AERONET Sun photometers. There are sufficient coincident observations to stratify the data set by season and expected aerosol type. In addition to reporting uncertainty envelopes, we identify trends and outliers, and investigate their likely causes, with the aim of refining algorithm performance. Overall, about 2/3 of the MISR-retrieved AOT values fall within [0.05 or 20% x AOT] of Aerosol Robotic Network (AERONET). More than a third are within [0.03 or 10% x AOT]. Correlation coefficients are highest for maritime stations (approx.0.9), and lowest for dusty sites (more than approx.0.7). Retrieved spectral slopes closely match Sun photometer values for Biomass burning and continental aerosol types. Detailed comparisons suggest that adding to the algorithm climatology more absorbing spherical particles, more realistic dust analogs, and a richer selection of multimodal aerosol mixtures would reduce the remaining discrepancies for MISR retrievals over land; in addition, refining instrument low-light-level calibration could reduce or eliminate a small but systematic offset in maritime AOT values. On the basis of cases for which current particle models are representative, a second-generation MISR aerosol retrieval algorithm incorporating these improvements could provide AOT accuracy unprecedented for a spaceborne technique.

  6. Cyber Friendly Fire

    Energy Technology Data Exchange (ETDEWEB)

    Greitzer, Frank L.; Carroll, Thomas E.; Roberts, Adam D.

    2011-09-01

    Cyber friendly fire (FF) is a new concept that has been brought to the attention of Department of Defense (DoD) stakeholders through two workshops that were planned and conducted by the Air Force Research Laboratory (AFRL) and research conducted for AFRL by the Pacific Northwest National Laboratory. With this previous work in mind, we offer a definition of cyber FF as intentional offensive or defensive cyber/electronic actions intended to protect cyber systems against enemy forces or to attack enemy cyber systems, which unintentionally harms the mission effectiveness of friendly or neutral forces. Just as with combat friendly fire, a fundamental need in avoiding cyber FF is to maintain situation awareness (SA). We suggest that cyber SA concerns knowledge of a system's topology (connectedness and relationships of the nodes in a system), and critical knowledge elements such as the characteristics and vulnerabilities of the components that comprise the system (and that populate the nodes), the nature of the activities or work performed, and the available defensive (and offensive) countermeasures that may be applied to thwart network attacks. A training implication is to raise awareness and understanding of these critical knowledge units; an approach to decision aids and/or visualizations is to focus on supporting these critical knowledge units. To study cyber FF, we developed an unclassified security test range comprising a combination of virtual and physical devices that present a closed network for testing, simulation, and evaluation. This network offers services found on a production network without the associated costs of a real production network. Containing enough detail to appear realistic, this virtual and physical environment can be customized to represent different configurations. For our purposes, the test range was configured to appear as an Internet-connected Managed Service Provider (MSP) offering specialized web applications to the general public

  7. Self-Organized Multi-Camera Network for a Fast and Easy Deployment of Ubiquitous Robots in Unknown Environments

    Science.gov (United States)

    Canedo-Rodriguez, Adrián; Iglesias, Roberto; Regueiro, Carlos V.; Alvarez-Santos, Victor; Pardo, Xose Manuel

    2013-01-01

    To bring cutting edge robotics from research centres to social environments, the robotics community must start providing affordable solutions: the costs must be reduced and the quality and usefulness of the robot services must be enhanced. Unfortunately, nowadays the deployment of robots and the adaptation of their services to new environments are tasks that usually require several days of expert work. With this in view, we present a multi-agent system made up of intelligent cameras and autonomous robots, which is easy and fast to deploy in different environments. The cameras will enhance the robot perceptions and allow them to react to situations that require their services. Additionally, the cameras will support the movement of the robots. This will enable our robots to navigate even when there are not maps available. The deployment of our system does not require expertise and can be done in a short period of time, since neither software nor hardware tuning is needed. Every system task is automatic, distributed and based on self-organization processes. Our system is scalable, robust, and flexible to the environment. We carried out several real world experiments, which show the good performance of our proposal. PMID:23271604

  8. Self-organized multi-camera network for a fast and easy deployment of ubiquitous robots in unknown environments.

    Science.gov (United States)

    Canedo-Rodriguez, Adrián; Iglesias, Roberto; Regueiro, Carlos V; Alvarez-Santos, Victor; Pardo, Xose Manuel

    2012-12-27

    To bring cutting edge robotics from research centres to social environments, the robotics community must start providing affordable solutions: the costs must be reduced and the quality and usefulness of the robot services must be enhanced. Unfortunately, nowadays the deployment of robots and the adaptation of their services to new environments are tasks that usually require several days of expert work. With this in view, we present a multi-agent system made up of intelligent cameras and autonomous robots, which is easy and fast to deploy in different environments. The cameras will enhance the robot perceptions and allow them to react to situations that require their services. Additionally, the cameras will support the movement of the robots. This will enable our robots to navigate even when there are not maps available. The deployment of our system does not require expertise and can be done in a short period of time, since neither software nor hardware tuning is needed. Every system task is automatic, distributed and based on self-organization processes. Our system is scalable, robust, and flexible to the environment. We carried out several real world experiments, which show the good performance of our proposal.

  9. 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.

  10. Global TIE Observatories: Real Time Observational Astronomy Through a Robotic Telescope Network

    Science.gov (United States)

    Clark, G.; Mayo, L. A.

    2001-12-01

    Astronomy in grades K-12 is traditionally taught (if at all) using textbooks and a few simple hands-on activities. Teachers are generally not trained in observational astronomy techniques and are unfamiliar with the most basic astronomical concepts. In addition, most students, by High School graduation, will never have even looked through the eyepiece of a telescope. The problem becomes even more challenging in inner cities, remote rural areas and low socioeconomic communities where educational emphasis on topics in astronomy as well as access to observing facilities is limited or non existent. Access to most optical telescope facilities is limited to monthly observing nights that cater to a small percentage of the general public living near the observatory. Even here, the observing experience is a one-time event detached from the process of scientific enquiry and sustained educational application. Additionally, a number of large, "research grade" observatory facilities are largely unused, partially due to the slow creep of light pollution around the facilities as well as the development of newer, more capable telescopes. Though cutting edge science is often no longer possible at these sights, real research opportunities in astronomy remain numerous for these facilities as educational tools. The possibility now exists to establish a network of research grade telescopes, no longer useful to the professional astronomical community, that can be made accessible through classrooms, after school, and community based programs all across the country through existing IT technologies and applications. These telescopes could provide unparalleled research and educational opportunities for a broad spectrum of students and turns underutilized observatory facilities into valuable, state-of-the-art teaching centers. The NASA sponsored Telescopes In Education project has been wildly successful in engaging the K-12 education community in real-time, hands-on, interactive astronomy

  11. 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 ...

  12. 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....

  13. 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....

  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. Designing the robot inclusive space challenge

    Directory of Open Access Journals (Sweden)

    Rajesh Elara Mohan

    2015-11-01

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

  16. Integration of Robotic Resources into FORCEnet

    National Research Council Canada - National Science Library

    Nguyen, Chinh; Carroll, Daniel; Nguyen, Hoa

    2006-01-01

    The Networked Intelligence Surveillance, and Reconnaissance (NISR) project integrates robotic resources into Composeable FORCEnet to control and exploit unmanned systems over extremely long distances...

  17. Epidemic Synchronization in Robotic Swarms

    DEFF Research Database (Denmark)

    Schiøler, Henrik; Nielsen, Jens Frederik Dalsgaard; Ngo, Trung Dung

    2009-01-01

    Clock synchronization in swarms of networked mobile robots is studied in a probabilistic, epidemic framework. In this setting communication and synchonization is considered to be a randomized process, taking place at unplanned instants of geographical rendezvous between robots. In combination...... as an infinite-dimensional optimal controlproblem. Illustrative numerical examples are given and commented....

  18. Epidemic Synchronization in Robotic Swarms

    DEFF Research Database (Denmark)

    Schiøler, Henrik; Nielsen, Jens Frederik Dalsgaard; Ngo, Trung Dung

    2009-01-01

    Clock synchronization in swarms of networked mobile robots is studied in a probabilistic, epidemic framework. In this setting communication and synchonization is considered to be a randomized process, taking place at unplanned instants of geographical rendezvous between robots. In combination wit...

  19. Determination of Monthly Aerosol Types in Manila Observatory and Notre Dame of Marbel University from Aerosol Robotic Network (AERONET) measurements.

    Science.gov (United States)

    Ong, H. J. J.; Lagrosas, N.; Uy, S. N.; Gacal, G. F. B.; Dorado, S.; Tobias, V., Jr.; Holben, B. N.

    2016-12-01

    This study aims to identify aerosol types in Manila Observatory (MO) and Notre Dame of Marbel University (NDMU) using Aerosol Robotic Network (AERONET) Level 2.0 inversion data and five dimensional specified clustering and Mahalanobis classification. The parameters used are the 440-870 nm extinction Angström exponent (EAE), 440 nm single scattering albedo (SSA), 440-870 nm absorption Angström exponent (AAE), 440 nm real and imaginary refractive indices. Specified clustering makes use of AERONET data from 7 sites to define 7 aerosol classes: mineral dust (MD), polluted dust (PD), urban industrial (UI), urban industrial developing (UID), biomass burning white smoke (BBW), biomass burning dark smoke (BBD), and marine aerosols. This is similar to the classes used by Russell et al, 2014. A data point is classified into a class based on the closest 5-dimensional Mahalanobis distance (Russell et al, 2014 & Hamill et al, 2016). This method is applied to all 173 MO data points from January 2009 to June 2015 and to all 24 NDMU data points from December 2009 to July 2015 to look at monthly and seasonal variations of aerosol types. The MO and NDMU aerosols are predominantly PD ( 77%) and PD & UID ( 75%) respectively (Figs.1a-b); PD is predominant in the months of February to May in MO and February to March in NDMU. PD results from less strict emission and environmental regulations (Catrall 2005). Average SSA values in MO is comparable to the mean SSA for PD ( 0.89). This can be attributed to presence of high absorbing aerosol types, e.g., carbon which is a product of transportation emissions. The second most dominant aerosol type in MO is UID ( 15%), in NDMU it is BBW ( 25%). In Manila, the high sources of PD and UID (fine particles) is generally from vehicular combustion (Oanh, et al 2006). The detection of BBW in MO from April to May can be attributed to the fires which are common in these dry months. In NDMU, BBW source is from biomass burning (smoldering). In this

  20. Remote Lab for Robotics Applications

    Directory of Open Access Journals (Sweden)

    Robinson Jiménez

    2018-01-01

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

  1. A neural network and IoT-based scheme for performance assessment in Internet of Robotic Things

    OpenAIRE

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

    2016-01-01

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

  2. "Friending" Professors, Parents and Bosses: A Facebook Connection Conundrum

    Science.gov (United States)

    Karl, Katherine A.; Peluchette, Joy V.

    2011-01-01

    The ever-growing popularity of Facebook has led some educators to ponder what role social networking might have in education. The authors examined student reactions to friend requests from people outside their regular network of friends including professors, parents, and employers. We found students have the most positive reactions to friend…

  3. What makes a robot 'social'?

    Science.gov (United States)

    Jones, Raya A

    2017-08-01

    Rhetorical moves that construct humanoid robots as social agents disclose tensions at the intersection of science and technology studies (STS) and social robotics. The discourse of robotics often constructs robots that are like us (and therefore unlike dumb artefacts). In the discourse of STS, descriptions of how people assimilate robots into their activities are presented directly or indirectly against the backdrop of actor-network theory, which prompts attributing agency to mundane artefacts. In contradistinction to both social robotics and STS, it is suggested here that to view a capacity to partake in dialogical action (to have a 'voice') is necessary for regarding an artefact as authentically social. The theme is explored partly through a critical reinterpretation of an episode that Morana Alač reported and analysed towards demonstrating her bodies-in-interaction concept. This paper turns to 'body' with particular reference to Gibsonian affordances theory so as to identify the level of analysis at which dialogicality enters social interactions.

  4. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  5. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  6. 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…

  7. 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.

  8. 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....

  9. 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

  10. Predicting workload profiles of brain-robot interface and electromygraphic neurofeedback with cortical resting-state networks: personal trait or task-specific challenge?

    Science.gov (United States)

    Fels, Meike; Bauer, Robert; Gharabaghi, Alireza

    2015-08-01

    Objective. Novel rehabilitation strategies apply robot-assisted exercises and neurofeedback tasks to facilitate intensive motor training. We aimed to disentangle task-specific and subject-related contributions to the perceived workload of these interventions and the related cortical activation patterns. Approach. We assessed the perceived workload with the NASA Task Load Index in twenty-one subjects who were exposed to two different feedback tasks in a cross-over design: (i) brain-robot interface (BRI) with haptic/proprioceptive feedback of sensorimotor oscillations related to motor imagery, and (ii) control of neuromuscular activity with feedback of the electromyography (EMG) of the same hand. We also used electroencephalography to examine the cortical activation patterns beforehand in resting state and during the training session of each task. Main results. The workload profile of BRI feedback differed from EMG feedback and was particularly characterized by the experience of frustration. The frustration level was highly correlated across tasks, suggesting subject-related relevance of this workload component. Those subjects who were specifically challenged by the respective tasks could be detected by an interhemispheric alpha-band network in resting state before the training and by their sensorimotor theta-band activation pattern during the exercise. Significance. Neurophysiological profiles in resting state and during the exercise may provide task-independent workload markers for monitoring and matching participants’ ability and task difficulty of neurofeedback interventions.

  11. 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.

  12. Friend Finder (Game)

    Science.gov (United States)

    ... for a spot on the Friend Finder All-Star List. Earn your spot by showing you're savvy when it comes to making friends online . Downloads Please download and share our ... Email Updates Blog Feed Facebook YouTube Twitter The Federal Trade Commission (FTC) is the ...

  13. OS Friendly Microprocessor Architecture

    Science.gov (United States)

    2017-04-01

    NOTES Patrick La Fratta is now affiliated with Micron Technology, Inc., Boise, Idaho. 14. ABSTRACT We present an introduction to the patented ...Operating System Friendly Microprocessor Architecture (OSFA). The software framework to support the hardware-level security features is currently patent ...Army is assignee. OS Friendly Microprocessor Architecture. United States Patent 9122610. 2015 Sep. 2. Jungwirth P, inventor; US Army is assignee

  14. Using Empathy to Improve Human-Robot Relationships

    Science.gov (United States)

    Pereira, André; Leite, Iolanda; Mascarenhas, Samuel; Martinho, Carlos; Paiva, Ana

    For robots to become our personal companions in the future, they need to know how to socially interact with us. One defining characteristic of human social behaviour is empathy. In this paper, we present a robot that acts as a social companion expressing different kinds of empathic behaviours through its facial expressions and utterances. The robot comments the moves of two subjects playing a chess game against each other, being empathic to one of them and neutral towards the other. The results of a pilot study suggest that users to whom the robot was empathic perceived the robot more as a friend.

  15. Some considerations on robotics for environmental friendliness

    International Nuclear Information System (INIS)

    Pin, F.G.

    1993-01-01

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

  16. Some considerations on robotics for environmental friendliness

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.

    1993-12-01

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

  17. Robot welding process control

    Science.gov (United States)

    Romine, Peter L.

    1991-01-01

    This final report documents the development and installation of software and hardware for Robotic Welding Process Control. Primary emphasis is on serial communications between the CYRO 750 robotic welder, Heurikon minicomputer running Hunter & Ready VRTX, and an IBM PC/AT, for offline programming and control and closed-loop welding control. The requirements for completion of the implementation of the Rocketdyne weld tracking control are discussed. The procedure for downloading programs from the Intergraph, over the network, is discussed. Conclusions are made on the results of this task, and recommendations are made for efficient implementation of communications, weld process control development, and advanced process control procedures using the Heurikon.

  18. 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

  19. Analyzing Cyber-Physical Threats on Robotic Platforms

    OpenAIRE

    Khalil M. Ahmad Yousef; Anas AlMajali; Salah Abu Ghalyon; Waleed Dweik; Bassam J. Mohd

    2018-01-01

    Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastat...

  20. “Is it me or should my friends take the credit?” The role of social networks and social identity in recovery from addiction

    OpenAIRE

    Bathish, Ramez; Best, David; Savic, Michael; Beckwith, Melinda; Mackenzie, Jock; Lubman, Dan I.

    2017-01-01

    This study explored the role of social network and social identity factors in recovery from addiction. The sample consisted of 537 individuals who completed a survey about their experiences of recovery. Results indicated that the transition from addiction to recovery was characterized by an increase in social connectedness and changes in social network composition coupled with the emergence of a “recovery” identity. These factors accounted for 14% of the variance in quality of life when contr...

  1. BLACK HOLE ATTACK IN AODV & FRIEND FEATURES UNIQUE EXTRACTION TO DESIGN DETECTION ENGINE FOR INTRUSION DETECTION SYSTEM IN MOBILE ADHOC NETWORK

    Directory of Open Access Journals (Sweden)

    HUSAIN SHAHNAWAZ

    2012-10-01

    Full Text Available Ad-hoc network is a collection of nodes that are capable to form dynamically a temporary network without the support of any centralized fixed infrastructure. Since there is no central controller to determine the reliable & secure communication paths in Mobile Adhoc Network, each node in the ad hoc network has to rely on each other in order to forward packets, thus highly cooperative nodes are required to ensure that the initiated data transmission process does not fail. In a mobile ad hoc network (MANET where security is a crucial issue and they are forced to rely on the neighbor node, trust plays an important role that could improve the number of successful data transmission. Larger the number of trusted nodes, higher successful data communication process rates could be expected. In this paper, Black Hole attack is applied in the network, statistics are collected to design intrusion detection engine for MANET Intrusion Detection System (IDS. Feature extraction and rule inductions are applied to find out the accuracy of detection engine by using support vector machine. In this paper True Positive generated by the detection engine is very high and this is a novel approach in the area of Mobile Adhoc Intrusion detection system.

  2. Environmentally Friendly Machining

    CERN Document Server

    Dixit, U S; Davim, J Paulo

    2012-01-01

    Environment-Friendly Machining provides an in-depth overview of environmentally-friendly machining processes, covering numerous different types of machining in order to identify which practice is the most environmentally sustainable. The book discusses three systems at length: machining with minimal cutting fluid, air-cooled machining and dry machining. Also covered is a way to conserve energy during machining processes, along with useful data and detailed descriptions for developing and utilizing the most efficient modern machining tools. Researchers and engineers looking for sustainable machining solutions will find Environment-Friendly Machining to be a useful volume.

  3. Intelligent networked teleoperation control

    CERN Document Server

    Li, Zhijun; Su, Chun-Yi

    2015-01-01

    This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

  4. 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.

  5. The most common friend first immunization

    International Nuclear Information System (INIS)

    Nian Fu-Zhong; Hu Cha-Sheng

    2016-01-01

    In this paper, a standard susceptible-infected-recovered-susceptible(SIRS) epidemic model based on the Watts–Strogatz (WS) small-world network model and the Barabsi–Albert (BA) scale-free network model is established, and a new immunization scheme — “the most common friend first immunization” is proposed, in which the most common friend’s node is described as being the first immune on the second layer protection of complex networks. The propagation situations of three different immunization schemes — random immunization, high-risk immunization, and the most common friend first immunization are studied. At the same time, the dynamic behaviors are also studied on the WS small-world and the BA scale-free network. Moreover, the analytic and simulated results indicate that the immune effect of the most common friend first immunization is better than random immunization, but slightly worse than high-risk immunization. However, high-risk immunization still has some limitations. For example, it is difficult to accurately define who a direct neighbor in the life is. Compared with the traditional immunization strategies having some shortcomings, the most common friend first immunization is effective, and it is nicely consistent with the actual situation. (paper)

  6. Rapid 3D Modeling and Parts Recognition on Automotive Vehicles Using a Network of RGB-D Sensors for Robot Guidance

    Directory of Open Access Journals (Sweden)

    Alberto Chávez-Aragón

    2013-01-01

    Full Text Available This paper presents an approach for the automatic detection and fast 3D profiling of lateral body panels of vehicles. The work introduces a method to integrate raw streams from depth sensors in the task of 3D profiling and reconstruction and a methodology for the extrinsic calibration of a network of Kinect sensors. This sensing framework is intended for rapidly providing a robot with enough spatial information to interact with automobile panels using various tools. When a vehicle is positioned inside the defined scanning area, a collection of reference parts on the bodywork are automatically recognized from a mosaic of color images collected by a network of Kinect sensors distributed around the vehicle and a global frame of reference is set up. Sections of the depth information on one side of the vehicle are then collected, aligned, and merged into a global RGB-D model. Finally, a 3D triangular mesh modelling the body panels of the vehicle is automatically built. The approach has applications in the intelligent transportation industry, automated vehicle inspection, quality control, automatic car wash systems, automotive production lines, and scan alignment and interpretation.

  7. Collision-free motion coordination of heterogeneous robots

    International Nuclear Information System (INIS)

    Ko, Nak Yong; Seo, Dong Jin; Simmons, Reid G.

    2008-01-01

    This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots

  8. Collision-free motion coordination of heterogeneous robots

    Energy Technology Data Exchange (ETDEWEB)

    Ko, Nak Yong [Chosun University, Gwangju (Korea, Republic of); Seo, Dong Jin [RedOne Technologies, Gwangju (Korea, Republic of); Simmons, Reid G. [Carnegie Mellon University, Pennsylvania (United States)

    2008-11-15

    This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots

  9. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  10. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  11. 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...

  12. 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

  13. 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...

  14. 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....

  15. 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.

  16. 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.

  17. 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.

  18. 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

  19. User friendly packaging

    DEFF Research Database (Denmark)

    Geert Jensen, Birgitte

    2010-01-01

    Most consumers have experienced occasional problems with opening packaging. Tomato sauce from the tinned mackerel splattered all over the kitchen counter, the unrelenting pickle jar lid, and the package of sliced ham that cannot be opened without a knife or a pair of scissors. The research project...... “User-friendly Packaging” aims to create a platform for developing more user-friendly packaging. One intended outcome of the project is a guideline that industry can use in development efforts. The project also points the way for more extended collaboration between companies and design researchers. How...... can design research help industry in packaging innovation?...

  20. Robot Formations Using Only Local Sensing and Control

    DEFF Research Database (Denmark)

    Fredslund, Jakob; Matarić, Maja J

    2001-01-01

    , behaviorbased algorithm that solves the problem for N robots each equipped with sonar, laser, camera, and a radio link for communicating with other robots. The method uses the idea of keeping a single friend at a desired angle (by panning the camera and keeping the friend centered in the image), and only......We study the problem of achieving global behavior in a group of robots using only local sensing and interaction, in the context of formations, where the goal is to have N mobile robots establish and maintain some predetermined geometric shape. We have devised a simple, general, robust, localized...... communicating heartbeat messages. We also developed a general analytical method for evaluating formations and applied it to our algorithm. We validate our algorithm both in simulation and with physical robots....

  1. Environmentally Friendly Procedure Based on Supercritical Fluid Chromatography and Tandem Mass Spectrometry Molecular Networking for the Discovery of Potent Antiviral Compounds from Euphorbia semiperfoliata.

    Science.gov (United States)

    Nothias, Louis-Félix; Boutet-Mercey, Stéphanie; Cachet, Xavier; De La Torre, Erick; Laboureur, Laurent; Gallard, Jean-François; Retailleau, Pascal; Brunelle, Alain; Dorrestein, Pieter C; Costa, Jean; Bedoya, Luis M; Roussi, Fanny; Leyssen, Pieter; Alcami, José; Paolini, Julien; Litaudon, Marc; Touboul, David

    2017-10-27

    A supercritical fluid chromatography-based targeted purification procedure using tandem mass spectrometry and molecular networking was developed to analyze, annotate, and isolate secondary metabolites from complex plant extract mixture. This approach was applied for the targeted isolation of new antiviral diterpene esters from Euphorbia semiperfoliata whole plant extract. The analysis of bioactive fractions revealed that unknown diterpene esters, including jatrophane esters and phorbol esters, were present in the samples. The purification procedure using semipreparative supercritical fluid chromatography led to the isolation and identification of two new jatrophane esters (13 and 14) and one known (15) and three new 4-deoxyphorbol esters (16-18). The structure and absolute configuration of compound 16 were confirmed by X-ray crystallography. This compound was found to display antiviral activity against Chikungunya virus (EC 50 = 0.45 μM), while compound 15 proved to be a potent and selective inhibitor of HIV-1 replication in a recombinant virus assay (EC 50 = 13 nM). This study showed that a supercritical fluid chromatography-based protocol and molecular networking can facilitate and accelerate the discovery of bioactive small molecules by targeting molecules of interest, while minimizing the use of toxic solvents.

  2. Educational Robotics: Open Questions and New Challenges

    Science.gov (United States)

    Alimisis, Dimitris

    2013-01-01

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

  3. Long distance synchronization of mobile robots

    NARCIS (Netherlands)

    Alvarez Aguirre, A.; Nijmeijer, H.; Oguchi, T.

    2010-01-01

    This paper considers the long distance master-slave and mutual synchronization of unicycle-type mobile robots. The issues that arise when the elements of a robotic network are placed in different locations are addressed, specifically the time-delay induced by the communication channel linking the

  4. User-Friendly Data-Sharing Practices for Fostering Collaboration within a Research Network: Roles of a Vanguard Center for a Community-Based Study

    Directory of Open Access Journals (Sweden)

    Jae Eun Lee

    2015-12-01

    Full Text Available Although various attempts have been made to build collaborative cultures for data sharing, their effectiveness is still questionable. The Jackson Heart Study (JHS Vanguard Center (JHSVC at the NIH-funded Research Centers in Minority Institutions (RCMI Translational Research Network (RTRN Data Coordinating Center (DCC may be a new concept in that the data are being shared with a research network where a plethora of scientists/researchers are working together to achieve their common goal. This study describes the current practices to share the JHS data through the mechanism of JHSVC. The JHS is the largest single-site cohort study to prospectively investigate the determinants of cardiovascular disease among African-Americans. It has adopted a formal screened access method through a formalized JHSVC mechanism, in which only a qualified scientist(s can access the data. The role of the DCC was to help RTRN researchers explore hypothesis-driven ideas to enhance the output and impact of JHS data through customized services, such as feasibility tests, data querying, manuscript proposal development and data analyses for publication. DCC has implemented these various programs to facilitate data utility. A total of 300 investigators attended workshops and/or received training booklets. DCC provided two online and five onsite workshops and developed/distributed more than 250 copies of the booklet to help potential data users understand the structure of and access to the data. Information on data use was also provided through the RTRN website. The DCC efforts led to the production of five active manuscript proposals, seven completed publications, 11 presentations and four NIH grant proposals. These outcomes resulted from activities during the first four years; over the last couple of years, there were few new requests. Our study suggested that DCC-customized services enhanced the accessibility of JHS data and their utility by RTRN researchers and helped to

  5. 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...

  6. 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

  7. Robotic surgery

    Science.gov (United States)

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

  8. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  9. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  10. 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.

  11. My Friends Right Next to Me: A Laboratory Investigation on Predictors and Consequences of Experiencing Social Closeness on Social Networking Sites.

    Science.gov (United States)

    Neubaum, German; Krämer, Nicole C

    2015-08-01

    In the last decade, research has provided a series of insights into how and why the use of social networking sites (SNSs) can be socially and psychologically beneficial for individuals. The present research extends this evidence by focusing on the concept of social closeness as a feeling experienced when using SNSs. In a laboratory setting, participants (N=60) spent 10 minutes on Facebook, and then reported their experiences during this session. Analyses of participants' usage behavior and their experiences revealed that the more time users spent interacting with other users (e.g., commenting on updates), the closer they felt to other people. Interacting with others also predicted users' positive emotional states after Facebook use; this effect may be explained by the perception of social closeness. This study is one of the first to employ momentary measures, offering a further theoretical link between active SNS use and well-being.

  12. "My friend who bought it for me, she has had an abortion before." The influence of Ghanaian women's social networks in determining the pathway to induced abortion.

    Science.gov (United States)

    Rominski, Sarah D; Lori, Jody R; Morhe, Emmanuel Sk

    2017-07-01

    Even given the liberal abortion law in Ghana, abortion complications are a large contributor to maternal morbidity and mortality. This study sought to understand why young women seeking an abortion in a legally enabling environment chose to do this outside the formal healthcare system. Women being treated for complications arising from a self-induced abortion as well as for elective abortions at three hospitals in Ghana were interviewed. Community-based focus groups were held with women as well as men, separately. Interviews and focus group discussions were conducted until saturation was reached. A total of 18 women seeking care for complications from a self-induced abortion and 11 seeking care for an elective abortion interviewed. The women ranged in age from 13 to 35 years. There were eight focus groups; two with men and six with women. The reasons women self-induce are: (1) abortion is illegal; (2) attitudes of the healthcare workers; (3) keeping the pregnancy a secret; and (4) social network influence. The meta-theme of normalisation of self-inducing' an abortion was identified. When women are faced with an unplanned and unwanted pregnancy, they consult individuals in their social network whom they know have dealt with a similar situation. Misoprostol is widely available in Ghanaian cities and is successful at inducing an abortion for many women. In this way, self-inducing abortions using medication procured from pharmacists and chemical sellers has become normalised for women in Kumasi, Ghana. © Faculty of Sexual and Reproductive Healthcare of the Royal College of Obstetricians and Gynaecologists (unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  13. Comparison of Coincident Multiangle Imaging Spectroradiometer and Moderate Resolution Imaging Spectroradiometer Aerosol Optical Depths over Land and Ocean Scenes Containing Aerosol Robotic Network Sites

    Science.gov (United States)

    Abdou, Wedad A.; Diner, David J.; Martonchik, John V.; Bruegge, Carol J.; Kahn, Ralph A.; Gaitley, Barbara J.; Crean, Kathleen A.; Remer, Lorraine A.; Holben, Brent

    2005-01-01

    The Multiangle Imaging Spectroradiometer (MISR) and the Moderate Resolution Imaging Spectroradiometer (MODIS), launched on 18 December 1999 aboard the Terra spacecraft, are making global observations of top-of-atmosphere (TOA) radiances. Aerosol optical depths and particle properties are independently retrieved from these radiances using methodologies and algorithms that make use of the instruments corresponding designs. This paper compares instantaneous optical depths retrieved from simultaneous and collocated radiances measured by the two instruments at locations containing sites within the Aerosol Robotic Network (AERONET). A set of 318 MISR and MODIS images, obtained during the months of March, June, and September 2002 at 62 AERONET sites, were used in this study. The results show that over land, MODIS aerosol optical depths at 470 and 660 nm are larger than those retrieved from MISR by about 35% and 10% on average, respectively, when all land surface types are included in the regression. The differences decrease when coastal and desert areas are excluded. For optical depths retrieved over ocean, MISR is on average about 0.1 and 0.05 higher than MODIS in the 470 and 660 nm bands, respectively. Part of this difference is due to radiometric calibration and is reduced to about 0.01 and 0.03 when recently derived band-to-band adjustments in the MISR radiometry are incorporated. Comparisons with AERONET data show similar patterns.

  14. Polish and European SST Assets: the Solaris-Panoptes Global Network of Robotic Telescopes and the Borowiec Satellite Laser Ranging System

    Science.gov (United States)

    Konacki, M.; Lejba, P.; Sybilski, P.; Pawłaszek, R.; Kozłowski, S.; Suchodolski, T.; Litwicki, M.; Kolb, U.; Burwitz, V.; Baader, J.; Groot, P.; Bloemen, S.; Ratajczak, M.; Helminiak, K.; Borek, R.; Chodosiewicz, P.

    2016-09-01

    We present the assets of the Nicolaus Copernicus Astronomical Center, Space Research Center (both of the Polish Academy of Sciences), two Polish companies Sybilla Technologies, Cillium Engineering and a non-profit research foundation Baltic Institute of Technology. These assets are enhanced by telescopes belonging to The Open University (UK), the Max Planck Institute for Extraterrestrial Physics and in the future the Radboud University. They consist of the Solaris-Panoptes global network of optical robotic telescopes and the satellite laser ranging station in Borowiec, Poland. These assets will contribute to the Polish and European Space Surveillance and Tracking (SST) program. The Solaris component is composed of four autonomous observatories in the Southern Hemisphere. Solaris nodes are located at the South African Astronomical Observatory (Solaris-1 and Solaris-2), Siding Spring Observatory, Australia (Solaris-3) and Complejo Astronomico El Leoncito, Argentina (Solaris-4). They are equipped with 0.5-m telescopes on ASA DDM-160 direct drive mounts, Andor iKon-L cameras and housed in 3.5-m Baader Planetarium (BP) clamshell domes. The Panoptes component is a network of telescopes operated by software from Sybilla Technologies. It currently consists of 4 telescopes at three locations, all on GM4000 mounts. One 0.36-m (Panoptes-COAST, STL- 1001E camera, 3.5 BP clamshell dome) and one 0.43-m (Panoptes-PIRATE, FLI 16803 camera, 4.5-m BP clamshell dome, with planned exchange to 0.63-m) telescope are located at the Teide Observatory (Tenerfie, Canary Islands), one 0.6-m (Panoptes-COG, SBIG STX 16803 camera, 4.5-m BP clamshell dome) telescope in Garching, Germany and one 0.5-m (Panoptes-MAM, FLI 16803 camera, 4.5-m BP slit dome) in Mammendorf, Germany. Panoptes-COAST and Panoptes-PIRATE are owned by The Open University (UK). Panoptes-COG is owned by the Max Planck Institute

  15. Robotic and Survey Telescopes

    Science.gov (United States)

    Woźniak, Przemysław

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

  16. Towards Coordination and Control of Multi-robot Systems

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt

    This thesis focuses on control and coordination of mobile multi-robot systems (MRS). MRS can often deal with tasks that are difficult to be accomplished by a single robot. One of the challenges is the need to control, coordinate and synchronize the operation of several robots to perform some...... specified task. This calls for new strategies and methods which allow the desired system behavior to be specified in a formal and succinct way. Two different frameworks for the coordination and control of MRS have been investigated. Framework I - A network of robots is modeled as a network of multi...... a requirement specification in Computational Tree Logic (CTL) for a network of robots. The result is a set of motion plans for the robots which satisfy the specification. Framework II - A framework for controller synthesis for a single robot with respect to requirement specification in Linear-time Temporal...

  17. The Puerto Rico Seismic Network Broadcast System: A user friendly GUI to broadcast earthquake messages, to generate shakemaps and to update catalogues

    Science.gov (United States)

    Velez, J.; Huerfano, V.; von Hillebrandt, C.

    2007-12-01

    The Puerto Rico Seismic Network (PRSN) has historically provided locations and magnitudes for earthquakes in the Puerto Rico and Virgin Islands (PRVI) region. PRSN is the reporting authority for the region bounded by latitudes 17.0N to 20.0N, and longitudes 63.5W to 69.0W. The main objective of the PRSN is to record, process, analyze, provide information and research local, regional and teleseismic earthquakes, providing high quality data and information to be able to respond to the needs of the emergency management, academic and research communities, and the general public. The PRSN runs Earthworm software (Johnson et al, 1995) to acquire and write waveforms to disk for permanent archival. Automatic locations and alerts are generated for events in Puerto Rico, the Intra America Seas, and the Atlantic by the EarlyBird system (Whitmore and Sokolowski, 2002), which monitors PRSN stations as well as some 40 additional stations run by networks operating in North, Central and South America and other sites in the Caribbean. PRDANIS (Puerto Rico Data Analysis and Information System) software, developed by PRSN, supports manual locations and analyst review of automatic locations of events within the PRSN area of responsibility (AOR), using all the broadband, strong-motion and short-period waveforms Rapidly available information regarding the geographic distribution of ground shaking in relation to the population and infrastructure at risk can assist emergency response communities in efficient and optimized allocation of resources following a large earthquake. The ShakeMap system developed by the USGS provides near real-time maps of instrumental ground motions and shaking intensity and has proven effective in rapid assessment of the extent of shaking and potential damage after significant earthquakes (Wald, 2004). In Northern and Southern California, the Pacific Northwest, and the states of Utah and Nevada, ShakeMaps are used for emergency planning and response, loss

  18. 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

  19. A Green Robotic Observatory for Astronomy Education

    Science.gov (United States)

    Reddy, Vishnu; Archer, K.

    2008-09-01

    With the development of robotic telescopes and stable remote observing software, it is currently possible for a small institution to have an affordable astronomical facility for astronomy education. However, a faculty member has to deal with the light pollution (observatory location on campus), its nightly operations and regular maintenance apart from his day time teaching and research responsibilities. While building an observatory at a remote location is a solution, the cost of constructing and operating such a facility, not to mention the environmental impact, are beyond the reach of most institutions. In an effort to resolve these issues we have developed a robotic remote observatory that can be operated via the internet from anywhere in the world, has a zero operating carbon footprint and minimum impact on the local environment. The prototype observatory is a clam-shell design that houses an 8-inch telescope with a SBIG ST-10 CCD detector. The brain of the observatory is a low draw 12-volt harsh duty computer that runs the dome, telescope, CCD camera, focuser, and weather monitoring. All equipment runs of a 12-volt AGM-style battery that has low lead content and hence more environmental-friendly to dispose. The total power of 12-14 amp/hrs is generated from a set of solar panels that are large enough to maintain a full battery charge for several cloudy days. This completely eliminates the need for a local power grid for operations. Internet access is accomplished via a high-speed cell phone broadband connection or satellite link eliminating the need for a phone network. An independent observatory monitoring system interfaces with the observatory computer during operation. The observatory converts to a trailer for transportation to the site and is converted to a semi-permanent building without wheels and towing equipment. This ensures minimal disturbance to local environment.

  20. Finding Friends Online: Online Activities by Deaf Students and Their Well-Being

    NARCIS (Netherlands)

    Blom, H.C.; Marschark, M.; Vervloed, M.P.J.; Knoors, H.E.T.

    2014-01-01

    Generally, deaf and hard of hearing (D/HH) children have fewer friends than hearing peers and their friendships are of a lower quality. The research hypothesis was that using the computer to communicate with new online friends through social network sites or playing games with offline friends is

  1. Flocking and rendezvous in distributed robotics

    CERN Document Server

    Francis, Bruce A

    2016-01-01

    This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others. One can get intuition for the problem from the natural world, for example, flocking birds. How do they achieve and maintain their flying formation? Recognizing their importance as the most basic coordination tasks for mobile robot networks, the brief details flocking and rendezvous. They are shown to be physical illustrations of emergent behaviors with global consensus arising from local interactions. The authors extend the consideration of these fundamental ideas to describe their operation in flying robots and prompt readers to pursue further research in the field.  Flocking and Rendezvous in Distributed Robotics will provide graduate students a firm grounding in the subject, w...

  2. Robot Task Commander with Extensible Programming Environment

    Science.gov (United States)

    Hart, Stephen W (Inventor); Yamokoski, John D. (Inventor); Wightman, Brian J (Inventor); Dinh, Duy Paul (Inventor); Gooding, Dustin R (Inventor)

    2014-01-01

    A system for developing distributed robot application-level software includes a robot having an associated control module which controls motion of the robot in response to a commanded task, and a robot task commander (RTC) in networked communication with the control module over a network transport layer (NTL). The RTC includes a script engine(s) and a GUI, with a processor and a centralized library of library blocks constructed from an interpretive computer programming code and having input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In executing a method, the VPL is opened, a task for the robot is built from the code library blocks, and data is assigned to input and output connections identifying input and output data for each block. A task sequence(s) is sent to the control module(s) over the NTL to command execution of the task.

  3. Lipedema: friend and foe.

    Science.gov (United States)

    Torre, Yanira Sanchez-De la; Wadeea, Rita; Rosas, Victoria; Herbst, Karen L

    2018-03-09

    Background Lipedema is a chronic disorder presenting in women during puberty or other times of hormonal change such as childbirth or menopause, characterized by symmetric enlargement of nodular, painful subcutaneous adipose tissue (fat) in the limbs, sparing the hands, feet and trunk. Healthcare providers underdiagnose or misdiagnose lipedema as obesity or lymphedema. Materials and methods The benefits (friend) and negative aspects (foe) of lipedema were collected from published literature, discussions with women with lipedema, and institutional review board approved evaluation of medical charts of 46 women with lipedema. Results Lipedema is a foe because lifestyle change does not reduce lipedema fat, the fat is painful, can become obese, causes gait and joint abnormalities, fatigue, lymphedema and psychosocial distress. Hypermobility associated with lipedema can exacerbate joint disease and aortic disease. In contrast, lipedema fat can be a friend as it is associated with relative reductions in obesity-related metabolic dysfunction. In new data collected, lipedema was associated with a low risk of diabetes (2%), dyslipidemia (11.7%) and hypertension (13%) despite an obese average body mass index (BMI) of 35.3 ± 1.7 kg/m2. Conclusion Lipedema is a painful psychologically distressing fat disorder, more foe than friend especially due to associated obesity and lymphedema. More controlled studies are needed to study the mechanisms and treatments for lipedema.

  4. 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.

  5. Mechanical Design Of Prototype Exoskeleton Robotic System For Human Leg Movements And Implementation Of Gait Data With Neural Network

    Directory of Open Access Journals (Sweden)

    Evren Meltem Toygar

    2012-06-01

    Full Text Available Target of this study is designing a exoskeleton system for single lower extremity disabled person and controlling this exoskeleton system with neural network. Exoskeleton system is modeled by using SolidWorks. At the same time, gait data is acquired on human body and sole is divided four parts after that reaction forces are gauged during the walking. Distributions of strain and deformation are obtained by using experimental gait data. The walking is designed using the obtained data and walking data is derived for control stage. Power requirements of actuators are defined.

  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. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  8. Intelligent manipulation technique for multi-branch robotic systems

    Science.gov (United States)

    Chen, Alexander Y. K.; Chen, Eugene Y. S.

    1990-01-01

    New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

  9. 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.

  10. Towards Bio-Inspired Chromatic Behaviours in Surveillance Robots

    Directory of Open Access Journals (Sweden)

    Sampath Kumar Karutaa Gnaniar

    2016-09-01

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

  11. A motion sensing-based framework for robotic manipulation.

    Science.gov (United States)

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

    2016-01-01

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

  12. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

  13. Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

    Energy Technology Data Exchange (ETDEWEB)

    Taraglio, S; Zanela, S; Santini, A; Nanni, V [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

    1999-10-01

    The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

  14. A Combination of Machine Learning and Cerebellar-like Neural Networks for the Motor Control and Motor Learning of the Fable Modular Robot

    DEFF Research Database (Denmark)

    Baira Ojeda, Ismael; Tolu, Silvia; Pacheco, Moises

    2017-01-01

    We scaled up a bio-inspired control architecture for the motor control and motor learning of a real modular robot. In our approach, the Locally Weighted Projection Regression algorithm (LWPR) and a cerebellar microcircuit coexist, in the form of a Unit Learning Machine. The LWPR algorithm optimizes...... the input space and learns the internal model of a single robot module to command the robot to follow a desired trajectory with its end-effector. The cerebellar-like microcircuit refines the LWPR output delivering corrective commands. We contrasted distinct cerebellar-like circuits including analytical...

  15. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  16. Service Robots

    DEFF Research Database (Denmark)

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

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

  17. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

  18. A Hybrid Neural Network Approach for Kinematic Modeling of a Novel 6-UPS Parallel Human-Like Mastication Robot

    Directory of Open Access Journals (Sweden)

    Hadi Kalani

    2016-04-01

    Full Text Available Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required iterations in order to reach the desired accuracy level. Materials and Methods To overcome the direct kinematic problem, an artificial neural network and third-order Newton-Raphson algorithm were combined to provide an improved hybrid method. In this method, approximate solution was presented for the direct kinematic problem by the neural network. This solution could be considered as the initial guess for the third-order Newton-Raphson algorithm to provide an answer with the desired level of accuracy. Results The results showed that the proposed combination could help find a approximate solution and reduce the execution time for the direct kinematic problem, The results showed that muscular actuations showed periodic behaviors, and the maximum length variation of temporalis muscle was larger than that of masseter and pterygoid muscles. By reducing the processing time for solving the direct kinematic problem, more time could be devoted to control calculations.. In this method, for relatively high levels of accuracy, the number of iterations and computational time decreased by 90% and 34%, respectively, compared to the conventional Newton method. Conclusion The present analysis could allow researchers to characterize and study the mastication process by specifying different chewing patterns (e.g., muscle displacements.

  19. Cloud Droplet Size and Liquid Water Path Retrievals From Zenith Radiance Measurements: Examples From the Atmospheric Radiation Measurement Program and the Aerosol Robotic Network

    Science.gov (United States)

    Chiu, J. C.; Marshak, A.; Huang, C.-H.; Varnai, T.; Hogan, R. J.; Giles, D. M.; Holben, B. N.; Knyazikhin, Y.; O'Connor, E. J.; Wiscombe, W. J.

    2012-01-01

    The ground-based Atmospheric Radiation Measurement Program (ARM) and NASA Aerosol Robotic Network (AERONET) routinely monitor clouds using zenith radiances at visible and near-infrared wavelengths. Using the transmittance calculated from such measurements, we have developed a new retrieval method for cloud effective droplet size and conducted extensive tests for non-precipitating liquid water clouds. The underlying principle is to combine a water-absorbing wavelength (i.e. 1640 nm) with a nonwater-absorbing wavelength for acquiring information on cloud droplet size and optical depth. For simulated stratocumulus clouds with liquid water path less than 300 g/sq m and horizontal resolution of 201m, the retrieval method underestimates the mean effective radius by 0.8 m, with a root-mean-squared error of 1.7 m and a relative deviation of 13 %. For actual observations with a liquid water path less than 450 gm.2 at the ARM Oklahoma site during 2007-2008, our 1.5 min-averaged retrievals are generally larger by around 1 m than those from combined ground-based cloud radar and microwave radiometer at a 5min temporal resolution. We also compared our retrievals to those from combined shortwave flux and microwave observations for relatively homogeneous clouds, showing that the bias between these two retrieval sets is negligible, but the error of 2.6 m and the relative deviation of 22% are larger than those found in our simulation case. Finally, the transmittance-based cloud effective droplet radii agree to better than 11% with satellite observations and have a negative bias of 1 m. Overall, the retrieval method provides reasonable cloud effective radius estimates, which can enhance the cloud products of both ARM and AERONET.

  20. 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.

  1. 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)

  2. Climate friendly dietary guidelines

    DEFF Research Database (Denmark)

    Trolle, Ellen; Mogensen, Lisbeth; Thorsen, Anne Vibeke

    2014-01-01

    The aim of this study was to investigate how the present Danish diet could be changed in a climate friendly direction that follows the recommendations of a healthy diet. The carbon footprint (CF) of an average Danish diet was calculated and compared to CF of a recommended healthy diet by 1......%, if the healthy diet was eaten instead of the average current diet. However, if the diet was climate optimized by choosing foods with a low CF within the food groups; meat, vegetables and fruit, CF of this diet may be reduced by 23 % compared to CF of the average diet....

  3. Quantitative analysis of distributed control paradigms of robot swarms

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    2010-01-01

    describe the physical and simulated robots, experiment scenario, and experiment setup. Third, we present our robot controllers based on behaviour based and neural network based paradigms. Fourth, we graphically show their experiment results and quantitatively analyse the results in comparison of the two......Given a task of designing controller for mobile robots in swarms, one might wonder which distributed control paradigms should be selected. Until now, paradigms of robot controllers have been within either behaviour based control or neural network based control, which have been recognized as two...... mainstreams of controller design for mobile robots. However, in swarm robotics, it is not clear how to determine control paradigms. In this paper we study the two control paradigms with various experiments of swarm aggregation. First, we introduce the two control paradigms for mobile robots. Second, we...

  4. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

  5. 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

  6. Three friendly walkers

    Science.gov (United States)

    Jensen, Iwan

    2017-01-01

    More than 15 years ago Guttmann and Vöge (2002 J. Stat. Plan. Inference 101 107), introduced a model of friendly walkers. Since then it has remained unsolved. In this paper we provide the exact solution to a closely allied model which essentially only differs in the boundary conditions. The exact solution is expressed in terms of the reciprocal of the generating function for vicious walkers which is a D-finite function. However, ratios of D-finite functions are inherently not D-finite and in this case we prove that the friendly walkers generating function is the solution to a non-linear differential equation with polynomial coefficients, it is in other words D-algebraic. We find using numerically exact calculations a conjectured expression for the generating function of the original model as a ratio of a D-finite function and the generating function for vicious walkers. We obtain an expression for this D-finite function in terms of a {{}2}{{F}1} hypergeometric function with a rational pullback and its first and second derivatives. Dedicated to Tony Guttmann on the occasion of his 70th birthday.

  7. Learning for intelligent mobile robots

    Science.gov (United States)

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

    2003-10-01

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

  8. Analyzing Cyber-Physical Threats on Robotic Platforms.

    Science.gov (United States)

    Ahmad Yousef, Khalil M; AlMajali, Anas; Ghalyon, Salah Abu; Dweik, Waleed; Mohd, Bassam J

    2018-05-21

    Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT) was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBot TM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS) and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

  9. Analyzing Cyber-Physical Threats on Robotic Platforms †

    Science.gov (United States)

    2018-01-01

    Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT) was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBotTM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS) and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications. PMID:29883403

  10. Analyzing Cyber-Physical Threats on Robotic Platforms

    Directory of Open Access Journals (Sweden)

    Khalil M. Ahmad Yousef

    2018-05-01

    Full Text Available Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBotTM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

  11. Designing a social and assistive robot for seniors.

    Science.gov (United States)

    Eftring, H; Frennert, S

    2016-06-01

    The development of social assistive robots is an approach with the intention of preventing and detecting falls among seniors. There is a need for a relatively low-cost mobile robot with an arm and a gripper which is small enough to navigate through private homes. User requirements of a social assistive robot were collected using workshops, a questionnaire and interviews. Two prototype versions of a robot were designed, developed and tested by senior citizens (n = 49) in laboratory trials for 2 h each and in the private homes of elderly persons (n = 18) for 3 weeks each. The user requirement analysis resulted in a specification of tasks the robot should be able to do to prevent and detect falls. It was a challenge but possible to design and develop a robot where both the senior and the robot arm could reach the necessary interaction points of the robot. The seniors experienced the robot as happy and friendly. They wanted the robot to be narrower so it could pass through narrow passages in the home and they also wanted it to be able to pass over thresholds without using ramps and to drive over carpets. User trials in seniors' homes are very important to acquire relevant knowledge for developing robots that can handle real life situations in the domestic environment. Very high reliability of a robot is needed to get feedback about how seniors experience the overall behavior of the robot and to find out if the robot could reduce falls and improve the feeling of security for seniors living alone.

  12. 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.

  13. A General Algorithm for Robot Formations Using Local Sensing and Minimal Communication

    DEFF Research Database (Denmark)

    Fredslund, Jakob; Matarić, Maja J

    2002-01-01

    the friend in the sensor's field of view. We also present a general analytical measure for evaluating formations and apply it to the position data from both simulation and physical robot experiments. We used two lasers to track the physical robots to obtain ground truth validation data....... simulation exper- iments, and 40+ experiments with four physical robots, showing the viability of our approach. The key idea is that each robot keeps a single friend at a desired angle , using some appropriate sensor. By panning the sensor by degrees, the goal for all formations be- comes simply to center......We study the problem of achieving global behavior in a group of distributed robots using only local sensing and minimal communication, in the context of formations. The goal is to have mobile robots establish and maintain some predetermined geo- metric shape. We report results from extensive...

  14. Friends, Depressive Symptoms, and Life Satisfaction Among Older Korean Americans.

    Science.gov (United States)

    Roh, Soonhee; Lee, Yeon-Shim; Lee, Kyoung Hag; Shibusawa, Tazuko; Yoo, Grace J

    2015-08-01

    This study examined the interactive effects of social network support and depressive symptoms on life satisfaction among older Korean Americans (KAs). Using data from a sample of 200 elders in a large metropolitan area (M age = 72.50, SD = 5.15), hierarchical regression analysis was used to examine the interaction between social network support and depressive symptoms on life satisfaction among older KAs. After controlling for demographic variables, both social network support and depressive symptoms were identified as predictors for life satisfaction. Interaction effects indicated strong associations between higher social network support specifically from friends and lower depressive symptoms with higher levels of life satisfaction. Findings highlight the important role that friends play in terms of social network support for the mental health of older KAs, and the need for geriatric practitioners to monitor and assess the quality of social network support-including friendships-when working with older KAs.

  15. 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...

  16. 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.

  17. 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

  18. 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...

  19. Caffeine: Friend or Foe?

    Science.gov (United States)

    Doepker, Candace; Lieberman, Harris R; Smith, Andrew Paul; Peck, Jennifer D; El-Sohemy, Ahmed; Welsh, Brian T

    2016-01-01

    The debate on the safety of and regulatory approaches for caffeine continues among various stakeholders and regulatory authorities. This decision-making process comes with significant challenges, particularly when considering the complexities of the available scientific data, making the formulation of clear science-based regulatory guidance more difficult. To allow for discussions of a number of key issues, the North American Branch of the International Life Sciences Institute (ILSI) convened a panel of subject matter experts for a caffeine-focused session entitled "Caffeine: Friend or Foe?," which was held during the 2015 ILSI Annual Meeting. The panelists' expertise covered topics ranging from the natural occurrence of caffeine in plants and interindividual metabolism of caffeine in humans to specific behavioral, reproductive, and cardiovascular effects related to caffeine consumption. Each presentation highlighted the potential risks, benefits, and challenges that inform whether caffeine exposure warrants concern. This paper aims to summarize the key topics discussed during the session.

  20. My Nepalese Friends

    Institute of Scientific and Technical Information of China (English)

    1996-01-01

    NEPAL and China are good neighbors. In the 1980s many Chinese technicians went to Nepal to help build roads and other projects. As an interpreter with a Chinese construction cooperative, I worked there from 1993 to 1994. During my stay in Nepal, I met many different Nepalese women who impressed me deeply. My landlady Sumiyala, was the first Nepalese woman to come into my life. She was over 40 years old, a healthy and good-humored housewife. Whenever Ⅰ had time, I liked to chat with her and gradually we became friends. I remember my landlady was busy in and out of her house all day long— cleaning, cooking and taking care of her grandchildren and her parents-in-laws.

  1. Thinking with friends

    DEFF Research Database (Denmark)

    Emmeche, Claus

    2017-01-01

    cognitive phenomenon, and bringing together observations and concepts from interdisciplinary studies of interpersonal relationships allows for a notion of relational attention to be developed. At least for some forms of friendships, the agents not merely attend to common interests; their perception...... is shared, mediated by the very relationship as an embodied activity of distributed cognition. An important example of this is collaboration in science and art, as when friends or colleagues work close together to solve problems or develop new forms of creative expression.......Can research in situated and embodied cognition inform the study of interpersonal relations like friendship? And conversely, can friendship studies from disciplinary and interdisciplinary perspectives inspire research in cognitive science? These are the guiding questions for this chapter. Compared...

  2. Supporting Members and Friends

    Science.gov (United States)

    2005-10-01

    Thank you! Over the past year, AGU has received 12,104 gifts, both large and small, from members and friends. The Union has also received corporate contributions, National Science Foundation grants, and support from the National Oceanographic Partnership Program and National Association of Geoscience Teachers. Together their generosity has benefited AGU non revenue producing programs that are critical to our science and the future health of the Union. The following list gratefully acknowledges annual gifts of $100 or more and cumulative giving of $5,000 or more. The 1919 Society ($100,000 or more) and Benefactors ($5,000-$99,999) recognize single major gifts and cumulative contributions. Three circles acknowledge annual giving: President's Circle ($1,000 or more), Leadership Circle ($200-$999), and Supporters Circle ($100-$199). Supporting Life Members, who contribute a one-time gift of $1,200 in addition to lifetime dues, are among our most loyal Supporters.

  3. Environmentally friendly road construction

    Directory of Open Access Journals (Sweden)

    A.I. Essawy

    2013-06-01

    Full Text Available Environmental pollution is a major problem in developing countries like Egypt. Reuse of waste polymers is considered an attractive solution for environmental white pollution and reducing of the costs of road pavement and maintenance. This research aims to prepare environmentally friendly hot mix asphalt (HMA for paving using some industrial wastes as polypropylene and polyester fibers. The solid materials in the mix include normal and highly porous aggregates. 5% and 10% of waste polymers by weight of the asphalt were used to prepare special binders. The samples were tested for their physical properties, chemical properties, aging, scanning electron microscopy (SEM and thermo-gravimetric analysis (TGA. The results revealed that the prepared HMA using 5% of waste polymer had high performance as compared to the ordinary one and the waste polymer could be used in road construction.

  4. 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...

  5. Future of robots in nuclear plants and processes

    International Nuclear Information System (INIS)

    Fisher, J.J.; Byrd, J.S.

    1985-01-01

    The role of robotics at the Savannah River Plant and Laboratory is reviewed. The site's remote process areas are described briefly, and existing remote handling equipment and robots are discussed. Three technology areas under development and relating to process automation are reviewed. These are: inspection systems to detect and evaluate process problems or to determine equipment integrity, process monitoring systems to analyze plant operations and to supply information in the event of an unusual occurrence, and remote manipulator systems and controls to handle instruments and tools. A technique is presented for employing future intelligent robots through process networks. These networks will represent the integration of robotic technology with dedicated process knowledge bases

  6. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  7. 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...

  8. Evolutionary robotics in two decades: A review

    Indian Academy of Sciences (India)

    ing networks in this way, the topology of the network does not need to be known a priori. NEAT searches through ..... exist and it needs further exploration and discussions. More complexity in robotic ... Emotions do play an important role, along with intelligence, in decision-making process of a human being. The aspects of ...

  9. Robots with language

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2010-11-01

    Full Text Available Trying to understand human language by constructing robots that have language necessarily implies an embodied view of language, where the meaning of linguistic expressions is derived from the physical interactions of the organism with the environment. The paper describes a neural model of language according to which the robot’s behaviour is controlled by a neural network composed of two sub-networks, one dedicated to the non-linguistic interactions of the robot with the environment and the other one to processing linguistic input and producing linguistic output. We present the results of a number of simulations using the model and we suggest how the model can be used to account for various language-related phenomena such as disambiguation, the metaphorical use of words, the pervasive idiomaticity of multi-word expressions, and mental life as talking to oneself.. The model implies a view of the meaning of words and multi-word expressions as a temporal process that takes place in the entire brain and has no clearly defined boundaries. The model can also be extended to emotional words if we assume that an embodied view of language includes not only the interactions of the robot’s brain with the external environment but also the interactions of the brain with what is inside the body.

  10. Microscale soft robotics motivations, progress, and outlook

    CERN Document Server

    Kim, Jaeyoun (Jay)

    2017-01-01

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

  11. Marketing animal-friendly products

    NARCIS (Netherlands)

    Riemsdijk, van Lenka; Ingenbleek, Paul T.M.; Trijp, van Hans C.M.; Veen, van der Gerrita

    2017-01-01

    This article presents a conceptual framework that aims to encourage consumer animal-friendly product choice by introducing positioning strategies for animal-friendly products. These strategies reinforce the animal welfare with different types of consumption values and can therefore reduce

  12. 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...

  13. Advanced Environment Friendly Nanotechnologies

    Science.gov (United States)

    Figovsky, O.; Beilin, D.; Blank, N.

    The economic, security, military and environmental implications of molecular manufacturing are extreme. Unfortunately, conflicting definitions of nanotechnology and blurry distinctions between significantly different fields have complicated the effort to understand those differences and to develop sensible, effective policy for each. The risks of today's nanoscale technologies cannot be treated the same as the risks of longer-term molecular manufacturing. It is a mistake to put them together in one basket for policy consideration — each is important to address, but they offer different problems and will require far different solutions. As used today, the term nanotechnology usually refers to a broad collection of mostly disconnected fields. Essentially, anything sufficiently small and interesting can be called nanotechnology. Much of it is harmless. For the rest, much of the harm is of familiar and limited quality. Molecular manufacturing, by contrast, will bring unfamiliar risks and new classes of problems. The advanced environment friendly nanotechnologies elaborated by Israel Company Polymate Ltd. — International Research Center are illustrated.

  14. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    Science.gov (United States)

    Yap, Hwa Jen; Taha, Zahari; Dawal, Siti Zawiah Md; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  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. Parental influences on memories of parents and friends.

    Science.gov (United States)

    Tani, Franca; Bonechi, Alice; Peterson, Carole; Smorti, Andrea

    2010-01-01

    The authors evaluated the role parent-child relationship quality has on two types of memories, those of parents and those of friends. Participants were 198 Italian university students who recalled memories during 4 separate timed memory-fluency tasks about their preschool, elementary school, middle school, high school and university years. Half were instructed to recall memories involving parents and the remainder memories involving friends. Moreover, parent-child relationships were assessed by the Network of Relationships Inventory (NRI; W. Furman & D. Buhrmester, 1985) and Adolescents' Report of Parental Monitoring (D. M. Capaldi & G. R. Patterson, 1989). Results showed that men with positive parent-son relationships had more memories of parents and more affectively positive memories of friends, supporting a consistency model positing similarity between parent-child relationships and memories of friends. Women with positive parental relationship quality had more affectively positive memories of parents but for friends, positive relationship quality only predicted positive memories when young. At older ages, especially middle school-aged children, negative parent-daughter relationships predicted more positive memories of friends, supporting a compensatory model. The gender of parent also mattered, with fathers having a more influential role on affect for memories of friends.

  17. 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…

  18. 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

  19. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  20. Friending the Virgin

    Directory of Open Access Journals (Sweden)

    Larry Friedlander

    2011-07-01

    Full Text Available This article looks at how previous practice of portraiture prepared the way for self-presentation on social networking sites. A portrait is not simply an exercise in the skillful or “realistic” depiction of a subject. Rather, it is a rhetorical exercise in visual description and persuasion and a site of intricate communicative processes. A long evolution of visual culture, intimately intertwined with evolving notions of identity and society, was necessary to create the conditions for the particular forms of self-representation we encounter on Facebook. Many of these premodern strategies prefigure ones we encounter on Facebook. By delineating the ways current practices reflect earlier ones, we can set a baseline from which we can isolate the precise novelty of current practice in social networking sites.

  1. Multi-Robot Motion Planning: A Timed Automata Approach

    OpenAIRE

    Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

    2004-01-01

    This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achi...

  2. Mobile Robot Navigation and Obstacle Avoidance in Unstructured Outdoor Environments

    Science.gov (United States)

    2017-12-01

    to pull information from the network, it subscribes to a specific topic and is able to receive the messages that are published to that topic. In order...total artificial potential field is characterized “as the sum of an attractive potential pulling the robot toward the goal…and a repulsive potential...of robot laser_max = 20; % robot laser view horizon goaldist = 0.5; % distance metric for reaching goal goali = 1

  3. Decomposing the components of friendship and friends' influence on adolescent drinking and smoking.

    Science.gov (United States)

    Fujimoto, Kayo; Valente, Thomas W

    2012-08-01

    Friendship networks are an important source of peer influence. However, existing network studies vary in terms of how they operationalize friendship and friend's influence on adolescent substance use. This study uses social network analysis to characterize three types of friendship relations: (1) mutual or reciprocated, (2) directional, and (3) intimate friends. We then examine the relative effects of each friendship type on adolescent drinking and smoking behavior. Using a saturated sample from the Add Health data, a nationally representative sample of high school adolescents (N = 2,533 nested in 12 schools), we computed the level of exposure to drinking and smoking of friends using a network exposure model, and their association with individual drinking and smoking using fixed effect models. Results indicated that the influence from mutual or reciprocated type of friendship relations is stronger on adolescent substance use than directional, especially for smoking. Regarding the directionality of directional type of friendship relations, adolescents are equally influenced by both nominating and nominated friends on their drinking and smoking behavior. Results for intimate friends friendship relations indicated that the influence from "best friends" was weaker than the one from non-"best friends," which indicates that the order of friend nomination may not matter as much as nomination reciprocation. This study demonstrates that considering different features of friendship relationships is important in evaluating friends' influence on adolescent substance use. Related policy implications are discussed. Copyright © 2012 Society for Adolescent Health and Medicine. Published by Elsevier Inc. All rights reserved.

  4. 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....

  5. Procedure for definition of end-effector orientation in planar surfaces robot applications

    Directory of Open Access Journals (Sweden)

    Vidaković Jelena Z.

    2017-01-01

    Full Text Available Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.

  6. Network science

    CERN Document Server

    Barabasi, Albert-Laszlo

    2016-01-01

    Networks are everywhere, from the Internet, to social networks, and the genetic networks that determine our biological existence. Illustrated throughout in full colour, this pioneering textbook, spanning a wide range of topics from physics to computer science, engineering, economics and the social sciences, introduces network science to an interdisciplinary audience. From the origins of the six degrees of separation to explaining why networks are robust to random failures, the author explores how viruses like Ebola and H1N1 spread, and why it is that our friends have more friends than we do. Using numerous real-world examples, this innovatively designed text includes clear delineation between undergraduate and graduate level material. The mathematical formulas and derivations are included within Advanced Topics sections, enabling use at a range of levels. Extensive online resources, including films and software for network analysis, make this a multifaceted companion for anyone with an interest in network sci...

  7. Computational simulator of robotic manipulators

    International Nuclear Information System (INIS)

    Leal, Alexandre S.; Campos, Tarcisio P.R.

    1995-01-01

    Robotic application for industrial plants is discussed and a computational model for a mechanical manipulator of three links is presented. A neural network feed-forward type has been used to model the dynamic control of the manipulator. A graphic interface was developed in C programming language as a virtual world in order to visualize and simulate the arm movements handling radioactive waste environment. (author). 7 refs, 5 figs

  8. Analisa Eco-friendly Attitudes Dan Eco-friendly Behavior Terhadap Eco-friendly Intention Green Hotel Di Indonesia

    OpenAIRE

    Silvia, Lanny; Rudijanto, Diana Gabriela; Kristanti, Monika

    2017-01-01

    Kesadaran masyarakat akan lingkungan yang semakin meningkat membuat masyarakat gencar mencari hotel yang ramah lingkungan dibandingkan dengan hotel konvensional. Penelitian ini bertujuan untuk mengetahui perbedaan eco-friendly attitude, eco- friendly behavior, dan eco-friendly intention konsumen generasi x dan generasi y terhadap green hotel di Indonesia dan apakah eco-friendly attitudes dan eco-friendly behavior berpengaruh signifikan terhadap eco-friendly intention. Total responden dalam pe...

  9. Human-robot interaction assessment using dynamic engagement profiles

    DEFF Research Database (Denmark)

    Drimus, Alin; Poltorak, Nicole

    2017-01-01

    -1] interval, where 0 represents disengaged and 1 fully engaged. The network shows a good accuracy at recognizing the engagement state of humans given positive emotions. A time based analysis of interaction experiments between small humanoid robots and humans provides time series of engagement estimates, which...... and is applicable to humanoid robotics as well as other related contexts.......This paper addresses the use of convolutional neural networks for image analysis resulting in an engagement metric that can be used to assess the quality of human robot interactions. We propose a method based on a pretrained convolutional network able to map emotions onto a continuous [0...

  10. A study on in-pipe inspection mobile robots, 3

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Uemura, Masahiro.

    1990-01-01

    This paper deals with inspection path planning for in-pipe inspection mobile robots which have the capability of moving through complicated pipeline networks. It is imperative that the robot systems have an inspection path planning system for such networks for their reasonable and rational operation, controlled by themselves or by the operators. The planning mainly requires two projects: the selection of the place to put the robot in or out, and the generation of the paths in the networks. This system provides the for complicated problems with plural inspection points using a basic strategy of systematically producing patterns and dividing partial problems of simple searches based on rules. (author)

  11. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  12. USAR Robot Communication Using ZigBee Technology

    Science.gov (United States)

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

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

  13. Motor modules in robot-aided walking

    Directory of Open Access Journals (Sweden)

    Gizzi Leonardo

    2012-10-01

    Full Text Available Abstract Background It is hypothesized that locomotion is achieved by means of rhythm generating networks (central pattern generators and muscle activation generating networks. This modular organization can be partly identified from the analysis of the muscular activity by means of factorization algorithms. The activity of rhythm generating networks is described by activation signals whilst the muscle intervention generating network is represented by motor modules (muscle synergies. In this study, we extend the analysis of modular organization of walking to the case of robot-aided locomotion, at varying speed and body weight support level. Methods Non Negative Matrix Factorization was applied on surface electromyographic signals of 8 lower limb muscles of healthy subjects walking in gait robotic trainer at different walking velocities (1 to 3km/h and levels of body weight support (0 to 30%. Results The muscular activity of volunteers could be described by low dimensionality (4 modules, as for overground walking. Moreover, the activation signals during robot-aided walking were bursts of activation timed at specific phases of the gait cycle, underlying an impulsive controller, as also observed in overground walking. This modular organization was consistent across the investigated speeds, body weight support level, and subjects. Conclusions These results indicate that walking in a Lokomat robotic trainer is achieved by similar motor modules and activation signals as overground walking and thus supports the use of robotic training for re-establishing natural walking patterns.

  14. Robot soccer action selection based on Q learning

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    This paper researches robot soccer action selection based on Q learning . The robot learn to activate particular behavior given their current situation and reward signal. We adopt neural network to implementations of Q learning for their generalization properties and limited computer memory requirements

  15. 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...

  16. 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...

  17. 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...

  18. 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.

  19. High level functions for the intuitive use of an assistive robot.

    Science.gov (United States)

    Lebec, Olivier; Ben Ghezala, Mohamed Walid; Leynart, Violaine; Laffont, Isabelle; Fattal, Charles; Devilliers, Laurence; Chastagnol, Clement; Martin, Jean-Claude; Mezouar, Youcef; Korrapatti, Hermanth; Dupourqué, Vincent; Leroux, Christophe

    2013-06-01

    This document presents the research project ARMEN (Assistive Robotics to Maintain Elderly People in a Natural environment), aimed at the development of a user friendly robot with advanced functions for assistance to elderly or disabled persons at home. Focus is given to the robot SAM (Smart Autonomous Majordomo) and its new features of navigation, manipulation, object recognition, and knowledge representation developed for the intuitive supervision of the robot. The results of the technical evaluations show the value and potential of these functions for practical applications. The paper also documents the details of the clinical evaluations carried out with elderly and disabled persons in a therapeutic setting to validate the project.

  20. Communicating Cooperative Robots with Bluetooth

    DEFF Research Database (Denmark)

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

    2001-01-01

    A generic architecture for system of cooperating communicating mobile robots is presented. An overall structure is defined from a modularity viewpoint, where a number of generic modules are identified; low level communication interface, network layer services such as initial and adaptive network...... structuring, routing and capacity management, overall behaviour which includes commitment to overall strategies as well as local behaviour like trajectory planning and navigation. Focus is kept on communication aspects and an example application of establishing a reliable wireless real-time communication...

  1. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  2. A Modular Approach to Redundant Robot Control

    International Nuclear Information System (INIS)

    Anderson, R.J.

    1997-12-01

    This paper describes a modular approach for computing redundant robot kinematics. First some conventional redundant control methods are presented and shown to be 'passive control laws', i.e. they can be represented by a network consisting of passive elements. These networks are then put into modular form by applying scattering operator techniques. Additional subnetwork modules can then be added to further shape the motion. Modules for obstacle detection, joint limit avoidance, proximity sensing, and for imposing nonlinear velocity constraints are presented. The resulting redundant robot control system is modular, flexible and robust

  3. Hybrid System Design for the Coordination of Multi-Modal Aerial Robots

    DEFF Research Database (Denmark)

    Koo, T. John; Quottrup, Michael Melholt; Clifton, C. A.

    2006-01-01

    In this paper we provide a framework for the coordination of a network of heterogeneous aerial robots by using temporal logic to formulate mission speci¯cations for the network of robots. The full dynamics of the aerial robots are considered, and multiple controllers that can cope with various......¯ed. These robots are coordinated by communicating through a single occupancy table. By using the model checker Uppaal, a discrete plan that satis¯es a given temporal logic formula, speci¯ed in CTL, is generated for the robot to execute. Finally, the discrete plan for each robot is re¯ned into a discrete control...... constraints are designed to ensure that desired reachability properties can be preserved by properly switching among the controllers. A timed automaton is then constructed for preserving the temporal properties of a given robot. For di®erent types of robots, unique temporal properties can be speci...

  4. The Walk-Man Robot Software Architecture

    Directory of Open Access Journals (Sweden)

    Mirko Ferrati

    2016-05-01

    Full Text Available A software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time, i.e., less than 1 year, more constraints are added and concepts, such as modular design, code reusability, and API definition, need to be used as much as possible. In this work, we describe the software architecture developed for Walk-Man, a robot participant at the Darpa Robotics Challenge. The challenge required the robot to execute many different tasks, such as walking, driving a car, and manipulating objects. These tasks need to be solved by robotics specialists in their corresponding research field, such as humanoid walking, motion planning, or object manipulation. The proposed architecture was developed in 10 months, provided boilerplate code for most of the functionalities required to control a humanoid robot and allowed robotics researchers to produce their control modules for DRC tasks in a short time. Additional capabilities of the architecture include firmware and hardware management, mixing of different middlewares, unreliable network management, and operator control station GUI. All the source code related to the architecture and some control modules have been released as open source projects.

  5. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  6. 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....

  7. 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

  8. Support and Conflict in Ethnically Diverse Young Adults' Relationships with Parents and Friends

    Science.gov (United States)

    Moilanen, Kristin L.; Raffaelli, Marcela

    2010-01-01

    We examined support and conflict with parents and close friends in a sample of ethnically diverse young adults (European-, Asian-, Cuban-, Latin-, and Mexican Americans). College students (N = 495) completed six subscales from the Network of Relationships Inventory (NRI; Furman & Buhrmester, 1985). Friends were rated higher than parents on…

  9. Design of an autonomous mobile robot for service applications

    CSIR Research Space (South Africa)

    De Villiers, M

    2011-02-01

    Full Text Available This research project proposes the development of an autonomous, omnidirectional vehicle that will be used for general indoor service applications. A suggested trial application for this service robot will be to deliver printouts to various network...

  10. Design and Control of a Twelve-Bar Tensegrity Robot

    Data.gov (United States)

    National Aeronautics and Space Administration — A tensegrity (tensional integrity) robot is a lightweight, compliant system consisting of rods suspended in a network of cables. It can absorb large loads on impact,...

  11. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  12. 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.

  13. Correlates of Objective Social Isolation from Family and Friends among Older Adults

    Science.gov (United States)

    Chatters, Linda M.; Taylor, Harry Owen; Taylor, Robert Joseph

    2018-01-01

    This study examined the correlates of objective social isolation from extended family members and friends among older adults. The analysis is based on the older adult sub-sample of the National Survey of American Life (n = 1321). Multinomial logistic regression analyses examined race/ethnicity, demographics, functional health and family and friend network factors as correlates of objective isolation from family and friends. Only 4.47% of respondents were objectively isolated from both their extended family and friends, 10.82% were isolated from their friends, and 7.43% were isolated from their family members. Men were more likely to be objectively isolated from both family and friends and older adults who live with others were significantly more likely to be objectively isolated from their friends. When controlling for subjective social isolation, the two measures of functional health were significantly associated with objective social isolation. In particular, higher levels of self-care impairment decreased the risk of being objectively isolated from friends only, whereas higher mobility impairment was associated with an increased likelihood of being objectively isolated from friends only. Subjective evaluations of social isolation from family and friends were consistently associated with being objectively isolated from family and friends. There were no significant differences between African-Americans, Black Caribbeans and non-Hispanic Whites in objective isolation. These and other findings are discussed in detail. PMID:29510504

  14. Correlates of Objective Social Isolation from Family and Friends among Older Adults.

    Science.gov (United States)

    Chatters, Linda M; Taylor, Harry Owen; Nicklett, Emily J; Taylor, Robert Joseph

    2018-03-03

    This study examined the correlates of objective social isolation from extended family members and friends among older adults. The analysis is based on the older adult sub-sample of the National Survey of American Life ( n = 1321). Multinomial logistic regression analyses examined race/ethnicity, demographics, functional health and family and friend network factors as correlates of objective isolation from family and friends. Only 4.47% of respondents were objectively isolated from both their extended family and friends, 10.82% were isolated from their friends, and 7.43% were isolated from their family members. Men were more likely to be objectively isolated from both family and friends and older adults who live with others were significantly more likely to be objectively isolated from their friends. When controlling for subjective social isolation, the two measures of functional health were significantly associated with objective social isolation. In particular, higher levels of self-care impairment decreased the risk of being objectively isolated from friends only, whereas higher mobility impairment was associated with an increased likelihood of being objectively isolated from friends only. Subjective evaluations of social isolation from family and friends were consistently associated with being objectively isolated from family and friends. There were no significant differences between African-Americans, Black Caribbeans and non-Hispanic Whites in objective isolation. These and other findings are discussed in detail.

  15. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

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

  16. Multi-robot Cooperation Behavior Decision Based on Psychological Values

    Directory of Open Access Journals (Sweden)

    Jian JIANG

    2014-01-01

    Full Text Available The method based on psychology concept has been proved to be a successful tool used for human-robot interaction. But its related research in multi-robot cooperation has remained scarce until recent studies. To solve the problem, a decision-making mechanism based on psychological values is presented to be regarded as the basis of the multi-robot cooperation. Robots give birth to psychological values based on the estimations of environment, teammates and themselves. The mapping relationship between psychological values and cooperation tendency threshold values is set up with artificial neural network. Robots can make decision on the bases of these threshold values in cooperation scenes. Experiments show that the multi-robot cooperation method presented in the paper not only can ensure the rationality of robots’ decision-making, but also can ensure the speediness of robots’ decision-making.

  17. Repetitive motion planning and control of redundant robot manipulators

    CERN Document Server

    Zhang, Yunong

    2013-01-01

    Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

  18. Low-level stored waste inspection using mobile robots

    International Nuclear Information System (INIS)

    Byrd, J.S.; Pettus, R.O.

    1996-01-01

    A mobile robot inspection system, ARIES (Autonomous Robotic Inspection Experimental System), has been developed for the U.S. Department of Energy to replace human inspectors in the routine, regulated inspection of radioactive waste stored in drums. The robot will roam the three-foot aisles of drums, stacked four high, making decisions about the surface condition of the drums and maintaining a database of information about each drum. A distributed system of onboard and offboard computers will provide versatile, friendly control of the inspection process. This mobile robot system, based on a commercial mobile platform, will improve the quality of inspection, generate required reports, and relieve human operators from low-level radioactive exposure. This paper describes and discusses primarily the computer and control processes for the system

  19. Cognitive neuroscience robotics A synthetic approaches to human understanding

    CERN Document Server

    Ishiguro, Hiroshi; Asada, Minoru; Osaka, Mariko; Fujikado, Takashi

    2016-01-01

    Cognitive Neuroscience Robotics is the first introductory book on this new interdisciplinary area. This book consists of two volumes, the first of which, Synthetic Approaches to Human Understanding, advances human understanding from a robotics or engineering point of view. The second, Analytic Approaches to Human Understanding, addresses related subjects in cognitive science and neuroscience. These two volumes are intended to complement each other in order to more comprehensively investigate human cognitive functions, to develop human-friendly information and robot technology (IRT) systems, and to understand what kind of beings we humans are. Volume A describes how human cognitive functions can be replicated in artificial systems such as robots, and investigates how artificial systems could acquire intelligent behaviors through interaction with others and their environment.

  20. 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...

  1. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  2. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  3. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

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

  4. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  5. 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.

  6. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  7. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

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

  8. 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.

  9. 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...

  10. 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.

  11. Decentralized neural control application to robotics

    CERN Document Server

    Garcia-Hernandez, Ramon; Sanchez, Edgar N; Alanis, Alma y; Ruz-Hernandez, Jose A

    2017-01-01

    This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors. This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF). The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold. The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network. The third control scheme applies a decentralized neural i...

  12. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

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

  13. Critical friends and collaborative partnership

    Directory of Open Access Journals (Sweden)

    Katarina Jandér

    2013-12-01

    Full Text Available Critical friends: a method for peer feedback The Critical Friend-method has been used in various educational settings to facilitate the process of continuous improvement in teaching. The aim of this study was to implement Critical Friends, and to find out if this method could be used for feedback on teaching as part of a librarians' professional development. The project was carried out within the Library Unit of the Faculty of Medicine at Lund University, Sweden, in collaboration with the faculty's Centre for Teaching and Learning. Seven librarians and an educational consultant from the Centre for Teaching and Learning participated; the educational consultant played an essential role in supervising and structuring the project and the evaluation process, preparing readings as well as being an active participant. The participants worked in pairs; the performance of one teacher and the associated classroom activities were observed by the critical friend, and then evaluated and discussed. Evaluation and results After two preparatory group meetings, a final meeting was held where all pairs reported what they had done and how they perceived the critical friend process. The experiences of the participating librarians were explored using a questionnaire. The questionnaire was analyzed using content analysis by one librarian and the educational consultant independently. The results suggested that use of the critical friend method could have a positive impact by achieving the following: strengthening shared values concerning teaching issues; promoting self-reflection on teaching; facilitating communication with colleagues; and reducing the sense of 'loneliness‘ in teaching. The difficulties in the implementation were lack of time and competing duties. It was perceived as an advantage to work in close partnership with the faculty's educational consultants, who were familiar with the organization.

  14. 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...

  15. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  16. 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...

  17. 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.

  18. 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

  19. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  20. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

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

  1. Robot brains

    NARCIS (Netherlands)

    Babuska, R.

    2011-01-01

    The brain hosts complex networks of neurons that are responsible for behavior in humans and animals that we generally call intelligent. I is not easy to give an exact definition of intelligence – for the purpose of this talk it will suffice to say that we refer to intelligence as a collection of

  2. Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

    Energy Technology Data Exchange (ETDEWEB)

    Taraglio, S.; Zanela, S.; Santini, A.; Nanni, V. [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

    1999-10-01

    The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

  3. Optimized Assistive Human-Robot Interaction Using Reinforcement Learning.

    Science.gov (United States)

    Modares, Hamidreza; Ranatunga, Isura; Lewis, Frank L; Popa, Dan O

    2016-03-01

    An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops. First, a robot-specific neuro-adaptive controller is designed in the inner loop to make the unknown nonlinear robot behave like a prescribed robot impedance model as perceived by a human operator. In contrast to existing neural network and adaptive impedance-based control methods, no information of the task performance or the prescribed robot impedance model parameters is required in the inner loop. Then, a task-specific outer-loop controller is designed to find the optimal parameters of the prescribed robot impedance model to adjust the robot's dynamics to the operator skills and minimize the tracking error. The outer loop includes the human operator, the robot, and the task performance details. The problem of finding the optimal parameters of the prescribed robot impedance model is transformed into a linear quadratic regulator (LQR) problem which minimizes the human effort and optimizes the closed-loop behavior of the HRI system for a given task. To obviate the requirement of the knowledge of the human model, integral reinforcement learning is used to solve the given LQR problem. Simulation results on an x - y table and a robot arm, and experimental implementation results on a PR2 robot confirm the suitability of the proposed method.

  4. Children's perceptions of relationships with siblings, friends, and mothers: compensatory processes and links with adjustment.

    Science.gov (United States)

    Stocker, C M

    1994-11-01

    Links between children's psychological adjustment and individual differences in their perceptions of relationships with siblings, mothers, and friends were studied in a sample of 85 second-graders. Results indicated that characteristics of these relationships were significantly correlated with children's loneliness, depressive mood, self-esteem, and behavioral conduct. There were some links among children's perceptions of their relationships with siblings, friends, and mothers. A compensatory model of associations among adjustment and warmth in children's relationships with friends and mothers was supported. Children who reported that their relationships with either mothers, friends, or mothers and friends were characterized by high levels of warmth had significantly better adjustment outcomes than children who reported low levels of warmth in relationships with both friends and mothers. The importance of the network of children's relationships for their mental health is discussed.

  5. Interacting with Networks : How Does Structure Relate to Controllability in Single-Leader, Consensus Networks?

    NARCIS (Netherlands)

    Egerstedt, Magnus; Martini, Simone; Cao, Ming; Camlibel, Kanat; Bicchi, Antonio

    As networked dynamical systems appear around us at an increasing rate, questions concerning how to manage and control such systems are becoming more important. Examples include multiagent robotics, distributed sensor networks, interconnected manufacturing chains, and data networks. In response to

  6. [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.

  7. 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.

  8. 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.

  9. Climate-friendly Default Rules

    DEFF Research Database (Denmark)

    Sunstein, Cass R.; Reisch, Lucia A.

    . The underlying reasons include the power of suggestion; inertia and procrastination; and loss aversion. If well-chosen, climate-friendly defaults are likely to have large effects in reducing the economic and environmental harms associated with various products and activities. In deciding whether to establish...

  10. Modular architecture for robotics and teleoperation

    Science.gov (United States)

    Anderson, Robert J.

    1996-12-03

    Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

  11. [Digital imaging and robotics in endoscopic surgery].

    Science.gov (United States)

    Go, P M

    1998-05-23

    The introduction of endoscopical surgery has among other things influenced technical developments in surgery. Owing to digitalisation, major progress will be made in imaging and in the sophisticated technology sometimes called robotics. Digital storage makes the results of imaging diagnostics (e.g. the results of radiological examination) suitable for transmission via video conference systems for telediagnostic purposes. The availability of digital video technique renders possible the processing, storage and retrieval of moving images as well. During endoscopical operations use may be made of a robot arm which replaces the camera man. The arm does not grow tired and provides a stable image. The surgeon himself can operate or address the arm and it can remember fixed image positions to which it can return if ordered to do so. The next step is to carry out surgical manipulations via a robot arm. This may make operations more patient-friendly. A robot arm can also have remote control: telerobotics. At the Internet site of this journal a number of supplements to this article can be found, for instance three-dimensional (3D) illustrations (which is the purpose of the 3D spectacles enclosed with this issue) and a quiz (http:@appendix.niwi. knaw.nl).

  12. 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...

  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. Mobile Robot for Life Science Automation

    Directory of Open Access Journals (Sweden)

    Hui Liu

    2013-07-01

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

  15. Neural Behavior Chain Learning of Mobile Robot Actions

    Directory of Open Access Journals (Sweden)

    Lejla Banjanovic-Mehmedovic

    2012-01-01

    Full Text Available This paper presents a visual/motor behavior learning approach, based on neural networks. We propose Behavior Chain Model (BCM in order to create a way of behavior learning. Our behavior-based system evolution task is a mobile robot detecting a target and driving/acting towards it. First, the mapping relations between the image feature domain of the object and the robot action domain are derived. Second, a multilayer neural network for offline learning of the mapping relations is used. This learning structure through neural network training process represents a connection between the visual perceptions and motor sequence of actions in order to grip a target. Last, using behavior learning through a noticed action chain, we can predict mobile robot behavior for a variety of similar tasks in similar environment. Prediction results suggest that the methodology is adequate and could be recognized as an idea for designing different mobile robot behaviour assistance.

  16. Piezoresistive pressure sensor array for robotic skin

    Science.gov (United States)

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

    2016-05-01

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

  17. Development of MR compatible laparoscope robot using master-slave control method

    International Nuclear Information System (INIS)

    Toyoda, Kazutaka; Jaeheon, Chung; Murata, Masaharu; Odaira, Takeshi; Hashizume, Makoto; Ieiri, Satoshi

    2011-01-01

    Recently, MRI guided robotic surgery has been studied. This surgery uses MRI, a surgical navigation system and a surgical robot system intraoperatively for realization of safer and assured surgeries. We have developed a MR compatible laparoscope robot and 4DOF master manipulator (master) independently. So, in this research we report system integration of the master and the laparoscope robot. The degrees of freedom between the master and the laparoscope robot is the same (4DOF), so that the relation of orientation between master and laparoscope robot is one to one. The network communication method between the master and the laparoscope robot is UDP connection based on TCP/IP protocol for reduction of communication delay. In future work we will do experiments of operability of master-slave laparoscope robot system. (author)

  18. Networking

    OpenAIRE

    Rauno Lindholm, Daniel; Boisen Devantier, Lykke; Nyborg, Karoline Lykke; Høgsbro, Andreas; Fries, de; Skovlund, Louise

    2016-01-01

    The purpose of this project was to examine what influencing factor that has had an impact on the presumed increasement of the use of networking among academics on the labour market and how it is expressed. On the basis of the influence from globalization on the labour market it can be concluded that the globalization has transformed the labour market into a market based on the organization of networks. In this new organization there is a greater emphasis on employees having social qualificati...

  19. A Multidisciplinary Artificial Intelligence Model of an Affective Robot

    Directory of Open Access Journals (Sweden)

    Hooman Aghaebrahimi Samani

    2012-03-01

    Full Text Available A multidisciplinary approach to a novel artificial intelligence system for an affective robot is presented in this paper. The general objective of the system is to develop a robotic system which strives to achieve a high level of emotional bond between humans and robot by exploring human love. Such a relationship is a contingent process of attraction, affection and attachment from humans towards robots, and the belief of the vice versa from robots to humans. The advanced artificial intelligence of the system includes three modules, namely Probabilistic Love Assembly (PLA, based on the psychology of love, Artificial Endocrine System (AES, based on the physiology of love, and Affective State Transition (AST, based on emotions. The PLA module employs a Bayesian network to incorporate psychological parameters of affection in the robot. The AES module employs artificial emotional and biological hormones via a Dynamic Bayesian Network (DBN. The AST module uses a novel transition method for handling affective states of the robot. These three modules work together to manage emotional behaviours of the robot.

  20. An artificial flexible robot arm based on pneumatic muscle actuators

    Directory of Open Access Journals (Sweden)

    Renn Jyh-Chyang

    2017-01-01

    Full Text Available The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs. The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.

  1. Evolutionary online behaviour learning and adaptation in real robots.

    Science.gov (United States)

    Silva, Fernando; Correia, Luís; Christensen, Anders Lyhne

    2017-07-01

    Online evolution of behavioural control on real robots is an open-ended approach to autonomous learning and adaptation: robots have the potential to automatically learn new tasks and to adapt to changes in environmental conditions, or to failures in sensors and/or actuators. However, studies have so far almost exclusively been carried out in simulation because evolution in real hardware has required several days or weeks to produce capable robots. In this article, we successfully evolve neural network-based controllers in real robotic hardware to solve two single-robot tasks and one collective robotics task. Controllers are evolved either from random solutions or from solutions pre-evolved in simulation. In all cases, capable solutions are found in a timely manner (1 h or less). Results show that more accurate simulations may lead to higher-performing controllers, and that completing the optimization process in real robots is meaningful, even if solutions found in simulation differ from solutions in reality. We furthermore demonstrate for the first time the adaptive capabilities of online evolution in real robotic hardware, including robots able to overcome faults injected in the motors of multiple units simultaneously, and to modify their behaviour in response to changes in the task requirements. We conclude by assessing the contribution of each algorithmic component on the performance of the underlying evolutionary algorithm.

  2. Staying Safe on Social Network Sites

    Science.gov (United States)

    ... Tips Security Tip (ST06-003) Staying Safe on Social Networking Sites Original release date: January 26, 2011 | Last revised: ... so you should take certain precautions. What are social networking sites? Social networking sites, sometimes referred to as "friend- ...

  3. 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.)

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

    Directory of Open Access Journals (Sweden)

    Qi Wang

    2011-02-01

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

  5. Development of a Survivable Cloud Multi-Robot Framework for Heterogeneous Environments

    Directory of Open Access Journals (Sweden)

    Isaac Osunmakinde

    2014-10-01

    Full Text Available Cloud robotics is a paradigm that allows for robots to offload computationally intensive and data storage requirements into the cloud by providing a secure and customizable environment. The challenge for cloud robotics is the inherent problem of cloud disconnection. A major assumption made in the development of the current cloud robotics frameworks is that the connection between the cloud and the robot is always available. However, for multi-robots working in heterogeneous environments, the connection between the cloud and the robots cannot always be guaranteed. This work serves to assist with the challenge of disconnection in cloud robotics by proposing a survivable cloud multi-robotics (SCMR framework for heterogeneous environments. The SCMR framework leverages the combination of a virtual ad hoc network formed by robot-to-robot communication and a physical cloud infrastructure formed by robot-to-cloud communications. The quality of service (QoS on the SCMR framework was tested and validated by determining the optimal energy utilization and time of response (ToR on drivability analysis with and without cloud connection. The design trade-off, including the result, is between the computation energy for the robot execution and the offloading energy for the cloud execution.

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

    Science.gov (United States)

    Song, Kai; Liu, Qi; Wang, Qi

    2011-01-01

    Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE) and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN). Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability. PMID:22319401

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

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

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

  8. 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.

  9. 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

  10. Multidisciplinary approach for developing a new robotic system for domiciliary assistance to elderly people.

    Science.gov (United States)

    Cavallo, F; Aquilano, M; Bonaccorsi, M; Mannari, I; Carrozza, M C; Dario, P

    2011-01-01

    This paper aims to show the effectiveness of a (inter / multi)disciplinary team, based on the technology developers, elderly care organizations, and designers, in developing the ASTRO robotic system for domiciliary assistance to elderly people. The main issues presented in this work concern the improvement of robot's behavior by means of a smart sensor network able to share information with the robot for localization and navigation, and the design of the robot's appearance and functionalities by means of a substantial analysis of users' requirements and attitude to robotic technology to improve acceptability and usability.

  11. Illiquidity and All Its Friends

    OpenAIRE

    Tirole, Jean

    2009-01-01

    The recent crisis was characterized by massive illiquidity. This paper reviews what we know and don't know about illiquidity and all its friends: market freezes, fire sales, contagion, and ultimately insolvencies and bailouts. It first explains why liquidity cannot easily be apprehended through a single statistic, and asks whether liquidity should be regulated given that a capital adequacy requirement is already in place. The paper then analyzes market breakdowns due to either adverse selecti...

  12. French adolescents' environmental friendly behaviour

    OpenAIRE

    Schleyer-Lindenmann, Alexandra

    2012-01-01

    International audience; Environmental friendly behavior and attitudes have been studied in social sciences since the 1970 with the awakening of an « ecological consciousness ». Psychology has been actively taking part in these studies since then (Maloney & Ward, 1973, Oskamp, 2000, Schmuck & Schultz, 2002). Bronfenbrenner (1979) in his nested system approach, sees the person as seen as a developing entity, in constant interaction with different developing environments. We therefore propose to...

  13. 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.

  14. 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.

  15. Robotic devices for nuclear plant

    Energy Technology Data Exchange (ETDEWEB)

    Abel, E

    1986-05-01

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

  16. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

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

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

  17. Adaptive Robot Control – An Experimental Comparison

    Directory of Open Access Journals (Sweden)

    Francesco Alonge

    2012-11-01

    Full Text Available This paper deals with experimental comparison between stable adaptive controllers of robotic manipulators based on Model Based Adaptive, Neural Network and Wavelet -Based control. The above control methods were compared with each other in terms of computational efficiency, need for accurate mathematical model of the manipulator and tracking performances. An original management algorithm of the Wavelet Network control scheme has been designed, with the aim of constructing the net automatically during the trajectory tracking, without the need to tune it to the trajectory itself. Experimental tests, carried out on a planar two link manipulator, show that the Wavelet-Based control scheme, with the new management algorithm, outperforms the conventional Model-Based schemes in the presence of structural uncertainties in the mathematical model of the robot, without pre-training and more efficiently than the Neural Network approach.

  18. 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...

  19. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

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

  20. 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

  1. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

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

  2. 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.

  3. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

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

  4. 75 FR 63851 - Draft Friends Organizations Policy

    Science.gov (United States)

    2010-10-18

    ...] Draft Friends Organizations Policy AGENCY: Fish and Wildlife Service, Department of the Interior. ACTION... Service's mission through partnerships with Friends organizations (volunteer/advocate). Today, Friends organizations play a vital role in helping to fulfill the Service's mission of ``working with others, to...

  5. Fermilab Friends for Science Education | Welcome

    Science.gov (United States)

    Fermilab Friends for Science Education FFSE Home About Us Join Us Support Us Contact Us Fermilab Friends for Science Education photo Fermilab Friends for Science Education supports innovative science education programs at Fermilab. Its mission is to: Enhance the quality of precollege science education in

  6. 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...

  7. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

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

  8. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

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

  9. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

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

  10. 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....

  11. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

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

  12. Academic Achievement and Its Impact on Friend Dynamics.

    Science.gov (United States)

    Flashman, Jennifer

    2012-01-01

    Academic achievement in adolescence is a key determinant of future educational and occupational success. Friends play an important role in the educational process. They provide support and resources and can both encourage and discourage academic achievement. As a result, the friends adolescents make may help to maintain and exacerbate inequality if friends are sorted on the basis of academic achievement. These observations prompt the question: How does academic achievement affect the friendship ties made? Using data from the high schools in the Add Health saturated sample, the author models network change using a stochastic actor-based Markov model for the co-evolution of networks and behavior. This model is carried out at the school level for each of the high schools included in the saturated sample. Results show that in the most typical American schools, similarity in academic achievement is an important and consistent predictor of friendship ties in a dynamic context. High-achieving students are more likely to extend ties to other high-achieving students, net of other sociodemographic, network, and proximity characteristics, while low-achieving students are more likely to extend ties to other low-achieving students. Adolescents respond to changes in academic achievement by changing their friendship ties.

  13. iSpike: a spiking neural interface for the iCub robot

    International Nuclear Information System (INIS)

    Gamez, D; Fidjeland, A K; Lazdins, E

    2012-01-01

    This paper presents iSpike: a C++ library that interfaces between spiking neural network simulators and the iCub humanoid robot. It uses a biologically inspired approach to convert the robot’s sensory information into spikes that are passed to the neural network simulator, and it decodes output spikes from the network into motor signals that are sent to control the robot. Applications of iSpike range from embodied models of the brain to the development of intelligent robots using biologically inspired spiking neural networks. iSpike is an open source library that is available for free download under the terms of the GPL. (paper)

  14. Robot operating system (ROS) the complete reference

    CERN Document Server

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

  15. 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...

  16. 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...

  17. 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

  18. 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.

  19. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

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

  20. 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