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Sample records for giant robots iter

  1. Robot Calibration Using Iteration and Differential Kinematics

    Science.gov (United States)

    Ye, S. H.; Wang, Y.; Ren, Y. J.; Li, D. K.

    2006-10-01

    In the applications of seam laser tracking welding robot and general measuring robot station based on stereo vision, the robot calibration is the most difficult step during the whole system calibration progress. Many calibration methods were put forward, but the exact location of base frame has to be known no matter which method was employed. However, the accurate base frame location is hard to be known. In order to obtain the position of base coordinate, this paper presents a novel iterative algorithm which can also get parameters' deviations at the same time. It was a method of employing differential kinematics to solve link parameters' deviations and approaching real values step-by-step. In the end, experiment validation was provided.

  2. An iterative learning controller for nonholonomic mobile robots

    International Nuclear Information System (INIS)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-01-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method

  3. Model-based iterative learning control applied to an industrial robot with elasticity

    NARCIS (Netherlands)

    Hakvoort, Wouter; Aarts, Ronald G.K.M.; van Dijk, Johannes; Jonker, Jan B.; IEEE,

    2007-01-01

    In this paper model-based Iterative Learning Control (ILC) is applied to improve the tracking accuracy of an industrial robot with elasticity. The ILC algorithm iteratively updates the reference trajectory for the robot such that the predicted tracking error in the next iteration is minimised. The

  4. Accuracy analysis of hybrid parallel robot for the assembling of ITER

    International Nuclear Information System (INIS)

    Wang Yongbo; Pessi, Pekka; Wu Huapeng; Handroos, Heikki

    2009-01-01

    This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

  5. Chatter suppression methods of a robot machine for ITER vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Huapeng; Wang, Yongbo, E-mail: yongbo.wang@lut.fi; Li, Ming; Al-Saedi, Mazin; Handroos, Heikki

    2014-10-15

    Highlights: •A redundant 10-DOF serial-parallel hybrid robot for ITER assembly and maintains is presented. •A dynamic model of the robot is developed. •A feedback and feedforward controller is presented to suppress machining vibration of the robot. -- Abstract: In the process of assembly and maintenance of ITER vacuum vessel (ITER VV), various machining tasks including threading, milling, welding-defects cutting and flexible hose boring are required to be performed from inside of ITER VV by on-site machining tools. Robot machine is a promising option for these tasks, but great chatter (machine vibration) would happen in the machining process. The chatter vibration will deteriorate the robot accuracy and surface quality, and even cause some damages on the end-effector tools and the robot structure itself. This paper introduces two vibration control methods, one is passive and another is active vibration control. For the passive vibration control, a parallel mechanism is presented to increase the stiffness of robot machine; for the active vibration control, a hybrid control method combining feedforward controller and nonlinear feedback controller is introduced for chatter suppression. A dynamic model and its chatter vibration phenomena of a hybrid robot is demonstrated. Simulation results are given based on the proposed hybrid robot machine which is developed for the ITER VV assembly and maintenance.

  6. Chatter suppression methods of a robot machine for ITER vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Wu, Huapeng; Wang, Yongbo; Li, Ming; Al-Saedi, Mazin; Handroos, Heikki

    2014-01-01

    Highlights: •A redundant 10-DOF serial-parallel hybrid robot for ITER assembly and maintains is presented. •A dynamic model of the robot is developed. •A feedback and feedforward controller is presented to suppress machining vibration of the robot. -- Abstract: In the process of assembly and maintenance of ITER vacuum vessel (ITER VV), various machining tasks including threading, milling, welding-defects cutting and flexible hose boring are required to be performed from inside of ITER VV by on-site machining tools. Robot machine is a promising option for these tasks, but great chatter (machine vibration) would happen in the machining process. The chatter vibration will deteriorate the robot accuracy and surface quality, and even cause some damages on the end-effector tools and the robot structure itself. This paper introduces two vibration control methods, one is passive and another is active vibration control. For the passive vibration control, a parallel mechanism is presented to increase the stiffness of robot machine; for the active vibration control, a hybrid control method combining feedforward controller and nonlinear feedback controller is introduced for chatter suppression. A dynamic model and its chatter vibration phenomena of a hybrid robot is demonstrated. Simulation results are given based on the proposed hybrid robot machine which is developed for the ITER VV assembly and maintenance

  7. Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Hongbin Wang

    2016-01-01

    Full Text Available We propose an iterative learning control algorithm (ILC that is developed using a variable forgetting factor to control a mobile robot. The proposed algorithm can be categorized as an open-closed-loop iterative learning control, which produces control instructions by using both previous and current data. However, introducing a variable forgetting factor can weaken the former control output and its variance in the control law while strengthening the robustness of the iterative learning control. If it is applied to the mobile robot, this will reduce position errors in robot trajectory tracking control effectively. In this work, we show that the proposed algorithm guarantees tracking error bound convergence to a small neighborhood of the origin under the condition of state disturbances, output measurement noises, and fluctuation of system dynamics. By using simulation, we demonstrate that the controller is effective in realizing the prefect tracking.

  8. Numerical evaluation of mobile robot navigation in static indoor environment via EGAOR Iteration

    Science.gov (United States)

    Dahalan, A. A.; Saudi, A.; Sulaiman, J.; Din, W. R. W.

    2017-09-01

    One of the key issues in mobile robot navigation is the ability for the robot to move from an arbitrary start location to a specified goal location without colliding with any obstacles while traveling, also known as mobile robot path planning problem. In this paper, however, we examined the performance of a robust searching algorithm that relies on the use of harmonic potentials of the environment to generate smooth and safe path for mobile robot navigation in a static known indoor environment. The harmonic potentials will be discretized by using Laplacian’s operator to form a system of algebraic approximation equations. This algebraic linear system will be computed via 4-Point Explicit Group Accelerated Over-Relaxation (4-EGAOR) iterative method for rapid computation. The performance of the proposed algorithm will then be compared and analyzed against the existing algorithms in terms of number of iterations and execution time. The result shows that the proposed algorithm performed better than the existing methods.

  9. Robotic resection of giant left ventricular myxoma causing outflow tract obstruction.

    Science.gov (United States)

    Onan, Burak; Kahraman, Zeynep; Erturk, Mehmet; Erkanli, Korhan

    2017-05-01

    We report a 38-year-old female, who presented with progressive dyspnea and fatigue. Echocardiography revealed a giant and freely mobile left ventricular myxoma causing left ventricular outflow tract (LVOT) obstruction. The patient underwent totally endoscopic robotic excision of a giant left ventricular myxoma. The tumor was completely removed through the mitral valve orifice with a left atriotomy incision. © 2017 Wiley Periodicals, Inc.

  10. Lifted system iterative learning control applied to an industrial robot

    NARCIS (Netherlands)

    Hakvoort, Wouter; Aarts, Ronald G.K.M.; van Dijk, Johannes; Jonker, Jan B.

    2008-01-01

    This paper proposes a model-based iterative learning control algorithm for time-varying systems with a high convergence speed. The convergence of components of the tracking error can be controlled individually with the algorithm. The convergence speed of each error component can be maximised unless

  11. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

    2014-10-15

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  12. Accuracy improvement of a hybrid robot for ITER application using POE modeling method

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Yongbo, E-mail: yongbo.wang@hotmail.com [Laboratory of Intelligent Machines, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland)

    2013-10-15

    Highlights: ► The product of exponential (POE) formula for error modeling of hybrid robot. ► Differential Evolution (DE) algorithm for parameter identification. ► Simulation results are given to verify the effectiveness of the method. -- Abstract: This paper focuses on the kinematic calibration of a 10 degree-of-freedom (DOF) redundant serial–parallel hybrid robot to improve its accuracy. The robot was designed to perform the assembling and repairing tasks of the vacuum vessel (VV) of the international thermonuclear experimental reactor (ITER). By employing the product of exponentials (POEs) formula, we extended the POE-based calibration method from serial robot to redundant serial–parallel hybrid robot. The proposed method combines the forward and inverse kinematics together to formulate a hybrid calibration method for serial–parallel hybrid robot. Because of the high nonlinear characteristics of the error model and too many error parameters need to be identified, the traditional iterative linear least-square algorithms cannot be used to identify the parameter errors. This paper employs a global optimization algorithm, Differential Evolution (DE), to identify parameter errors by solving the inverse kinematics of the hybrid robot. Furthermore, after the parameter errors were identified, the DE algorithm was adopted to numerically solve the forward kinematics of the hybrid robot to demonstrate the accuracy improvement of the end-effector. Numerical simulations were carried out by generating random parameter errors at the allowed tolerance limit and generating a number of configuration poses in the robot workspace. Simulation of the real experimental conditions shows that the accuracy of the end-effector can be improved to the same precision level of the given external measurement device.

  13. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    International Nuclear Information System (INIS)

    Al-saedi, Mazin I.; Wu, Huapeng; Handroos, Heikki

    2014-01-01

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  14. Robot vision system R and D for ITER blanket remote-handling system

    Energy Technology Data Exchange (ETDEWEB)

    Maruyama, Takahito, E-mail: maruyama.takahito@jaea.go.jp [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Tesini, Alessandro [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France)

    2014-10-15

    For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system.

  15. Robot vision system R and D for ITER blanket remote-handling system

    International Nuclear Information System (INIS)

    Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Tesini, Alessandro

    2014-01-01

    For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system

  16. Iterative learning control with sampled-data feedback for robot manipulators

    Directory of Open Access Journals (Sweden)

    Delchev Kamen

    2014-09-01

    Full Text Available This paper deals with the improvement of the stability of sampled-data (SD feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more, while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached

  17. Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

    Directory of Open Access Journals (Sweden)

    Guofeng Tong

    2014-04-01

    Full Text Available This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

  18. Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng; Lai, Yinping [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Cao, Qixin [Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-12-15

    Robot motion planning is a fundamental problem to ensure the robot executing the task without clashes, fast and accurately in a special environment. In this paper, a motion planning of a 12 DOFs remote handling robot used for inspecting the working state of the ITER-like vessel and maintaining key device components is proposed and implemented. Firstly, the forward and inverse kinematics are given by analytic method. The work space and posture space of this manipulator are both considered. Then the motion planning is divided into three stages: coming out of the cassette mover, moving along the in-vessel center line, and inspecting the D-shape section. Lastly, the result of experiments verified the performance of the motion design method. In addition, the task of unscrewing/screwing the screw demonstrated the feasibility of system in function.

  19. Development of a Micro Swimming Robot Using Optimised Giant Magnetostrictive Thin Films

    Directory of Open Access Journals (Sweden)

    Y. Zhang

    2006-01-01

    Full Text Available A fish-like swimming micro robot is developed using an optimised fin actuator made of giant magnetostrictive films (GMFs. The force oscillation dynamic model of a GMF cantilever with variable cross-section area is derived, and the propulsive model of the fish robot in liquid is established. A discrete variate method for optimising caudal fin configuration is proposed to optimise its propulsive force and drive efficiency under the constraints of fixed surface area and sufficient fin end strength. Both theoretical analysis and experimental results have confirmed that the optimised caudal fin configuration can generate more powerful propulsion and improved efficiency.

  20. Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

    International Nuclear Information System (INIS)

    Wu Huapeng; Handroos, Heikki; Pessi, Pekka; Kilkki, Juha; Jones, Lawrence

    2005-01-01

    This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel (VV), consisting of a five degree-of-freedom parallel mechanism, mounted on a carriage driven by two electric motors on a rack. The kinematic design of the robot has been optimised for ITER access and a hydraulically actuated pre-prototype built. A hybrid controller is designed for the robot, including position, speed and pressure feedback loops to achieve high accuracy and high dynamic performances. Finally, the experimental tests are given and discussed

  1. Software design of the hybrid robot machine for ITER vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Li, Ming; Wu, Huapeng; Handroos, Heikki; Yang, Guangyou

    2013-01-01

    A specific software design is elaborated in this paper for the hybrid robot machine used for the ITER vacuum vessel (VV) assembly and maintenance. In order to provide the multi-machining-function as well as the complicated, flexible and customizable GUI designing satisfying the non-standardized VV assembly process in one hand, and in another hand guarantee the stringent machining precision in the real-time motion control of robot machine, a client–server-control software architecture is proposed, which separates the user interaction, data communication and robot control implementation into different software layers. Correspondingly, three particular application protocols upon the TCP/IP are designed to transmit the data, command and status between the client and the server so as to deal with the abundant data streaming in the software. In order not to be affected by the graphic user interface (GUI) modification process in the future experiment in VV assembly working field, the real-time control system is realized as a stand-alone module in the architecture to guarantee the controlling performance of the robot machine. After completing the software development, a milling operation is tested on the robot machine, and the result demonstrates that both the specific GUI operability and the real-time motion control performance could be guaranteed adequately in the software design

  2. Software design of the hybrid robot machine for ITER vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Li, Ming, E-mail: Ming.Li@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Yang, Guangyou [School of Mechanical Engineering, Hubei University of Technology, Wuhan (China)

    2013-10-15

    A specific software design is elaborated in this paper for the hybrid robot machine used for the ITER vacuum vessel (VV) assembly and maintenance. In order to provide the multi-machining-function as well as the complicated, flexible and customizable GUI designing satisfying the non-standardized VV assembly process in one hand, and in another hand guarantee the stringent machining precision in the real-time motion control of robot machine, a client–server-control software architecture is proposed, which separates the user interaction, data communication and robot control implementation into different software layers. Correspondingly, three particular application protocols upon the TCP/IP are designed to transmit the data, command and status between the client and the server so as to deal with the abundant data streaming in the software. In order not to be affected by the graphic user interface (GUI) modification process in the future experiment in VV assembly working field, the real-time control system is realized as a stand-alone module in the architecture to guarantee the controlling performance of the robot machine. After completing the software development, a milling operation is tested on the robot machine, and the result demonstrates that both the specific GUI operability and the real-time motion control performance could be guaranteed adequately in the software design.

  3. A mobile robot with parallel kinematics constructed under requirements for assembling and machining of the ITER vacuum vessel

    International Nuclear Information System (INIS)

    Pessi, P.; Huapeng Wu; Handroos, H.; Jones, L.

    2006-01-01

    ITER sectors require more stringent tolerances ± 5 mm than normally expected for the size of structure involved. The walls of ITER sectors are made of 60 mm thick stainless steel and are joined together by high efficiency structural and leak tight welds. In addition to the initial vacuum vessel assembly, sectors may have to be replaced for repair. Since commercially available machines are too heavy for the required machining operations and the lifting of a possible e-beam gun column system, and conventional robots lack the stiffness and accuracy in such machining condition, a new flexible, lightweight and mobile robotic machine is being considered. For the assembly of the ITER vacuum vessel sector, precise positioning of welding end-effectors, at some distance in a confined space from the available supports, will be required, which is not possible using conventional machines or robots. This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel, consisting of a ten-degree-of-freedom parallel robot mounted on a carriage driven by electric motor/gearbox on a track. The robot consists of a Stewart platform based parallel mechanism. Water hydraulic cylinders are used as actuators to reach six degrees of freedom for parallel construction. Two linear and two rotational motions are used for enlargement the workspace of the manipulator. The robot carries both welding gun such as a TIG, hybrid laser or e-beam welding gun to weld the inner and outer walls of the ITER vacuum vessel sectors and machining tools to cut and milling the walls with necessary accuracy, it can also carry other tools and material to a required position inside the vacuum vessel . For assembling an on line six degrees of freedom seam finding algorithm has been developed, which enables the robot to find welding seam automatically in a very complex environment. In the machining multi flexible machining processes carried out automatically by

  4. Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

    International Nuclear Information System (INIS)

    Pessi, P.

    2009-01-01

    It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

  5. Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Pessi, P.

    2009-07-01

    It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

  6. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    International Nuclear Information System (INIS)

    Gargiulo, L.; Cordier, J.J.; Friconneau, J.P.; Grisolia, C.; Palmer, J.D.; Perrot, Y.; Samaille, F.

    2007-01-01

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel remote handling inspection system using a long reach, limited payload carrier. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development will allow close inspection of the Tore Supra plasma facing components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be simulated on Tore Supra through the deuterium inventory under long-time plasma discharges. The in situ leakage localisation of a damaged plasma facing component is also one of the major ITER maintenance challenges that could use remote handling inspection tools

  7. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, L. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France)], E-mail: laurent.gargiulo@cea.fr; Cordier, J.J. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [CEA-LIST Robotics and Interactive Systems Unit, BP6 F-92265 Fontenay aux Roses Cedex (France); Grisolia, C. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France); Palmer, J.D. [EFDA CSU, Max-Planck-Institut fuer Plasma Physik Boltzmannstr. 2, D-85748 Garching (Germany); Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, BP6 F-92265 Fontenay aux Roses Cedex (France); Samaille, F. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France)

    2007-10-15

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel remote handling inspection system using a long reach, limited payload carrier. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development will allow close inspection of the Tore Supra plasma facing components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be simulated on Tore Supra through the deuterium inventory under long-time plasma discharges. The in situ leakage localisation of a damaged plasma facing component is also one of the major ITER maintenance challenges that could use remote handling inspection tools.

  8. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    International Nuclear Information System (INIS)

    Laurent Gargiulo, L.; Cordier, J.-J.; Samaille, F.; Grisolia, Ch.; Perrot, Y.; Olivier, D.; Friconneau, J.-P.; Palmer, J.

    2006-01-01

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier. This project called AIA (Articulated Inspection Arm) is currently being developed at CEA under a European EFDA work program. The paper describes the detailed design, the manufacturing processes and the results of the first module test campaign in the CEA Tore Supra ME60 facility, at representative vacuum, temperature and nominal loading conditions. The second part of this work that is reported in the paper, concerns the description of the whole integration of the device on the Tore Supra tokamak that is foreseen to be operated on Tore Supra early 2007. The deployer system and the 10 m long storage vacuum vessel are presented. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development is presented in the paper. It will allow close inspection of the Tore Supra Plasma Facing Components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. Such viewing process could be used on ITER during the early stage of operation under a limited radiation level. The AIA technology is also showing promising potential for generic application in alternative systems for ITER. The feasibility study for viewing inspection of the beam line components in the neutral beam test facility is presented. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be

  9. Iter

    Science.gov (United States)

    Iotti, Robert

    2015-04-01

    ITER is an international experimental facility being built by seven Parties to demonstrate the long term potential of fusion energy. The ITER Joint Implementation Agreement (JIA) defines the structure and governance model of such cooperation. There are a number of necessary conditions for such international projects to be successful: a complete design, strong systems engineering working with an agreed set of requirements, an experienced organization with systems and plans in place to manage the project, a cost estimate backed by industry, and someone in charge. Unfortunately for ITER many of these conditions were not present. The paper discusses the priorities in the JIA which led to setting up the project with a Central Integrating Organization (IO) in Cadarache, France as the ITER HQ, and seven Domestic Agencies (DAs) located in the countries of the Parties, responsible for delivering 90%+ of the project hardware as Contributions-in-Kind and also financial contributions to the IO, as ``Contributions-in-Cash.'' Theoretically the Director General (DG) is responsible for everything. In practice the DG does not have the power to control the work of the DAs, and there is not an effective management structure enabling the IO and the DAs to arbitrate disputes, so the project is not really managed, but is a loose collaboration of competing interests. Any DA can effectively block a decision reached by the DG. Inefficiencies in completing design while setting up a competent organization from scratch contributed to the delays and cost increases during the initial few years. So did the fact that the original estimate was not developed from industry input. Unforeseen inflation and market demand on certain commodities/materials further exacerbated the cost increases. Since then, improvements are debatable. Does this mean that the governance model of ITER is a wrong model for international scientific cooperation? I do not believe so. Had the necessary conditions for success

  10. Finding the Optimal Parameters for Robotic Manipulator Applications of the Bounded Error Algorithm for Iterative Learning Control

    Directory of Open Access Journals (Sweden)

    Yovchev Kaloyan

    2017-12-01

    Full Text Available This paper continues previous research of the Bounded Error Algorithm (BEA for Iterative Learning Control (ILC and its application into the control of robotic manipulators. It focuses on investigation of the influence of the parameters of BEA over the convergence rate of the ILC process. This is performed first through a computer simulation. This simulation suggests optimal values for the parameters. Afterwards, the estimated results are validated on a physical robotic manipulator arm. Also, this is one of the first reports of applying BEA into robots control.

  11. Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

    Directory of Open Access Journals (Sweden)

    Peihua Chen

    2014-01-01

    Full Text Available Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV, a planar articulated arm (PAA, and an articulated teleoperated manipulator (ATM. The task of RHR is to carry processing tools, such as the viewing system, leakage detector, and electric screwdriver, to inspect and maintain the components installed inside the D-shaped vessel. The kinematics of the OTV, as well as the kinematic analyses of the PAA and ATM, is studied in this paper. Because of its special length and heavy payload, the dynamics of the PAA is also investigated through a dynamic simulation system based on robot technology middleware (RTM. The results of the path planning, workspace simulations, and dynamic simulation indicate that the RHR has good mobility together with satisfying kinematic and dynamic performances and can well accomplish its maintenance tasks in the ITER-like D-shaped vessel.

  12. Hand-Eye LRF-Based Iterative Plane Detection Method for Autonomous Robotic Welding

    Directory of Open Access Journals (Sweden)

    Sungmin Lee

    2015-12-01

    Full Text Available This paper proposes a hand-eye LRF-based (laser range finder welding plane-detection method for autonomous robotic welding in the field of shipbuilding. The hand-eye LRF system consists of a 6 DOF manipulator and an LRF attached to the wrist of the manipulator. The welding plane is detected by the LRF with only the wrist's rotation to minimize a mechanical error caused by the manipulator's motion. A position on the plane is determined as an average position of the detected points on the plane, and a normal vector to the plane is determined by applying PCA (principal component analysis to the detected points. In this case, the accuracy of the detected plane is analysed by simulations with respect to the wrist's angle interval and the plane angle. As a result of the analysis, an iterative plane-detection method with the manipulator's alignment motion is proposed to improve the performance of plane detection. For verifying the feasibility and effectiveness of the proposed plane-detection method, experiments are carried out with a prototype of the hand-eye LRF-based system, which consists of a 1 DOF wrist's joint, an LRF system and a rotatable plane. In addition, the experimental results of the PCA-based plane detection method are compared with those of the two representative plane-detection methods, based on RANSAC (RANdom SAmple Consensus and the 3D Hough transform in both accuracy and computation time's points of view.

  13. Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot.

    Science.gov (United States)

    Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei

    2017-08-01

    Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal

  14. Solving the robot-world, hand-eye(s) calibration problem with iterative methods

    Science.gov (United States)

    Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been modeled as AX = ZB, where X and Z are unknown homogeneous ...

  15. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2013-11-01

    Full Text Available In order to reduce the estimated errors of the inertial navigation system (INS/Wireless sensor network (WSN-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS utilizing inertial measuring units (IMUs and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.

  16. Iterative learning control for LTV systems with applications to an industrial robot

    NARCIS (Netherlands)

    Hakvoort, Wouter

    2009-01-01

    Industrial robots are widely used in industry because of their dexterity, the high manipulation speed and the relatively low price. However, the applicability of these robots is limited by the mediocre accuracy resulting from the low bandwidth of standard industrial controllers. Fortunately, the

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

    Directory of Open Access Journals (Sweden)

    Meadmore Katie L

    2012-06-01

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

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

    Science.gov (United States)

    Meadmore, Katie L; Hughes, Ann-Marie; Freeman, Chris T; Cai, Zhonglun; Tong, Daisy; Burridge, Jane H; Rogers, Eric

    2012-06-07

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

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

    Science.gov (United States)

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

    2016-02-01

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

  20. Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Li, Ming, E-mail: ming.li@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Yang, Guangyou [School of Mechanical Engineering, Hubei University of Technology, Wuhan (China); Wang, Yongbo [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland)

    2015-10-15

    applying these protocols, the software for a multi-task robot machine that is used for ITER vacuum vessel assembly and maintenance has been developed and it is demonstrated that machining tasks of the robot machine, such as milling, drilling, welding etc., can be implemented in both an individual and composite way.

  1. Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Li, Ming; Wu, Huapeng; Handroos, Heikki; Yang, Guangyou; Wang, Yongbo

    2015-01-01

    applying these protocols, the software for a multi-task robot machine that is used for ITER vacuum vessel assembly and maintenance has been developed and it is demonstrated that machining tasks of the robot machine, such as milling, drilling, welding etc., can be implemented in both an individual and composite way.

  2. INTELLIGENT FRACTIONAL ORDER ITERATIVE LEARNING CONTROL USING FEEDBACK LINEARIZATION FOR A SINGLE-LINK ROBOT

    Directory of Open Access Journals (Sweden)

    Iman Ghasemi

    2017-05-01

    Full Text Available In this paper, iterative learning control (ILC is combined with an optimal fractional order derivative (BBO-Da-type ILC and optimal fractional and proportional-derivative (BBO-PDa-type ILC. In the update law of Arimoto's derivative iterative learning control, a first order derivative of tracking error signal is used. In the proposed method, fractional order derivative of the error signal is stated in term of 'sa' where  to update iterative learning control law. Two types of fractional order iterative learning control namely PDa-type ILC and Da-type ILC are gained for different value of a. In order to improve the performance of closed-loop control system, coefficients of both  and  learning law i.e. proportional , derivative  and  are optimized using Biogeography-Based optimization algorithm (BBO. Outcome of the simulation results are compared with those of the conventional fractional order iterative learning control to verify effectiveness of BBO-Da-type ILC and BBO-PDa-type ILC

  3. Improved tip tracking for an industrial robot using Iterative Learning Control

    NARCIS (Netherlands)

    Hakvoort, Wouter; Aarts, Ronald G.K.M.; Jonker, Jan B.

    2005-01-01

    The laser welding process puts high demands on the manipulator that moves the laser beam with respect to the weld seam. Typically an accuracy of about 0.1 mm is required at speeds beyond 100 mm/s. From an industrial perspective the use of six-axes industrial robots is attractive as these can access

  4. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2014-01-01

    Full Text Available As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF which used the noise statistics estimator in the iterated extended Kalman (IEKF, and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS/wireless sensors networks (WSNs-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  5. Adaptive iterated extended Kalman filter and its application to autonomous integrated navigation for indoor robot.

    Science.gov (United States)

    Xu, Yuan; Chen, Xiyuan; Li, Qinghua

    2014-01-01

    As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF) which used the noise statistics estimator in the iterated extended Kalman (IEKF), and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS)/wireless sensors networks (WSNs)-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE) of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  6. A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Soares, João [Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Vale, Alberto, E-mail: avale@ipfn.tecnico.ulisboa.pt [Instituto de Plasmas e Fusão Nuclear, Instituto SuperiorTécnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ventura, Rodrigo, E-mail: rodrigo.ventura@isr.tecnico.ulisboa.pt [Laboratório de Robótica e Sistemas em Engenharia eCiência, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)

    2015-10-15

    Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

  7. A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

    International Nuclear Information System (INIS)

    Soares, João; Vale, Alberto; Ventura, Rodrigo

    2015-01-01

    Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

  8. Robotics.

    Science.gov (United States)

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  9. Robot

    OpenAIRE

    Flek, O.

    2015-01-01

    The objective of this paper is to design and produce a robot based on a four wheel chassis equipped with a robotic arm capable of manipulating small objects. The robot should be able to operate in an autonomous mode controlled by a microcontroller and in a mode controlled wirelessly by an operator in real time. Precision and accuracy of the robotic arm should be sufficient for the collection of small objects, such as syringes and needles. The entire robot should be easy to operate user-friend...

  10. 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

  11. Robotics

    Indian Academy of Sciences (India)

    computed torque method or feedback linearization. Hence, the resultant system is linear and for this the controller is easier to design. Software. Software, in addition to acting as a binding thread for the various robot subsystems, plays an important role in control. Physical devices like amplifiers, integrators, differentiators, etc.

  12. ITER...ation

    International Nuclear Information System (INIS)

    Troyon, F.

    1997-01-01

    Recurrent attacks against ITER, the new generation of tokamak are a mix of political and scientific arguments. This short article draws a historical review of the European fusion program. This program has allowed to build and manage several installations in the aim of getting experimental results necessary to lead the program forwards. ITER will bring together a fusion reactor core with technologies such as materials, superconductive coils, heating devices and instrumentation in order to validate and delimit the operating range. ITER will be a logical and decisive step towards the use of controlled fusion. (A.C.)

  13. Summer distribution and abundance of the giant devil ray (Mobula mobular in the Adriatic Sea: Baseline data for an iterative management framework

    Directory of Open Access Journals (Sweden)

    Caterina Maria Fortuna

    2014-06-01

    Full Text Available The giant devil ray (Mobula mobular is a poorly understood protected endemic species of the eastern Atlantic-Mediterranean region. However, to date there are no range-wide management actions in place. This paper provides the first overview of the summer distribution and abundance of this species and other Myliobatiformes within the Adriatic Sea based on an aerial survey. Although the survey´s primary targets were cetaceans and sea turtles, the study showed that it was possible to use the survey to monitor other species. Abundance estimates are derived using conventional distance sampling analysis. Giant devil rays were observed mainly in the central-southern Adriatic (88% of total sightings. A total of 1595 giant devil rays were estimated in the central-southern Adriatic Sea [coefficient of variation(CV=25%, uncorrected estimate for perception and availability bias]. When corrected for availability bias the number of specimens was estimated at 3255 (CV=56%. Population growth rate was estimated using life history traits and a sensitivity analysis was conducted to evaluate the benefit of improving biological knowledge on this data-poor species. A power analysis showed that a long-term commitment to an aerial survey would be necessary to monitor population trends. Conservation implications and future work, including how the study could be used to conduct an ecological risk assessment are discussed.

  14. Iterating skeletons

    DEFF Research Database (Denmark)

    Dieterle, Mischa; Horstmeyer, Thomas; Berthold, Jost

    2012-01-01

    a particular skeleton ad-hoc for repeated execution turns out to be considerably complicated, and raises general questions about introducing state into a stateless parallel computation. In addition, one would strongly prefer an approach which leaves the original skeleton intact, and only uses it as a building...... block inside a bigger structure. In this work, we present a general framework for skeleton iteration and discuss requirements and variations of iteration control and iteration body. Skeleton iteration is expressed by synchronising a parallel iteration body skeleton with a (likewise parallel) state......Skeleton-based programming is an area of increasing relevance with upcoming highly parallel hardware, since it substantially facilitates parallel programming and separates concerns. When parallel algorithms expressed by skeletons involve iterations – applying the same algorithm repeatedly...

  15. ITER safety

    International Nuclear Information System (INIS)

    Raeder, J.; Piet, S.; Buende, R.

    1991-01-01

    As part of the series of publications by the IAEA that summarize the results of the Conceptual Design Activities for the ITER project, this document describes the ITER safety analyses. It contains an assessment of normal operation effluents, accident scenarios, plasma chamber safety, tritium system safety, magnet system safety, external loss of coolant and coolant flow problems, and a waste management assessment, while it describes the implementation of the safety approach for ITER. The document ends with a list of major conclusions, a set of topical remarks on technical safety issues, and recommendations for the Engineering Design Activities, safety considerations for siting ITER, and recommendations with regard to the safety issues for the R and D for ITER. Refs, figs and tabs

  16. A modeling framework for user-driven iterative design of autonomous systems

    NARCIS (Netherlands)

    Lohse, M.; Siepmann, Frederic; Wachsmuth, Sven

    Many researchers in human-robot interaction have acknowledged the fact that iterative design is necessary to optimize the robots for the interaction with the users. However, few iterative user studies have been reported. We believe that one reason for this is that setting up systems for iterative

  17. Giant grains

    International Nuclear Information System (INIS)

    Leitch-Devlin, M.A.; Millar, T.J.; Williams, D.A.

    1976-01-01

    Infrared observations of the Orion nebula have been interpreted by Rowan-Robinson (1975) to imply the existence of 'giant' grains, radius approximately 10 -2 cm, throughout a volume about a parsec in diameter. Although Rowan-Robinson's model of the nebula has been criticized and the presence of such grains in Orion is disputed, the proposition is accepted, that they exist, and in this paper situations in which giant grains could arise are examined. It is found that, while a giant-grain component to the interstellar grain density may exist, it is difficult to understand how giant grains arise to the extent apparently required by the Orion nebula model. (Auth.)

  18. ITER magnets

    International Nuclear Information System (INIS)

    Bottura, L.; Hasegawa, M.; Heim, J.

    1991-01-01

    As part of the summary of the Conceptual Design Activities (CDA) for the International Thermonuclear Experimental Reactor (ITER), this document describes the magnet systems for ITER, including the Toroidal Field (TF) and Poloidal Field (PF) Magnets, the Structural Support System and Cryostat, the Cryogenic System, the TF and PF Power and Protection Systems, and Coil Services and Diagnostics. After an Introduction and Summary, the document discusses the (i) Design Basis, including General Requirements, Design Criteria, Design Philosophy, and the Database (a.o., engineering data on key materials and components), and (ii) the Subsystem Design and Analysis, including Conductor Design, TF Coil and Structure Design, TF Structural Analysis, PF Coil and Structure Design, PF Structural Performance, Fatigue Assessment of Structures, AC Loss Performance, Thermohydraulic Performance, Stability, Cryogenic System, Power Supply Systems, and Coil Services. All magnets are superconducting, (based on Nb 3 Sn) except the Active Control Coils inside the Vacuum Vessel. The fault analysis has been taken to a level consistent with the design definition, showing that the present design meets the requirement for passive safety or can be made to meet it with only minor modifications. A more detailed assessment in this regard is needed but must await further development of the design. In conclusion, the magnet design concepts presently proposed can be developed into an engineering design. Refs, figs and tabs

  19. Characterization Of Robot Work Cell

    Science.gov (United States)

    Anderson, Ronald R.; Paternoster, Vincent Y.; Guthmiller, Wayne A.

    1990-01-01

    Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.

  20. ITER council proceedings: 2001

    International Nuclear Information System (INIS)

    2001-01-01

    Continuing the ITER EDA, two further ITER Council Meetings were held since the publication of ITER EDA documentation series no, 20, namely the ITER Council Meeting on 27-28 February 2001 in Toronto, and the ITER Council Meeting on 18-19 July in Vienna. That Meeting was the last one during the ITER EDA. This volume contains records of these Meetings, including: Records of decisions; List of attendees; ITER EDA status report; ITER EDA technical activities report; MAC report and advice; Final report of ITER EDA; and Press release

  1. Development and test of prototype components for ITER

    International Nuclear Information System (INIS)

    Biel, Wolfgang; Behr, Wilfried; Castano-Bardawil, David

    2015-08-01

    The scientific program of the project is divided into the following partial projects: (1.) ITER Diagnostic Port Plug for the charge-exchange spectroscopy (CXRS) with the subthemes: (a) Development of prototypes for critical mechanical components, (b) development of a roboter for the laser welding of vacuum seals and pipings at the Port Plug, (c) mirror studies, (d) CXRS prototype spectrometer, (2.) ITER tritium retention diagnostics (TR), (3.) ITER disruption mitigation ventile (DMV).

  2. 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…

  3. Giant Magnetoresistance

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 13; Issue 4. Giant Magnetoresistance - Nobel Prize in Physics 2007. Debakanta Samal P S Anil Kumar. General Article Volume 13 Issue 4 April 2008 pp 343-354. Fulltext. Click here to view fulltext PDF. Permanent link:

  4. ITER council proceedings: 1998

    International Nuclear Information System (INIS)

    1999-01-01

    This volume contains documents of the 13th and the 14th ITER council meeting as well as of the 1st extraordinary ITER council meeting. Documents of the ITER meetings held in Vienna and Yokohama during 1998 are also included. The contents include an outline of the ITER objectives, the ITER parameters and design overview as well as operating scenarios and plasma performance. Furthermore, design features, safety and environmental characteristics are given

  5. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

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

  6. Robotic surgery

    Science.gov (United States)

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... Robotic surgery is similar to laparoscopic surgery. It can be performed through smaller cuts than open surgery. ...

  7. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

  8. ITER Council proceedings: 1993

    International Nuclear Information System (INIS)

    1994-01-01

    Records of the third ITER Council Meeting (IC-3), held on 21-22 April 1993, in Tokyo, Japan, and the fourth ITER Council Meeting (IC-4) held on 29 September - 1 October 1993 in San Diego, USA, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA), such as the text of the draft of Protocol 2 further elaborated in ''ITER EDA Agreement and Protocol 2'' (ITER EDA Documentation Series No. 5), recommendations on future work programmes: a description of technology R and D tasks; the establishment of a trust fund for the ITER EDA activities; arrangements for Visiting Home Team Personnel; the general framework for the involvement of other countries in the ITER EDA; conditions for the involvement of Canada in the Euratom Contribution to the ITER EDA; and other attachments as parts of the Records of Decision of the aforementioned ITER Council Meetings

  9. ITER council proceedings: 2000

    International Nuclear Information System (INIS)

    2001-01-01

    No ITER Council Meetings were held during 2000. However, two ITER EDA Meetings were held, one in Tokyo, January 19-20, and one in Moscow, June 29-30. The parties participating in these meetings were those that partake in the extended ITER EDA, namely the EU, the Russian Federation, and Japan. This document contains, a/o, the records of these meetings, the list of attendees, the agenda, the ITER EDA Status Reports issued during these meetings, the TAC (Technical Advisory Committee) reports and recommendations, the MAC Reports and Advice (also for the July 1999 Meeting), the ITER-FEAT Outline Design Report, the TAC Reports and Recommendations both meetings), Site requirements and Site Design Assumptions, the Tentative Sequence of technical Activities 2000-2001, Report of the ITER SWG-P2 on Joint Implementation of ITER, EU/ITER Canada Proposal for New ITER Identification

  10. 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...... discourse shapes how we perceive and use technology and also points to the ways in which emerging technologies “refashion our experience of space, time and human being filter through our art works, dreams and fantasies.” This paper considers a survey of robot dramaturgies to demonstrate how performance both...... shapes and reinforces popular awareness and misconceptions of robots. Flyvende Grise’s The Future (2013), Amit Drori’s Savanna (2010), Global Creatures’ King Kong (2013) and Louis Philip Demers’ Blind Robot (2013) each utilize tele-operated robots across a wide range of human and animal morphologies...

  11. Robots and service innovation in health care.

    Science.gov (United States)

    Oborn, Eivor; Barrett, Michael; Darzi, Ara

    2011-01-01

    Robots have long captured our imagination and are being used increasingly in health care. In this paper we summarize, organize and criticize the health care robotics literature and highlight how the social and technical elements of robots iteratively influence and redefine each other. We suggest the need for increased emphasis on sociological dimensions of using robots, recognizing how social and work relations are restructured during changes in practice. Further, we propose the usefulness of a 'service logic' in providing insight as to how robots can influence health care innovation. The Royal Society of Medicine Press Ltd 2011.

  12. ITER council proceedings: 1995

    International Nuclear Information System (INIS)

    1996-01-01

    Records of the 8. ITER Council Meeting (IC-8), held on 26-27 July 1995, in San Diego, USA, and the 9. ITER Council Meeting (IC-9) held on 12-13 December 1995, in Garching, Germany, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA) and the ITER Interim Design Report Package and Relevant Documents. Figs, tabs

  13. WindBots: persistent in-situ science explorers for gas giants

    Data.gov (United States)

    National Aeronautics and Space Administration — We envision persistent exploration of the gas giants with robots powered by locally harvested energy, performing in-situ observational atmospheric science. Riding...

  14. ITER EDA technical activities

    International Nuclear Information System (INIS)

    Aymar, R.

    1998-01-01

    Six years of technical work under the ITER EDA Agreement have resulted in a design which constitutes a complete description of the ITER device and of its auxiliary systems and facilities. The ITER Council commented that the Final Design Report provides the first comprehensive design of a fusion reactor based on well established physics and technology

  15. ITER radio frequency systems

    International Nuclear Information System (INIS)

    Bosia, G.

    1998-01-01

    Neutral Beam Injection and RF heating are two of the methods for heating and current drive in ITER. The three ITER RF systems, which have been developed during the EDA, offer several complementary services and are able to fulfil ITER operational requirements

  16. ITER council proceedings: 1999

    International Nuclear Information System (INIS)

    1999-01-01

    In 1999 the ITER meeting in Cadarache (10-11 March 1999) and the Programme Directors Meeting in Grenoble (28-29 July 1999) took place. Both meetings were exclusively devoted to ITER engineering design activities and their agendas covered all issues important for the development of ITER. This volume presents the documents of these two important meetings

  17. ITER council proceedings: 1996

    International Nuclear Information System (INIS)

    1997-01-01

    Records of the 10. ITER Council Meeting (IC-10), held on 26-27 July 1996, in St. Petersburg, Russia, and the 11. ITER Council Meeting (IC-11) held on 17-18 December 1996, in Tokyo, Japan, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA) and the cost review and safety analysis. Figs, tabs

  18. Robot see, robot maps

    OpenAIRE

    Darmanin, Rachael N.

    2016-01-01

    The term ‘robot’ tends to conjure up images of well-known metal characters like C-3P0, R2-D2, and WALL-E. The robotics research boom has in the end enabled the introduction of real robots into our homes, workspaces, and recreational places. The pop culture icons we loved have now been replaced with the likes of robot vacuums such as the Roomba and home-automated systems for smoke detectors, or WIFI-enabled thermostats, such as the Nest. Nonetheless, building a fully autonomous mobile robot is...

  19. Robot and robot system

    Science.gov (United States)

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

    2011-01-01

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

  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. ITER-FEAT safety

    International Nuclear Information System (INIS)

    Gordon, C.W.; Bartels, H.-W.; Honda, T.; Raeder, J.; Topilski, L.; Iseli, M.; Moshonas, K.; Taylor, N.; Gulden, W.; Kolbasov, B.; Inabe, T.; Tada, E.

    2001-01-01

    Safety has been an integral part of the design process for ITER since the Conceptual Design Activities of the project. The safety approach adopted in the ITER-FEAT design and the complementary assessments underway, to be documented in the Generic Site Safety Report (GSSR), are expected to help demonstrate the attractiveness of fusion and thereby set a good precedent for future fusion power reactors. The assessments address ITER's radiological hazards taking into account fusion's favourable safety characteristics. The expectation that ITER will need regulatory approval has influenced the entire safety design and assessment approach. This paper summarises the ITER-FEAT safety approach and assessments underway. (author)

  2. ITER council proceedings: 1997

    International Nuclear Information System (INIS)

    1997-01-01

    This volume of the ITER EDA Documentation Series presents records of the 12th ITER Council Meeting, IC-12, which took place on 23-24 July, 1997 in Tampere, Finland. The Council received from the Parties (EU, Japan, Russia, US) positive responses on the Detailed Design Report. The Parties stated their willingness to contribute to fulfil their obligations in contributing to the ITER EDA. The summary discussions among the Parties led to the consensus that in July 1998 the ITER activities should proceed for additional three years with a general intent to enable an efficient start of possible, future ITER construction

  3. Transforming giants.

    Science.gov (United States)

    Kanter, Rosabeth Moss

    2008-01-01

    Large corporations have long been seen as lumbering, inflexible, bureaucratic--and clueless about global developments. But recently some multinationals seem to be transforming themselves: They're engaging employees, moving quickly, and introducing innovations that show true connection with the world. Harvard Business School's Kanter ventured with a research team inside a dozen global giants--including IBM, Procter & Gamble, Omron, CEMEX, Cisco, and Banco Real--to discover what has been driving the change. After conducting more than 350 interviews on five continents, she and her colleagues came away with a strong sense that we are witnessing the dawn of a new model of corporate power: The coordination of actions and decisions on the front lines now appears to stem from widely shared values and a sturdy platform of common processes and technology, not from top-down decrees. In particular, the values that engage the passions of far-flung workforces stress openness, inclusion, and making the world a better place. Through this shift in what might be called their guidance systems, the companies have become as creative and nimble as much smaller ones, even while taking on social and environmental challenges of a scale that only large enterprises could attempt. IBM, for instance, has created a nonprofit partnership, World Community Grid, through which any organization or individual can donate unused computing power to research projects and see what is being done with the donation in real time. IBM has gained an inspiring showcase for its new technology, helped business partners connect with the company in a positive way, and offered individuals all over the globe the chance to contribute to something big.

  4. Giant Cell Arteritis

    Science.gov (United States)

    Giant cell arteritis is a disorder that causes inflammation of your arteries, usually in the scalp, neck, and arms. ... arteries, which keeps blood from flowing well. Giant cell arteritis often occurs with another disorder called polymyalgia ...

  5. Giant congenital nevus

    Science.gov (United States)

    ... nevus; Giant hairy nevus; Giant pigmented nevus; Bathing trunk nevus; Congenital melanocytic nevus - large ... the spine) Involvement of the membranes of the brain and spinal cord when the nevus affects a ...

  6. ITER test programme

    International Nuclear Information System (INIS)

    Abdou, M.; Baker, C.; Casini, G.

    1991-01-01

    ITER has been designed to operate in two phases. The first phase which lasts for 6 years, is devoted to machine checkout and physics testing. The second phase lasts for 8 years and is devoted primarily to technology testing. This report describes the technology test program development for ITER, the ancillary equipment outside the torus necessary to support the test modules, the international collaboration aspects of conducting the test program on ITER, the requirements on the machine major parameters and the R and D program required to develop the test modules for testing in ITER. 15 refs, figs and tabs

  7. Robotic guarded motion system and method

    Science.gov (United States)

    Bruemmer, David J.

    2010-02-23

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

  8. Static stiffness modeling of a novel hybrid redundant robot machine

    Energy Technology Data Exchange (ETDEWEB)

    Li Ming, E-mail: hackingming@gmail.com [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland)

    2011-10-15

    This paper presents a modeling method to study the stiffness of a hybrid serial-parallel robot IWR (Intersector Welding Robot) for the assembly of ITER vacuum vessel. The stiffness matrix of the basic element in the robot is evaluated using matrix structural analysis (MSA); the stiffness of the parallel mechanism is investigated by taking account of the deformations of both hydraulic limbs and joints; the stiffness of the whole integrated robot is evaluated by employing the virtual joint method and the principle of virtual work. The obtained stiffness model of the hybrid robot is analytical and the deformation results of the robot workspace under certain external load are presented.

  9. Static stiffness modeling of a novel hybrid redundant robot machine

    International Nuclear Information System (INIS)

    Li Ming; Wu Huapeng; Handroos, Heikki

    2011-01-01

    This paper presents a modeling method to study the stiffness of a hybrid serial-parallel robot IWR (Intersector Welding Robot) for the assembly of ITER vacuum vessel. The stiffness matrix of the basic element in the robot is evaluated using matrix structural analysis (MSA); the stiffness of the parallel mechanism is investigated by taking account of the deformations of both hydraulic limbs and joints; the stiffness of the whole integrated robot is evaluated by employing the virtual joint method and the principle of virtual work. The obtained stiffness model of the hybrid robot is analytical and the deformation results of the robot workspace under certain external load are presented.

  10. United States rejoin ITER

    International Nuclear Information System (INIS)

    Roberts, M.

    2003-01-01

    Upon pressure from the United States Congress, the US Department of Energy had to withdraw from further American participation in the ITER Engineering Design Activities after the end of its commitment to the EDA in July 1998. In the years since that time, changes have taken place in both the ITER activity and the US fusion community's position on burning plasma physics. Reflecting the interest in the United States in pursuing burning plasma physics, the DOE's Office of Science commissioned three studies as part of its examination of the option of entering the Negotiations on the Agreement on the Establishment of the International Fusion Energy Organization for the Joint Implementation of the ITER Project. These were a National Academy Review Panel Report supporting the burning plasma mission; a Fusion Energy Sciences Advisory Committee (FESAC) report confirming the role of ITER in achieving fusion power production, and The Lehman Review of the ITER project costing and project management processes (for the latter one, see ITER CTA Newsletter, no. 15, December 2002). All three studies have endorsed the US return to the ITER activities. This historical decision was announced by DOE Secretary Abraham during his remarks to employees of the Department's Princeton Plasma Physics Laboratory. The United States will be working with the other Participants in the ITER Negotiations on the Agreement and is preparing to participate in the ITA

  11. ITER at Cadarache; ITER a Cadarache

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2005-06-15

    This public information document presents the ITER project (International Thermonuclear Experimental Reactor), the definition of the fusion, the international cooperation and the advantages of the project. It presents also the site of Cadarache, an appropriate scientifical and economical environment. The last part of the documentation recalls the historical aspect of the project and the today mobilization of all partners. (A.L.B.)

  12. ITER council proceedings: 1992

    International Nuclear Information System (INIS)

    1994-01-01

    At the signing of the ITER EDA Agreement on July, 1992, each of the Parties presented to the Director General the names of their designated members of the ITER Council. Upon receiving those names, the Director General stated that the ITER Engineering Design Activities were ''ready to begin''. The next step in this process was the convening of the first meeting of the ITER Council. The first meeting of the Council, held in Vienna, was opened by Director General Hans Blix. The second meeting was held in Moscow, the formal seat of the Council. This volume presents records of these first two Council meetings and, together with the previous volumes on the text of the Agreement and Protocol 1 and the preparations for their signing respectively, represents essential information on the evolution of the ITER EDA

  13. 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....

  14. 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 ...

  15. 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....

  16. ITER CTA newsletter. No. 3

    International Nuclear Information System (INIS)

    2001-11-01

    This ITER CTA newsletter comprises reports of Dr. P. Barnard, Iter Canada Chairman and CEO, about the progress of the first formal ITER negotiations and about the demonstration of details of Canada's bid on ITER workshops, and Dr. V. Vlasenkov, Project Board Secretary, about the meeting of the ITER CTA project board

  17. Iterative learning control an optimization paradigm

    CERN Document Server

    Owens, David H

    2016-01-01

    This book develops a coherent theoretical approach to algorithm design for iterative learning control based on the use of optimization concepts. Concentrating initially on linear, discrete-time systems, the author gives the reader access to theories based on either signal or parameter optimization. Although the two approaches are shown to be related in a formal mathematical sense, the text presents them separately because their relevant algorithm design issues are distinct and give rise to different performance capabilities. Together with algorithm design, the text demonstrates that there are new algorithms that are capable of incorporating input and output constraints, enable the algorithm to reconfigure systematically in order to meet the requirements of different reference signals and also to support new algorithms for local convergence of nonlinear iterative control. Simulation and application studies are used to illustrate algorithm properties and performance in systems like gantry robots and other elect...

  18. Adaptive artificial neural network for autonomous robot control

    Science.gov (United States)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    The topics are presented in viewgraph form and include: neural network controller for robot arm positioning with visual feedback; initial training of the arm; automatic recovery from cumulative fault scenarios; and error reduction by iterative fine movements.

  19. ITER days in Moscow

    International Nuclear Information System (INIS)

    Golubchikov, L.

    2001-01-01

    In connection with the successful completion of the Engineering Design of the International Thermonuclear Reactor (ITER) and the 50th anniversary of fusion research in the USSR, the Ministry of the Russian Federation for Atomic Energy (Minatom) with the participation of the Russian Academy of Sciences, organized the International Symposium 'ITER days in Moscow' on 7-8 June 2001. About 250 people from more than 20 states took part in the Meeting. The participants welcomed the R and D results of the ITER project and considered it as a necessary step to establish a basis for a fusion energy source. There were also some scientific presentations on the following topics: ITER physics basis; Effect of fusion research on general physics; Fusion power reactors; US interests in burning plasma

  20. ITER definition phase

    International Nuclear Information System (INIS)

    1989-01-01

    The International Thermonuclear Experimental Reactor (ITER) is envisioned as a fusion device which would demonstrate the scientific and technological feasibility of fusion power. As a first step towards achieving this goal, the European Community, Japan, the Soviet Union, and the United States of America have entered into joint conceptual design activities under the auspices of the International Atomic Energy Agency. A brief summary of the Definition Phase of ITER activities is contained in this report. Included in this report are the background, objectives, organization, definition phase activities, and research and development plan of this endeavor in international scientific collaboration. A more extended technical summary is contained in the two-volume report, ''ITER Concept Definition,'' IAEA/ITER/DS/3. 2 figs, 2 tabs

  1. Power converters for ITER

    CERN Document Server

    Benfatto, I

    2006-01-01

    The International Thermonuclear Experimental Reactor (ITER) is a thermonuclear fusion experiment designed to provide long deuterium– tritium burning plasma operation. After a short description of ITER objectives, the main design parameters and the construction schedule, the paper describes the electrical characteristics of the French 400 kV grid at Cadarache: the European site proposed for ITER. Moreover, the paper describes the main requirements and features of the power converters designed for the ITER coil and additional heating power supplies, characterized by a total installed power of about 1.8 GVA, modular design with basic units up to 90 MVA continuous duty, dc currents up to 68 kA, and voltages from 1 kV to 1 MV dc.

  2. Approximate iterative algorithms

    CERN Document Server

    Almudevar, Anthony Louis

    2014-01-01

    Iterative algorithms often rely on approximate evaluation techniques, which may include statistical estimation, computer simulation or functional approximation. This volume presents methods for the study of approximate iterative algorithms, providing tools for the derivation of error bounds and convergence rates, and for the optimal design of such algorithms. Techniques of functional analysis are used to derive analytical relationships between approximation methods and convergence properties for general classes of algorithms. This work provides the necessary background in functional analysis a

  3. ITER EDA and technology

    International Nuclear Information System (INIS)

    Baker, C.C.

    2001-01-01

    The year 1998 was the culmination of the six-year Engineering Design Activities (EDA) of the International Thermonuclear Experimental Reactor (ITER) Project. The EDA results in design and validating technology R and D, plus the associated effort in voluntary physics research, is a significant achievement and major milestone in the history of magnetic fusion energy development. Consequently, the ITER EDA was a major theme at this Conference, contributing almost 40 papers

  4. ITER explorations started

    International Nuclear Information System (INIS)

    Golubchikov, L.

    2000-01-01

    Opening this first Explorers' Meeting, Minister Adamov welcomed the participants, thanked the ITER parties for their positive response to his invitation and expressed the desire of the Russian Federation to see ITER realized, stressing the importance of continued progress with the project as an outstanding example of international scientific co-operation. During the meeting, the exploration tasks were discussed and agreed upon, as well as the work plan and schedule

  5. ITER Status and Plans

    Science.gov (United States)

    Greenfield, Charles M.

    2017-10-01

    The US Burning Plasma Organization is pleased to welcome Dr. Bernard Bigot, who will give an update on progress in the ITER Project. Dr. Bigot took over as Director General of the ITER Organization in early 2015 following a distinguished career that included serving as Chairman and CEO of the French Alternative Energies and Atomic Energy Commission and as High Commissioner for ITER in France. During his tenure at ITER the project has moved into high gear, with rapid progress evident on the construction site and preparation of a staged schedule and a research plan leading from where we are today through all the way to full DT operation. In an unprecedented international effort, seven partners ``China, the European Union, India, Japan, Korea, Russia and the United States'' have pooled their financial and scientific resources to build the biggest fusion reactor in history. ITER will open the way to the next step: a demonstration fusion power plant. All DPP attendees are welcome to attend this ITER town meeting.

  6. 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

  7. ITER CTA newsletter. No. 2

    International Nuclear Information System (INIS)

    2001-10-01

    This ITER CTA newsletter contains results of the ITER toroidal field model coil project presented by ITER EU Home Team (Garching) and an article in commemoration of the late Dr. Charles Maisonnier, one of the former leaders of ITER who made significant contributions to its development

  8. Robotics in nuclear engineering

    International Nuclear Information System (INIS)

    Larcombe, M.H.E.; Halsall, J.R.

    1984-01-01

    The subject is covered in chapters, entitled: foreword and definitions; introduction; robotics state of the art 1984; potential applications; advanced remote control; robot system design principles; robot system skills; planning of remote control robotics R and D; example systems; REMCON (advanced remote control robotic systems) guidelines; robot activation; robot instrumentation; robot guidance; design of equipment for robotic maintenance; ergonomics of control. (U.K.)

  9. 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…

  10. Basic Robotics.

    Science.gov (United States)

    Mullen, Frank

    This curriculum outline consists of instructional materials and information concerning resources for use in teaching a course in robotics. Addressed in the individual sections of the outline are the following topics: the nature of an industrial robot; the parts of an industrial robot (the manipulator, the power structure, and the control system);…

  11. Nanodielectrics with giant permittivity

    Indian Academy of Sciences (India)

    Following the prediction, during the last couple of years we have investigated the effect of giant permittivity in one-dimensional systems of conventional metals and conjugated polymer chains. In this article, we have tried to summarize the works on giant permittivity and finally the fabrication of nanocapacitor using metal ...

  12. ITER tokamak device

    International Nuclear Information System (INIS)

    Doggett, J.; Salpietro, E.; Shatalov, G.

    1991-01-01

    The results of the Conceptual Design Activities for the International Thermonuclear Experimental Reactor (ITER) are summarized. These activities, carried out between April 1988 and December 1990, produced a consistent set of technical characteristics and preliminary plans for co-ordinated research and development support of ITER; and a conceptual design, a description of design requirements and a preliminary construction schedule and cost estimate. After a description of the design basis, an overview is given of the tokamak device, its auxiliary systems, facility and maintenance. The interrelation and integration of the various subsystems that form the ITER tokamak concept are discussed. The 16 ITER equatorial port allocations, used for nuclear testing, diagnostics, fuelling, maintenance, and heating and current drive, are given, as well as a layout of the reactor building. Finally, brief descriptions are given of the major ITER sub-systems, i.e., (i) magnet systems (toroidal and poloidal field coils and cryogenic systems), (ii) containment structures (vacuum and cryostat vessels, machine gravity supports, attaching locks, passive loops and active coils), (iii) first wall, (iv) divertor plate (design and materials, performance and lifetime, a.o.), (v) blanket/shield system, (vi) maintenance equipment, (vii) current drive and heating, (viii) fuel cycle system, and (ix) diagnostics. 11 refs, figs and tabs

  13. Twelfth ITER negotiation meeting

    International Nuclear Information System (INIS)

    2006-01-01

    Delegations from China, European Union, Japan, the Republic of Korea, the Russian Federation and the United States of America gathered on Jeju Island, Korea, on 6 December 2005, to complete their negotiations on an Agreement on the joint implementation of the ITER international fusion energy project. At the start of the Meeting, the Delegations unanimously and enthusiastically welcomed India as a full Party to the ITER venture. A Delegation from India then joined the Meeting and participated fully in the discussions that followed. The seven ITER Delegations also welcomed to the Meeting the newly designated Nominee Director-General for the prospective ITER Organization, Ambassador Kaname Ikeda, who is to take up his duties as leader of the project. Based on the results of intensive working level meetings held throughout the previous week, the Delegations have succeeded in clearing the remaining key issues such as decision-making, intellectual property and management within the prospective ITER Organization and adjustments to the sharing of resources as a result of India's participation, including in particular cost sharing and in-kind contributions, leaving only a few legal points requiring resolution during the final lawyers' meeting to review the text for coherence and internal consistency

  14. An Improved Technique for Robot Global Localization in Indoor Environments

    Directory of Open Access Journals (Sweden)

    Zejian Yuan

    2011-03-01

    Full Text Available Global localization problem is one of the classical and important problems in mobile robot. In this paper, we present an approach to solve robot global localization in indoor environments with grid map. It combines Hough Scan Matching (HSM and grid localization method to get the initial knowledge of robot's pose quickly. For pose tracking, a scan matching technique called Iterative Closest Point (ICP is used to amend the robot motion model, it can drastically decreases the uncertainty about the robot's pose in prediction step. Then accurate proposal distribution taking into account recent observation is introduced into particle filters to recover the best estimate of robot trajectories, which seriously reduces number of particles for pose tracking. The proposed approach can globally localize mobile robot fast and accurately. Experiment results carried out with robot data in indoor environments demonstrates the effectiveness of the proposed approach.

  15. 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.

  16. Inspection robots

    International Nuclear Information System (INIS)

    Takenaka, Toshio; Oya, Tadashi

    1990-01-01

    Inspections of nuclear power plants make it possible to achieve and maintain high levels of plant reliability and availability. The Corporation is developing robots to perform inspection tasks. The benefits of robot use include maintaining higher surveillance levels, reducing occupational radiation exposure, and reduced labor costs. The article introduces two fully developed products: a remote-inspection robot for use inside nuclear reactor containment vessels, and a remote inspection and repair robot for use inside the the vacuum vessel of the JT-60 nuclear-fusion critical plasma test reactor. It also describes a prototype automatic inspection robot that detects abnormalities using video and infrared cameras and an image-processing system. (author)

  17. Earthly sun called ITER

    International Nuclear Information System (INIS)

    Pozdeyev, Mikhail

    2002-01-01

    Full text: Participating in the film are Academicians Velikhov and Glukhikh, Mr. Filatof, ITER Director from Russia, Mr. Sannikov from Kurchatov Institute. The film tells about the starting point of the project (Mr. Lavrentyev), the pioneers of the project (Academicians Tamme, Sakharov, Artsimovich) and about the situation the project is standing now. Participating in [ITER now are the US, Russia, Japan and the European Union. There are two associated members as well - Kazakhstan and Canada. By now the engineering design phase has been finished. Computer animation used in the video gives us the idea how the first thermonuclear reactor based on famous Russian TOKOMAK works. (author)

  18. Iterated multidimensional wave conversion

    International Nuclear Information System (INIS)

    Brizard, A. J.; Tracy, E. R.; Johnston, D.; Kaufman, A. N.; Richardson, A. S.; Zobin, N.

    2011-01-01

    Mode conversion can occur repeatedly in a two-dimensional cavity (e.g., the poloidal cross section of an axisymmetric tokamak). We report on two novel concepts that allow for a complete and global visualization of the ray evolution under iterated conversions. First, iterated conversion is discussed in terms of ray-induced maps from the two-dimensional conversion surface to itself (which can be visualized in terms of three-dimensional rooms). Second, the two-dimensional conversion surface is shown to possess a symplectic structure derived from Dirac constraints associated with the two dispersion surfaces of the interacting waves.

  19. Physics fundamentals for ITER

    International Nuclear Information System (INIS)

    Rosenbluth, M.N.

    1999-01-01

    The design of an experimental thermonuclear reactor requires both cutting-edge technology and physics predictions precise enough to carry forward the design. The past few years of worldwide physics studies have seen great progress in understanding, innovation and integration. We will discuss this progress and the remaining issues in several key physics areas. (1) Transport and plasma confinement. A worldwide database has led to an 'empirical scaling law' for tokamaks which predicts adequate confinement for the ITER fusion mission, albeit with considerable but acceptable uncertainty. The ongoing revolution in computer capabilities has given rise to new gyrofluid and gyrokinetic simulations of microphysics which may be expected in the near future to attain predictive accuracy. Important databases on H-mode characteristics and helium retention have also been assembled. (2) Divertors, heat removal and fuelling. A novel concept for heat removal - the radiative, baffled, partially detached divertor - has been designed for ITER. Extensive two-dimensional (2D) calculations have been performed and agree qualitatively with recent experiments. Preliminary studies of the interaction of this configuration with core confinement are encouraging and the success of inside pellet launch provides an attractive alternative fuelling method. (3) Macrostability. The ITER mission can be accomplished well within ideal magnetohydrodynamic (MHD) stability limits, except for internal kink modes. Comparisons with JET, as well as a theoretical model including kinetic effects, predict such sawteeth will be benign in ITER. Alternative scenarios involving delayed current penetration or off-axis current drive may be employed if required. The recent discovery of neoclassical beta limits well below ideal MHD limits poses a threat to performance. Extrapolation to reactor scale is as yet unclear. In theory such modes are controllable by current drive profile control or feedback and experiments should

  20. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    Robots are simultaneously real machines and technical images that challenge our sense of self. In the Open Forum I discuss the movie Ex Machina by director Alex Garland. The robot Ava, played by Alicia Vikander, is a rare portrait of what could be interpreted as a feminist robot (and...... there are spoilers ahead for any readers unfamiliar with this movie). Though she apparently is created as the dream of the ‘perfect woman’, sexy and beautiful, she also develops and urges to free herself from the slavery of her creator, Nathan Bateman. She is a robot created along the perfect dimensions...... as a Vitruvian robot but is also a creature which could be interpreted as a human being. However, the point I want to raise is not whether Ava’s reaction to robot slavery is justified or not but how her portrait raises questions about the blurred lines between reality and fiction when we discuss our robotic...

  1. Robot Futures

    DEFF Research Database (Denmark)

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

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... 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....

  2. 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

  3. ITER conceptual design

    International Nuclear Information System (INIS)

    Tomabechi, K.; Gilleland, J.R.; Sokolov, Yu.A.; Toschi, R.

    1991-01-01

    The Conceptual Design Activities of the International Thermonuclear Experimental Reactor (ITER) were carried out jointly by the European Community, Japan, the Soviet Union and the United States of America, under the auspices of the International Atomic Energy Agency. The European Community provided the site for joint work sessions at the Max-Planck-Institut fuer Plasmaphysik in Garching, Germany. The Conceptual Design Activities began in the spring of 1988 and ended in December 1990. The objectives of the activities were to develop the design of ITER, to perform a safety and environmental analysis, to define the site requirements as well as the future research and development needs, to estimate the cost and manpower, and to prepare a schedule for detailed engineering design, construction and operation. On the basis of the investigation and analysis performed, a concept of ITER was developed which incorporated maximum flexibility of the performance of the device and allowed a variety of operating scenarios to be adopted. The heart of the machine is a tokamak having a plasma major radius of 6 m, a plasma minor radius of 2.15 m, a nominal plasma current of 22 MA and a nominal fusion power of 1 GW. The conceptual design can meet the technical objectives of the ITER programme. Because of the success of the Conceptual Design Activities, the Parties are now considering the implementation of the next phase, called the Engineering Design Activities. (author). Refs, figs and tabs

  4. ITER power electrical networks

    International Nuclear Information System (INIS)

    Sejas Portela, S.

    2011-01-01

    The ITER project (International Thermonuclear Experimental Reactor) is an international effort to research and development to design, build and operate an experimental facility to demonstrate the scientific and technological possibility of obtaining useful energy from the physical phenomenon known as nuclear fusion.

  5. ITER-FEAT operation

    International Nuclear Information System (INIS)

    Shimomura, Y.; Huget, M.; Mizoguchi, T.; Murakami, Y.; Polevoi, A.; Shimada, M.; Aymar, R.; Chuyanov, V.; Matsumoto, H.

    2001-01-01

    ITER is planned to be the first fusion experimental reactor in the world operating for research in physics and engineering. The first 10 years' operation will be devoted primarily to physics issues at low neutron fluence and the following 10 years' operation to engineering testing at higher fluence. ITER can accommodate various plasma configurations and plasma operation modes such as inductive high Q modes, long pulse hybrid modes, non-inductive steady-state modes, with large ranges of plasma current, density, beta and fusion power, and with various heating and current drive methods. This flexibility will provide an advantage for coping with uncertainties in the physics database, in studying burning plasmas, in introducing advanced features and in optimizing the plasma performance for the different programme objectives. Remote sites will be able to participate in the ITER experiment. This concept will provide an advantage not only in operating ITER for 24 hours per day but also in involving the world-wide fusion communities and in promoting scientific competition among the Parties. (author)

  6. ITER conceptual design report

    International Nuclear Information System (INIS)

    1991-01-01

    Results of the International Thermonuclear Experimental Reactor (ITER) Conceptual Design Activity (CDA) are reported. This report covers the Terms of Reference for the project: defining the technical specifications, defining future research needs, define site requirements, and carrying out a coordinated research effort coincident with the CDA. Refs, figs and tabs

  7. US ITER Management Plan

    International Nuclear Information System (INIS)

    1991-12-01

    This US ITER Management Plan is the plan for conducting the Engineering Design Activities within the US. The plan applies to all design, analyses, and associated physics and technology research and development (R ampersand D) required to support the program. The plan defines the management considerations associated with these activities. The plan also defines the management controls that the project participants will follow to establish, implement, monitor, and report these activities. The activities are to be conducted by the project in accordance with this plan. The plan will be updated to reflect the then-current management approach required to meet the project objectives. The plan will be reviewed at least annually for possible revision. Section 2 presents the ITER objectives, a brief description of the ITER concept as developed during the Conceptual Design Activities, and comments on the Engineering Design Activities. Section 3 discusses the planned international organization for the Engineering Design Activities, from which the tasks will flow to the US Home Team. Section 4 describes the US ITER management organization and responsibilities during the Engineering Design Activities. Section 5 describes the project management and control to be used to perform the assigned tasks during the Engineering Design Activities. Section 6 presents the references. Several appendices are provided that contain detailed information related to the front material

  8. Iterative List Decoding

    DEFF Research Database (Denmark)

    Justesen, Jørn; Høholdt, Tom; Hjaltason, Johan

    2005-01-01

    We analyze the relation between iterative decoding and the extended parity check matrix. By considering a modified version of bit flipping, which produces a list of decoded words, we derive several relations between decodable error patterns and the parameters of the code. By developing a tree...

  9. ITER at Cadarache

    International Nuclear Information System (INIS)

    2005-06-01

    This public information document presents the ITER project (International Thermonuclear Experimental Reactor), the definition of the fusion, the international cooperation and the advantages of the project. It presents also the site of Cadarache, an appropriate scientifical and economical environment. The last part of the documentation recalls the historical aspect of the project and the today mobilization of all partners. (A.L.B.)

  10. Iterative software kernels

    Energy Technology Data Exchange (ETDEWEB)

    Duff, I.

    1994-12-31

    This workshop focuses on kernels for iterative software packages. Specifically, the three speakers discuss various aspects of sparse BLAS kernels. Their topics are: `Current status of user lever sparse BLAS`; Current status of the sparse BLAS toolkit`; and `Adding matrix-matrix and matrix-matrix-matrix multiply to the sparse BLAS toolkit`.

  11. Status of ITER

    International Nuclear Information System (INIS)

    Aymar, R.

    2002-01-01

    At the end of engineering design activities (EDA) in July 2001, all the essential elements became available to make a decision on construction of ITER. A sufficiently detailed and integrated engineering design now exists for a generic site, has been assessed for feasibility, and costed, and essential physics and technology R and D has been carried out to underpin the design choices. Formal negotiations have now begun between the current participants--Canada, Euratom, Japan, and the Russian Federation--on a Joint Implementation Agreement for ITER which also establishes the legal entity to run ITER. These negotiations are supported on technical aspects by Coordinated Technical Activities (CTA), which maintain the integrity of the project, for the good of all participants, and concentrate on preparing for procurement by industry of the longest lead items, and for formal application for a construction license with the host country. This paper highlights the main features of the ITER design. With cryogenically-cooled magnets close to neutron-generating plasma, the design of shielding with adequate access via port plugs for auxiliaries such as heating and diagnostics, and of remote replacement and refurbishing systems for in-vessel components, are particularly interesting nuclear technology challenges. Making a safety case for ITER to satisfy potential regulators and to demonstrate, as far as possible at this stage, the environmental attractiveness of fusion as an energy source, is also important. The paper gives illustrative details on this work, and an update on the progress of technical preparations for construction, as well as the status of the above negotiations

  12. 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

  13. Silvics of Giant Sequoia

    Science.gov (United States)

    C. Phillip Weatherspoon

    1986-01-01

    Ecological relationships-including habitat and life history---of giant sequoia (Sequoiadendron giganteum [Lindl.] Buchholz) in natural stands are summarized. Such silvical information provides an important foundation for sound management of the species.

  14. Giant CP stars

    International Nuclear Information System (INIS)

    Loden, L.O.; Sundman, A.

    1989-01-01

    This study is part of an investigation of the possibility of using chemically peculiar (CP) stars to map local galactic structure. Correct luminosities of these stars are therefore crucial. CP stars are generally regarded as main-sequence or near-main-sequence objects. However, some CP stars have been classified as giants. A selection of stars, classified in literature as CP giants, are compared to normal stars in the same effective temperature interval and to ordinary 'non giant' CP stars. There is no clear confirmation of a higher luminosity for 'CP giants', than for CP stars in general. In addition, CP characteristics seem to be individual properties not repeated in a component star or other cluster members. (author). 50 refs., 5 tabs., 3 figs

  15. Giant Earlobe Epidermoid Cyst

    Science.gov (United States)

    Pérez-Guisado, Joaquín; Scilletta, Alessandra; Cabrera-Sánchez, Emilio; Rioja, Luis F; Perrotta, Rosario

    2012-01-01

    Epidermoid cysts represent the most common cutaneous cysts. They are usually small and benign; however, sometimes they can grow to giant epidermoid cists, and occasionally malignancies develop. Giant epidermoid cysts at the earlobe have never been described but in other locations. We describe a case of a giant epidermoid cyst at the earlobe, a location where such a large cyst has never been reported before. The mass was completely resected and the wound of the pedunculated base was sutured with four stitches of nylon 5/0. Histopathology confirmed the presumptive diagnosis of an epidermoid cyst. Six months after the resection, the patient did not have any relapse of the epidermoid cyst. The earlobe is a potential location for giant epidermoid cysts. Although the clinical diagnosis could be enough, due to the possibility of malignancy and to ensure appropriate diagnosis, we consider that all cysts should be sent to the anatomic pathology laboratory for histological evaluation. PMID:22557855

  16. Giant earlobe epidermoid cyst

    Directory of Open Access Journals (Sweden)

    Joaquín Pérez-Guisado

    2012-01-01

    Full Text Available Epidermoid cysts represent the most common cutaneous cysts. They are usually small and benign; however, sometimes they can grow to giant epidermoid cists, and occasionally malignancies develop. Giant epidermoid cysts at the earlobe have never been described but in other locations. We describe a case of a giant epidermoid cyst at the earlobe, a location where such a large cyst has never been reported before. The mass was completely resected and the wound of the pedunculated base was sutured with four stitches of nylon 5/0. Histopathology confirmed the presumptive diagnosis of an epidermoid cyst. Six months after the resection, the patient did not have any relapse of the epidermoid cyst. The earlobe is a potential location for giant epidermoid cysts. Although the clinical diagnosis could be enough, due to the possibility of malignancy and to ensure appropriate diagnosis, we consider that all cysts should be sent to the anatomic pathology laboratory for histological evaluation.

  17. Giant distal humeral geode

    International Nuclear Information System (INIS)

    Maher, M.M.; Kennedy, J.; Hynes, D.; Murray, J.G.; O'Connell, D.

    2000-01-01

    We describe the imaging features of a giant geode of the distal humerus in a patient with rheumatoid arthritis, which presented initially as a pathological fracture. The value of magnetic resonance imaging in establishing this diagnosis is emphasized. (orig.)

  18. ITER EDA status

    International Nuclear Information System (INIS)

    Aymar, R.

    2001-01-01

    The Project has focused on drafting the Plant Description Document (PDD), which will be published as the Technical Basis for the ITER Final Design Report (FDR), and its related documentation in time for the ITER review process. The preparations have involved continued intensive detailed design work, analyses and assessments by the Home Teams and the Joint Central Team, who have co-operated closely and efficiently. The main technical document has been completed in time for circulation, as planned, to TAC members for their review at TAC-17 (19-22 February 2001). Some of the supporting documents, such as the Plant Design Specification (PDS), Design Requirements and Guidelines (DRG1 and DRG2), and the Plant Safety Requirement (PSR) are also available for reference in draft form. A summary paper of the PDD for the Council's information is available as a separate document. A new documentation structure for the Project has been established. This hierarchical structure for documentation facilitates the entire organization in a way that allows better change control and avoids duplications. The initiative was intended to make this documentation system valid for the construction and operation phases of ITER. As requested, the Director and the JCT have been assisting the Explorations to plan for future joint technical activities during the Negotiations, and to consider technical issues important for ITER construction and operation for their introduction in the draft of a future joint implementation agreement. As charged by the Explorers, the Director has held discussions with the Home Team Leaders in order to prepare for the staffing of the International Team and Participants Teams during the Negotiations (Co-ordinated Technical Activities, CTA) and also in view of informing all ITER staff about their future directions in a timely fashion. One important element of the work was the completion by the Parties' industries of costing studies of about 83 ''procurement packages

  19. Iterative Algorithms for Nonexpansive Mappings

    Directory of Open Access Journals (Sweden)

    Yao Yonghong

    2008-01-01

    Full Text Available Abstract We suggest and analyze two new iterative algorithms for a nonexpansive mapping in Banach spaces. We prove that the proposed iterative algorithms converge strongly to some fixed point of .

  20. Delta Robot

    OpenAIRE

    Herder, Justus Laurens; van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at least one pantograph has a first free extremity (10) at which it supports a countermass (13) which is arranged to balance the center of mass of the robot.

  1. Robot Handcontroller

    Science.gov (United States)

    1992-01-01

    The PER-Force robotic handcontroller provides a sense of touch or "feel" to an operator manipulating robots. The force simulation and wide range of motion greatly enhances the efficiency of robotic and computer operations. The handcontroller was developed for the Space Station by Cybernet Systems Corporation under a Small Business Innovation Research (SBIR) contract. Commercial applications include underwater use, underground excavations, research laboratories, hazardous waste handling and in manufacturing operations in which it is unsafe or impractical for humans to work.

  2. 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.

  3. Resource Usage Protocols for Iterators

    NARCIS (Netherlands)

    Huisman, Marieke; Haack, C.; Müller, P.; Hurlin, C.

    We discuss usage protocols for iterator objects that prevent concurrent modifications of the underlying collection while iterators are in progress. We formalize these protocols in Java-like object interfaces, enriched with separation logic contracts. We present examples of iterator clients and

  4. ITER CTA newsletter. No. 4

    International Nuclear Information System (INIS)

    2001-12-01

    This ITER CTA Newsletter contains information about the organization of the ITER Co-ordinated Technical Activities (CTA) International Team as the follow-up of the ITER CTA project board meeting in Toronto on 7 November 2001. It also includes a summary on the start of the international tokamak physics activity by Dr. D. Campbell, Chair of the ITPA Co-ordinating Committee

  5. Status of the ITER EDA

    International Nuclear Information System (INIS)

    Aymar, R.

    2000-01-01

    This article summarizes progress made in the ITER Engineering Design Activities in the period between the ITER Meeting in Tokyo (January 2000) and June 2000. Topics: Termination of EDA, Joint Central Team and Support, Task Assignments, ITER Physics, Urgent and High Priority Physics Research Areas

  6. Iterative supervirtual refraction interferometry

    KAUST Repository

    Al-Hagan, Ola

    2014-05-02

    In refraction tomography, the low signal-to-noise ratio (S/N) can be a major obstacle in picking the first-break arrivals at the far-offset receivers. To increase the S/N, we evaluated iterative supervirtual refraction interferometry (ISVI), which is an extension of the supervirtual refraction interferometry method. In this method, supervirtual traces are computed and then iteratively reused to generate supervirtual traces with a higher S/N. Our empirical results with both synthetic and field data revealed that ISVI can significantly boost up the S/N of far-offset traces. The drawback is that using refraction events from more than one refractor can introduce unacceptable artifacts into the final traveltime versus offset curve. This problem can be avoided by careful windowing of refraction events.

  7. ITER technical basis

    International Nuclear Information System (INIS)

    2002-01-01

    Following on from the Final Report of the EDA(DS/21), and the summary of the ITER Final Design report(DS/22), the technical basis gives further details of the design of ITER. It is in two parts. The first, the Plant Design specification, summarises the main constraints on the plant design and operation from the viewpoint of engineering and physics assumptions, compliance with safety regulations, and siting requirements and assumptions. The second, the Plant Description Document, describes the physics performance and engineering characteristics of the plant design, illustrates the potential operational consequences foe the locality of a generic site, gives the construction, commissioning, exploitation and decommissioning schedule, and reports the estimated lifetime costing based on data from the industry of the EDA parties

  8. Iterative participatory design

    DEFF Research Database (Denmark)

    Simonsen, Jesper; Hertzum, Morten

    2010-01-01

    The theoretical background in this chapter is information systems development in an organizational context. This includes theories from participatory design, human-computer interaction, and ethnographically inspired studies of work practices. The concept of design is defined as an experimental...... iterative process of mutual learning by designers and domain experts (users), who aim to change the users’ work practices through the introduction of information systems. We provide an illustrative case example with an ethnographic study of clinicians experimenting with a new electronic patient record...... system, focussing on emergent and opportunity-based change enabled by appropriating the system into real work. The contribution to a general core of design research is a reconstruction of the iterative prototyping approach into a general model for sustained participatory design....

  9. Conformable variational iteration method

    Directory of Open Access Journals (Sweden)

    Omer Acan

    2017-02-01

    Full Text Available In this study, we introduce the conformable variational iteration method based on new defined fractional derivative called conformable fractional derivative. This new method is applied two fractional order ordinary differential equations. To see how the solutions of this method, linear homogeneous and non-linear non-homogeneous fractional ordinary differential equations are selected. Obtained results are compared the exact solutions and their graphics are plotted to demonstrate efficiency and accuracy of the method.

  10. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

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

  11. Neutron cameras for ITER

    International Nuclear Information System (INIS)

    Johnson, L.C.; Barnes, C.W.; Batistoni, P.

    1998-01-01

    Neutron cameras with horizontal and vertical views have been designed for ITER, based on systems used on JET and TFTR. The cameras consist of fan-shaped arrays of collimated flight tubes, with suitably chosen detectors situated outside the biological shield. The sight lines view the ITER plasma through slots in the shield blanket and penetrate the vacuum vessel, cryostat, and biological shield through stainless steel windows. This paper analyzes the expected performance of several neutron camera arrangements for ITER. In addition to the reference designs, the authors examine proposed compact cameras, in which neutron fluxes are inferred from 16 N decay gammas in dedicated flowing water loops, and conventional cameras with fewer sight lines and more limited fields of view than in the reference designs. It is shown that the spatial sampling provided by the reference designs is sufficient to satisfy target measurement requirements and that some reduction in field of view may be permissible. The accuracy of measurements with 16 N-based compact cameras is not yet established, and they fail to satisfy requirements for parameter range and time resolution by large margins

  12. ITER concept definition. V.2

    International Nuclear Information System (INIS)

    1989-01-01

    Volume II of the two volumes describing the concept definition of the International Thermonuclear Experimental Reactor deals with the ITER concept in technical depth, and covers all areas of design of the ITER tokamak. Included are an assessment of the current database for design, scoping studies, rationale for concepts selection, performance flexibility, the ITER concept, the operations and experimental/testing program, ITER parameters and design phase schedule, and research and development specific to ITER. This latter includes a definition of specific research and development tasks, a division of tasks among members, specific milestones, required results, and schedules. Figs and tabs

  13. ITER CTA newsletter. No. 10

    International Nuclear Information System (INIS)

    2002-07-01

    This ITER CTA newsletter issue comprises the ITER backgrounder, which was approved as an official document by the participants in the Negotiations on the ITER Implementation agreement at their fourth meeting, held in Cadarache from 4-6 June 2002, and information about two ITER meetings: one is the third meeting of the ITER parties' designated Safety Representatives, which took place in Cadarache, France from 6-7 June 2002, and the other is the second meeting of the International Tokamak Physics Activity (ITPA) topical group on diagnostics, which was held at General Atomics, San Diego, USA, from 4-8 March 2002

  14. 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…

  15. ITER EDA newsletter. V. 7, no. 7

    International Nuclear Information System (INIS)

    1998-07-01

    This newsletter contains the articles: 'Extraordinary ITER council meeting', 'ITER EDA final safety meeting' and 'Summary report of the 3rd combined workshop of the ITER confinement and transport and ITER confinement database and modeling expert groups'

  16. 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....

  17. Robot Design

    Science.gov (United States)

    1988-01-01

    Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

  18. 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...

  19. 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

  20. 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.

  1. 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.

  2. 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.

  3. ITER EDA newsletter. V. 10, special issue

    International Nuclear Information System (INIS)

    2001-07-01

    This ITER EDA Newsletter includes summaries of the reports of ITER EDA JCT Physics unit about ITER physics R and D during the Engineering Design Activities (EDA), ITER EDA JCT Naka JWC ITER technology R and D during the EDA, and Safety, Environment and Health group of ITER EDA JCT, Garching JWS on EDA activities related to safety

  4. Searching with iterated maps.

    Science.gov (United States)

    Elser, V; Rankenburg, I; Thibault, P

    2007-01-09

    In many problems that require extensive searching, the solution can be described as satisfying two competing constraints, where satisfying each independently does not pose a challenge. As an alternative to tree-based and stochastic searching, for these problems we propose using an iterated map built from the projections to the two constraint sets. Algorithms of this kind have been the method of choice in a large variety of signal-processing applications; we show here that the scope of these algorithms is surprisingly broad, with applications as diverse as protein folding and Sudoku.

  5. Congenital giant melanocytic nevi

    Directory of Open Access Journals (Sweden)

    Shahla Khan

    2009-07-01

    Full Text Available Nevi are common skin tumors caused by abnormal overgrowth of cells from the epidermal and dermal layers of the skin. Most nevi are benign, but some pre-cancerous nevi must be monitored or removed. The giant congenital nevus is greater than 10 cm in size, pigmented and often hairy. Between 4% and 6% of these lesions will develop into a malignant melanoma. Since approximately 50% of the melanoma develop by the age of two, and 80% by the age of seven, early removal is recommended. The objective of this paper is to present a unique case of giant nevi and their surgical management.

  6. Social Robots

    DEFF Research Database (Denmark)

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

  7. Social Robots

    DEFF Research Database (Denmark)

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

  8. 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...

  9. Rokkasho: Japanese site for ITER

    International Nuclear Information System (INIS)

    Ohtake, S.; Yamaguchi, V.; Matsuda, S.; Kishimoto, H.

    2003-01-01

    The Atomic Energy Commission of Japan authorized ITER as the core machine of the Third Phase Basic Program of Fusion Energy Development. After a series of discussions in the Atomic Energy Commission and the Council of Science and Technology Policy, Japanese Government concluded formally with the Cabinet Agreement on 31 May 2002 that Japan should participate in the ITER Project and offer the Rokkasho-Mura site for construction of ITER to the Negotiations among Canada (CA), the European Union (EU), Japan (JA), and the Russian Federation (RF). The JA site proposal is now under the international assessment in the framework of the ITER Negotiations. (author)

  10. Robotic vehicle

    Science.gov (United States)

    Box, W. Donald

    1997-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  11. 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...

  12. 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.

  13. 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

  14. Space Robotics

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2004-09-01

    Full Text Available In this second of three short papers, I introduce some of the basic concepts of space robotics with an emphasis on some specific challenging areas of research that are peculiar to the application of robotics to space infrastructure development. The style of these short papers is pedagogical and the concepts in this paper are developed from fundamental manipulator robotics. This second paper considers the application of space manipulators to on-orbit servicing (OOS, an application which has considerable commercial application. I provide some background to the notion of robotic on-orbit servicing and explore how manipulator control algorithms may be modified to accommodate space manipulators which operate in the micro-gravity of space.

  15. Waking the Sleeping Giant

    NARCIS (Netherlands)

    Ollenburger, Mary H.; Descheemaeker, Katrien; Crane, Todd A.; Sanogo, Ousmane M.; Giller, Ken E.

    2016-01-01

    The World Bank argued that West Africa's Guinea Savannah zone forms part of “Africa's Sleeping Giant,” where increases in agricultural production could be an engine of economic growth, through expansion of cultivated land in sparsely populated areas. The district of Bougouni, in southern Mali,

  16. Juvenile giant fibroadenoma

    Directory of Open Access Journals (Sweden)

    Vipul Yagnik

    2011-07-01

    Full Text Available Fibroadenomas are benign solid tumor associated with aberration of normal lobular development. Juvenile giant fibroadenoma is usually single and >5 cm in size /or >500 gms in weight. Important differential diagnoses are: phyllodes tumor and juvenile gigantomastia. Simple excision is the treatment of choice.

  17. from the Giant Panda

    African Journals Online (AJOL)

    STORAGESEVER

    2009-06-03

    Jun 3, 2009 ... RPS28 is a component of the 40S small ribosomal subunit encoded by RPS28 gene, which is specific to eukaryotes. The cDNA and the genomic sequence of RPS28 were cloned successfully from the Giant. Panda using RT-PCR technology and Touchdown-PCR, respectively. Both sequences were ...

  18. Isotopic effect giant resonances

    International Nuclear Information System (INIS)

    Buenerd, M.; Lebrun, D.; Martin, P.; Perrin, G.; Saintignon, P. de; Chauvin, J.; Duhamel, G.

    1981-10-01

    The systematics of the excitation energy of the giant dipole, monopole, and quadrupole resonances are shown to exhibit an isotopic effect. For a given element, the excitation energy of the transition decreases faster with the increasing neutron number than the empirical laws fitting the overall data. This effect is discussed in terms of the available models

  19. Nanodielectrics with giant permittivity

    Indian Academy of Sciences (India)

    Wintec

    But the main limitation of the composite materials is its use in nanodevices. Therefore, few efforts have been ... an enormously high permittivity value of a sufficiently minute metal particle having discrete energy levels ... the present article is to assemble works on nanodielectrics with giant permittivity value, which have been ...

  20. Giant vesical calculus

    African Journals Online (AJOL)

    Giant vesical calculus. A case report. H. H. LAUBSCHER. Summary. An exceptional case of bladder stone is presented. The case is unusual as regards the size of the stone and the fact that the patient did··not seek medical assistance much earlier, as this was readily avail- able. Furthermore, recovery after removal of the.

  1. Graphenes–Aromatic Giants

    Indian Academy of Sciences (India)

    Graphenes - Aromatic Giants. Ivan Gutman Boris Furtula. Volume 16 Issue 12 December 2011 pp 1238-1245. Fulltext. Click here to view fulltext PDF. Permanent link: http://www.ias.ac.in/article/fulltext/reso/016/12/1238-1245. Keywords. Graphenes; polycyclic aromatic hydrocarbons; polyphenyls; condensed benzenes.

  2. Giant peritoneal loose bodies

    African Journals Online (AJOL)

    2015-03-27

    Mar 27, 2015 ... Giant peritoneal loose bodies are rare lesions, originating from auto-amputated appendices epiploicae. They may cause urinary or gastrointestinal obstruction and, should the radiologist not be familiar with the entity, can potentially be confused with malignant or parasitic lesions. Familiarity with their ...

  3. Giant resonances in nuclei

    International Nuclear Information System (INIS)

    Bohigas, O.

    1980-01-01

    The giant resonances: electric dipolar E1, T=1, isoscalar electric quadrupolar E2, T=0 and isoscalar electric monopolar E0, T=0 are presented. The experimental facts are reviewed and some examples are given of the kind of information supplied by experimental data [fr

  4. Robotic explorer

    OpenAIRE

    Selva Macià, Josep

    2015-01-01

    Development of a small autonomous robot for exploration purposes. This final degree project was looking how to demonstrate all the knowledge learned during those years using different aspects of engineering such as programming in different languages, conducting electronic schemes, preparing and welding circuits and integrate different elements of wireless communication. The idea was quite ambitious because it was wanted to achieve a wireless control on a robot. With this wireless control t...

  5. Giant magnetoresistance An ab-initio description

    CERN Document Server

    Binder, J

    2000-01-01

    A new theoretical concept to study the microscopic origin of Giant Magnetoresistance (GMR) from first principles is presented. The method is based on ab-initio electronic structure calculations within the spin density functional theory using a Screened KORRINGA-KOHNROSTOKER method. Scattering at impurity atoms in the multilayers is described by means of a GREEN's-function method. The scattering potentials are calculated self-consistently. The transport properties are treated quasi-classically solving the BOLTZMANN equation including the electronic structure of the layered system and the anisotropic scattering. The solution of the BOLTZMANN equation is performed iteratively taking into account both scattering out and scattering in terms (vertex corrections). The method is applied to Co/Cu and Fe/Cr multilayers. Trends of scattering cross sections, residual resistivities and GMR ratios are discussed for various transition metal impurities at different positions in the Co/Cu or Fe/Cr multilayers. Furthermore the...

  6. ITER CTA newsletter. No. 13, October 2002

    International Nuclear Information System (INIS)

    2002-11-01

    This ITER CTA newsletter issue comprises concise information about an ITER related meeting concerning the joint implementation of ITER - the fifth ITER Negotiations Meeting - which was held in Toronto, Canada, 19-20 September, 2002, and information about assessment of the possible ITER site in Clarington, Ontario, Canada, which was the subject of the first official stage of the Joint Assessment of Specific Sites (JASS) for the ITER Project. This assessment was completed just before the Fifth ITER Negotiations Meeting

  7. ITER cooling systems

    International Nuclear Information System (INIS)

    Natalizio, A.; Hollies, R.E.; Sochaski, R.O.; Stubley, P.H.

    1992-06-01

    The ITER reference system uses low-temperature water for heat removal and high-temperature helium for bake-out. As these systems share common equipment, bake-out cannot be performed until the cooling system is drained and dried, and the reactor cannot be started until the helium has been purged from the cooling system. This study examines the feasibility of using a single high-temperature fluid to perform both heat removal and bake-out. The high temperature required for bake-out would also be in the range for power production. The study examines cost, operational benefits, and impact on reactor safety of two options: a high-pressure water system, and a low-pressure organic system. It was concluded that the cost savings and operational benefits are significant; there are no significant adverse safety impacts from operating either the water system or the organic system; and the capital costs of both systems are comparable

  8. Iterated crowdsourcing dilemma game

    Science.gov (United States)

    Oishi, Koji; Cebrian, Manuel; Abeliuk, Andres; Masuda, Naoki

    2014-02-01

    The Internet has enabled the emergence of collective problem solving, also known as crowdsourcing, as a viable option for solving complex tasks. However, the openness of crowdsourcing presents a challenge because solutions obtained by it can be sabotaged, stolen, and manipulated at a low cost for the attacker. We extend a previously proposed crowdsourcing dilemma game to an iterated game to address this question. We enumerate pure evolutionarily stable strategies within the class of so-called reactive strategies, i.e., those depending on the last action of the opponent. Among the 4096 possible reactive strategies, we find 16 strategies each of which is stable in some parameter regions. Repeated encounters of the players can improve social welfare when the damage inflicted by an attack and the cost of attack are both small. Under the current framework, repeated interactions do not really ameliorate the crowdsourcing dilemma in a majority of the parameter space.

  9. 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

  10. ITER-FEAT - outline design report. Report by the ITER Director. ITER meeting, Tokyo, January 2000

    International Nuclear Information System (INIS)

    2001-01-01

    It is now possible to define the key elements of ITER-FEAT. This report provides the results, to date, of the joint work of the Special Working Group in the form of an Outline Design Report on the ITER-FEAT design which, subject to the views of ITER Council and of the Parties, will be the focus of further detailed design work and analysis in order to provide to the Parties a complete and fully integrated engineering design within the framework of the ITER EDA extension

  11. A webcam photogrammetric method for robot calibration

    Science.gov (United States)

    Sargeant, Ben; Hosseininaveh, Ali A.; Erfani, Tohid; Robson, Stuart; Boehm, Jan

    2013-04-01

    This paper describes a strategy for accurate robot calibration using close range photogrammetry. A 5-DoF robot has been designed for placement of two web cameras relative to an object. To ensure correct camera positioning, the robot is calibrated using the following strategy. First, a Denavit-Hartenberg method is used to generate a general kinematic robot model. A set of reference frames are defined relative to each joint and each of the cameras, transformation matrices are then produced to represent change in position and orientation between frames in terms of joint positions and unknown parameters. The complete model is extracted by multiplying these matrices. Second, photogrammetry is used to estimate the postures of both cameras. A set of images are captured of a calibration fixture from different robot poses. The camera postures are then estimated using bundle adjustment. Third, the kinematic parameters are estimated using weighted least squares. For each pose a set of equations are extracted from the model and the unknown parameters are estimated in an iterative procedure. Finally these values are substituted back into the original model. This final model is tested using forward kinematics by comparing the model's predicted camera postures for given joint positions to the values obtained through photogrammetry. Inverse kinematics is performed using both least squares and particle swarm optimisation and these techniques are contrasted. Results demonstrate that this photogrammetry approach produces a reliable and accurate model of the robot that can be used with both least squares and particle swarm optimisation for robot control.

  12. ITER CTA newsletter. No. 7

    International Nuclear Information System (INIS)

    2002-04-01

    This issue of ITER CTA newsletter contains information about the meeting of the ITER CTA project board, which took place in Moscow, Russian Federation on 22 April 2002 on the occasion of the Third Negotiators Meeting (N3), and about the meeting 'EU divertor celebration day' organized on 16 January 2002 at Plansee AG, Reutte, Austria

  13. Plasma control concepts for ITER

    International Nuclear Information System (INIS)

    Lister, J.B.; Nieswand, C.

    1997-01-01

    This overview paper skims over a wide range of issues related to the control of ITER plasmas. Although operation of the ITER project will require extensive developmental work to achieve the degree of control required, there is no indication that any of the identified problems will present overwhelming difficulties compared with the operation of present tokamaks. However, the precision of control required and the degree of automation of the final ITER plasma control system will present a challenge which is somewhat greater than for present tokamaks. In order to operate ITER optimally, integrated use of a large amount of diagnostic information will be necessary, evaluated and interpreted automatically. This will challenge both the diagnostics themselves and their supporting interpretation codes. The intervening years will provide us with the opportunity to implement and evaluate most of the new features required for ITER on existing tokamaks, with the exception of the control of an ignited plasma. (author) 7 figs., 7 refs

  14. ITER EDA Newsletter. V. 3, no. 8

    International Nuclear Information System (INIS)

    1994-08-01

    This ITER EDA (Engineering Design Activities) Newsletter issue reports on the sixth ITER council meeting; introduces the newly appointed ITER director and reports on his address to the ITER council. The vacuum tank for the ITER model coil testing, installed at JAERI, Naka, Japan is also briefly described

  15. ITER interim design report package documents

    International Nuclear Information System (INIS)

    1996-01-01

    This publication contains the Excerpt from the ITER Council (IC-8), the ITER Interim Design Report, Cost Review and Safety Analysis, ITER Site Requirements and ITER Site Design Assumptions and the Excerpt from the ITER Council (IC-9). 8 figs, 2 tabs

  16. ITER ITA newsletter. No. 8, September 2003

    International Nuclear Information System (INIS)

    2003-10-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities including Robert Aymar's leaving ITER for CERN, ITER related issues at the IAEA General Conference and status and prospects of thermonuclear power and activity during the ITA on materials foe vessel and in-vessel components

  17. 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.

  18. 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.

  19. 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.

  20. Giant Otters in Peru

    OpenAIRE

    Schenk C.; Staib E.

    1992-01-01

    We are in the second year of fieldwork surveying for Giant Otters in the southeastern rainforest of Peru, in three areas with differing levels of legal protection. While there is some illegal hunting still happening outside the protected areas, the main threat to the otters is badly-conducted tourism. Well-organised tourism can be a promising argument for establishing protected areas like national parks.

  1. Intraoral giant condyloma acuminatum

    Directory of Open Access Journals (Sweden)

    Gupta R

    2001-09-01

    Full Text Available A case of intraoral giant condyloma acuminatum is reported in a 50- year- old Indian. He did not respond to topical application of podophyllin 20% but responded partially to electric cauterisation. Surgical excision was done to get rid of the warty growh completely. Since there were no skin or genital lesions and no history of marital or extramarital sexual contact the lesion was probably acquired from environmental sources. Nonsexual transmission should be considered especially when the lesions are extragenital.

  2. 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.

  3. The ITER cryostat

    International Nuclear Information System (INIS)

    Bourque, R.F.; Wykes, M.E.P.

    1995-01-01

    The ITER cryostat is the vacuum chamber containing the tokamak reactor. Its functions are (1) to provide a high vacuum environment to limit thermal loads to the superconducting magnet system by gas conduction and convection; (2) to be part of the second radioactivity confinement boundary; and (3) provide passive removal of decay heat for beyond design basis accidents. A separate thermal shield along the inside wall limits thermal radiation to the coils. An external concrete shield provides radiological protection. The cryostat consists of a cylindrical section bolted to torispherical heads at top and bottom. The vessel is made up of two concentric walls connected by horizontal and vertical ribs. The space between the walls can be filled with helium gas at slightly above one atmosphere for thermal coupling of the two walls, to block inbound air microleaks, and for leak detection. The cryostat has many penetrations, some as large as four meters diameter, providing various types of access from the outside to the tokamak. These include heat transport system cooling pipes, cryogenic feeds, auxiliary heating, diagnostics, and blanket and divertor removal ports. Large bellows are used between the cryostat and the tokamak to accommodate differential thermal expansion

  4. ITER plasma facing components

    International Nuclear Information System (INIS)

    Kuroda, T.; Vieider, G.; Akiba, M.

    1991-01-01

    This document summarizes results of the Conceptual Design Activities (1988-1990) for the International Thermonuclear Experimental Reactor (ITER) project, namely those that pertain to the plasma facing components of the reactor vessel, of which the main components are the first wall and the divertor plates. After an introduction and an executive summary, the principal functions of the plasma-facing components are delineated, i.e., (i) define the low-impurity region within which the plasma is produced, (ii) absorb the electromagnetic radiation and charged-particle flux from the plasma, and (iii) protect the blanket/shield components from the plasma. A list of critical design issues for the divertor plates and the first wall is given, followed by discussions of the divertor plate design (including the issues of material selection, erosion lifetime, design concepts, thermal and mechanical analysis, operating limits and overall lifetime, tritium inventory, baking and conditioning, safety analysis, manufacture and testing, and advanced divertor concepts) and the first wall design (armor material and design, erosion lifetime, overall design concepts, thermal and mechanical analysis, lifetime and operating limits, tritium inventory, baking and conditioning, safety analysis, manufacture and testing, an alternative first wall design, and the limiters used instead of the divertor plates during start-up). Refs, figs and tabs

  5. ITER cooling system

    International Nuclear Information System (INIS)

    Kveton, O.K.

    1990-11-01

    The present specification of the ITER cooling system does not permit its operation with water above 150 C. However, the first wall needs to be heated to higher temperatures during conditioning at 250 C and bake-out at 350 C. In order to use the cooling water for these operations the cooling system would have to operate during conditioning at 37 Bar and during bake-out at 164 Bar. This is undesirable from the safety analysis point of view, and alternative heating methods are to be found. This review suggests that superheated steam or gas heating can be used for both baking and conditioning. The blanket design must consider the use of dual heat transfer media, allowing for change from one to another in both directions. Transfer from water to gas or steam is the most intricate and risky part of the entire heating process. Superheated steam conditioning appears unfavorable. The use of inert gas is recommended, although alternative heating fluids such as organic coolant should be investigated

  6. Giant prolactinomas in women

    DEFF Research Database (Denmark)

    Delgrange, Etienne; Raverot, Gerald; Bex, Marie

    2014-01-01

    OBJECTIVE: To characterise distinctive clinical features of giant prolactinomas in women. DESIGN: A multicentre, retrospective case series and literature review. METHODS: We collected data from 15 female patients with a pituitary tumour larger than 4 cm and prolactin levels above 1000 μg/l and id......OBJECTIVE: To characterise distinctive clinical features of giant prolactinomas in women. DESIGN: A multicentre, retrospective case series and literature review. METHODS: We collected data from 15 female patients with a pituitary tumour larger than 4 cm and prolactin levels above 1000 μg....../l and identified 19 similar cases from the literature; a gender-based comparison of the frequency and age distribution was obtained from a literature review. RESULTS: The initial PubMed search using the term 'giant prolactinomas' identified 125 patients (13 women) responding to the inclusion criteria. The female......:male ratio was 1:9. Another six female patients were found by extending the literature search, while our own series added 15 patients. The median age at diagnosis was 44 years in women compared with 35 years in men (Pwomen (n=34), we...

  7. Robot Swarms

    Science.gov (United States)

    Morring, Frank, Jr.

    2005-01-01

    Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

  8. Robotic Therapy

    Science.gov (United States)

    Krebs, H. I.; Hogan, N.

    2012-01-01

    The last two decades have seen a remarkable shift in the neuro-rehabilitation paradigm. Neuroscientists and clinicians moved away from the perception that the brain is static and hardwired, to a new dynamic understanding that plasticity is a fundamental property of the adult human brain and might be harnessed to remap or create new neural pathways. Capitalizing on this innovative understanding, we introduced a paradigm shift in the clinical practice in 1989 when we initiated the development of the MIT-Manus robot for neuro-rehabilitation and deployed it in the clinic in 1994 10. Since then, we and others have developed and tested a multitude of robotic devices for stroke, spinal cord injury, cerebral palsy, multiple sclerosis, and Parkinson’s disease. Here we discuss whether robotic therapy has achieved a level of maturity to justify its broad adoption in the clinical realm as a tool for motor recovery. PMID:23080044

  9. 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...... in the perceived nature of technology, technology strategy, and technology use between key stakeholders in eldercare. The case study approach and results is then briefly contrasted to the authors’ first hand experiences with appropriating robot vacuums in the home. The aim is to generate discussion of how...

  10. Robot Manipulators

    Science.gov (United States)

    1988-01-01

    Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.

  11. ITER EDA newsletter. V. 9, no. 2

    International Nuclear Information System (INIS)

    2000-02-01

    This ITER EDA Newsletter reports on the seventh ITER technical meeting on safety and environment and contains the executive summary of the eleventh ITER scrape-off layer and divertor physics expert group meeting. Individual abstracts have been prepared

  12. ITER EDA newsletter. V. 7, no. 6

    International Nuclear Information System (INIS)

    1998-06-01

    This newsletter contains the articles: 'ITER representation at the 11th Pacific Basin Nuclear Conference', 'Summary of discussion points and further deliberations in the special committee on the ITER project in the Atomic Energy Commission', and 'ITER radio frequency systems'

  13. ITER safety challenges and opportunities

    International Nuclear Information System (INIS)

    Piet, S.J.

    1992-01-01

    This paper reports on results of the Conceptual Design Activity (CDA) for the International Thermonuclear Experimental Reactor (ITER) suggest challenges and opportunities. ITER is capable of meeting anticipated regulatory dose limits, but proof is difficult because of large radioactive inventories needing stringent radioactivity confinement. Much research and development (R ampersand D) and design analysis is needed to establish that ITER meets regulatory requirements. There is a further oportunity to do more to prove more of fusion's potential safety and environmental advantages and maximize the amount of ITER technology on the path toward fusion power plants. To fulfill these tasks, three programmatic challenges and three technical challenges must be overcome. The first step is to fund a comprehensive safety and environmental ITER R ampersand D plan. Second is to strengthen safety and environment work and personnel in the international team. Third is to establish an external consultant group to advise the ITER Joint Team on designing ITER to meet safety requirements for siting by any of the Parties. The first of three key technical challenges is plasma engineering - burn control, plasma shutdown, disruptions, tritium burn fraction, and steady state operation. The second is the divertor, including tritium inventory, activation hazards, chemical reactions, and coolant disturbances. The third technical challenge is optimization of design requirements considering safety risk, technical risk, and cost

  14. Iterative learning control for electrical stimulation and stroke rehabilitation

    CERN Document Server

    Freeman, Chris T; Burridge, Jane H; Hughes, Ann-Marie; Meadmore, Katie L

    2015-01-01

    Iterative learning control (ILC) has its origins in the control of processes that perform a task repetitively with a view to improving accuracy from trial to trial by using information from previous executions of the task. This brief shows how a classic application of this technique – trajectory following in robots – can be extended to neurological rehabilitation after stroke. Regaining upper limb movement is an important step in a return to independence after stroke, but the prognosis for such recovery has remained poor. Rehabilitation robotics provides the opportunity for repetitive task-oriented movement practice reflecting the importance of such intense practice demonstrated by conventional therapeutic research and motor learning theory. Until now this technique has not allowed feedback from one practice repetition to influence the next, also implicated as an important factor in therapy. The authors demonstrate how ILC can be used to adjust external functional electrical stimulation of patients’ mus...

  15. 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...

  16. 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

  17. From Gauss graphs to giants

    Science.gov (United States)

    de Mello Koch, Robert; Nkumane, Lwazi

    2018-02-01

    We identify the operators in N = 4 super Yang-Mills theory that correspond to 1/8 -BPS giant gravitons in AdS5 × S 5. Our evidence for the identification comes from (1) counting these operators and showing agreement with independent counts of the number of giant graviton states, and (2) by demonstrating a correspondence between correlation functions of the super Yang-Mills operators and overlaps of the giant graviton wave functions.

  18. Giant oilfields and civil conflict

    OpenAIRE

    Yu-Hsiang Lei; Guy Michaels

    2012-01-01

    We use new data to examine the effects of giant oilfield discoveries around the world since 1946. On average, these discoveries increase per capita oil production and oil exports by up to 50 percent. But these giant oilfield discoveries also have a dark side: they increase the incidence of internal armed conflict by about 5-8 percentage points. This increased incidence of conflict due to giant oilfield discoveries is especially high for countries that had already experienced armed conflicts o...

  19. Development of radiation hardness components for ITER remote maintenance

    International Nuclear Information System (INIS)

    Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi; Ito, Akira; Yagi, Toshiaki; Morita, Yousuke

    1998-01-01

    In the ITER, in-vessel remote handling is required to assemble and maintain in-vessel components in DT operations. Since in-vessel remote handling systems must operate under intense gamma ray radiation exceeding 30 kGy/h, their components must have sufficiently high radiation hardness to allow maintenance long enough in ITER in-vessel environments. Thus, extensive radiation tests and quality improvement, including optimization of material compositions, have been conducted through the ITER R and D program to develop radiation hardness components that meet radiation doses from 10 to 100 MGy at 10 kGy/h. This paper presents the latest on radiation hardness component development conducted by the Japan Home Team as a contribution to the ITER. The remote handling components tested are categorized for use in robotic or viewing systems, or as common components. Radiation tests have been conducted on commercially available products for screening, on modified products, and on new products to improve the radiation hardness. (author)

  20. Development of radiation hardness components for ITER remote maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi; Ito, Akira [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Yagi, Toshiaki; Morita, Yousuke

    1998-04-01

    In the ITER, in-vessel remote handling is required to assemble and maintain in-vessel components in DT operations. Since in-vessel remote handling systems must operate under intense gamma ray radiation exceeding 30 kGy/h, their components must have sufficiently high radiation hardness to allow maintenance long enough in ITER in-vessel environments. Thus, extensive radiation tests and quality improvement, including optimization of material compositions, have been conducted through the ITER R and D program to develop radiation hardness components that meet radiation doses from 10 to 100 MGy at 10 kGy/h. This paper presents the latest on radiation hardness component development conducted by the Japan Home Team as a contribution to the ITER. The remote handling components tested are categorized for use in robotic or viewing systems, or as common components. Radiation tests have been conducted on commercially available products for screening, on modified products, and on new products to improve the radiation hardness. (author)

  1. Applying principles of Design For Assembly to ITER maintenance operations

    International Nuclear Information System (INIS)

    Heemskerk, Cock; de Baar, Marco; Elzendoorn, Ben; Koning, Jarich; Verhoeven, Toon; Vreede, Fred de

    2009-01-01

    In ITER, maintenance operations in the vessel and in the Hot Cell will be largely done by Remote Handling (RH). Remotely performed maintenance actions tend to be more time-costly than actions performed by direct human access. With a human operator in the control loop and adequate situational feedback, a two-armed master slave manipulator system can mimic direct access with dexterous manipulation, tactile feedback and vision. But even then, turnaround times are still very high. Adapting the design for simplified maintenance operations can yield significant time savings. One of the methods known to produce a simpler, more robust design, which is also better suited for handling with robots, is Design For Assembly (DFA). This paper discusses whether and how the principles of DFA can be applied to simplify maintenance operations for ITER. While DFA is normally used with series-production and ITER is a unique product, it is possible to apply the principles of DFA to ITER maintenance operations. Furthermore, DFA's principles can be applied at different abstraction levels. Combining principles of DFA with Virtual Reality leads to new insights and provides additional value.

  2. ITER EDA Newsletter. V. 10, no. 7

    International Nuclear Information System (INIS)

    2001-07-01

    This ITER EDA Newsletter presents an overview of meetings held at IAEA Headquarters in Vienna during the week 16-20 July 2001 related to the successful completion of the ITER Engineering Design Activities (EDA). Among them were the final meeting of the ITER Council, the closing ceremony to commemorate the EDA completion, the final meeting of the ITER Management Advisory Committee, a briefing of issues related to ITER developments, and discussions on the possible joint implementation of ITER

  3. Iterative optimization in inverse problems

    CERN Document Server

    Byrne, Charles L

    2014-01-01

    Iterative Optimization in Inverse Problems brings together a number of important iterative algorithms for medical imaging, optimization, and statistical estimation. It incorporates recent work that has not appeared in other books and draws on the author's considerable research in the field, including his recently developed class of SUMMA algorithms. Related to sequential unconstrained minimization methods, the SUMMA class includes a wide range of iterative algorithms well known to researchers in various areas, such as statistics and image processing. Organizing the topics from general to more

  4. Remote maintenance development for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Tada, Eisuke [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Shibanuma, Kiyoshi

    1998-04-01

    This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R and D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified. (author)

  5. Iterative nonlinear unfolding code: TWOGO

    International Nuclear Information System (INIS)

    Hajnal, F.

    1981-03-01

    a new iterative unfolding code, TWOGO, was developed to analyze Bonner sphere neutron measurements. The code includes two different unfolding schemes which alternate on successive iterations. The iterative process can be terminated either when the ratio of the coefficient of variations in terms of the measured and calculated responses is unity, or when the percentage difference between the measured and evaluated sphere responses is less than the average measurement error. The code was extensively tested with various known spectra and real multisphere neutron measurements which were performed inside the containments of pressurized water reactors

  6. 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.

  7. 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)

  8. ITER containment structures

    International Nuclear Information System (INIS)

    Sadakov, S.; Fauser, F.; Nelson, B.

    1991-01-01

    This document describes the results and recommendations of the Containment Structures Design Unit (CSDU) on the containment structures for ITER, made in the context of the Conceptual Design Phase. The document describes the following subsystems: (1) the primary vacuum vessel (VV), (2) the attaching locks (AL) of the invessel components, (3) the plasma passive and active stabilizers, (4) the cryostat vessel, and (5) the machine gravity supports. Although for most components reference designs were selected, for some of these alternative design options were described, because unresolved problems necessitate further research and development. Conclusions and future needs are summarized for each of the above subsystems: (1) a reference VV design was selected, while most critical VV future needs are the feasibility studies of manufacturing, assembly, and the repair/disassembly/reassembly by remote handling. Alternative, thin-wall options appear attractive and should be studied further during the Engineering Design Activities; (2) no reference design solution was selected for the AL system, as AL design requirements are extremely difficult and internally contradictory, while there is no existing tokamak precedent, but instead, five different approaches will be further researched early in the Engineering Design Phase; (3) significant progress is reported on passive loops, for which the ''twin-loops'' concept is ready to be advanced into the Engineering Design Phase, and on active coils, where a new coil positioning prevents interference with the blanket removal paths, and the current joints are located in a secondary vacuum or in the atmosphere of the reactor hall, repairable by remote handling; (4) a full metallic welded cryostat design with increased toroidal resistance was chosen, but with a design based on concrete with a thin inner metallic liner as a back-up in case detailed nuclear shielding requirements would force the cryostat to act as biological shield; (5) out

  9. ITER lip seal welding and cutting developments

    Energy Technology Data Exchange (ETDEWEB)

    Levesy, B.; Cordier, J.J.; Jokinen, T. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Kujanpää, V.; Karhu, M. [VTT Technical Research Centre of Finland (Finland); Le Barbier, R. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Määttä, T. [VTT Technical Research Centre of Finland (Finland); Martins, J.P.; Utin, Y. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2015-10-15

    Highlights: • Different TIG and Laser welding techniques are tested. • Twin spot laser welding techniques is the best. • Limited heat input gives a stable weld pool in all positions. • Penetrations is achieved. • Lip seal welding and cutting with a robotic arm is successfully performed on a representative mock-up. - Abstract: The welded lip seals form part of the torus primary vacuum boundary in between the port plugs and the vacuum vessel, and are classified as Protection Important Component. In order to refurbish the port plugs or the in-vessel components, port plugs have to be removed from the machine. The lip seal design must enable up to ten opening of the vacuum vessel during the life time operation of the ITER machine. Therefore proven, remote reliable cutting and re-welding are essential, as these operations need to be performed in the port cells in a nuclear environment, where human presence will be restricted. Moreover, the combination of size of the components to be welded (∼10 m long vacuum compatible thin welds) and the congested environment close to the core of the machine constraint the type and size of tools to be used. This paper describes the lip seal cutting and welding development programme performed at the VTT Technical Research Centre, Finland. Potential cutting and welding techniques are analyzed and compared. The development of the cutting, TIG and laser welding techniques on samples are presented. Effects of lip seal misalignments and optimization of the 2 welding processes are discussed. Finally, the manufacturing and test of the two 1.2 m × 1 m representative mock-ups are presented. The set-up and use of a robotic arm for the mock-up cutting and welding operations are also described.

  10. Ping-Pong Robotics with High-Speed Vision System

    DEFF Research Database (Denmark)

    Li, Hailing; Wu, Haiyan; Lou, Lei

    2012-01-01

    The performance of vision-based control is usually limited by the low sampling rate of the visual feedback. We address Ping-Pong robotics as a widely studied example which requires high-speed vision for highly dynamic motion control. In order to detect a flying ball accurately and robustly...... of the manipulator are updated iteratively with decreasing error. Experiments are conducted on a 7 degrees of freedom humanoid robot arm. A successful Ping-Pong playing between the robot arm and human is achieved with a high successful rate of 88%....

  11. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    , Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  12. Cooperation between CERN and ITER

    CERN Multimedia

    2008-01-01

    CERN and the International Fusion Organisation ITER have just signed a first cooperation agreeement. Kaname Ikeda, the Director-General of the International Fusion Energy Organisation (ITER) (on the right) and Robert Aymar, Director-General of CERN, signing the agreement.The Director-General of the International Fusion Energy Organization, Mr Kaname Ikeda, and CERN Director-General, Robert Aymar, signed a cooperation agreement at a meeting on the Meyrin site on Thursday 6 March. One of the main purposes of this agreement is for CERN to give ITER the benefit of its experience in the field of technology as well as in administrative domains such as finance, procurement, human resources and informatics through the provision of consultancy services. Currently in its start-up phase at its Cadarache site, 70 km from Marseilles (France), ITER will focus its research on the scientific and technical feasibility of using fusion energy as a fu...

  13. Rollout sampling approximate policy iteration

    NARCIS (Netherlands)

    Dimitrakakis, C.; Lagoudakis, M.G.

    2008-01-01

    Several researchers have recently investigated the connection between reinforcement learning and classification. We are motivated by proposals of approximate policy iteration schemes without value functions, which focus on policy representation using classifiers and address policy learning as a

  14. ITER Conceptual design: Interim report

    International Nuclear Information System (INIS)

    1990-01-01

    This interim report describes the results of the International Thermonuclear Experimental Reactor (ITER) Conceptual Design Activities after the first year of design following the selection of the ITER concept in the autumn of 1988. Using the concept definition as the basis for conceptual design, the Design Phase has been underway since October 1988, and will be completed at the end of 1990, at which time a final report will be issued. This interim report includes an executive summary of ITER activities, a description of the ITER device and facility, an operation and research program summary, and a description of the physics and engineering design bases. Included are preliminary cost estimates and schedule for completion of the project

  15. 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

  16. ITER leader to head CERN

    CERN Document Server

    Feder, Toni

    2003-01-01

    After successfully chairing an external review committee for CERN last year, Robert Aymar will leave ITER to become director general of the European particle physics laboratory rom 2004. Before ITER he also successfully managed the startup or Tore Supra. He will attempt to ensure that the LHC begins operating in 2007 - two years late - and is paid for by 2010 and will also start the planning for life after the LHC (1 page)

  17. The ITER reduced cost design

    International Nuclear Information System (INIS)

    Aymar, R.

    2000-01-01

    Six years of joint work under the international thermonuclear experimental reactor (ITER) EDA agreement yielded a mature design for ITER which met the objectives set for it (ITER final design report (FDR)), together with a corpus of scientific and technological data, large/full scale models or prototypes of key components/systems and progress in understanding which both validated the specific design and are generally applicable to a next step, reactor-oriented tokamak on the road to the development of fusion as an energy source. In response to requests from the parties to explore the scope for addressing ITER's programmatic objective at reduced cost, the study of options for cost reduction has been the main feature of ITER work since summer 1998, using the advances in physics and technology databases, understandings, and tools arising out of the ITER collaboration to date. A joint concept improvement task force drawn from the joint central team and home teams has overseen and co-ordinated studies of the key issues in physics and technology which control the possibility of reducing the overall investment and simultaneously achieving the required objectives. The aim of this task force is to achieve common understandings of these issues and their consequences so as to inform and to influence the best cost-benefit choice, which will attract consensus between the ITER partners. A report to be submitted to the parties by the end of 1999 will present key elements of a specific design of minimum capital investment, with a target cost saving of about 50% the cost of the ITER FDR design, and a restricted number of design variants. Outline conclusions from the work of the task force are presented in terms of physics, operations, and design of the main tokamak systems. Possible implications for the way forward are discussed

  18. ITER diagnostic system: Vacuum interface

    International Nuclear Information System (INIS)

    Patel, K.M.; Udintsev, V.S.; Hughes, S.; Walker, C.I.; Andrew, P.; Barnsley, R.; Bertalot, L.; Drevon, J.M.; Encheva, A.; Kashchuk, Y.; Maquet, Ph.; Pearce, R.; Taylor, N.; Vayakis, G.; Walsh, M.J.

    2013-01-01

    Diagnostics play an essential role for the successful operation of the ITER tokamak. They provide the means to observe control and to measure plasma during the operation of ITER tokamak. The components of the diagnostic system in the ITER tokamak will be installed in the vacuum vessel, in the cryostat, in the upper, equatorial and divertor ports, in the divertor cassettes and racks, as well as in various buildings. Diagnostic components that are placed in a high radiation environment are expected to operate for the life of ITER. There are approx. 45 diagnostic systems located on ITER. Some diagnostics incorporate direct or independently pumped extensions to maintain their necessary vacuum conditions. They require a base pressure less than 10 −7 Pa, irrespective of plasma operation, and a leak rate of less than 10 −10 Pa m 3 s −1 . In all the cases it is essential to maintain the ITER closed fuel cycle. These directly coupled diagnostic systems are an integral part of the ITER vacuum containment and are therefore subject to the same design requirements for tritium and active gas confinement, for all normal and accidental conditions. All the diagnostics, whether or not pumped, incorporate penetration of the vacuum boundary (i.e. window assembly, vacuum feedthrough etc.) and demountable joints. Monitored guard volumes are provided for all elements of the vacuum boundary that are judged to be vulnerable by virtue of their construction, material, load specification etc. Standard arrangements are made for their construction and for the monitoring, evacuating and leak testing of these volumes. Diagnostic systems are incorporated at more than 20 ports on ITER. This paper will describe typical and particular arrangements of pumped diagnostic and monitored guard volume. The status of the diagnostic vacuum systems, which are at the start of their detailed design, will be outlined and the specific features of the vacuum systems in ports and extensions will be described

  19. The ITER remote maintenance system

    International Nuclear Information System (INIS)

    Tesini, A.

    2007-01-01

    Full text of publication follows: ITER is a joint international research and development project that aims to demonstrate the scientific and technological feasibility of fusion power. As soon as the plasma operation begins using tritium, the replacement of the vacuum vessel internal components will need to be done with remote handling techniques. To accomplish these operations ITER has equipped itself with a Remote Maintenance System; this includes the Remote Handling equipment set and the Hot Cell facility. Both need to work in a cooperative way, with the aim of minimizing the machine shutdown periods and to maximize the machine availability. The ITER Remote Handling equipment set is required to be available, robust, reliable and retrievable. The machine components, to be remotely handle-able, are required to be designed simply so as to ease their maintenance. The baseline ITER Remote Handling equipment is described. The ITER Hot Cell Facility is required to provide a controlled and shielded area for the execution of repair operations (carried out using dedicated remote handling equipment) on those activated components which need to be returned to service, inside the vacuum vessel. The Hot Cell provides also the equipment and space for the processing and temporary storage of the operational and decommissioning rad-waste. A conceptual ITER Hot Cell Facility is described. (authors)

  20. ITER concept definition. V.1

    International Nuclear Information System (INIS)

    1989-01-01

    Under the auspices of the International Atomic Energy Agency (IAEA), an agreement among the four parties representing the world's major fusion programs resulted in a program for conceptual design of the next logical step in the fusion program, the International Thermonuclear Experimental Reactor (ITER). The definition phase, which ended in November, 1989, is summarized in two reports: a brief summary is contained in the ITER Definition Phase Report (IAEA/ITER/DS/2); the extended technical summary and technical details of ITER are contained in this two-volume report. The first volume of this report contains the Introduction and Summary, and the remainder will appear in Volume II. In the Conceptual Design Activities phase, ITER has been defined as being a tokamak device. The basic performance parameters of ITER are given in Volume I of this report. In addition, the rationale for selection of this concept, the performance flexibility, technical issues, operations, safety, reliability, cost, and research and development needed to proceed with the design are discussed. Figs and tabs

  1. The ITER remote maintenance system

    International Nuclear Information System (INIS)

    Tesini, A.; Palmer, J.

    2007-01-01

    ITER is a joint international research and development project that aims to demonstrate the scientific and technological feasibility of fusion power. As soon as the plasma operation begins using tritium, the replacement of the vacuum vessel internal components will need to be done with remote handling techniques. To accomplish these operations ITER has equipped itself with a Remote Maintenance System; this includes the Remote Handling equipment set and the Hot Cell facility. Both need to work in a cooperative way, with the aim of minimizing the machine shutdown periods and to maximize the machine availability. The ITER Remote Handling equipment set is required to be available, robust, reliable and retrievable. The machine components, to be remotely handle-able, are required to be designed simply so as to ease their maintenance. The baseline ITER Remote Handling equipment is described. The ITER Hot Cell Facility is required to provide a controlled and shielded area for the execution of repair operations (carried out using dedicated remote handling equipment) on those activated components which need to be returned to service, inside the vacuum vessel. The Hot Cell provides also the equipment and space for the processing and temporary storage of the operational and decommissioning radwaste. A conceptual ITER Hot Cell Facility is described. (orig.)

  2. Generative Representations for Automated Design of Robots

    Science.gov (United States)

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

    2007-01-01

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

  3. Giant paraganglioma in

    Directory of Open Access Journals (Sweden)

    Alka Gupta

    2017-07-01

    Full Text Available Paraganglioma is a rare neuroendocrine catecholamine producing tumour in childhood which arises outside the adrenal medulla. We present a 12 year old girl with giant paraganglioma with severe hypertension and end organ damage. Diagnosis was confirmed with 24 h urinary Vanillymandelic Acid (VMA and CT scan. Preoperative blood pressure was controlled with intravenous nitroprusside, and oral prazosin, amlodepine, labetalol and metoprolol. General anaesthesia with epidural analgesia was given. Intra operative blood pressure rise was managed with infusion of nitriglycerine (NTG, esmolol, nitroprusside and propofol.

  4. GIANT INTRACANALICULAR FIBROADENOMA

    Science.gov (United States)

    Smith, Clyn; Parsons, Robert J.; Bogart, William M.

    1951-01-01

    Five cases of giant intracanalicular fibroadenoma (“cystosarcoma phylloides”) were observed at one hospital in a period of three years. In a search of the literature, additional reports of breast tumors of this kind, not included in previous reviews, were noted. As there is record of 229 cases, it would appear that this rapidly growing benign tumor should be kept in mind in the diagnosis of masses in the breast. If removal is incomplete, there may be recurrence. Simple mastectomy is the treatment of choice. Radical mastectomy should be avoided. ImagesFigure 1Figure 2.Figure 3Figure 4Figure 5 PMID:14848732

  5. Giant Ulcerative Dermatofibroma

    Directory of Open Access Journals (Sweden)

    Turgut Karlidag

    2013-01-01

    Full Text Available Dermatofibroma is a slowly growing common benign cutaneous tumor characterized by hard papules and nodules. The rarely seen erosions and ulcerations may cause difficulties in the diagnosis. Dermatofibrosarcoma protuberans, which is clinically and histopathologically of malignant character, displays difficulties in the diagnosis since it has similarities with basal cell carcinoma, epidermoid carcinoma, and sarcomas. Head and neck involvement is very rare. In this study, a giant dermatofibroma case, which is histopathologically, ulcerative dermatofibroma, the biggest lesion of the head and neck region and seen rarely in the literature that has characteristics similar to dermatofibrosarcoma protuberans, has been presented.

  6. GIANT PROSTHETIC VALVE THROMBUS

    Directory of Open Access Journals (Sweden)

    Prashanth Kumar

    2015-04-01

    Full Text Available Mechanical prosthetic valves are predisposed to bleeding, thrombosis & thromboembolic complications. Overall incidence of thromboembolic complications is 1% per year who are on oral anticoagulants, whereas bleeding complications incidence is 0.5% to 6.6% per year. 1, 2 Minimization of Scylla of thromboembolic & Charybdis of bleeding complication needs a balancing act of optimal antithrombotic therapy. We are reporting a case of middle aged male patient with prosthetic mitral valve presenting in heart failure. Patient had discontinued anticoagulants, as he had subdural hematoma in the past. He presented to our institute with a giant prosthetic valve thrombus.

  7. A Giant Urethral Calculus.

    Science.gov (United States)

    Sigdel, G; Agarwal, A; Keshaw, B W

    2014-01-01

    Urethral calculi are rare forms of urolithiasis. Majority of the calculi are migratory from urinary bladder or upper urinary tract. Primary urethral calculi usually occur in presence of urethral stricture or diverticulum. In this article we report a case of a giant posterior urethral calculus measuring 7x3x2 cm in a 47 years old male. Patient presented with acute retention of urine which was preceded by burning micturition and dribbling of urine for one week. The calculus was pushed in to the bladder through the cystoscope and was removed by suprapubic cystolithotomy.

  8. Giant Congenital Melanocytic Nevus

    DEFF Research Database (Denmark)

    Rasmussen, Bo Sonnich; Henriksen, Trine Foged; Kølle, Stig-Frederik Trojahn

    2015-01-01

    Giant congenital melanocytic nevi (GCMN) occur in 1:20,000 livebirths and are associated with increased risk of malignant transformation. The treatment of GCMN from 1981 to 2010 in a tertiary referral center was reviewed evaluating the modalities used, cosmetic results, associated complications......% versus 44% required unplanned additional surgery, respectively. Complications were noted in 25% and 67% of the patients, respectively. Cosmetic result was satisfying in 76% of patients without difference between the groups. No malignant transformation was found during a mean follow-up of 11 years....... Curettage is a gentle alternative to excision with a lower complication rate and good cosmetic outcome....

  9. ITER Central Solenoid Module Fabrication

    Energy Technology Data Exchange (ETDEWEB)

    Smith, John [General Atomics, San Diego, CA (United States)

    2016-09-23

    The fabrication of the modules for the ITER Central Solenoid (CS) has started in a dedicated production facility located in Poway, California, USA. The necessary tools have been designed, built, installed, and tested in the facility to enable the start of production. The current schedule has first module fabrication completed in 2017, followed by testing and subsequent shipment to ITER. The Central Solenoid is a key component of the ITER tokamak providing the inductive voltage to initiate and sustain the plasma current and to position and shape the plasma. The design of the CS has been a collaborative effort between the US ITER Project Office (US ITER), the international ITER Organization (IO) and General Atomics (GA). GA’s responsibility includes: completing the fabrication design, developing and qualifying the fabrication processes and tools, and then completing the fabrication of the seven 110 tonne CS modules. The modules will be shipped separately to the ITER site, and then stacked and aligned in the Assembly Hall prior to insertion in the core of the ITER tokamak. A dedicated facility in Poway, California, USA has been established by GA to complete the fabrication of the seven modules. Infrastructure improvements included thick reinforced concrete floors, a diesel generator for backup power, along with, cranes for moving the tooling within the facility. The fabrication process for a single module requires approximately 22 months followed by five months of testing, which includes preliminary electrical testing followed by high current (48.5 kA) tests at 4.7K. The production of the seven modules is completed in a parallel fashion through ten process stations. The process stations have been designed and built with most stations having completed testing and qualification for carrying out the required fabrication processes. The final qualification step for each process station is achieved by the successful production of a prototype coil. Fabrication of the first

  10. 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...

  11. 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

  12. 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...

  13. ITER EDA newsletter. V. 5, no. 9

    International Nuclear Information System (INIS)

    1996-09-01

    This issue of the Newsletter on the Engineering Design Activities (EDA) for the ITER project contains an overview of one of the seven large ITER Research and Development Projects identified by the ITER Director, namely the Vacuum Vessel Sector, as well as an account of computer animation created for ITER

  14. ITER EDA newsletter. V. 4, no. 9

    International Nuclear Information System (INIS)

    1995-09-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains reports on the first meeting of the ITER Test Blanket Working Group held 19-21 July 1995 at the ITER Garching Joint Work Site, and on the second workshop of the ITER Expert Group on Confinement and Transport

  15. ITER ITA newsletter. No. 22, May 2005

    International Nuclear Information System (INIS)

    2005-06-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about Japanese Participant Team's recent activities in the ITER Transitional Arrangements(ITA) phase and ITER related meeting the Fourth IAEA Technical Meeting (IAEA-TM) on Negative Ion Based Neutral Beam Injectors which was held in Padova, Italy from 9-11 May 2005

  16. ITER EDA newsletter. V. 10, no. 6

    International Nuclear Information System (INIS)

    2001-06-01

    This ITER EDA Newsletter issue includes information about the ITER Management Advisory Committee Meeting held in Vienna on 16 July 2001 and also a summary of the ninth ITER Technical Meeting on safety and environment held at the ITER Garching Joint Work site, 8 to 10 May, 2001

  17. ITER EDA Newsletter. V. 4, no. 5

    International Nuclear Information System (INIS)

    1995-05-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains comments on the ITER project by the Permanent Representative of the Russian Federation to the International Organizations in Vienna; a report on the ITER Magnet Technical Meeting held at the Joint Work Site at Naka, Japan, April 19-21, 1995; and a contribution entitled ''ITER spouses cross the cultures''

  18. ITER EDA newsletter. V. 8, no. 9

    International Nuclear Information System (INIS)

    1999-09-01

    This edition of the ITER EDA Newsletter contains a contribution by the ITER Director, R. Aymar, on the subject of developments in ITER Physics R and D report on the completion of the ITER central solenoid model coils installation by H. Tsuji, Head fo the Superconducting Magnet Laboratory at JAERI in Naka, Japan. Individual abstracts are prepared for each of the two articles

  19. ITER EDA newsletter. V. 7, no. 1

    International Nuclear Information System (INIS)

    1998-01-01

    This issue of the ITER Newsletter contains a summary report on the Thirteenth meeting of the ITER Management Advisory Committee (MAC), a report on ITER at the International Conference on Fusion Reactor Materials and a report of a Russian scientist working at ITER Garching JWS

  20. ITER ITA newsletter. No. 5, June 2003

    International Nuclear Information System (INIS)

    2003-08-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities, one of them retirement of Dr. Michel Huguet, deputy director of the ITER central team and the Head of Naka joint work site and another about 10.5 years of his activities at this site

  1. ITER EDA Newsletter. V.3, no.3

    International Nuclear Information System (INIS)

    1994-03-01

    This ITER EDA Newsletter issue contains reports on (i) the completion of the ITER EDA Protocol 1, (ii) the signing of ITER EDA Protocol 2, (iii) a technical meeting on pumping and fuelling and (iv) a technical meeting on the ITER Tritium Plant

  2. ITER EDA newsletter. V. 8, no. 12

    International Nuclear Information System (INIS)

    1999-12-01

    This ITER EDA Newsletter reports about the ITER Management Advisory Committee Meeting in Naka, the ITER Technical Advisory Committee Meeting in Naka and the meeting of the ITER SWG-P2 in Vienna. A separate abstract is prepared for each meeting

  3. ITER safety challenges and opportunities

    International Nuclear Information System (INIS)

    Piet, S.J.

    1991-01-01

    Results of the Conceptual Design Activity (CDA) for the International Thermonuclear Experimental Reactor (ITER) suggest challenges and opportunities. ''ITER is capable of meeting anticipated regulatory dose limits,'' but proof is difficult because of large radioactive inventories needing stringent radioactivity confinement. We need much research and development (R ampersand D) and design analysis to establish that ITER meets regulatory requirements. We have a further opportunity to do more to prove more of fusion's potential safety and environmental advantages and maximize the amount of ITER technology on the path toward fusion power plants. To fulfill these tasks, we need to overcome three programmatic challenges and three technical challenges. The first programmatic challenge is to fund a comprehensive safety and environmental ITER R ampersand D plan. Second is to strengthen safety and environment work and personnel in the international team. Third is to establish an external consultant group to advise the ITER Joint Team on designing ITER to meet safety requirements for siting by any of the Parties. The first of the three key technical challenges is plasma engineering -- burn control, plasma shutdown, disruptions, tritium burn fraction, and steady state operation. The second is the divertor, including tritium inventory, activation hazards, chemical reactions, and coolant disturbances. The third technical challenge is optimization of design requirements considering safety risk, technical risk, and cost. Some design requirements are now too strict; some are too lax. Fuel cycle design requirements are presently too strict, mandating inappropriate T separation from H and D. Heat sink requirements are presently too lax; they should be strengthened to ensure that maximum loss of coolant accident temperatures drop

  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. ROBOT "MICROMOUSE"

    OpenAIRE

    Rman, Marko

    2011-01-01

    V diplomski nalogi je predstavljena izvedba robota "micromouse" za premagovanje naključnega labirinta. Cilj projekta je bila izdelava avtonomnega robota, ki je sposoben opraviti takšno nalogo. Robot je opremljen z različnimi senzorji za zaznavanje okolice, motorji za pogon, upravljanje pa se izvaja z mikrokrmilnikom podjetja Atmel. V nalogi je podrobno opisana izvedba in delovanje posameznih elektronskih delov. Predstavljeno je tudi delovanje programske opreme za izbran mikrokrmilnik.

  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. Fusion Power measurement at ITER

    International Nuclear Information System (INIS)

    Bertalot, L.; Barnsley, R.; Krasilnikov, V.; Stott, P.; Suarez, A.; Vayakis, G.; Walsh, M.

    2015-01-01

    Nuclear fusion research aims to provide energy for the future in a sustainable way and the ITER project scope is to demonstrate the feasibility of nuclear fusion energy. ITER is a nuclear experimental reactor based on a large scale fusion plasma (tokamak type) device generating Deuterium - Tritium (DT) fusion reactions with emission of 14 MeV neutrons producing up to 700 MW fusion power. The measurement of fusion power, i.e. total neutron emissivity, will play an important role for achieving ITER goals, in particular the fusion gain factor Q related to the reactor performance. Particular attention is given also to the development of the neutron calibration strategy whose main scope is to achieve the required accuracy of 10% for the measurement of fusion power. Neutron Flux Monitors located in diagnostic ports and inside the vacuum vessel will measure ITER total neutron emissivity, expected to range from 1014 n/s in Deuterium - Deuterium (DD) plasmas up to almost 10 21 n/s in DT plasmas. The neutron detection systems as well all other ITER diagnostics have to withstand high nuclear radiation and electromagnetic fields as well ultrahigh vacuum and thermal loads. (authors)

  8. ITER safety and licensing update

    Energy Technology Data Exchange (ETDEWEB)

    Taylor, Neill, E-mail: neill.taylor@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Ciattaglia, Sergio; Cortes, Pierre; Iseli, Markus; Rosanvallon, Sandrine; Topilski, Leonid [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2012-08-15

    Highlights: Black-Right-Pointing-Pointer The ITER preliminary safety report has been submitted to the French nuclear regulator. Black-Right-Pointing-Pointer Safety analyses have shown how the key safety functions will be achieved. Black-Right-Pointing-Pointer The design contains multiple provisions for the confinement of radioactive material. Black-Right-Pointing-Pointer Analyses have addressed external hazards (e.g. earthquake) and loss of all power. - Abstract: Safety files were submitted by the ITER Organization to the French nuclear safety authorities in March 2010 as a part of the licensing process. These included the preliminary safety report (RPrS) which presents the extensive safety analyses performed for ITER. The report has been the subject of examination by the authorities and their advisors, and discussions with them have been held on many topics. In the light of this process, this paper discusses some of the topics that remain prominent in the safety analysis of ITER. In particular, the provision of the two safety functions, confinement of radioactive material and limitation of exposure to radiation, is explained and some of the potential challenges to them are identified. Amongst these are the risks of fire and explosion, and external events such as earthquake and loss of all electric power. Provisions in the ITER design, together with the characteristics of fusion, ensure that a very good safety performance will be achieved.

  9. ITER ITA newsletter. No. 1, February 2003

    International Nuclear Information System (INIS)

    2003-04-01

    This first issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related meetings including eighth ITER Negotiations meeting, held on 18-19 February, 2003 in St. Petersburg, Russia, first meeting of the ITER preparatory committee, held on 17 February, 2003 in St. Petersburg, Russia and the third meeting of the ITPA (International Tokamak Physics Activity) coordinating committee, held on 24-25 October 2002 at the Max-Planck-Institut fuer Plasmaphysik, Garching

  10. ITER ITA newsletter. Special issue - December 2006

    International Nuclear Information System (INIS)

    2006-12-01

    This issue of ITER ITA (ITER transitional arrangements) newsletter contains information about signing ITER Agreement, which took place on 21 November 2006 in Paris, France. It was great day for fusion research as Ministers from the seven ITER Parties in the presence of President Jacques Chirac and President of European Commission Jose Barroso and some 400 invited guests signed the Agreement setting up the ITER International Fusion Energy Organization. This issues contains the speeches, statements and remarks of Presidents and Ministers

  11. ITER ITA newsletter. No. 11, December 2003

    International Nuclear Information System (INIS)

    2003-12-01

    This issue of the ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER including information from the editor about ITER update, about progress in ITER magnet design and preparation of procurement packages and about 25th anniversary of the First Steering Committee Meeting of the International Tokamak Reactor (INTOR) Workshop, organized under the auspices of the IAEA, took place at the IAEA Headquarters in Vienna

  12. ITER EDA newsletter. V. 5, no. 7

    International Nuclear Information System (INIS)

    1996-07-01

    This issue of the Newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the Tenth ITER Council Meeting, held July 24-25, 1996, in St. Petersburg, Russia; a description of the Status of the ITER EDA by the ITER Director, Dr. R. Aymar; and a report on the so-called Task Number One by the ITER Special Working Group (Basis for the Start of Explorations, presenting possible scenarios toward siting, licensing and host support)

  13. ITER ITA newsletter No. 33, August-September-October 2006

    International Nuclear Information System (INIS)

    2006-11-01

    This issue of ITER ITA (ITER transitional arrangements) newsletter contains concise information about ITER related events such as public debate on ITER in Provence and fiftieth annual General Conference of the IAEA. Eight ITER related statements were made during Conference

  14. 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.

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

    OpenAIRE

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

    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...

  16. Establishment of ITER: Relevant documents

    International Nuclear Information System (INIS)

    1988-01-01

    At the Geneva Summit Meeting in November, 1985, a proposal was made by the Soviet Union to build a next-generation tokamak experiment on a collaborative basis involving the world's four major fusion blocks. In October, 1986, after consulting with Japan and the European Community, the United States responded with a proposal on how to implement such an activity. Ensuing diplomatic and technical discussions resulted in the establishment, under the auspices of the IAEA, of the International Thermonuclear Experimental Reactor Conceptual Design Activities. This tome represents a collection of all documents relating to the establishment of ITER, beginning with the initial meeting of the ITER Quadripartite Initiative Committee in Vienna on 15-16 March, 1987, through the meeting of the Provisional ITER Council, also in Vienna, on 8-9 February, 1988

  17. Remote maintenance development for ITER

    International Nuclear Information System (INIS)

    Tada, Eisuke; Shibanuma, Kiyoshi

    1997-01-01

    This paper both describes the overall design concept of the ITER remote maintenance system, which has been developed mainly for use with in-vessel components such as divertor and blanket, and outlines of the ITER R and D program, which has been established to develop remote handling equipment/tools and radiation hard components. In ITER, the reactor structures inside cryostat have to be maintained remotely because of activation due to DT operation. Therefore, remote-handling technology is fundamental, and the reactor-structure design must be made consistent with remote maintainability. The overall maintenance scenario and design concepts of the required remote handling equipment/tools have been developed according to their maintenance classification. Technologies are also being developed to verify the feasibility of the maintenance design and include fabrication and testing of a fullscale remote-handling equipment/tools for in-vessel maintenance. (author)

  18. The ITER project technological challenges

    CERN Multimedia

    CERN. Geneva; Lister, Joseph; Marquina, Miguel A; Todesco, Ezio

    2005-01-01

    The first lecture reminds us of the ITER challenges, presents hard engineering problems, typically due to mechanical forces and thermal loads and identifies where the physics uncertainties play a significant role in the engineering requirements. The second lecture presents soft engineering problems of measuring the plasma parameters, feedback control of the plasma and handling the physics data flow and slow controls data flow from a large experiment like ITER. The last three lectures focus on superconductors for fusion. The third lecture reviews the design criteria and manufacturing methods for 6 milestone-conductors of large fusion devices (T-7, T-15, Tore Supra, LHD, W-7X, ITER). The evolution of the designer approach and the available technologies are critically discussed. The fourth lecture is devoted to the issue of performance prediction, from a superconducting wire to a large size conductor. The role of scaling laws, self-field, current distribution, voltage-current characteristic and transposition are...

  19. The danger of iteration methods

    International Nuclear Information System (INIS)

    Villain, J.; Semeria, B.

    1983-01-01

    When a Hamiltonian H depends on variables phisub(i), the values of these variables which minimize H satisfy the equations deltaH/deltaphisub(i) = O. If this set of equations is solved by iteration, there is no guarantee that the solution is the one which minimizes H. In the case of a harmonic system with a random potential periodic with respect to the phisub(i)'s, the fluctuations have been calculated by Efetov and Larkin by means of the iteration method. The result is wrong in the case of a strong disorder. Even in the weak disorder case, it is wrong for a one-dimensional system and for a finite system of 2 particles. It is argued that the results obtained by iteration are always wrong, and that between 2 and 4 dimensions, spin-pair correlation functions decay like powers of the distance, as found by Aharony and Pytte for another model

  20. Spectrally Compatible Iterative Water Filling

    Science.gov (United States)

    Verlinden, Jan; Bogaert, Etienne Vanden; Bostoen, Tom; Zanier, Francesca; Luise, Marco; Cendrillon, Raphael; Moonen, Marc

    2006-12-01

    Until now static spectrum management has ensured that DSL lines in the same cable are spectrally compatible under worst-case crosstalk conditions. Recently dynamic spectrum management (DSM) has been proposed aiming at an increased capacity utilization by adaptation of the transmit spectra of DSL lines to the actual crosstalk interference. In this paper, a new DSM method for downstream ADSL is derived from the well-known iterative water-filling (IWF) algorithm. The amount of boosting of this new DSM method is limited, such that it is spectrally compatible with ADSL. Hence it is referred to as spectrally compatible iterative water filling (SC-IWF). This paper focuses on the performance gains of SC-IWF. This method is an autonomous DSM method (DSM level 1) and it will be investigated together with two other DSM level-1 algorithms, under various noise conditions, namely, iterative water-filling algorithm, and flat power back-off (flat PBO).

  1. Spectrally Compatible Iterative Water Filling

    Directory of Open Access Journals (Sweden)

    Cendrillon Raphael

    2006-01-01

    Full Text Available Until now static spectrum management has ensured that DSL lines in the same cable are spectrally compatible under worst-case crosstalk conditions. Recently dynamic spectrum management (DSM has been proposed aiming at an increased capacity utilization by adaptation of the transmit spectra of DSL lines to the actual crosstalk interference. In this paper, a new DSM method for downstream ADSL is derived from the well-known iterative water-filling (IWF algorithm. The amount of boosting of this new DSM method is limited, such that it is spectrally compatible with ADSL. Hence it is referred to as spectrally compatible iterative water filling (SC-IWF. This paper focuses on the performance gains of SC-IWF. This method is an autonomous DSM method (DSM level 1 and it will be investigated together with two other DSM level-1 algorithms, under various noise conditions, namely, iterative water-filling algorithm, and flat power back-off (flat PBO.

  2. Recurrent giant juvenile fibroadenoma

    Directory of Open Access Journals (Sweden)

    Kathryn S. King

    2017-11-01

    Full Text Available Breast masses in children, though rare, present a difficult clinical challenge as they can represent a wide variety of entities from benign fibroadenomas to phyllodes tumors. Rapidly growing or recurrent masses can be particularly concerning to patients, families and physicians alike. Clinical examination and conventional imaging modalities are not efficacious in distinguishing between different tumor types and surgical excision is often recommended for both final diagnosis and for treatment of large or rapidly growing masses. While surgical excision can result in significant long-term deformity of the breast there are some surgical techniques that can be used to limit deformity and/or aid in future reconstruction. Here we present a case of recurrent giant juvenile fibroadenoma with a review of the clinical presentation, diagnostic tools and treatment options.

  3. A giant testicular teratoma

    International Nuclear Information System (INIS)

    Zangana, Abdulqadir M.; Razak, Awodan B.

    2007-01-01

    We report a giant testicular in a 36-year-old farmer man, of 18-month duration admitted to the Surgical Department Erbil Teaching Hospital, Iraq. The tumor was invading the penis and lower part of abdominal wall including bilateral groin lymph nodes. Histological examination revealed mature and immature teratoma. Further investigations showed no evidence of any metastatic lesions apart from a solitary pulmonary nodule on the right side of the chest which proved by ultra sonic guide fine needle aspiration biopsy. Radical excisions of the tumor including the shaft of the penis, combined with bilateral block dissection of the inguinal nodes and resection of the lower anterior abdominal wall was performed. Six weeks later after a course of chemotherapy and radiotherapy, the patient underwent resection of metastatic lung lesion. (author)

  4. 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...

  5. Atmospheric parameters of red giants in the Kepler field

    Science.gov (United States)

    Bruntt, H.; Frandsen, S.; Thygesen, A. O.

    2011-04-01

    Context. Accurate fundamental parameters of stars are mandatory for the asteroseismic investigation of the Kepler mission to succeed. Aims: We determine the atmospheric parameters for a sample of six well-studied bright K giants to confirm that our method produces reliable results. We then apply the same method to 14 K giants that are targets of the Kepler mission. Methods: We used high-resolution, high signal-to-noise ratio spectra acquired using the FIES spectrograph on the Nordic Optical Telescope. We applied the iterative spectral synthesis method VWA to derive the fundamental parameters from carefully selected high-quality iron lines and pressure-sensitive Calcium lines. Results: We find good agreement with parameters from the literature for the six bright giants. We compared the spectroscopic values with parameters based on photometric indices in the Kepler Input Catalogue (KIC). We identify serious problems with the KIC values for [Fe/H] and find a large RMS scatter of 0.5 dex. The log g values in KIC agree reasonably well with the spectroscopic values displaying a scatter of 0.25 dex after excluding two low-metallicity giants. The Teff values from VWA and KIC agree well with a scatter of about 85 K. We also find good agreement with log g and Teff derived from asteroseismic analyses for seven Kepler giant targets. Conclusions: We determine accurate fundamental parameters of 14 giants using spectroscopic data. The large discrepancies between photometric and spectroscopic values of [Fe/H] emphasize the need for further detailed spectroscopic follow-up of the Kepler targets. This will be mandatory to be able to produce reliable constraints for detailed asteroseismic analyses and interpretation of possible exo-planet candidates found around giant stars. Based on observations made with the Nordic Optical Telescope, operated on the island of La Palma jointly by Denmark, Finland, Iceland, Norway, and Sweden, in the Spanish Observatorio del Roque de los Muchachos of

  6. Development and design optimization of water hydraulic manipulator for ITER

    International Nuclear Information System (INIS)

    Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

    2009-01-01

    This paper describes one of the research projects carried out in The Preparation of Remote Handling Engineers for ITER (PREFIT) program within the European Fusion Training Scheme (EFTS). This research project is focusing on the design and optimization of water hydraulic manipulators used to test several remote handling tasks of ITER at Divertor Test Platform 2 (DTP2), Tampere, Finland, and later in ITER. In this project, a water hydraulic manipulator designed and build by Department of Intelligent Hydraulics and Automation in Tampere University of Technology, Finland (TUT/IHA) is further optimized as a case study for a given manipulator requirement specification in order to illustrate and verify developed comprehensive design guidelines and performance metrics. Without meaningful manipulator performance parameters, the evaluation of alternative robot manipulators designs remains ad hoc at best. Therefore, more comprehensive design guidelines and performance metrics are needed for comparing and improving different existing manipulators versus task requirements or for comparing different digital prototypes at early design phase of manipulators. In this paper the description of the project, its background and developments are presented and discussed.

  7. ITER ITA newsletter No. 31, June 2006

    International Nuclear Information System (INIS)

    2006-07-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about initialling the ITER Agreement and its related instruments by seven ITER parties, which too place in Brussels on 24 May 2006. The initialling constituted the final act of the ITER negotiations. It confirmed the Parties' common acceptance of the negotiated texts, ad referendum, and signalled their intentions to move forward towards the entry into force of the ITER Agreement as soon as possible. 'ITER - Uniting science today, global energy tomorrow' was the theme of a number of media events timed to accompany a remarkable day in the history of the ITER international venture, May 24th 2006, initialling of the ITER international agreement

  8. Adaptive collaborative control of highly redundant robots

    Science.gov (United States)

    Handelman, David A.

    2008-04-01

    The agility and adaptability of biological systems are worthwhile goals for next-generation unmanned ground vehicles. Management of the requisite number of degrees of freedom, however, remains a challenge, as does the ability of an operator to transfer behavioral intent from human to robot. This paper reviews American Android research funded by NASA, DARPA, and the U.S. Army that attempts to address these issues. Limb coordination technology, an iterative form of inverse kinematics, provides a fundamental ability to control balance and posture independently in highly redundant systems. Goal positions and orientations of distal points of the robot skeleton, such as the hands and feet of a humanoid robot, become variable constraints, as does center-of-gravity position. Behaviors utilize these goals to synthesize full-body motion. Biped walking, crawling and grasping are illustrated, and behavior parameterization, layering and portability are discussed. Robotic skill acquisition enables a show-and-tell approach to behavior modification. Declarative rules built verbally by an operator in the field define nominal task plans, and neural networks trained with verbal, manual and visual signals provide additional behavior shaping. Anticipated benefits of the resultant adaptive collaborative controller for unmanned ground vehicles include increased robot autonomy, reduced operator workload and reduced operator training and skill requirements.

  9. 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…

  10. 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.

  11. Balanserande robot

    OpenAIRE

    Nilsson, Fredrik

    2010-01-01

    Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan. Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kun...

  12. 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...... how nanophotonics can productively be used in both biomedical and life sciences, allowing readers to clearly see how structure-mediated nanobiophotonics can be used to increase our engineering toolbox for biology at the smallest scales. This book will be of great use to researchers and scientists...

  13. Industrial robot

    Energy Technology Data Exchange (ETDEWEB)

    Gorman, R.H.

    1987-06-09

    This patent describes a three axis outer arm assembly for an industrial robot comprising: a hand assembly including a frame member, a transverse wrist pin mounted to the frame member, and a wrist rotary member rotatably mounted with respect to the frame member; a first tubular member, with the wrist pin of the hand assembly being transversely mounted at one end thereof, a second tubular member rotatably mounted coaxially within the first tubular member; first gear means; a second gear means; drive means; and means mounting the second and third tubular members.

  14. ITER Neutral Beam Injection System

    International Nuclear Information System (INIS)

    Ohara, Yoshihiro; Tanaka, Shigeru; Akiba, Masato

    1991-03-01

    A Japanese design proposal of the ITER Neutral Beam Injection System (NBS) which is consistent with the ITER common design requirements is described. The injection system is required to deliver a neutral deuterium beam of 75MW at 1.3MeV to the reactor plasma and utilized not only for plasma heating but also for current drive and current profile control. The injection system is composed of 9 modules, each of which is designed so as to inject a 1.3MeV, 10MW neutral beam. The most important point in the design is that the injection system is based on the utilization of a cesium-seeded volume negative ion source which can produce an intense negative ion beam with high current density at a low source operating pressure. The design value of the source is based on the experimental values achieved at JAERI. The utilization of the cesium-seeded volume source is essential to the design of an efficient and compact neutral beam injection system which satisfies the ITER common design requirements. The critical components to realize this design are the 1.3MeV, 17A electrostatic accelerator and the high voltage DC acceleration power supply, whose performances must be demonstrated prior to the construction of ITER NBI system. (author)

  15. Status of the ITER EDA

    International Nuclear Information System (INIS)

    Aymar, R.

    1999-01-01

    This article summarises progress made in the ITER Design Activities between October 1998 and February 1999. The three main focusses of the activity were on design work, on R and D work and on the physics basis. The consequences of diminishing financial funds and personnel are discussed and the state of the individual R and D projects is given briefly

  16. Informal meeting on ITER developments

    International Nuclear Information System (INIS)

    Canobbio, E.

    2000-01-01

    The International Fusion Research Council (IFRC), advisory body of the IAEA, organized an informal meeting on the general status and outlook for ITER, held October 9 at Sorrento, Italy, in conjunction with the 18th IAEA Fusion Energy Conference. This article describes the main events at the meeting

  17. Iterative Specialisation of Horn Clauses

    DEFF Research Database (Denmark)

    Nielsen, Christoffer Rosenkilde; Nielson, Flemming; Nielson, Hanne Riis

    2008-01-01

    We present a generic algorithm for solving Horn clauses through iterative specialisation. The algorithm is generic in the sense that it can be instantiated with any decidable fragment of Horn clauses, resulting in a solution scheme for general Horn clauses that guarantees soundness and termination...

  18. ITER Council tour of Clarington site

    International Nuclear Information System (INIS)

    Dautovich, D.

    2001-01-01

    The ITER Council meeting was recently held in Toronto on 27 and 28 February. ITER Canada provided local arrangements for the Council meeting on behalf of Europe as the Official host. Following the meeting, on 1 March, ITER Canada conducted a tour of the proposed ITER construction site at Charington, and the ITER Council members attended a luncheon followed by a speech by Dr. Peter Barnard, Chairman and CEO of ITER Canada, at the Empire Club of Canada. The official invitation to participate in these events came from Dr. Peter Harrison, Deputy Minister of Natural Resources Canada. This report provides a brief summary of the events on 1 March

  19. ITER ITA Newsletter. No. 29, March 2006

    International Nuclear Information System (INIS)

    2006-05-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities and meetings, namely, the ITER Director-General Nominee, Dr. Kaname Ikeda, took up his position as ITER Project Leader in Cadarache on 13 March, the consolidation of information technology infrastructure for ITER and about he Thirty-Fifth Meeting of the Fusion Power Co-ordinating Committee (FPCC), which was held on 28 February-1 March 2006 at the headquarters of the International Energy Agency (IEA) in Paris

  20. ITER EDA Newsletter. V. 4, no. 7

    International Nuclear Information System (INIS)

    1995-07-01

    This ITER EDA (Engineering Design Activities) Newsletter issue contains reports on (i) the 8th meeting of the ITER Technical Advisory Committee (TAC-8) held on June 29 - July 7, 1995 at the ITER San Diego Work Site, (ii) the 8th meeting of the ITER Management Advisory Committee (MAC-8) held at the ITER San Diego Work Site on July 9-10, 1995, (iii) the 33rd meeting of the International Fusion Research Council (FRC), held July 11, 1995 at the IAEA Headquarters in Vienna, Austria, and (iv) the ITER participation in the fifth topical meeting on Tritium Technology in Fission, Fusion and Isotopic Applications

  1. A linear iterative unfolding method

    International Nuclear Information System (INIS)

    László, András

    2012-01-01

    A frequently faced task in experimental physics is to measure the probability distribution of some quantity. Often this quantity to be measured is smeared by a non-ideal detector response or by some physical process. The procedure of removing this smearing effect from the measured distribution is called unfolding, and is a delicate problem in signal processing, due to the well-known numerical ill behavior of this task. Various methods were invented which, given some assumptions on the initial probability distribution, try to regularize the unfolding problem. Most of these methods definitely introduce bias into the estimate of the initial probability distribution. We propose a linear iterative method (motivated by the Neumann series / Landweber iteration known in functional analysis), which has the advantage that no assumptions on the initial probability distribution is needed, and the only regularization parameter is the stopping order of the iteration, which can be used to choose the best compromise between the introduced bias and the propagated statistical and systematic errors. The method is consistent: 'binwise' convergence to the initial probability distribution is proved in absence of measurement errors under a quite general condition on the response function. This condition holds for practical applications such as convolutions, calorimeter response functions, momentum reconstruction response functions based on tracking in magnetic field etc. In presence of measurement errors, explicit formulae for the propagation of the three important error terms is provided: bias error (distance from the unknown to-be-reconstructed initial distribution at a finite iteration order), statistical error, and systematic error. A trade-off between these three error terms can be used to define an optimal iteration stopping criterion, and the errors can be estimated there. We provide a numerical C library for the implementation of the method, which incorporates automatic

  2. Robotic Vision for Welding

    Science.gov (United States)

    Richardson, R. W.

    1986-01-01

    Vision system for robotic welder looks at weld along axis of welding electrode. Gives robot view of most of weld area, including yet-unwelded joint, weld pool, and completed weld bead. Protected within welding-torch body, lens and fiber bundle give robot closeup view of weld in progress. Relayed to video camera on robot manipulator frame, weld image provides data for automatic control of robot motion and welding parameters.

  3. Collaborative Robotics Design Considerations

    Science.gov (United States)

    2004-05-06

    traditional manner, by manually reviewing a large number of recent publications in multi-robot research. This effort, while able to consider the...robots." The IEEE multi-robot research groups, above, were manually created within the 354 abstracts file using terms/phrases taken from the text of...Robotics Technologies," [4] Bay, J., Borrelli , L., Chapman, K., Harrold, T., "User Interface and Display Management Design for Multiple Robot Command

  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. ITER EDA Newsletter. Vol. 1, No. 1

    International Nuclear Information System (INIS)

    1992-11-01

    After the ITER Engineering Design Activities (EDA) Agreement and Protocol 1 had been signed by the four ITER parties on July 21, 1992 and had entered into force, the ITER Council suggested at its first meeting (Vienna, September 10-11, 1992) that the publication of the ITER Newsletter be continued during the EDA with assistance of the International Atomic Energy Agency. This suggestion was supported by the Agency and subsequently the ITER office in Vienna assumed its responsibilities for planning and executing activities related to the publication of the Newsletter. The ITER EDA Newsletter is planned to be a monthly publication aimed at disseminating broad information and understanding, including the description of the personal and institutional involvements in the ITER project in addition to technical facts about it. The responsibility for the Newsletter rests with the ITER council. In this first issue the signing of the ITER EDA Activities and Protocol 1 is reported. The EDA organizational structure is described. This issue also reports on the first ITER EDA council meeting, the opening of the ITER EDA NAKA Co-Centre, the first meeting of the ITER Technical Advisory Committee, activities of special working groups, an ITER Technical Meeting, as well as ''News in Brief'' and ''Coming Events''

  6. Automated measurement of bolometer line of sight alignment and characteristics for application in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Penzel, Florian Olivier

    2015-07-01

    The line of sight (LOS) alignment and characteristic of a bolometer camera used in a fusion experiment is a crucial parameter for the measurement accuracy of the diagnostic. A robot based LOS measurement device has been developed which allows the fully automatic measurement of the two dimensional transmission function of a bolometer camera. It has been used to optimize camera prototypes for ITER and has been successfully operated in the fusion experiment ASDEX Upgrade in order to measure the LOS alignment.

  7. 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

  8. Meeting of the ITER Council

    International Nuclear Information System (INIS)

    Drew, M.

    2001-01-01

    Full text: A meeting of the ITER Council took place in Toronto, Canada, on 27-28 February 2001 (Canada participates in the ITER EDA as an associate of the EU Party). The delegations to the Council were led by Dr. U. Finzi, Principal Advisor in charge of Fusion R and D in the Directorate-General for Research of the European Commission, Mr. T. Sugawa, Deputy Director-General of the Research and Development Bureau of the Ministry of Education, Culture, Sport, Science and Technology of Japan, and Academician E. Velikhov, President of the RRC ''Kurchatov Institute''. The European delegation was joined by Canadian experts including a representative from the Canadian Department of Natural Resources. The Council heard presentations from Dr. H. Kishimoto on the successful completion of the Explorations concerning future joint implementation of ITER, and from Dr. J.-P. Rager on the ITER International Industry Liaison Meeting held in Toronto in November 2000. Having noted statements of Parties' status, in particular concerning the readiness to start negotiations and the progress toward site offers, the Council encouraged the Parties to pursue preparations toward future implementation of ITER along the general lines proposed in the Explorers' final report. The Council also noted the readiness the of the RF and EU Parties to instruct specified current JCT members to remain at their places of assignment after the end of the EDA, in preparation for a transition to the Co-ordinated Technical Activities foreseen as support to ITER negotiations. The Council was pleased to hear that meetings with the Director of the ITER Parties' Designated Safety Representatives had started, and commended the progress toward achieving timely licensing processes with a good common understanding. The Council noted with appreciation the Director's view that no difficulties of principle in the licensing approach had been identified during the informal discussions with the regulatory representatives and

  9. ITER EDA newsletter. V. 2, no. 11

    International Nuclear Information System (INIS)

    1993-11-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains an ITER EDA Status Report, and a report on the Fourth International Fusion Neutronics Workshop at the University of California, Los Angeles Campus, October 20-21, 1993

  10. Iterative perceptual learning for social behavior synthesis

    NARCIS (Netherlands)

    de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

    We introduce Iterative Perceptual Learning (IPL), a novel approach to learn computational models for social behavior synthesis from corpora of human–human interactions. IPL combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of synthesized

  11. Iterative Perceptual Learning for Social Behavior Synthesis

    NARCIS (Netherlands)

    de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

    We introduce Iterative Perceptual Learning (IPL), a novel approach for learning computational models for social behavior synthesis from corpora of human-human interactions. The IPL approach combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of

  12. ITER EDA newsletter. V. 5, no. 8

    International Nuclear Information System (INIS)

    1996-08-01

    This issue of the Newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the divertor remote handling development (and of a summer party at the ITER Joint Work Site in Garching, Germany)

  13. ITER EDA newsletter. V. 7, special issue

    International Nuclear Information System (INIS)

    1998-07-01

    In conjunction with the ITER Council Meeting, a ceremony was held at the IAEA Headquarters in Vienna on 22 July 1998 to celebrate the achievements of the ITER Engineering Design Activities during the period 1992-1998

  14. ITER EDA newsletter. V. 6, no. 12

    International Nuclear Information System (INIS)

    1997-12-01

    This issue of the ITER Newsletter contains summary reports (i) on the Sixth ITER Technical Meeting on Safety and Environment and (ii) on JAERI's Annual Public Seminar on Fusion Research and Development

  15. ITER EDA newsletter. V. 8, no. 7

    International Nuclear Information System (INIS)

    1999-07-01

    This newsletter contains an article concerning the ITER divertor cassette project meeting in Bologna, Italy (May 26-28, 1999), and an emotional outburst, concerning the closure of the ITER site in San Diego, USA

  16. Giant high occipital encephalocele

    Directory of Open Access Journals (Sweden)

    Agrawal Amit

    2016-03-01

    Full Text Available Encephaloceles are rare embryological mesenchymal developmental anomalies resulting from inappropriate ossification in skull through with herniation of intracranial contents of the sac. Encephaloceles are classified based on location of the osseous defect and contents of sac. Convexity encephalocele with osseous defect in occipital bone is called occipital encephalocele. Giant occipital encephaloceles can be sometimes larger than the size of baby skull itself and they pose a great surgical challenge. Occipital encephaloceles (OE are further classified as high OE when defect is only in occipital bone above the foramen magnum, low OE when involving occipital bone and foramen magnum and occipito-cervical when there involvement of occipital bone, foramen magnum and posterior upper neural arches. Chiari III malformation can be associated with high or low occipital encephaloceles. Pre-operatively, it is essential to know the size of the sac, contents of the sac, relation to the adjacent structures, presence or absence of venous sinuses/vascular structures and osseous defect size. Sometimes it becomes imperative to perform both CT and MRI for the necessary information. Volume rendered CT images can depict the relation of osseous defect to foramen magnum and provide information about upper neural arches which is necessary in classifying these lesions.

  17. Bringing Low the Giants

    CERN Multimedia

    2001-01-01

    Their work goes on unseen, because they a hundred metres beneath your feet. But while the race against the clock to build the LHC has begun on the surface, teams underground are feverishly engaged to dismantle LEP and its experiments. Four months after the start of dismantling, the technical coordinators of the different experiments discuss the progress of work. Little men attack the giant ALEPH. The barrel and its two endcaps have been removed to the end of the cavern and stripped of their cables. The breaking up of the detector can now begin. At ALEPH, counting rooms removed all in one go Jean-Paul Fabre, technical coordinator at ALEPH:'After making safe the structure, the first step was to remove the wiring and cables. Some 210 cubic metres were brought out. Then the counting rooms all round the detector were taken out. They were brought up from the cavern all in one go, up through the shaft, which is 10 metres wide and 150 metres deep. They made it with 15 centimetres to spare. They have been emptied of...

  18. Giant necrotic pituitary apoplexy.

    Science.gov (United States)

    Fanous, Andrew A; Quigley, Edward P; Chin, Steven S; Couldwell, William T

    2013-10-01

    Apoplexy of the pituitary gland is a rare complication of pituitary adenomas, involving hemorrhage with or without necrosis within the tumor. This condition may be either asymptomatic or may present with severe headache, visual impairment, ophthalmoplegia, and pituitary failure. Transsphenoidal surgery is the treatment of choice, and early intervention is usually required to ensure reversal of visual impairment. Reports of pituitary apoplectic lesions exceeding 60.0mm in diameter are very rare. A 39-year-old man with long-standing history of nasal congestion, decreased libido and infertility presented with a sudden onset of severe headache and diplopia. MRI of the head demonstrated a massive skull base lesion of 70.0 × 60.0 × 25.0mm, compatible with a giant pituitary macroadenoma. The lesion failed to enhance after administration of a contrast agent, suggesting complete necrotic apoplexy. Urgent surgical decompression was performed, and the lesion was resected via a transnasal transsphenoidal approach. Pathological analysis revealed evidence of necrotic pituitary apoplexy. At the 2 month follow-up, the patient had near-complete to complete resolution of his visual impairment. To the authors' knowledge, this report is unique as the patient demonstrated complete necrotic apoplexy and it underlines the diagnostic dilemma in such a case. Copyright © 2012 Elsevier Ltd. All rights reserved.

  19. ITER EDA newsletter. V. 5, no. 10

    International Nuclear Information System (INIS)

    1996-10-01

    This issue of the newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the Fifth ITER Technical Meeting on Safety, Environment, and Regulatory Approval, held September 29 - October 7, 1996 at the ITER San Diego Joint Work Site; and a report on the Fifth ITER Diagnostics Expert Group Workshop and Technical Meeting on Diagnostics held in Montreal, Canada, 12-13 October 1996

  20. ITER EDA newsletter. V. 9, no. 8

    International Nuclear Information System (INIS)

    2000-08-01

    This ITER EDA Newsletter reports on the ITER meeting on 29-30 June 2000 in Moscow, summarizes the status report on the ITER EDA by R. Aymar, the ITER Director, and gives overviews of the expert group workshop on transport and internal barrier physics, confinement database and modelling and edge and pedestal physics, and the IEA workshop on transport barriers at edge and core. Individual abstracts have been prepared

  1. ITER EDA newsletter. V. 5, no. 5

    International Nuclear Information System (INIS)

    1996-05-01

    This issues of the ITER Engineering Design Activities Newsletter contains a report on the Tenth Meeting of the ITER Management Advisory Committee held at JAERI Headquarters, Tokyo, June 5-6, 1996; on the Fourth ITER Divertor Physics and Divertor Modelling and Database Expert Group Workshop, held at the San Diego ITER Joint Worksite, March 11-15, 1996, and on the Agenda for the 16th IAEA Fusion Energy Conference (7-11 October 1996)

  2. ITER EDA newsletter. V. 9, no. 11

    International Nuclear Information System (INIS)

    2000-11-01

    This issue of the ITER EDA Newsletter contains discussions of three meetings, i.e., (1) the Third ITER International Industry Liaison Meeting held in Toronto, Canada (November 7-9, 2000), (2) an informal meeting on ITER developments held in Sorrento, Italy (October 9, 2000), and (3) the Thirteenth Meeting of the ITER Physics Expert Group on Diagnostics held in Naka, Japan (September 21-22, 2000)

  3. Colorado Conference on iterative methods. Volume 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-12-31

    The conference provided a forum on many aspects of iterative methods. Volume I topics were:Session: domain decomposition, nonlinear problems, integral equations and inverse problems, eigenvalue problems, iterative software kernels. Volume II presents nonsymmetric solvers, parallel computation, theory of iterative methods, software and programming environment, ODE solvers, multigrid and multilevel methods, applications, robust iterative methods, preconditioners, Toeplitz and circulation solvers, and saddle point problems. Individual papers are indexed separately on the EDB.

  4. Formation of the giant planets

    Science.gov (United States)

    Lissauer, Jack J.

    2006-01-01

    The observed properties of giant planets, models of their evolution and observations of protoplanetary disks provide constraints on the formation of gas giant planets. The four largest planets in our Solar System contain considerable quantities of hydrogen and helium, which could not have condensed into solid planetesimals within the protoplanetary disk. All three (transiting) extrasolar giant planets with well determined masses and radii also must contain substantial amounts of these light gases. Jupiter and Saturn are mostly hydrogen and helium, but have larger abundances of heavier elements than does the Sun. Neptune and Uranus are primarily composed of heavier elements. HD 149026 b, which is slightly more massive than is Saturn, appears to have comparable quantities of light gases and heavy elements. HD 209458 b and TrES-1 are primarily hydrogen and helium, but may contain supersolar abundances of heavy elements. Spacecraft flybys and observations of satellite orbits provide estimates of the gravitational moments of the giant planets in our Solar System, which in turn provide information on the internal distribution of matter within Jupiter, Saturn, Uranus and Neptune. Atmospheric thermal structure and heat flow measurements constrain the interior temperatures of planets. Internal processes may cause giant planets to become more compositionally differentiated or alternatively more homogeneous; high-pressure laboratory .experiments provide data useful for modeling these processes. The preponderance of evidence supports the core nucleated gas accretion model. According to this model, giant planets begin their growth by the accumulation of small solid bodies, as do terrestrial planets. However, unlike terrestrial planets, the growing giant planet cores become massive enough that they are able to accumulate substantial amounts of gas before the protoplanetary disk dissipates. The primary questions regarding the core nucleated growth model is under what conditions

  5. ITER EDA newsletter. V. 7, no. 12

    International Nuclear Information System (INIS)

    1998-12-01

    This edition of the ITER EDA Newsletter is dedicated to celebrate the achievements of the ITER activities at the San Diego Joint Work Site. Articles by E. Velikhov, A. Davies and R. Aymar mark the final days of American participation in the ITER program

  6. ITER ITA newsletter. No. 21, April 2005

    International Nuclear Information System (INIS)

    2005-05-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about Russian federation Participant Team's activity in the area of preparation for ITER construction and information about International Fusion materials irradiation Facility(IRMIF) project and prospects for implementation

  7. ITER EDA newsletter. V. 2, no. 12

    International Nuclear Information System (INIS)

    1993-12-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains a report of the Second ITER Technical Committee Meeting on Safety, Environment, and Regulatory Approval, San Diego, USA, November 3-12, 1993, and a summary report on an ITER Magnet Technical Meeting, Naka, Japan, October 5-8, 1993

  8. ITER EDA newsletter. V. 7, no. 10

    International Nuclear Information System (INIS)

    1998-10-01

    This newsletter contains three articles, namely a report on an ITER meeting (October 20-21,1998) in Yokohama, Japan, a short note on the 17th IAEA Fusion Energy Conference (October 19-24, 1998) in Yokohama and a monograph by ITER Director R. Aymar on 'the Legacy of Artsimovitch and the lessons of ITER'

  9. ITER EDA newsletter. V. 8, no. 11

    International Nuclear Information System (INIS)

    1999-11-01

    This ITER EDA Newsletter contains summary reports on the eleventh meeting of the ITER diagnostic expert group in Cadarache, France, on the ITER JCT presentation at the international conference on fusion reactor materials in Colorado Springs, USA and on the seventh workshop on plasma edge theory in fusion devices in Tajimi, Japan. Individual abstracts are prepared for the three contributions

  10. ITER EDA newsletter. V. 6, no. 2

    International Nuclear Information System (INIS)

    1997-02-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter reports on the ITER divertor development project and its objectives; contains a report on the 16th Energy IAEA Fusion Conference (ITER and other Tokamak Issues) held in Montreal, Canada; 287 papers were selected by the Programme Committee for presentation and 178 posters were presented. 3 figs

  11. ITER EDA newsletter. V. 9, no. 9

    International Nuclear Information System (INIS)

    2000-09-01

    This ITER EDA Newsletter contains the following 5 contributions: CSMC and CSIC charging tests successfully completed; The ITER divertor cassette project meeting; Blanket R and D and design task meeting; IAEA technical committee meeting on fusion safety; ITER L-6 large project ''blanket remote handling and maintenance''

  12. Final ITER CTA project board meeting

    International Nuclear Information System (INIS)

    Vlasenkov, V.

    2003-01-01

    The final ITER CTA Project Board Meeting (PB) took place in Barcelona, Spain on 8 December 2002. The PB took notes of the comments concerning the status of the International Team and the Participants Teams, including Dr. Aymar's report 'From ITER to a FUSION Power Reactor' and the assessment of the ITER project cost estimate

  13. ITER EDA newsletter. V. 10, no. 3

    International Nuclear Information System (INIS)

    2001-03-01

    This issue contains a report on the meeting of the ITER Council (M. Drew), a report on the ITER EDA status (Dr. R. Aymar), a report on the ITER Council tour of the Clarington Site (Dr. D. Dautovich) . Abstracts of the indivdual reports have been included in the database

  14. ITER EDA newsletter. V. 2, no. 9

    International Nuclear Information System (INIS)

    1993-09-01

    This ITER EDA (Engineering Design Activities) Newsletter issue contains a report on the third meeting of the ITER Technical Advisory Committee, a summary report for the ITER Magnetic Technical Meeting, a brief account of the International Workshop on Nuclear Data for Fusion Reactor Technology, and a description of approved arrangements for visiting home team personnel

  15. ITER EDA Newsletter. V. 2, no. 1

    International Nuclear Information System (INIS)

    1993-01-01

    This ITER EDA (Engineering Design Activities) Newsletter issue is dedicated to the description of the ITER EDA Home Teams (European Community, Japan, Russian Federation, USA), in particular their composition, tasks, responsibilities, national support and activities, aimed to design the ITER tokamak

  16. 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.

  17. The international thermonuclear reactor (ITER)

    International Nuclear Information System (INIS)

    Fowler, T.K.; Henning, C.D.

    1987-01-01

    Four governmental groups, representing Europe, Japan, USSR and U.S. met in March 1987 to consider a new international design of a magnetic fusion device for the 1990's. An interim group was appointed. The author gives a brief synopsis of what might be thought of as a draft charter. The starting point is the objective of the ITER device, which is summarized as demonstrating both scientific and technical feasibility of fusion. The paper presents an update on the current thinking and technical aspects for the International Thermonuclear Experimental Reactor (ITER). This covers not only what is happening in the U.S. but also some reports of preliminary thinking of the last technical work that occurred in Vienna

  18. Humanoid Robot

    Science.gov (United States)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); hide

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  19. IRC robot

    OpenAIRE

    Rapavý, Martin

    2008-01-01

    Náplní téhle bakalářské práce je analýza aplikačního protokolu IRC, hlavně jeho klientské částí a možností použití. Práce podáva ucelený přehled funkcí IRC robotů a seznam ich jejich současných implementací. Poslední kapitoly rozebírají návrh programu - IRC robota z pohledu klientské části IRC protokolu a také z pohledu možností uživatelské konfigurace. Na závěr práce popisuje implementaci navrhnutého programu. This bachelor's thesis is dedicated to application protocol IRC, mainly to its ...

  20. ITER-FEAT outline design report

    International Nuclear Information System (INIS)

    2001-01-01

    In July 1998 the ITER Parties were unable, for financial reasons, to proceed with construction of the ITER design proposed at that time, to meet the detailed technical objectives and target cost set in 1992. It was therefore decided to investigate options for the design of ITER with reduced technical objectives and with possibly decreased technical margins, whose target construction cost was one half that of the 1998 ITER design, while maintaining the overall programmatic objective. To identify designs that might meet the revised objectives, task forces involving the JCT and Home Teams met during 1998 and 1999 to analyse and compare a range of options for the design of such a device. This led at the end of 1999 to a single configuration for the ITER design with parameters considered to be the most credible consistent with technical limitations and the financial target, yet meeting fully the objectives with appropriate margins. This new design of ITER, called ''ITER-FEAT'', was submitted to the ITER Director to the ITER Parties as the ''ITER-FEAT Outline Design Report'' (ODR) in January 2000, at their meeting in Tokyo. The Parties subsequently conducted their domestic assessments of this report and fed the resulting comments back into the progressing design. The progress on the developing design was reported to the ITER Technical Advisory Committee (TAC) in June 2000 in the report ''Progress in Resolving Open Design Issues from the ODR'' alongside a report on Progress in Technology R and D for ITER. In addition, the progress in the ITER-FEAT Design and Validating R and D was reported to the ITER Parties. The ITER-FEAT design was subsequently approved by the governing body of ITER in Moscow in June 2000 as the basis for the preparation of the Final Design Report, recognising it as a single mature design for ITER consistent with its revised objectives. This volume contains the documents pertinent to the process described above. More detailed technical information

  1. US ITER limiter module design

    International Nuclear Information System (INIS)

    Mattas, R.F.; Billone, M.; Hassanein, A.

    1996-08-01

    The recent U.S. effort on the ITER (International Thermonuclear Experimental Reactor) shield has been focused on the limiter module design. This is a multi-disciplinary effort that covers design layout, fabrication, thermal hydraulics, materials evaluation, thermo- mechanical response, and predicted response during off-normal events. The results of design analyses are presented. Conclusions and recommendations are also presented concerning, the capability of the limiter modules to meet performance goals and to be fabricated within design specifications using existing technology

  2. Truncated States Obtained by Iteration

    International Nuclear Information System (INIS)

    Cardoso, W. B.; Almeida, N. G. de

    2008-01-01

    We introduce the concept of truncated states obtained via iterative processes (TSI) and study its statistical features, making an analogy with dynamical systems theory (DST). As a specific example, we have studied TSI for the doubling and the logistic functions, which are standard functions in studying chaos. TSI for both the doubling and logistic functions exhibit certain similar patterns when their statistical features are compared from the point of view of DST

  3. Matlab modeling of ITER CODAC

    International Nuclear Information System (INIS)

    Pangione, L.; Lister, J.B.

    2008-01-01

    The ITER CODAC (COntrol, Data Access and Communication) conceptual design resulted from 2 years of activity. One result was a proposed functional partitioning of CODAC into different CODAC Systems, each of them partitioned into other CODAC Systems. Considering the large size of this project, simple use of human language assisted by figures would certainly be ineffective in creating an unambiguous description of all interactions and all relations between these Systems. Moreover, the underlying design is resident in the mind of the designers, who must consider all possible situations that could happen to each system. There is therefore a need to model the whole of CODAC with a clear and preferably graphical method, which allows the designers to verify the correctness and the consistency of their project. The aim of this paper is to describe the work started on ITER CODAC modeling using Matlab/Simulink. The main feature of this tool is the possibility of having a simple, graphical, intuitive representation of a complex system and ultimately to run a numerical simulation of it. Using Matlab/Simulink, each CODAC System was represented in a graphical and intuitive form with its relations and interactions through the definition of a small number of simple rules. In a Simulink diagram, each system was represented as a 'black box', both containing, and connected to, a number of other systems. In this way it is possible to move vertically between systems on different levels, to show the relation of membership, or horizontally to analyse the information exchange between systems at the same level. This process can be iterated, starting from a global diagram, in which only CODAC appears with the Plant Systems and the external sites, and going deeper down to the mathematical model of each CODAC system. The Matlab/Simulink features for simulating the whole top diagram encourage us to develop the idea of completing the functionalities of all systems in order to finally have a full

  4. ITER merges energies in Provence

    International Nuclear Information System (INIS)

    Barla, J.Ch.

    2009-01-01

    The works around the Cadarache site where the experimental nuclear fusion reactor ITER is to be built have already generated about 366 million euros of contracts and provisions with French companies by September 30, 2009. The advance of the project should bring 3000 to 4000 persons more around the site but the Provence region suffers from the lack of a real projected management of employment and skills. (J.S.)

  5. An overview of the ITER cabling network and cable database management

    Energy Technology Data Exchange (ETDEWEB)

    Sonara, Jashwant, E-mail: jashwant.Sonara@iter.org [ITER Organization, Route de Vinon sur Verdon, CS 90 046-13067, Saint Paul Lez Durance (France); Beltran, David; Pintea, Bogdan; Hourtoule, Joel; Benfatto, Ivone [ITER Organization, Route de Vinon sur Verdon, CS 90 046-13067, Saint Paul Lez Durance (France); Kim, Sung Hoon; Lee, Kun Ho; Jung, Sun Kyung; Lee, Cheoung-Joon [KEPCO E& C, Yonggudaero, Giheung-gu, Yongin-si, Gyeonggi-do, 446-713 (Korea, Republic of)

    2015-10-15

    Highlights: • More than 80,000 cables have been registered into ITER centralized cable database. • This cabling represents 28 ITER plant systems and 21,000 equipments including 61,000 non-safety cables and 7300 safety cables. • Development of unique cable engineering management system for diversified cabling requirement. • Use of 2D and 3D softwares and integration of both softwares into bespoke software which can handle 2D and 3D features of the tray network. - Abstract: ITER is a nuclear fusion facility, where many systems with varying functional and physical characteristics coexist. This makes the cabling requirements diverse too. The design of the ITER demands extensive integration of many systems interfaces. This process starts by collating cable requirement data to form a giant cable database with scope for approximately 120,000 cables in total. Ultimately the cabling installation will be approximately twice the size of one required for a 3rd generation nuclear fission power plant, with cables spanning more than 12,000 km to be installed within approximately 200 km of cable trays. Considering the differing cabling requirements, the raceway network and cables shall be routed in a prescribed manner to comply with French Nuclear Safety standards. This paper describes an overview of the ITER cabling network, the cable engineering design workflow, development and management of the cable database and integration between the software tools.

  6. ITER Plasma Control System Development

    Science.gov (United States)

    Snipes, Joseph; ITER PCS Design Team

    2015-11-01

    The development of the ITER Plasma Control System (PCS) continues with the preliminary design phase for 1st plasma and early plasma operation in H/He up to Ip = 15 MA in L-mode. The design is being developed through a contract between the ITER Organization and a consortium of plasma control experts from EU and US fusion laboratories, which is expected to be completed in time for a design review at the end of 2016. This design phase concentrates on breakdown including early ECH power and magnetic control of the poloidal field null, plasma current, shape, and position. Basic kinetic control of the heating (ECH, ICH, NBI) and fueling systems is also included. Disruption prediction, mitigation, and maintaining stable operation are also included because of the high magnetic and kinetic stored energy present already for early plasma operation. Support functions for error field topology and equilibrium reconstruction are also required. All of the control functions also must be integrated into an architecture that will be capable of the required complexity of all ITER scenarios. A database is also being developed to collect and manage PCS functional requirements from operational scenarios that were defined in the Conceptual Design with links to proposed event handling strategies and control algorithms for initial basic control functions. A brief status of the PCS development will be presented together with a proposed schedule for design phases up to DT operation.

  7. A soft flying robot driven by a dielectric elastomer actuator (Conference Presentation)

    Science.gov (United States)

    Wang, Yingxi; Zhang, Hui; Godaba, Hareesh; Khoo, Boo Cheong; Zhu, Jian

    2017-04-01

    Modern unmanned aerial vehicles are gaining promising success because of their versatility, flexibility, and minimized risk of operations. Most of them are normally designed and constructed based on hard components. For example, the body of the vehicle is generally made of aluminum or carbon fibers, and electric motors are adopted as the main actuators. These hard materials are able to offer reasonable balance of structural strength and weight. However, they exhibit apparent limitations. For instance, such robots are fragile in even small clash with surrounding objects. In addition, their noise is quite high due to spinning of rotors or propellers. Here we aim to develop a soft flying robot using soft actuators. Due to its soft body, the robot can work effectively in unstructured environment. The robot may also exhibit interesting attributes, including low weight, low noise, and low power consumption. This robot mainly consists of a dielectric elastomer balloon made of two layers of elastomers. One is VHB (3M), and the other is natural rubber. The balloon is filled with helium, which can make the robot nearly neutral. When voltage is applied to either of the two dielectric elastomers, the balloon expands. So that the buoyance can be larger than the robot's weight, and the robot can move up. In this seminar, we will show how to harness the dielectric breakdown of natural rubber to achieve giant deformation of this soft robot. Based on this method, the robot can move up effectively in air.

  8. 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.

  9. A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization.

    Science.gov (United States)

    Ayari, Asma; Bouamama, Sadok

    2017-01-01

    Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D 2 PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LOD pBest and LOD gBest . Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones. Stagnation and local optima problems would be avoided by adding diversity to the population, without losing the fast convergence characteristic of PSO. Experiments with multiple robots are provided and proved effectiveness of such approach compared with the distributed PSO.

  10. A Service-Oriented Framework for the Development of Home Robots

    Directory of Open Access Journals (Sweden)

    Tsung-Hsien Yang

    2013-02-01

    Full Text Available In recent years, researchers have been building home robots able to interact and work with people. Yet, because of the complicated and independent robot development environments, it is not always easy to share and reuse robot code created by different providers. In this work, we present an ontology-based framework that integrates service-oriented computing environments with the standard web interface to develop reusable robotic services. In addition to the service discovery, selection, and composition processes often performed by traditional web services, our work also includes an adaptive mechanism through which the user can iteratively modify composite robotic services to suit his or her needs. The proposed methodology has been implemented and evaluated, and the results show that our framework can be used to build robotic services successfully.

  11. Formation of giant planets

    International Nuclear Information System (INIS)

    Perri, F.

    1975-01-01

    When a planetary core composed of condensed matter is accumulated in the primitive solar nebula, the gas of the nebula becomes gravitationally concentrated as an envelope surrounding the planetary core. Models of such gaseous envelopes have been constructed subject to the assumption that the gas everywhere is on the same adiabat as that in the surrounding nebula. The gaseous envelope extends from the surface of the core to the distance at which the gravitational attraction of core plus envelope becomes equal to the gradient of the gravitational potential in the solar nebula; at this point the pressure and temperature of the gas in the envelope are required to attain the background values characteristic of the solar nebula. In general, as the mass of the condensed core increases, increasing amounts of gas became concentrated in the envelope, and these envelopes are stable against hydrodynamic instabilities. However, the core mass then goes through a maximum and starts to decrease. In most of the models tested the envelopes were hydrodynamically unstable beyond the peak in the core mass. An unstable situation was always created if it was insisted that the core mass contain a larger amount of matter than given by these solutions. For an initial adiabat characterized by a temperature of 450 0 K and a pressure of 5 x 10 -6 atmospheres, the maximum core mass at which instability occurs is approximately 115 earth masses. It is concluded that the giant planets obtained their large amounts of hydrogen and helium by a hydrodynamic collapse process in the solar nebula only after the nebula had been subjected to a considerable period of cooling

  12. 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

  13. ITER ITA newsletter. No. 7, August 2003

    International Nuclear Information System (INIS)

    2003-10-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related meetings including the ninth meeting of the ITER Negotiators' Standing Sub-Group (NSSG-9), which was held on 28 and 29 July 2003 at Mita International Conference Center in Tokyo and the Confinement Database and Modelling (CDB and M) and Transport and Internal Transport Barrier (T and ITB) Topical Groups (TGs) joint meeting, which was held in St. Petersburg, Russia from 8 to 12 April 2003 and about retirement of Boris Kuvshinnikov, senior information officer, after 13 years at the ITER office Vienna

  14. ITER EDA newsletter. V. 10, no. 5

    International Nuclear Information System (INIS)

    2001-05-01

    This issue of the ITER EDA Newsletter includes a review of the International Symposium 'ITER days in Moscow' and Canada's bid to host ITER at the Clarington site. In connection with the successful completion of the Engineering Design of the International Thermonuclear Reactor (ITER) and the 50th anniversary of fusion research in the USSR, the Ministry of the Russian Federation for Atomic Energy (Minatom) with the participation of the Russian Academy of Sciences, organized the International Symposium 'ITER days in Moscow' on 7-8 June 2001

  15. ITER EDA newsletter. V. 3, no. 2

    International Nuclear Information System (INIS)

    1994-02-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains reports on the Fifth ITER Council Meeting held in Garching, Germany, 27-28 January 1994, a visit (28 January 1994) of an international group of Harvard Fellows to the San Diego Joint Work Site, the Inauguration Ceremony of the EC-hosted ITER joint work site in Garching (28 January 1994), on an ITER Technical Meeting on Assembly and Maintenance held in Garching, Germany, January 19-26, 1994, and a report on a Technical Committee Meeting on radiation effects on in-vessel components held in Garching, Germany, November 15-19, 1993, as well as an ITER Status Report

  16. ITER CTA newsletter. No. 16, January 2003

    International Nuclear Information System (INIS)

    2003-04-01

    This ITER CTA newsletter contains information about some ITER related activities including ITER transitional arrangements (ITA) which will start on 1 January 2003, the USA rejoining ITER and People's Republic of China joining ITER, the visit of Mr. J. Koizumi, Prime Minister of Japan, to Kurchatov Institute, Moscow, Russian Federation on 11 January 2003, and the most recent meeting of the Scrape-Off Layer (SOL) and Divertor Physics Group of the International Tokamak Physics Activity (ITPA), which was held in Lausanne, Switzerland, on October 21-23, 2002 at the CRPP/EFL laboratory

  17. Optimization of Iter with Iter-89P scaling

    International Nuclear Information System (INIS)

    Johner, J.

    1991-10-01

    Ignition in the ITER baseline machine is studied in the frame of a 1/2-D model using the ITER-89P scaling of the energy confinement time. The required value of the enhancement factor f L with respect to the L-mode, allowing ignition with a total fusion power of 1100 MW, is found to be 1.9 at an optimum operating temperature of 11 keV. A sensitivity analysis shows that the critical f L =2 value can be exceeded with relatively small changes in the physical assumptions. It is concluded that the safety margin is not sufficient for this project. Optimization of a thermonuclear plasma in a tokamak is then performed with constraints of given maximum magnetic field B in the superconducting windings, given distance between the plasma and the maximum magnetic field point, imposed safety factor at the plasma edge, and given averaged neutron flux at the plasma surface. The minimum enhancement factor f L with respect to the L-mode, allowing ignition at a given value of the total fusion power P fus , is only a function of the torus aspect ratio A. Taking the ITER reference values for the above constraints, the required value of f L is practically independent of the aspect ratio but can be sensibly improved by increasing the total fusion power P fus . With P fus =1700 MW, a reasonable safety margin (f L ≅ 1.5) is obtained. Analytical expressions of the conditions resulting from the above optimization are also derived for an arbitrary monomial scaling of the energy confinement time, and shown to give excellent agreement with the numerical results

  18. ITER ITA newsletter No. 32, July 2006

    International Nuclear Information System (INIS)

    2006-07-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities. The ITER Parties, at their Ministerial Meeting in May 2006 in Brussels, initialled the draft text of the prospective Agreement on the Establishment of the ITER International Fusion Energy Organization for the Joint Implementation of the ITER Project as well as the draft text of the Agreement on the Privileges and Immunities of the ITER International Fusion Energy Organisation for the Joint Implementation of the ITER Project. The Parties have requested that the IAEA Director General serve as Depositary of the two aforementioned Agreements and that the IAEA establish a Trust Fund to Support Common Expenditures under the ITER Transitional Arrangements, pending entry into force of the prospective Agreement on the Establishment of the ITER International Fusion Energy Organization for the Joint Implementation of the ITER Project. At its June Meeting in Vienna, the IAEA Board of Governors approved these requests. There is also information about the Tenth Meeting of the International Tokamak Physics Activity (ITPA) Topical Group (TG) on Diagnostics was held at the Kurchatov Institute, Moscow, from 10-14 April 2006

  19. ITER EDA newsletter. V. 10, no. 1

    International Nuclear Information System (INIS)

    2001-01-01

    This article provides a summary of results of the ITER Physics Committee Meeting, which was held on 14 October 2000 at the ITER Garching Joint Work Site, Germany. The ITER Physics Committee is the body responsible for overseeing, through the seven specialized Expert Groups, the R and D activities contributed voluntarily by the ITER Parties. The Parties' Physics Designated Persons, the Chairs and Co-Chairs of ITER Physics Expert Groups and the JCT members involved attended the Meeting. As usual, the meeting was chaired by the ITER Director, Dr. R. Aymar, who reported on the status of the ITER EDA. Dr. Aymar described the steps being taken in preparing the ITER-FEAT Final Design Report (FDR), and further stated that the Report would be available in time to be of benefit to the Negotiations on the ITER Joint Implementation, expected to start around May 2001. All Parties recognize that the ITER Physics Expert Group structure has been useful in focusing the tokamak physics activity on the ITER-relevant issues and provides an efficient worldwide collaboration on confirming innovative solutions. The concept of an international workshop to be organized as a pre-meeting of each Expert Group meeting, in order to involve U.S. scientists in the discussion of generic tokamak physics issues, was introduced in 2000, with some success, and its goal should be pursued

  20. ITER on the road to fusion energy

    International Nuclear Information System (INIS)

    Ikeda, Kaname

    2010-01-01

    On 21 November 2006, the government representatives of China, the European Union, India, Japan, Korea, Russia and the United States firmly committed to building the International Thermonuclear Experimental Reactor (ITER) by signing the ITER Agreement. The ITER Organization, which was formally established on 24 October 2007 after ratification of the ITER Agreement in each Member country, is the outcome of a two-decade-long collaborative effort aimed at demonstrating the scientific and technical feasibility of fusion energy. Each ITER partner has established a Domestic Agency (DA) for the construction of ITER, and the ITER Organization, based in Cadarache, in Southern France, is growing at a steady pace. The total number of staff reached 398 people from more than 20 nations by the end of September 2009. ITER will be built largely (90%) through in-kind contribution by the seven Members. On site, the levelling of the 40 ha platform has been completed. The roadworks necessary for delivering the ITER components from Fos harbour, close to Marseille, to the site are in the final stage of completion. With the aim of obtaining First Plasma in 2018, a new reference schedule has been developed by the ITER Organization and the DAs. Rapid attainment of the ITER goals is critical to accelerate fusion development-a crucial issue today in a world of increasing competition for scarce resources.

  1. ITER on the road to fusion energy

    Science.gov (United States)

    Ikeda, Kaname

    2010-01-01

    On 21 November 2006, the government representatives of China, the European Union, India, Japan, Korea, Russia and the United States firmly committed to building the International Thermonuclear Experimental Reactor (ITER) [1] by signing the ITER Agreement. The ITER Organization, which was formally established on 24 October 2007 after ratification of the ITER Agreement in each Member country, is the outcome of a two-decade-long collaborative effort aimed at demonstrating the scientific and technical feasibility of fusion energy. Each ITER partner has established a Domestic Agency (DA) for the construction of ITER, and the ITER Organization, based in Cadarache, in Southern France, is growing at a steady pace. The total number of staff reached 398 people from more than 20 nations by the end of September 2009. ITER will be built largely (90%) through in-kind contribution by the seven Members. On site, the levelling of the 40 ha platform has been completed. The roadworks necessary for delivering the ITER components from Fos harbour, close to Marseille, to the site are in the final stage of completion. With the aim of obtaining First Plasma in 2018, a new reference schedule has been developed by the ITER Organization and the DAs. Rapid attainment of the ITER goals is critical to accelerate fusion development—a crucial issue today in a world of increasing competition for scarce resources.

  2. 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.

  3. 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...

  4. ITER EDA newsletter. V. 1, no. 2

    International Nuclear Information System (INIS)

    1992-12-01

    This second issue of the ITER Newsletter during the EDA (Engineering Design Activities) reports on (i) the second ITER Council Meeting held in the Russian Research Centre (RRC) ''Kurchatov Institute'', Moscow, Russia, December 15-16, 1992, (ii) the opening ceremony of the ITER Council Office at the RRC, (iii) the first meeting of the ITER Management Advisory Committee (MAC), (iv) the start-up of the ITER EDA at Garching, Germany, (v) descriptions of the ITER Co-Centres at Naka, Japan, and (vi) San Diego, USA, (vii) contact persons activities, (viii) the adoption by the ITER Council of the recommendations by the Special Working Group 1 (SWG-1), (ix) news in brief, and (x) coming events

  5. Giant lobelias exemplify convergent evolution

    Directory of Open Access Journals (Sweden)

    Givnish Thomas J

    2010-01-01

    Full Text Available Abstract Giant lobeliads on tropical mountains in East Africa and Hawaii have highly unusual, giant-rosette growth forms that appear to be convergent on each other and on those of several independently evolved groups of Asteraceae and other families. A recent phylogenetic analysis by Antonelli, based on sequencing the widest selection of lobeliads to date, raises doubts about this paradigmatic example of convergent evolution. Here I address the kinds of evidence needed to test for convergent evolution and argue that the analysis by Antonelli fails on four points. Antonelli's analysis makes several important contributions to our understanding of lobeliad evolution and geographic spread, but his claim regarding convergence appears to be invalid. Giant lobeliads in Hawaii and Africa represent paradigmatic examples of convergent evolution.

  6. A human-oriented framework for developing assistive service robots.

    Science.gov (United States)

    McGinn, Conor; Cullinan, Michael F; Culleton, Mark; Kelly, Kevin

    2018-04-01

    Multipurpose robots that can perform a range of useful tasks have the potential to increase the quality of life for many people living with disabilities. Owing to factors such as high system complexity, as-yet unresolved research questions and current technology limitations, there is a need for effective strategies to coordinate the development process. Integrating established methodologies based on human-centred design and universal design, a framework was formulated to coordinate the robot design process over successive iterations of prototype development. An account is given of how the framework was practically applied to the problem of developing a personal service robot. Application of the framework led to the formation of several design goals which addressed a wide range of identified user needs. The resultant prototype solution, which consisted of several component elements, succeeded in demonstrating the performance stipulated by all of the proposed metrics. Application of the framework resulted in the development of a complex prototype that addressed many aspects of the functional and usability requirements of a personal service robot. Following the process led to several important insights which directly benefit the development of subsequent prototypes. Implications for Rehabilitation This research shows how universal design might be used to formulate usability requirements for assistive service robots. A framework is presented that guides the process of designing service robots in a human-centred way. Through practical application of the framework, a prototype robot system that addressed a range of identified user needs was developed.

  7. Repetitive control of electrically driven robot manipulators

    Science.gov (United States)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  8. Giant fields in southwest Mexico

    Energy Technology Data Exchange (ETDEWEB)

    1981-07-20

    According to Petroleos Mexicanos southeastern Mexico's Isthmus Saline basin holds five new giant fields - Tonala-El Burro, El Plan, Cinco Presidentes, Oraggio, and Magallanes - producing oil and gas from Tertiary sandstones. Numerous normal faults resulting from salt intrusion have given rise to multiple blocks, each with its own reservoir conditions. Previously discovered basins in the area include the Macuspana, which holds three giant gas- and condensate-producing fields: Jose Colomo, Chilapilla, and Hormiquero. The 3100-mi/sup 2/ Campeche marine platform, extending offshore nearby, contains the Cantarell complex, Mexico's most productive hydrocarbon province.

  9. Percolation with multiple giant clusters

    International Nuclear Information System (INIS)

    Ben-Naim, E; Krapivsky, P L

    2005-01-01

    We study mean-field percolation with freezing. Specifically, we consider cluster formation via two competing processes: irreversible aggregation and freezing. We find that when the freezing rate exceeds a certain threshold, the percolation transition is suppressed. Below this threshold, the system undergoes a series of percolation transitions with multiple giant clusters ('gels') formed. Giant clusters are not self-averaging as their total number and their sizes fluctuate from realization to realization. The size distribution F k , of frozen clusters of size k, has a universal tail, F k ∼ k -3 . We propose freezing as a practical mechanism for controlling the gel size. (letter to the editor)

  10. Giant resonances: reaction theory approach

    International Nuclear Information System (INIS)

    Toledo Piza, A.F.R. de; Foglia, G.A.

    1989-09-01

    The study of giant resonances through the use of reaction theory approach is presented and discussed. Measurements of cross-sections to the many available decay channels following excitation of giant multipole resonances (GMR) led one to view these phenomena as complicated dynamical syndromes so that theoretical requirements for their study must be extended beyond the traditional bounds of nuclear structure models. The spectra of decay products following GMR excitation in heavy nuclei are well described by statistical model (Hauser-Feshback, HF) predictions indicated that spreading of the collective modes plays a major role in shaping exclusive cross-sections. (A.C.A.S.) [pt

  11. Awakening a sleeping coal giant

    Energy Technology Data Exchange (ETDEWEB)

    Baxter, B.

    2007-08-15

    Botswana, a southern African country that in the 1980s could not economically land a tonne of coal at the closest export terminal and even today mines no more than 1 million tpa, is to increase production to beyond 30 million tpa. A first ever coal conference in Gaborone called it the awakening of a coal giant. The alarm call for the coal giant is the realisation that without more generating capacity than its power utility Eskom can itself build in time, South Africa will in four to five years face a severe shortage of power. 1 ref., 5 figs., 2 tabs.

  12. "Integrative Social Robotics"

    DEFF Research Database (Denmark)

    Seibt, Johanna

    2016-01-01

    The aim of this paper is to sketch the basic motivations for “Integrative Social Robotics” (ISR), as a new paradigm for how to approach research, design, and development of social robotics applications that are culturally sustainable. I argue that social robotics saddles us with normative......-regulatory and descriptive questions that currently are kept too far apart. Currently HRI research investigates what social robots can do and robo-ethicists deliberate afterwards what robots should do. However, given the rapid pace of the robotics industry, descriptive and regulatory questions must be treated in combination....... On the ISR approach research in social robotics turns on what social robots can and should do--design and development are from the very beginning informed by value-theoretic and cultural research. ISR thus is a form of research organization that integrates robotics with empirical, conceptual, and value...

  13. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available Despite advances in recent years, autonomous multi-robot systems remain classed as complex systems, because control and coordination of these systems remain a challenging task. Autonomous mobile robot houses heterogeneous sets of connected modular...

  14. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

    Due to a general shift in manufacturing paradigm from mass production towards mass customization, reconfigurable automation technologies, such as robots, are required. However, current industrial robot solutions are notoriously difficult to program, leading to high changeover times when new......-asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated...... to program the robots to perform a variety of tasks, through the use of simple task-level programming methods. We demonstrate various approaches to this, extensively tested with several people inexperienced in robotics. We validate our findings through several deployments of the complete robot system...

  15. 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...

  16. 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

  17. 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....

  18. 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...

  19. Charting the Giants

    Science.gov (United States)

    2004-06-01

    zero expansion asymptotically after an infinite time and has a flat geometry). All three observational tests by means of supernovae (green), the cosmic microwave background (blue) and galaxy clusters converge at a Universe around Ωm ~ 0.3 and ΩΛ ~ 0.7. The dark red region for the galaxy cluster determination corresponds to 95% certainty (2-sigma statistical deviation) when assuming good knowledge of all other cosmological parameters, and the light red region assumes a minimum knowledge. For the supernovae and WMAP results, the inner and outer regions corespond to 68% (1-sigma) and 95% certainty, respectively. References: Schuecker et al. 2003, A&A, 398, 867 (REFLEX); Tonry et al. 2003, ApJ, 594, 1 (supernovae); Riess et al. 2004, ApJ, 607, 665 (supernovae) Galaxy clusters are far from being evenly distributed in the Universe. Instead, they tend to conglomerate into even larger structures, "super-clusters". Thus, from stars which gather in galaxies, galaxies which congregate in clusters and clusters tying together in super-clusters, the Universe shows structuring on all scales, from the smallest to the largest ones. This is a relict of the very early (formation) epoch of the Universe, the so-called "inflationary" period. At that time, only a minuscule fraction of one second after the Big Bang, the tiny density fluctuations were amplified and over the eons, they gave birth to the much larger structures. Because of the link between the first fluctuations and the giant structures now observed, the unique REFLEX catalogue - the largest of its kind - allows astronomers to put considerable constraints on the content of the Universe, and in particular on the amount of dark matter that is believed to pervade it. Rather interestingly, these constraints are totally independent from all other methods so far used to assert the existence of dark matter, such as the study of very distant supernovae (see e.g. ESO PR 21/98) or the analysis of the Cosmic Microwave background (e

  20. ITER ITA newsletter. No. 20, February-March 2005

    International Nuclear Information System (INIS)

    2005-03-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities including interview on the occasion of Academician E.P. Velikhov' 70th birthday conducted by Dr. Lev Golubbchikov, former ITER Contact Person of the Russian Federation and a new document management system of ITER called IDM (ITER Document Management), which supersedes the old IDoMS

  1. Evolution of robotic arms

    OpenAIRE

    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 th...

  2. Autonomous Robot Retrieval System

    OpenAIRE

    Ahern, S.

    2015-01-01

    Mobile robots are increasingly being deployed in environments hazardous to humans. However, many of these robots require remote control operation or are tethered, requiring the human operator to remain within a potentially hazardous radius of the area of operation. To resolve this issue an Autonomous Robot Retrieval System (ARRS) utilising Open RatSLAM based on the Lego NXT 2.0 robotics platform is proposed but could not be implemented due to memory limitations of the hardware. An occupancy g...

  3. Industrial Robot Skills

    OpenAIRE

    Stenmark, Maj

    2013-01-01

    When robots are working in dynamic environments, close to humans lacking extensive knowledge of robotics, there is a strong need to simplify the user interaction and make the system execute as autonomously as possible. For industrial robots working side-by-side with humans in manufacturing industry, AI systems are necessary to lower the demand on programming time and expertise. One central concept in knowledge modeling for robots is action representation. In this paper, we describe ou...

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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

  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. Cryogenic instrumentation for ITER magnets

    Science.gov (United States)

    Poncet, J.-M.; Manzagol, J.; Attard, A.; André, J.; Bizel-Bizellot, L.; Bonnay, P.; Ercolani, E.; Luchier, N.; Girard, A.; Clayton, N.; Devred, A.; Huygen, S.; Journeaux, J.-Y.

    2017-02-01

    Accurate measurements of the helium flowrate and of the temperature of the ITER magnets is of fundamental importance to make sure that the magnets operate under well controlled and reliable conditions, and to allow suitable helium flow distribution in the magnets through the helium piping. Therefore, the temperature and flow rate measurements shall be reliable and accurate. In this paper, we present the thermometric chains as well as the venturi flow meters installed in the ITER magnets and their helium piping. The presented thermometric block design is based on the design developed by CERN for the LHC, which has been further optimized via thermal simulations carried out by CEA. The electronic part of the thermometric chain was entirely developed by the CEA and will be presented in detail: it is based on a lock-in measurement and small signal amplification, and also provides a web interface and software to an industrial PLC. This measuring device provides a reliable, accurate, electromagnetically immune, and fast (up to 100 Hz bandwidth) system for resistive temperature sensors between a few ohms to 100 kΩ. The flowmeters (venturi type) which make up part of the helium mass flow measurement chain have been completely designed, and manufacturing is on-going. The behaviour of the helium gas has been studied in detailed thanks to ANSYS CFX software in order to obtain the same differential pressure for all types of flowmeters. Measurement uncertainties have been estimated and the influence of input parameters has been studied. Mechanical calculations have been performed to guarantee the mechanical strength of the venturis required for pressure equipment operating in nuclear environment. In order to complete the helium mass flow measurement chain, different technologies of absolute and differential pressure sensors have been tested in an applied magnetic field to identify equipment compatible with the ITER environment.

  11. Remote handling maintenance of ITER

    International Nuclear Information System (INIS)

    Haange, R.

    1999-01-01

    The remote maintenance strategy and the associated component design of the International Thermonuclear Experimental Reactor (ITER) have reached a high degree of completeness, especially with respect to those components that are expected to require frequent or occasional remote maintenance. Large-scale test stands, to demonstrate the principle feasibility of the remote maintenance procedures and to develop the required equipment and tools, were operational at the end of the Engineering Design Activities (EDA) phase. The initial results are highly encouraging: major remote equipment deployment and component replacement operations have been successfully demonstrated. (author)

  12. ITER fuel cycle systems layout

    International Nuclear Information System (INIS)

    Kveton, O.K.

    1990-10-01

    The ITER fuel cycle building (FCB) will contain the following systems: fuel purification - permeator based; fuel purification - molecular sieves; impurity treatment; waste water storage and treatment; isotope separation; waste water tritium extraction; tritium extraction from solid breeder; tritium extraction from test modules; tritium storage, shipping and receiving; tritium laboratory; atmosphere detritiation systems; fuel cycle control centre; tritiated equipment maintenance space; control maintenance space; health physics laboratory; access, access control and facilities. The layout of the FCB and the requirements for these systems are described. (10 figs.)

  13. Distributed Video Coding: Iterative Improvements

    DEFF Research Database (Denmark)

    Luong, Huynh Van

    at the decoder side offering such benefits for these applications. Although there have been some advanced improvement techniques, improving the DVC coding efficiency is still challenging. The thesis addresses this challenge by proposing several iterative algorithms at different working levels, e.g. bitplane...... and noise modeling and also learn from the previous decoded Wyner-Ziv (WZ) frames, side information and noise learning (SING) is proposed. The SING scheme introduces an optical flow technique to compensate the weaknesses of the block based SI generation and also utilizes clustering of DCT blocks to capture...

  14. The physics role of ITER

    International Nuclear Information System (INIS)

    Rutherford, P.H.

    1997-04-01

    Experimental research on the International Thermonuclear Experimental Reactor (ITER) will go far beyond what is possible on present-day tokamaks to address new and challenging issues in the physics of reactor-like plasmas. First and foremost, experiments in ITER will explore the physics issues of burning plasmas--plasmas that are dominantly self-heated by alpha-particles created by the fusion reactions themselves. Such issues will include (i) new plasma-physical effects introduced by the presence within the plasma of an intense population of energetic alpha particles; (ii) the physics of magnetic confinement for a burning plasma, which will involve a complex interplay of transport, stability and an internal self-generated heat source; and (iii) the physics of very-long-pulse/steady-state burning plasmas, in which much of the plasma current is also self-generated and which will require effective control of plasma purity and plasma-wall interactions. Achieving and sustaining burning plasma regimes in a tokamak necessarily requires plasmas that are larger than those in present experiments and have higher energy content and power flow, as well as much longer pulse length. Accordingly, the experimental program on ITER will embrace the study of issues of plasma physics and plasma-materials interactions that are specific to a reactor-scale fusion experiment. Such issues will include (i) confinement physics for a tokamak in which, for the first time, the core-plasma and the edge-plasma are simultaneously in a reactor-like regime; (ii) phenomena arising during plasma transients, including so-called disruptions, in regimes of high plasma current and thermal energy; and (iii) physics of a radiative divertor designed for handling high power flow for long pulses, including novel plasma and atomic-physics effects as well as materials science of surfaces subject to intense plasma interaction. Experiments on ITER will be conducted by researchers in control rooms situated at major

  15. 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...

  16. 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.

  17. 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,…

  18. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

    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...

  19. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

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

  20. 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

  1. IHadoop: Asynchronous iterations for MapReduce

    KAUST Repository

    Elnikety, Eslam Mohamed Ibrahim

    2011-11-01

    MapReduce is a distributed programming frame-work designed to ease the development of scalable data-intensive applications for large clusters of commodity machines. Most machine learning and data mining applications involve iterative computations over large datasets, such as the Web hyperlink structures and social network graphs. Yet, the MapReduce model does not efficiently support this important class of applications. The architecture of MapReduce, most critically its dataflow techniques and task scheduling, is completely unaware of the nature of iterative applications; tasks are scheduled according to a policy that optimizes the execution for a single iteration which wastes bandwidth, I/O, and CPU cycles when compared with an optimal execution for a consecutive set of iterations. This work presents iHadoop, a modified MapReduce model, and an associated implementation, optimized for iterative computations. The iHadoop model schedules iterations asynchronously. It connects the output of one iteration to the next, allowing both to process their data concurrently. iHadoop\\'s task scheduler exploits inter-iteration data locality by scheduling tasks that exhibit a producer/consumer relation on the same physical machine allowing a fast local data transfer. For those iterative applications that require satisfying certain criteria before termination, iHadoop runs the check concurrently during the execution of the subsequent iteration to further reduce the application\\'s latency. This paper also describes our implementation of the iHadoop model, and evaluates its performance against Hadoop, the widely used open source implementation of MapReduce. Experiments using different data analysis applications over real-world and synthetic datasets show that iHadoop performs better than Hadoop for iterative algorithms, reducing execution time of iterative applications by 25% on average. Furthermore, integrating iHadoop with HaLoop, a variant Hadoop implementation that caches

  2. Human-robot cross-training: Computational formulation, modeling and evaluation of a human team training strategy

    OpenAIRE

    Nikolaidis, Stefanos; Shah, Julie A.

    2013-01-01

    We design and evaluate human-robot cross-training, a strategy widely used and validated for effective human team training. Cross-training is an interactive planning method in which a human and a robot iteratively switch roles to learn a shared plan for a collaborative task. We first present a computational formulation of the robot's interrole knowledge and show that it is quantitatively comparable to the human mental model. Based on this encoding, we formulate human-robot cross-training and e...

  3. Giant gravitons-with strings attached (I)

    International Nuclear Information System (INIS)

    Mello Koch, Robert de; Smolic, Jelena; Smolic, Milena

    2007-01-01

    In this article, the free field theory limit of operators dual to giant gravitons with open strings attached, are studied. We introduce a graphical notation, which employs Young diagrams, for these operators. The computation of two point correlation functions is reduced to the application of three simple rules, written as graphical operations performed on the Young diagram labels of the operators. Using this technology, we have studied gravitational radiation by giant gravitons and bound states of giant gravitons, transitions between excited giant graviton states and joining of open strings attached to the giant

  4. Pathogenesis of giant colonic diverticula

    International Nuclear Information System (INIS)

    Muhletaler, C.A.; Berger, J.L.; Robinette, C.L. Jr.

    1981-01-01

    The clinical, radiographic, and pathologic findings of 3 patients with giant colonic diverticula are presented. Although several theories have been proposed for the formation of these diverticula, they have not been fully documented. One of our cases illustrates the evolution of this disorder following typical colonic diverticulitis. The pathogenesis and differential diagnosis of this unusual entity are discussed. (orig.)

  5. Giant resonances on excited states

    International Nuclear Information System (INIS)

    Besold, W.; Reinhard, P.G.; Toepffer, C.

    1984-01-01

    We derive modified RPA equations for small vibrations about excited states. The temperature dependence of collective excitations is examined. The formalism is applied to the ground state and the first excited state of 90 Zr in order to confirm a hypothesis which states that not only the ground state but every excited state of a nucleus has a giant resonance built upon it. (orig.)

  6. Determination of giant resonance strengths

    International Nuclear Information System (INIS)

    Serr, F.E.

    1983-01-01

    Using theoretical strength functions to describe the different giant resonances expected at excitation energies of the order of (60-85)/Asup(1/3) MeV, we calculate the double differential cross sections d 2 sigma/dΩ dE associated with the reactions 208 Pb(α, α') and 90 Zr(α, α') (Esub(α) = 152 MeV). The angular distributions for the giant quadrupole and giant monopole resonances obtained from fits to these spectra, making simple, commonly used assumptions for the peak shapes and background, are compared to the original angular distributions. The differences between them are an indication of some of the uncertainties affecting the giant resonance strengths extracted from hadron inelastic scattering data. Fits to limited angular regions lead to errors of up to 50% in the value of the energy-weighted sum rule, depending on the angles examined. While it seems possible to extract the correct EWSR for the GMR by carrying out the analyses at 0 0 , no single privileged angle seems to exist in the case of the GQR. (orig.)

  7. Michigan has a sleeping giant

    CERN Multimedia

    Brock, Raymond; Nichols, Sue

    2007-01-01

    "That giant is 750 miles of fiber optic cable that lassoes its three biggest research universities and Van Andel Institute to the future. Its mission: to uncover the nature of the Big Bang by connecton U.S. physicists to their huge experiment ATLAS in Geneva.." (4 pages)

  8. A Giant or a Dwarf?

    DEFF Research Database (Denmark)

    Schmid, Herman

    2005-01-01

    EU may appear to be a giant when it can act on behalf of a united Europe, but usually it is hampered by conflicting member state interests. The EU economic and administrative resources for foreign and trade policy are quite small (on level with one of its major member states) and the hopes in man...

  9. Giant lipomas of the hand

    Directory of Open Access Journals (Sweden)

    Gokce Yildiran

    2015-04-01

    Conclusion: Giant lipomas of the hand are very rare and may cause compressions and other complications. Thus, they require a careful preoperative evaluation in order to make a proper differential diagnosis. [Hand Microsurg 2015; 4(1.000: 8-11

  10. The ITER divertor cassette project

    International Nuclear Information System (INIS)

    Ulrickson, M.; Tivey, R.; Akiba, M.

    1999-01-01

    The divertor 'Large Project' was conceived with the aim of demonstrating the feasibility of meeting the lifetime requirements by employing the candidate armor materials of beryllium, tungsten (W) and carbon-fiber-composite (CFC). At the start, there existed only limited experience with constructing water-cooled high heat flux armored components for tokamaks. To this was added the complication posed by the need to use a silver-free joining technique that avoids the transmutation of n-irradiated silver to cadmium. The research project involving the four Home Teams (HTs) has focused on the design, development, manufacture and testing of full-scale Plasma Facing Components (PFCs) suitable for ITER. The task addressed all the issues facing ITER divertor design, such as providing adequate armor erosion lifetime, meeting the required armor-heat sink joint lifetime and heat sink fatigue life, sustaining thermal-hydraulic and electromechanical loads, and seeking to identify the most cost-effective manufacturing options. This paper will report the results of the divertor large project. (author)

  11. The ITER divertor cassette project

    International Nuclear Information System (INIS)

    Ulrickson, M.; Tivey, R.; Akiba, M.

    2001-01-01

    The divertor ''Large Project'' was conceived with the aim of demonstrating the feasibility of meeting the lifetime requirements by employing the candidate armor materials of beryllium, tungsten (W) and carbon-fiber-composite (CFC). At the start, there existed only limited experience with constructing water-cooled high heat flux armored components for tokamaks. To this was added the complication posed by the need to use a silver-free joining technique that avoids the transmutation of n-irradiated silver to cadmium. The research project involving the four Home Teams (HTs) has focused on the design, development, manufacture and testing of full-scale Plasma Facing Components (PFCs) suitable for ITER. The task addressed all the issues facing ITER divertor design, such as providing adequate armor erosion lifetime, meeting the required armor-heat sink joint lifetime and heat sink fatigue life, sustaining thermal-hydraulic and electromechanical loads, and seeking to identify the most cost-effective manufacturing options. This paper will report the results of the divertor large project. (author)

  12. ITER Port Interspace Pressure Calculations

    Energy Technology Data Exchange (ETDEWEB)

    Carbajo, Juan J [ORNL; Van Hove, Walter A [ORNL

    2016-01-01

    The ITER Vacuum Vessel (VV) is equipped with 54 access ports. Each of these ports has an opening in the bioshield that communicates with a dedicated port cell. During Tokamak operation, the bioshield opening must be closed with a concrete plug to shield the radiation coming from the plasma. This port plug separates the port cell into a Port Interspace (between VV closure lid and Port Plug) on the inner side and the Port Cell on the outer side. This paper presents calculations of pressures and temperatures in the ITER (Ref. 1) Port Interspace after a double-ended guillotine break (DEGB) of a pipe of the Tokamak Cooling Water System (TCWS) with high temperature water. It is assumed that this DEGB occurs during the worst possible conditions, which are during water baking operation, with water at a temperature of 523 K (250 C) and at a pressure of 4.4 MPa. These conditions are more severe than during normal Tokamak operation, with the water at 398 K (125 C) and 2 MPa. Two computer codes are employed in these calculations: RELAP5-3D Version 4.2.1 (Ref. 2) to calculate the blowdown releases from the pipe break, and MELCOR, Version 1.8.6 (Ref. 3) to calculate the pressures and temperatures in the Port Interspace. A sensitivity study has been performed to optimize some flow areas.

  13. RAMI analysis of ITER CODAC

    International Nuclear Information System (INIS)

    Kitazawa, Sin-iti; Okayama, Katsumi; Neyatani, Yuzuru; Sagot, Francois; Houtte, Didier van; Abadie, Lana; Yonekawa, Izuru; Wallander, Anders; Klotz, Wolf-Dieter

    2012-01-01

    In the ITER project, Reliability, Availability, Maintainability and Inspectability (RAMI) approach has been adopted for technical risk control to guide the design of components and the preparation for operation and maintenance. RAMI analysis of the ITER CODAC System, the central plant control system, was performed in the current design available in the conceptual design phase. A functional breakdown was prepared, resulting in the system being divided into 5 main functions themselves divided into sub-functions. The Failure Modes, Effects and Critical Analysis were performed to initiate risk mitigation actions. Criticality matrices highlight the risks of the different failure modes with regard to their probability of occurrence and the impact on the availability. Identified risks exist on the effect on data storage hardware and for computer software. Reliability block diagrams were prepared to estimate the reliability and availability of each function under stipulated operating conditions. The inherent availability of the mandatory functions for the control of plasma experiments with mitigations was calculated to be 99.2% that is higher than the project required value of 98.8%. Compensating provisions are advocated in terms of design, testing, operation procedure and maintenance requirements in order to reduce risk levels.

  14. Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

    International Nuclear Information System (INIS)

    Cordier, J.J.; Gargiulo, L.; Grisolia, C.; Samaille, F.; Palmer, J.D.

    2003-01-01

    The aim of this program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings. This device is dedicated to close inspection of the Plasma Facing Components (PFC). An articulated demonstrator called articulated inspection arm (AIA) has been manufactured. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in research results for ITER remote Handling equipment. The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper

  15. Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Cordier, J.J.; Gargiulo, L.; Grisolia, C.; Samaille, F. [Association Euratom-CEA Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Friconneau, J.P.; Perrot, Y. [CEA Fontenay-aux-Roses, LIST Robotics and Interactive Systems Unit, 92 (France); Palmer, J.D. [Max-Planck-Institut fuer Plasmaphysik Boltzmannstr.2, Garching (Germany)

    2003-07-01

    The aim of this program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings. This device is dedicated to close inspection of the Plasma Facing Components (PFC). An articulated demonstrator called articulated inspection arm (AIA) has been manufactured. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in research results for ITER remote Handling equipment. The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper.

  16. Existence test for asynchronous interval iterations

    DEFF Research Database (Denmark)

    Madsen, Kaj; Caprani, O.; Stauning, Ole

    1997-01-01

    In the search for regions that contain fixed points ofa real function of several variables, tests based on interval calculationscan be used to establish existence ornon-existence of fixed points in regions that are examined in the course ofthe search. The search can e.g. be performed...... as a synchronous (sequential) interval iteration:In each iteration step all components of the iterate are calculatedbased on the previous iterate. In this case it is straight forward to base simple interval existence and non-existencetests on the calculations done in each step of the iteration. The search can also...... on thecomponentwise calculations done in the course of the iteration. These componentwisetests are useful for parallel implementation of the search, sincethe tests can then be performed local to each processor and only when a test issuccessful do a processor communicate this result to other processors....

  17. 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.

  18. [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.

  19. Robots and Art

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    2015-01-01

    We describe the design of an undergraduate course in art and robotics that aims to integrate basic concepts of computer science, robotics and art installation for undergraduate students within the problem-based learning model. Our methodology aims to bridge the gap that separates humanities from...... computer science and engineering education to prepare students to address real world problems in robotics, including human-robotic interaction and HCI. Given the proliferation of interactive, systems-based art works and the continued interest in human-centered factors in robotics research (such...

  20. 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.

  1. Teleoperated Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Stefan GRUSHKO

    2016-12-01

    Full Text Available Article describes technical solution of teleoperated humanoid robotic system. To acquire position data of operator’s body Kinect sensor is used. In article are described mathematical equations used to transform data from Kinect sensor to positions of each servomotor of the robot. Article also describes software and electric structure for both components of the system: robot and operator’s PC. All software solutions are developed using C#. For dynamic simulation of the system a detailed model of the robot has been created in V-Rep, simulation receives same data as real robot.

  2. Erosion of macrobrush tungsten armor after multiple intense transient events in ITER

    International Nuclear Information System (INIS)

    Bazylev, B.N.; Janeschitz, G.; Landman, I.S.; Pestchanyi, S.E.

    2005-01-01

    The tungsten macrobrushes are foreseen as a perspective ITER divertor armour. Macroscopic erosion by melt motion is the dominating damage mechanism for tungsten armour under high heat loads above 1 MJ/m 2 slower than 0.1 ms. In the paper further development of the code MEMOS is presented to describe geometric peculiarities of W-macrobrush armour. The modified code MEMOS is validated against experiments on erosion of W-macrobrush armour in the plasma gun QSPA facility for repetitive plasma loads. A rather good agreement in melt layer erosion was demonstrated. For ITER divertor W-macrobrush armour the results of fluid dynamics simulation of the melt motion erosion under giant ELMs are presented. The heat loads as input for MEMOS for particular single ELM are numerically simulated using the two-dimensional MHD code FOREV

  3. Walking control of small size humanoid robot: HAJIME ROBOT 18

    Science.gov (United States)

    Sakamoto, Hajime; Nakatsu, Ryohei

    2007-12-01

    HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking. This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and in RoboCup 2006 Japan Open.

  4. ITER EDA newsletter. V. 2, no. 10

    International Nuclear Information System (INIS)

    1993-10-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains progress reports on the Fourth ITER Council Meeting in San Diego, 29 September - 1 October 1993, on the Third Meeting of the ITER Management Advisory Committee (MAC) in Naka, Japan, 16-17 September 1993, and on the flag raising ceremony at the US hosted joint work site in San Diego, California, 1 October 1993

  5. On One-Point Iterations and DIIS

    DEFF Research Database (Denmark)

    Østerby, Ole; Sørensen, Hans Henrik Brandenborg

    2009-01-01

    We analyze various iteration procedures in many dimensions inspired by the SCF iteration used in first principles electronic structure calculations. We show that the simple mixing of densities can turn a divergent (or slowly convergent) iteration into a (faster) convergent process provided all th...... occur if the residual vectors are (nearly) linearly dependent. We show how to remove this linear dependence using the singular value decomposition (SVD)....

  6. ITER ITA newsletter. No. 19, January 2005

    International Nuclear Information System (INIS)

    2005-02-01

    This issue of the ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related meetings, namely, the 20th IAEA Fusion Energy Conference, which was held on 1-6 November 2004 in Vilamoura, Portugal and the seventh meeting of the ITPA topical group on diagnostics which was held at the Institute of Plasma Physics, Chinese Academy of Sciences (ASIPP), Hefei, P. R. China, from 11-15 October 2004

  7. Iterative Splitting Methods for Differential Equations

    CERN Document Server

    Geiser, Juergen

    2011-01-01

    Iterative Splitting Methods for Differential Equations explains how to solve evolution equations via novel iterative-based splitting methods that efficiently use computational and memory resources. It focuses on systems of parabolic and hyperbolic equations, including convection-diffusion-reaction equations, heat equations, and wave equations. In the theoretical part of the book, the author discusses the main theorems and results of the stability and consistency analysis for ordinary differential equations. He then presents extensions of the iterative splitting methods to partial differential

  8. ITER EDA Newsletter. V. 6, no. 9

    International Nuclear Information System (INIS)

    1997-09-01

    This issue of the Newsletter reports on new ITER Home Page and contains a report on the combined workshop of the ITER confinement and transport expert group and of the confinement modeling and database expert group, by D. Boucher, V. Mukhavatov (both ITER JCT), J.G. Cordey, JET Joint Undertaking , M. Wakatani, Kyoto University held at the Max-Planck-Institut for Plasmaphysik, Garching, Germany on September 25 - 30 1997

  9. ITER EDA Newsletter. V. 2, no. 3

    International Nuclear Information System (INIS)

    1993-03-01

    This ITER EDA (Engineering Design Activities) Newsletter issue includes a description of the ITER Joint Central Team's management, the ITER Management System and supporting software progress, activities of the Special Working Group 2, a brief summary of a technical meeting on the experimental approach to the physics of the high density divertor, a summary on the status of the International Fusion Evaluated Nuclear Data Library (FENDL), and an obituary on Dr. Henry Seligman (IAEA)

  10. ITER EDA Newsletter. V.2, no.5

    International Nuclear Information System (INIS)

    1993-05-01

    This ITER EDA (Engineering Design Activities), Newsletter issue includes reports on the third ITER council meeting in Tokyo on the involvement of other countries, on an outline of the report by the Management Advisory Committee (MAC), on such involvement, and on the improvement by the MAC and the ITER Council to proceed with Task Agreements on the Research and Development programme of the Superconductor Coils and Structures Division

  11. Preconditioned iterations to calculate extreme eigenvalues

    Energy Technology Data Exchange (ETDEWEB)

    Brand, C.W.; Petrova, S. [Institut fuer Angewandte Mathematik, Leoben (Austria)

    1994-12-31

    Common iterative algorithms to calculate a few extreme eigenvalues of a large, sparse matrix are Lanczos methods or power iterations. They converge at a rate proportional to the separation of the extreme eigenvalues from the rest of the spectrum. Appropriate preconditioning improves the separation of the eigenvalues. Davidson`s method and its generalizations exploit this fact. The authors examine a preconditioned iteration that resembles a truncated version of Davidson`s method with a different preconditioning strategy.

  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. Construction of a Hyper Redundant Robotic Tentacle Manipulator

    Science.gov (United States)

    2012-06-01

    manufactured using an fused deposition modeling ( FDM ) process. Due, in part, to access to prototyping equipment, the time between iterations of the...motion. Additional snake robots using this principle of movement were developed by Chirikjian and Burdick (22), Miller (23), and Crespi et al. (24...a dexterous manipulation task. The objects to be manipulated, cardboard models , weighed ~30–100 g, giving a small range of torques in which the

  14. 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 distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction development. This is done by providing an educational tool that enables problem representation...... 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...

  15. 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.      

  16. VI.3. Rehabilitation robotics.

    Science.gov (United States)

    Munih, Marko; Bajd, Tadej

    2010-01-01

    The paper presents the background, main achievements and components of rehabilitation robotics in a simple way, using non-technical terms. The introductory part looks at the development of robotic approaches in the rehabilitation of neurological patients and outlines the principles of robotic device interactions with patients. There follows a section on virtual reality in rehabilitation. Hapticity and interaction between robot and human are presented in order to understand the added value of robotics that cannot be exploited in other devices. The importance of passive exercise and active tasks is then discussed using the results of various clinical trials, followed by the place of upper and lower extremity robotic devices in rehabilitation practice. The closing section refers to the general importance of measurements in this area and stresses quantitative measurements as one of the advantages in using robotic devices.

  17. ITER EDA Newsletter. V. 3, no. 10

    International Nuclear Information System (INIS)

    1994-10-01

    This ITER EDA (Engineering Design Activities) Newsletter issue reports on (i) the ITER-relevant statements made at the occasion of the 15th IAEA fusion conference in Seville, Spain, September 26 - October 1, 1994; (ii) a comprehensive technical presentation of the ITER EDA developments at the same conference; (iii) the first Workshop of the ITER Expert Group on Confinement and Transport, held at the San Diego Joint Work Site on 22-25 August 1994; and (iv) the visit to the San Diego Work Site of the representatives of a local philanthropic group, the ARCS Foundation (Achievement Rewards for College Scientists)

  18. ITER ITA newsletter. No. 23, June 2005

    International Nuclear Information System (INIS)

    2005-06-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related meeting the Eighth Meeting of the ITPA Topical Group (TG) on Diagnostics was held at the Culham Science Centre, UKAEA, from 14-18 March 2005 and the Third International Atomic Energy Agency - Technical Meeting (TM) on Electron Cyclotron Resonance Heating (ECRH) in ITER, following those in Oharai, Japan in 1999, and in Kloster Seeon, Germany in 2003, was held in Como, Italy, from May 2 to May 5, 2005, in a two-and-half day intense workshop

  19. ITER EDA newsletter. V. 5, no. 6

    International Nuclear Information System (INIS)

    1996-06-01

    This issue of the ITER Engineering Design Activities Newsletter contains a report on the Tenth Meeting of the ITER Technical Advisory Committee; on the papers relevant to the ITER project that were presented during the 12th International Conference on Plasma-Surface Interactions in Controlled Fusion Devices held at St. Raphael, France, on 20-24 May 1996; and a note on the interrelationship between ITER and the PSI Conference, initiated more than twenty years ago by surface and solid-state physicists

  20. ITER EDA newsletter. V. 10, no. 2

    International Nuclear Information System (INIS)

    2001-02-01

    In 2000, the Fusion Power Associates Awards were given, among others, to persons closely associated with the developments of ITER. These Awards are given annually for Distinguished Career, for Leadership, and for Excellence in Fusion Engineering. Distinguished Career Award to Ken Tomabechi, a leading fusion researcher and director of the Japan Atomic Energy Research Institute. Leadership Award to: Robert Aymar, a leading European fusion researcher and has been ITER Director since 1994. Excellence in Fusion Engineering to: Gianfrano Federici, a staff member of the ITER Joint Central Team, working at the ITER Joint Work Site at Garching, Germany

  1. ITER EDA Newsletter. V. 3, no. 9

    International Nuclear Information System (INIS)

    1994-09-01

    This ITER EDA (Engineering Design Activities) Newsletter issue contains a description of the ITER Physics Research and Development (F.Perkins), a report on the first meeting of the ITER Divertor Physics and Divertor Modelling and Database Expert Groups (D. Post, G. Janeschitz, R. Stambaugh, M. Shimada), a report on the first meeting of the ITER Physics Expert Group on Diagnostics (A.E. Costley and K.M. Young), and a contribution entitled ''to meet or not to meet? If yes, for how long?'' (L. Golubchikov)

  2. First formal ITER negotiations make excellent progress

    International Nuclear Information System (INIS)

    Barnard, P.

    2001-01-01

    November 8 and 9 2001 marked the historic beginning of formal negotiations meetings on the ITER project. Delegations from Canada, the European Union, Japan and the Russian Federation met in Toronto, Canada, for the first in a series of Negotiations that is expected to lead, by the end of 2002, to an agreement on the joint implementation of ITER. This agreement will govern, under international law, the construction, operation and decommissioning of ITER. The Negotiations concluded by issuing a joint news release, reflecting a commitment to share the progress reports on the efforts to implement ITER

  3. Iterative solution of the reduced eigenvalue problem

    International Nuclear Information System (INIS)

    Sauer, G.

    1991-01-01

    The Guyan method of reducing the stiffness and mass matrices of large linear structures introduces errors in the reduced mass matrix. These errors cannot be completely avoided even if the analysis coordinates are chosen optimally. However, they can be elimiated by iterating on the eigenvectors found from the Guyan reduced matrices. The necessary iteration steps follow directly from the eigenvalue problem. The resulting iteration procedures are presented and applied to two test problems showing that the iterations enable the exact eigensolutions to be extracted. All errors from the Guyan reduced matrices are removed or substantially decreased. (orig.)

  4. ITER EDA newsletter. V. 5, no. 12

    International Nuclear Information System (INIS)

    1996-12-01

    This issue of the newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the Eleventh ITER Council Meeting held on December 17-18, 1996 in Tokyo, Japan; a report on the Eleventh Meeting of the ITER Technical Advisory Committee (TAC-11) Meeting held 3-7 December, 1996, at the ITER Naka Joint Work Site, Japan; and a report on the Fifth Workshop of the Confinement Modelling and Database Expert Group held in Montreal, Canada, October 13-16, 1996

  5. Research at ITER towards DEMO: Specific reactor diagnostic studies to be carried out on ITER

    International Nuclear Information System (INIS)

    Krasilnikov, A. V.; Kaschuck, Y. A.; Vershkov, V. A.; Petrov, A. A.; Petrov, V. G.; Tugarinov, S. N.

    2014-01-01

    In ITER diagnostics will operate in the very hard radiation environment of fusion reactor. Extensive technology studies are carried out during development of the ITER diagnostics and procedures of their calibration and remote handling. Results of these studies and practical application of the developed diagnostics on ITER will provide the direct input to DEMO diagnostic development. The list of DEMO measurement requirements and diagnostics will be determined during ITER experiments on the bases of ITER plasma physics results and success of particular diagnostic application in reactor-like ITER plasma. Majority of ITER diagnostic already passed the conceptual design phase and represent the state of the art in fusion plasma diagnostic development. The number of related to DEMO results of ITER diagnostic studies such as design and prototype manufacture of: neutron and γ–ray diagnostics, neutral particle analyzers, optical spectroscopy including first mirror protection and cleaning technics, reflectometry, refractometry, tritium retention measurements etc. are discussed

  6. Research at ITER towards DEMO: Specific reactor diagnostic studies to be carried out on ITER

    Energy Technology Data Exchange (ETDEWEB)

    Krasilnikov, A. V.; Kaschuck, Y. A.; Vershkov, V. A.; Petrov, A. A.; Petrov, V. G.; Tugarinov, S. N. [Institution Project center ITER, Moscow (Russian Federation)

    2014-08-21

    In ITER diagnostics will operate in the very hard radiation environment of fusion reactor. Extensive technology studies are carried out during development of the ITER diagnostics and procedures of their calibration and remote handling. Results of these studies and practical application of the developed diagnostics on ITER will provide the direct input to DEMO diagnostic development. The list of DEMO measurement requirements and diagnostics will be determined during ITER experiments on the bases of ITER plasma physics results and success of particular diagnostic application in reactor-like ITER plasma. Majority of ITER diagnostic already passed the conceptual design phase and represent the state of the art in fusion plasma diagnostic development. The number of related to DEMO results of ITER diagnostic studies such as design and prototype manufacture of: neutron and γ–ray diagnostics, neutral particle analyzers, optical spectroscopy including first mirror protection and cleaning technics, reflectometry, refractometry, tritium retention measurements etc. are discussed.

  7. FDG PET in the diagnosis of giant cell arteritis

    International Nuclear Information System (INIS)

    Turlakow, A.; Yeung, H.W.D.; Pui, J.; Macapinlac, H.; Liebovitz, E.; Rusch, V.; Goy, A.; Larson, S.M.

    2003-01-01

    Full text: To evaluate the role of PET in the diagnosis of vasculitis. Methods: We report a case of giant cell arteritis diagnosed by FDG-PET in a 75-year-old woman with a fever of unknown origin. The patient presented with a 3 month history of fatigue, fevers, headaches, visual disturbance and jaw claudication. Diagnosis of temporal arteritis was initially excluded because of a normal ESR. CT scan showed an anterior mediastinal mass, suspicious for malignancy. An FDG-PET scan for pre-operative evaluation was acquired 45 minutes after intravenous injection of 10 mCi F18-FDG, on a dedicated PET scanner. Image reconstruction was performed using an iterative algorithm with segmented attenuation correction. The study identified striking localisation of FDG to the entire aorta, left main coronary artery, and subclavian, carotid and common iliac arteries bilaterally (SUV max range 4-4.5 g/ml), suggestive of large vessel arteritis. Subsequent excisional biopsy of the mediastinal mass confirmed giant cell vasculitis of a large muscular artery in thymic tissue. No malignancy was detected. A repeat ESR was 129 mm/hr. The patient was commenced on oral Prednisone, with prompt improvement of symptoms, ESR and anaemia and complete normalisation of the FDG-PET scan within two weeks. This case suggests a potential role of FDG-PET in the non-invasive diagnosis, classification and follow-up of giant cell arteritis, and possibly other vasculitides, so far notoriously difficult to diagnose, relying usually on a constellation of non-specific symptoms, laboratory investigations or invasive pathologic and angiographic means. Copyright (2003) The Australian and New Zealand Society of Nuclear Medicine Inc

  8. Robust Method For Robotic Mapping

    Science.gov (United States)

    Kuipers, Benjamin J.; Byun, Yung-Tai

    1992-01-01

    Robot constructs map from experience. Topological model consists of nodes and arcs corresponding to distinctive places and local travel edges linking nearby distinctive places. Model created by linking places and edges. Enables accumulation of metrical information with reduced vulnerability to metrical errors. Applications include robotic sentires, robotic delivery trucks, robotic floor cleaners, and robotic lawnmowers.

  9. Analysis of a closed-kinematic chain robot manipulator

    Science.gov (United States)

    Nguyen, Charles C.; Pooran, Farhad J.

    1988-01-01

    Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

  10. A new method for the determination of the mixing ratio hydrogen to helium in the giant planets.

    Science.gov (United States)

    Gautier, D.; Grossman, K.

    1972-01-01

    By using a numerical iterative method, it is demonstrated that the mixing ratio H2/He on the giant planets can be inferred from spectral measurements of the intensity emitted by these planets in the far infrared range. The method is successfully applied to synthetic spectra of Saturn computed from atmospheric thermal models. The effect of random and systematic measurement errors on the determination of the mixing ratio is also studied.

  11. Installation of the ITER committee industry. Participants guide; Installation du Comite industrie ITER. Dossier des participants

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2006-07-01

    ITER is an international project to design and build an experimental fusion reactor based on the tokamak concept. This guide presents the ITER project and objectives and the associated organizations in France, the recommendations and actions for ITER, the industrial mobilization, the industrial committee and its members, technological sheets for the enterprises and the statistical document of the SESSI. (A.L.B.)

  12. 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.)

  13. 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...... to the behavior of the interacting person. This paper presents a simple ball game between a single player and a mobile robot platform. The algorithm has been validated using simulation and real world experiments.......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...

  14. Robotic endovascular surgery.

    Science.gov (United States)

    Au, Stephanie; Ko, Koel; Tsang, Josephine; Chan, Yiu Che

    2014-01-01

    The purpose of this review is to compare conventional endovascular procedures and the robotic endovascular approach in aortic aneurysm repair. Despite advantages over open surgery, conventional endovascular surgery has limitations. To develop an alternative, efforts have been focused on robotic endovascular systems. Two of the 3 studies comparing procedure times demonstrated reduced procedure time in the robotic group, by 6 times (p robotic procedures reduced fluoroscopic exposure time by 12 minute (p robotic surgery was reduced up to 10 times (p robotic performance score showed a better performance score in the robotic endovascular group (p = 0.007). These results demonstrate that the robotic technique has multiple advantages over the conventional procedure, including improved catheter stability, a shorter learning curve, reduced procedure time, and better performance in cannulating tortuous vessels. However, robotic endovascular technology may be limited by the cost of the system, the size of the catheter, and the setup time required preoperatively. Further comparative studies between conventional and robotic approaches regarding cost-effectiveness, safety, and performance in cases involving complex anatomy and fenestrated stent grafts are essential. Nevertheless, this revolutionary technology is increasingly popular and may be the next milestone in endovascular surgery.

  15. Markov Chain Monte Carlo (MCMC) methods for parameter estimation of a novel hybrid redundant robot

    International Nuclear Information System (INIS)

    Wang Yongbo; Wu Huapeng; Handroos, Heikki

    2011-01-01

    This paper presents a statistical method for the calibration of a redundantly actuated hybrid serial-parallel robot IWR (Intersector Welding Robot). The robot under study will be used to carry out welding, machining, and remote handing for the assembly of vacuum vessel of International Thermonuclear Experimental Reactor (ITER). The robot has ten degrees of freedom (DOF), among which six DOF are contributed by the parallel mechanism and the rest are from the serial mechanism. In this paper, a kinematic error model which involves 54 unknown geometrical error parameters is developed for the proposed robot. Based on this error model, the mean values of the unknown parameters are statistically analyzed and estimated by means of Markov Chain Monte Carlo (MCMC) approach. The computer simulation is conducted by introducing random geometric errors and measurement poses which represent the corresponding real physical behaviors. The simulation results of the marginal posterior distributions of the estimated model parameters indicate that our method is reliable and robust.

  16. A Bio-Inspired Approach to Task Assignment of Swarm Robots in 3-D Dynamic Environments.

    Science.gov (United States)

    Xin Yi; Anmin Zhu; Yang, Simon X; Chaomin Luo

    2017-04-01

    Intending to mimic the operating mechanism of biological neural systems, a self organizing map-based approach to task assignment of a swarm of robots in 3-D dynamic environments is proposed in this paper. This approach integrates the advantages and characteristics of biological neural systems. It is capable of dynamically planning the paths of a swarm of robots in 3-D environments under uncertain situations, such as when some robots are presented in or broken down or when more than one robot is needed for some special task locations. A Bezier path optimizing algorithm and a parameter adjusting algorithm are integrated in this paper. It is capable of reducing the complexity of the robot navigation control and limiting the number of convergence iterations. The simulation results with different environments demonstrate the effectiveness of the proposed approach.

  17. Markov Chain Monte Carlo (MCMC) methods for parameter estimation of a novel hybrid redundant robot

    Energy Technology Data Exchange (ETDEWEB)

    Wang Yongbo, E-mail: yongbo.wang@hotmail.com [Laboratory of Intelligent Machine, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland); Wu Huapeng; Handroos, Heikki [Laboratory of Intelligent Machine, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland)

    2011-10-15

    This paper presents a statistical method for the calibration of a redundantly actuated hybrid serial-parallel robot IWR (Intersector Welding Robot). The robot under study will be used to carry out welding, machining, and remote handing for the assembly of vacuum vessel of International Thermonuclear Experimental Reactor (ITER). The robot has ten degrees of freedom (DOF), among which six DOF are contributed by the parallel mechanism and the rest are from the serial mechanism. In this paper, a kinematic error model which involves 54 unknown geometrical error parameters is developed for the proposed robot. Based on this error model, the mean values of the unknown parameters are statistically analyzed and estimated by means of Markov Chain Monte Carlo (MCMC) approach. The computer simulation is conducted by introducing random geometric errors and measurement poses which represent the corresponding real physical behaviors. The simulation results of the marginal posterior distributions of the estimated model parameters indicate that our method is reliable and robust.

  18. 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

  19. Giant first-forbidden resonances

    International Nuclear Information System (INIS)

    Krmpotic, F.; Nakayama, K.; Sao Paulo Univ.; Pio Galeao, A.; Sao Paulo Univ.

    1983-01-01

    Recent experimental data on first-forbidden charge-exchange resonances are discussed in the framework of a schematic model. We also evaluate the screening of the weak coupling constants induced by both the giant resonances and the δ-isobar. It is shown that the last effect does not depend on the multipolarity of the one-particle moment. Due to the same reason, the fraction of the reaction strength pushed up into the δ-resonance region is always the same regardless of the quantum numbers carried by the excitation. Simple expressions are derived for the dependence of the excitation energies of the first-forbidden giant resonances on the mass number and isospin of the target. The model reproduces consistently both the Gamow-Teller and the first-forbidden resonances. (orig.)

  20. Spinal cord giant arteriovenous fistulae

    International Nuclear Information System (INIS)

    Aymard, A.; Reizine, D.; Marciano, S.; Cervigon, E.G.; Gelbert, F.; Merland, J.J.

    1988-01-01

    Giant extramedullary arteriovenous fistulas fed by spinal arteries are a rare type of spinal cord arteriovenous malformation. Among 11 patient (mean age, 20 years) with spinal hemorrhage in childhood, progressive paraplegia, and myelographic and angiographic diagnosis, magnetic resonance imaging demonstrated the precised extramedulary location and complications (thrombosis 1). Angiography showed dilated spinal arteries feeding giant, high flow fistulas with much venous drainage. Endovascular treatment was performed in 11 cases, with balloons in seven, particulate embolization in three, and polymerizing agents in one. Complete closures of the shunt with clinical improvement was achieved in seven cases and partial closure with partial clinical recovery in two; there was one case each of paraplegia due to involuntary venous blockage by the balloon, and fatal bulbomedullary stroke in particulate embolization of cervical location. Careful endovascular techniques represent a valuable treatment in this severe pathology

  1. Giant condyloma acuminatum of vulva

    Directory of Open Access Journals (Sweden)

    S. M. Ramiz Ahmed

    2017-09-01

    Full Text Available In this paper, A 23 year old married woman who was diagnosed as a case of giant condyloma acuminatum of vulva measuring about 15 x 8 x 3 cm, irregular surface with multiple projections, oval in shape, firm to hard in consistency, mildly tender, exophytic, cauliflower like growth involving the whole vulva (lower part of mons pubis, labia, vestibule, clitoris, around vaginal opening. Another multiple small lesions were present at perineal region but there was no inguinal lymphadenopathy. She underwent a combined electro cauterization and cryotherapy for small to moderate size multiple primary and recurrent warty lesions and wide surgical excision with fasciocutaneous advancement flaps procedure for a giant lesions in the vulva. Excisional biopsies were performed to detect potential malignancy but malignancy was not found histologically. The patient was advised to first follow-up 1 month after operation when multiple small warty lesions were developed and treated and the subsequent follow-ups for 3 months.

  2. Delta robotsrobots for high speed manipulation

    OpenAIRE

    Poppeová, Viera; Uríček, Juraj; Bulej, Vladimír; Šindler, Peter

    2011-01-01

    This paper is oriented to parallel kinematic robots definition, description of their specific application, comparison of robots made by different producers and determination of velocity and acceleration parameters, kinematic analysis – inverse and forward kinematic. It brings information about development of Delta robots at Academia, including the University of Žilina and Delta robots in the market. Two models of Delta robots called M-1iA and M-3iA have been developed by FANUC Robotics during...

  3. Iterative solvers in forming process simulations

    NARCIS (Netherlands)

    van den Boogaard, Antonius H.; Rietman, Bert; Huetink, Han

    1998-01-01

    The use of iterative solvers in implicit forming process simulations is studied. The time and memory requirements are compared with direct solvers and assessed in relation with the rest of the Newton-Raphson iteration process. It is shown that conjugate gradient{like solvers with a proper

  4. New concurrent iterative methods with monotonic convergence

    Energy Technology Data Exchange (ETDEWEB)

    Yao, Qingchuan [Michigan State Univ., East Lansing, MI (United States)

    1996-12-31

    This paper proposes the new concurrent iterative methods without using any derivatives for finding all zeros of polynomials simultaneously. The new methods are of monotonic convergence for both simple and multiple real-zeros of polynomials and are quadratically convergent. The corresponding accelerated concurrent iterative methods are obtained too. The new methods are good candidates for the application in solving symmetric eigenproblems.

  5. The ITER Thomson scattering core LIDAR diagnostic

    NARCIS (Netherlands)

    Naylor, G.A.; Scannell, R.; Beurskens, M.; Walsh, M.J.; Pastor, I.; Donné, A.J.H.; Snijders, B.; Biel, W.; Meszaros, B.; Giudicotti, L.; Pasqualotto, R.; Marot, L.

    2012-01-01

    The central electron temperature and density of the ITER plasma may be determined by Thomson scattering. A LIDAR topology is proposed in order to minimize the port access required of the ITER vacuum vessel. By using a LIDAR technique, a profile of the electron temperature and density can be

  6. ITER ISS system alternative specification study

    International Nuclear Information System (INIS)

    Kveton, O.K.

    1990-08-01

    Recent comments suggested that the fuel systems, in particular the ISS, could be simplified if the ITER specifications were relaxed from the data specified for ITER. This interim report addresses the first part of the analysis, which considers the impact of design specifications on fuel systems design

  7. ITER jako živý

    Czech Academy of Sciences Publication Activity Database

    Řípa, Milan

    2010-01-01

    Roč. 10, č. 6 (2010), s. 18-19 Institutional research plan: CEZ:AV0Z20430508 Keywords : Fusion * ITER * magnetic field * ELMs * cryo pumps * central solenoid * correction coils * superconducting coils * toroidal field coils * poloidal field coils * divertor * Cadarache Subject RIV: BL - Plasma and Gas Discharge Physics http://www.tretipol.cz/900-iter-jako-zivy

  8. Iterative Brinkman penalization for remeshed vortex methods

    DEFF Research Database (Denmark)

    Hejlesen, Mads Mølholm; Koumoutsakos, Petros; Leonard, Anthony

    2015-01-01

    We introduce an iterative Brinkman penalization method for the enforcement of the no-slip boundary condition in remeshed vortex methods. In the proposed method, the Brinkman penalization is applied iteratively only in the neighborhood of the body. This allows for using significantly larger time...

  9. A note on some iterative roots

    Directory of Open Access Journals (Sweden)

    Paweł Solarz

    2009-04-01

    Full Text Available In this paper some orientation-preserving iterative roots of an orientation-preserving homeomorphism $Fcolon S^1o S^1$ which possess periodic points of order $n$ are considered. Namely, iterative roots with periodic points of order $n$. All orders of such roots are determined and their general construction is given.

  10. Controlled Iteration Grammars and Hyper-AFL's

    NARCIS (Netherlands)

    Asveld, P.R.J.

    1975-01-01

    We study $K$-iteration grammars equiped with a control on the application sequence of the substitutions, called $(\\Gamma,K)$-iteration grammars. In fact, the control is a language over the indices of the substitutions, prescribing the specific order in which one has to apply the different

  11. On equivalence classes in iterative learning control

    NARCIS (Netherlands)

    Verwoerd, M.H.A.; Meinsma, Gjerrit; de Vries, Theodorus J.A.

    2003-01-01

    This paper advocates a new approach to study the relation between causal iterative learning control (ILC) and conventional feedback control. Central to this approach is the introduction of the set of admissible pairs (of operators) defined with respect to a family of iterations. Considered are two

  12. ITER Fast Ion Collective Thomson Scattering

    DEFF Research Database (Denmark)

    Bindslev, Henrik; Meo, Fernando; Korsholm, Søren Bang

    for measurements of the confined fusion alpha particles in ITER set by the ITER team. Then we outline the considerations, which enter into the selection and evaluation of CTS systems. System definition includes choice of probe frequency, geometry of probe and receiver beam patterns and probe power, but ultimately...

  13. Exponential Lower Bounds For Policy Iteration

    OpenAIRE

    Fearnley, John

    2010-01-01

    We study policy iteration for infinite-horizon Markov decision processes. It has recently been shown policy iteration style algorithms have exponential lower bounds in a two player game setting. We extend these lower bounds to Markov decision processes with the total reward and average-reward optimality criteria.

  14. TGV, hutě a tokamak ITER

    Czech Academy of Sciences Publication Activity Database

    Řípa, Milan

    Leden (2017) ISSN 2464-7888 Institutional support: RVO:61389021 Keywords : fusion * ITER * tokamak * TGV * Pulse Power Electrical Network * Steady State Electrical Network Subject RIV: BL - Plasma and Gas Discharge Physics OBOR OECD: Fluids and plasma physics (including surface physics) http://www.3pol.cz/cz/rubriky/jaderna-fyzika-a-energetika/1954-tgv-hute-a-tokamak-iter

  15. Colorado Conference on iterative methods. Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-12-31

    The conference provided a forum for many topics in iterative methods. Volume II presents sessions on these topics: nonsymmetric solvers, parallel computation, ODE solvers, multigrid and multilevel methods, applications, robust iterative methods, preconditioners, Toeplitz and circulant matrix solvers, and saddle point problems. Individual papers are indexed separately on the EDB.

  16. Iterative methods for weighted least-squares

    Energy Technology Data Exchange (ETDEWEB)

    Bobrovnikova, E.Y.; Vavasis, S.A. [Cornell Univ., Ithaca, NY (United States)

    1996-12-31

    A weighted least-squares problem with a very ill-conditioned weight matrix arises in many applications. Because of round-off errors, the standard conjugate gradient method for solving this system does not give the correct answer even after n iterations. In this paper we propose an iterative algorithm based on a new type of reorthogonalization that converges to the solution.

  17. ITER EDA newsletter. V. 7, no. 5

    International Nuclear Information System (INIS)

    1998-05-01

    This newsletter contains the articles 'The materials selection in ITER and the first materials workshop', 'US fusion community discussion on fusion strategies', 'ITER central solenoid model coil heat treatment complete and assembly started' and 'Programme of the 17th IAEA fusion energy conference'. There is also a note in memoriam of Hiroschi Shibata, who died on the 5th of June 1998

  18. Giant Magnetoresistance in Nanogranular Magnets

    OpenAIRE

    Glatz, A.; Beloborodov, I. S.; Vinokur, V. M.

    2007-01-01

    We study the giant magnetoresistance of nanogranular magnets in the presence of an external magnetic field and finite temperature. We show that the magnetization of arrays of nanogranular magnets has hysteretic behaviour at low temperatures leading to a double peak in the magnetoresistance which coalesces at high temperatures into a single peak. We numerically calculate the magnetization of magnetic domains and the motion of domain walls in this system using a combined mean-field approach and...

  19. Giant thermoelectric effect in graphene

    Science.gov (United States)

    Dragoman, D.; Dragoman, M.

    2007-11-01

    The paper predicts a giant thermoelectric coefficient in a nanostructure consisting of metallic electrodes periodically patterned over graphene, which is deposited on a silicon dioxide substrate. The Seebeck coefficient in this device attains 30mV/K, this value being among the largest reported ever. The calculations are based on a transfer matrix approach that takes a particular form for graphene-based devices. The results are important for future nanogenerators with applications in the area of sensors, energy harvesting, and scavenging.

  20. 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.

  1. 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.

  2. Giant pediatric cervicofacial lymphatic malformations.

    Science.gov (United States)

    Benazzou, Salma; Boulaadas, Malik; Essakalli, Leila

    2013-07-01

    Lymphatic malformations (LMs) are benign lesions. Most of them are found in head and neck regions as asymptomatic mass, but giant lymphangiomas may affect breathing or swallowing and constitute a major therapeutic challenge. A retrospective analysis of giant head and neck LMs with impairment of respiration or swallow for the past 11 years was performed in the Department of Maxillofacial Surgery and ENT of the Avicenne Medical University Center. Seven patients with large and extensive LMs of the head and neck were identified. There were 3 males and 4 females with a mean age of 6 years. The predominant reason for referral was airway compromise necessitating tracheostomy (57%) and dysphagia (43%). Three patients had macrocystic lesions; others were considered mixed or microcystic. All the patients underwent surgical excision as a primary treatment modality. Complete surgical resection was realized in 4 patients, and subtotal resection in 3 patients. Of 7 patients, 4 patients had complications including nerve damage and recurrence of the disease. The majority of the patients underwent only a single surgical procedure. Cervicofacial LMs in children should be managed in multidisciplinary setting. Surgery remains the first treatment for managing giant, life-threatening lesions.

  3. ITER EDA newsletter. V. 4, no. 11

    International Nuclear Information System (INIS)

    1995-11-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains a report on the Ninth Meeting of the ITER Management Advisory Committee held in St. Petersburg, Russia, on November 3, 1995; a report on the Seventh International Conference on Fusion Reactor Materials held at Obninsk, Russia, 25-29 September, 1995; on the presentation of the ITER Project during a symposium on fusion energy held at Champaign, Illinois, USA, October 1-5, 1995; and on two meetings on ITER diagnostics, i.e., an international workshop on diagnostics for ITER held in Varenna, Italy, 28 August - 1 September, 1995; followed by the Third Diagnostics Expert Group Workshop held September 4-5 in the same location

  4. ITER EDA newsletter. V. 7, no. 9

    International Nuclear Information System (INIS)

    1998-09-01

    Newsletter containing the two articles 'Parties working on continuation of ITER EDA' and 'ITER exhibit at the Austria Centre, Vienna'. The first article describes efforts of the 4 ITER partners, the European Atomic Energy Community and the governments of Japan, the Russian Federation and the USA, to agree to continuation of the ITER EDA. While the former 3 partners signed an Extension to the EDA, the Americans were refused funding by the US Congress und will therefore be phased out within one year. Copies of the documents signed are provided. The second article reports on exhibition featuring a model of ITER and various other means of information on nuclear fusion which took place at the IAEA Headquarters from the 21st to 25th of September 1998. There is also an article in memoriam of Alexander V. Kashirski, who died on the 29th of September 1998

  5. Guiding the Giant

    Science.gov (United States)

    1998-08-01

    New ESO Survey Provides Targets for the VLT Giant astronomical telescopes like the ESO Very Large Telescope (VLT) must be used efficiently. Observing time is expensive and there are long waiting lines of excellent research programmes. Thus the work at the telescope must be very well prepared and optimized as much as possible - mistakes should be avoided and no time lost! Astronomers working with the new 8-m class optical/infrared telescopes must base their observations on detailed lists of suitable target objects if they want to perform cutting-edge science. This is particularly true for research programmes that depend on observations of large samples of comparatively rare, distant objects. This type of work requires that extensive catalogues of such objects must be prepared in advance. One such major catalogue - that will serve as a very useful basis for future VLT observations - has just become available from the new ESO Imaging Survey (EIS). The Need for Sky Surveys Astronomers have since long recognized the need to carry out preparatory observations with other telescopes in order to "guide" large telescopes. To this end, surveys of smaller or larger parts of the sky have been performed by wide-field telescopes, paving the way for subsequent work at the limits of the largest available ground-based telescopes. For instance, a complete photographic survey of the sourthern sky (declination project is known as the ESO Imaging Survey (EIS). It is supervised by a Working Group with members from the European astronomical community ( [1]) that has been responsible for defining the survey strategy and for monitoring the progress. It has been a major challenge to carry out such a public survey in the very short time available. The work by the EIS Team has involved the survey observations at the NTT, development of a pipeline to process the raw data, advanced data reduction, identification of large samples of astronomically "interesting" targets and, not least, the

  6. Giant Planets: Good Neighbors for Habitable Worlds?

    Science.gov (United States)

    Georgakarakos, Nikolaos; Eggl, Siegfried; Dobbs-Dixon, Ian

    2018-04-01

    The presence of giant planets influences potentially habitable worlds in numerous ways. Massive celestial neighbors can facilitate the formation of planetary cores and modify the influx of asteroids and comets toward Earth analogs later on. Furthermore, giant planets can indirectly change the climate of terrestrial worlds by gravitationally altering their orbits. Investigating 147 well-characterized exoplanetary systems known to date that host a main-sequence star and a giant planet, we show that the presence of “giant neighbors” can reduce a terrestrial planet’s chances to remain habitable, even if both planets have stable orbits. In a small fraction of systems, however, giant planets slightly increase the extent of habitable zones provided that the terrestrial world has a high climate inertia. In providing constraints on where giant planets cease to affect the habitable zone size in a detrimental fashion, we identify prime targets in the search for habitable worlds.

  7. 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...

  8. RAMI analysis of the ITER CIS

    International Nuclear Information System (INIS)

    Kitazawa, Sin-iti; Okayama, Katsumi; Neyatani, Yuzuru; Sagot, Francois; Houtte, Didier van

    2014-01-01

    Highlights: • We performed the functional analysis of the ITER CIS. • We performed a failure mode analysis of the ITER CIS. • We estimated the reliability and availability of the ITER CIS. • The ITER RAMI approach was applied to the ITER CIS for technical risk control in the design phase. - Abstract: ITER is the first worldwide international project aiming to design a device that proves the physics and technological basis for fusion power plants to produce nuclear fusion energy. In the project, the RAMI approach (reliability, availability, maintainability and inspectability) has been adopted for technical risk control to guide the design of components in preparation for operation and maintenance. RAMI analysis of the ITER central interlock system (CIS), which shall provide investment protection for the ITER systems was performed on the conceptual design. A functional breakdown was prepared in a bottom-up approach, resulting in the system being divided into 5 main functions and 7 sub-functions which are described using the IDEFØ method. Reliability block diagrams (RBDs) were prepared to estimate the reliability and availability of each function under stipulated operating conditions. Initial and expected scenarios were analyzed to define risk-mitigation actions. The inherent availability of the ITER CIS expected after implementation of mitigating actions was calculated to be 99.86% over 2 years, which is the typical interval of the scheduled maintenance cycles. A failure modes, effects and criticality analysis (FMECA) was performed to initiate risk mitigation action. Criticality matrices highlight the risks of the different failure modes with regard to the probability of their occurrence and impact on operations. It was assessed that the availability of the ITER CIS, with appropriate mitigating actions applied, meets the project availability requirement for the system

  9. RAMI analysis of the ITER CIS

    Energy Technology Data Exchange (ETDEWEB)

    Kitazawa, Sin-iti, E-mail: kitazawa.siniti@jaea.go.jp [ITER Project unit, Japan Atomic Energy Agency (JAEA), Naka, Ibaraki (Japan); Okayama, Katsumi [ITER Organization, Route de Vinon sur Verdon, Saint Paul Lez Durance 13115 (France); Neyatani, Yuzuru [ITER Project unit, Japan Atomic Energy Agency (JAEA), Naka, Ibaraki (Japan); Sagot, Francois; Houtte, Didier van [ITER Organization, Route de Vinon sur Verdon, Saint Paul Lez Durance 13115 (France)

    2014-02-15

    Highlights: • We performed the functional analysis of the ITER CIS. • We performed a failure mode analysis of the ITER CIS. • We estimated the reliability and availability of the ITER CIS. • The ITER RAMI approach was applied to the ITER CIS for technical risk control in the design phase. - Abstract: ITER is the first worldwide international project aiming to design a device that proves the physics and technological basis for fusion power plants to produce nuclear fusion energy. In the project, the RAMI approach (reliability, availability, maintainability and inspectability) has been adopted for technical risk control to guide the design of components in preparation for operation and maintenance. RAMI analysis of the ITER central interlock system (CIS), which shall provide investment protection for the ITER systems was performed on the conceptual design. A functional breakdown was prepared in a bottom-up approach, resulting in the system being divided into 5 main functions and 7 sub-functions which are described using the IDEFØ method. Reliability block diagrams (RBDs) were prepared to estimate the reliability and availability of each function under stipulated operating conditions. Initial and expected scenarios were analyzed to define risk-mitigation actions. The inherent availability of the ITER CIS expected after implementation of mitigating actions was calculated to be 99.86% over 2 years, which is the typical interval of the scheduled maintenance cycles. A failure modes, effects and criticality analysis (FMECA) was performed to initiate risk mitigation action. Criticality matrices highlight the risks of the different failure modes with regard to the probability of their occurrence and impact on operations. It was assessed that the availability of the ITER CIS, with appropriate mitigating actions applied, meets the project availability requirement for the system.

  10. Fundamentals of soft robot locomotion

    OpenAIRE

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

    2017-01-01

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

  11. Robots are not just tools

    OpenAIRE

    Prescott, T.J.

    2017-01-01

    The EPSRC principles of robotics make a number of commitments about the ontological status of robots such as that robots are “just tools” or can give only “an impression or real intelligence”. This commentary proposes that this assumes, all too easily, that we know the boundary conditions of future robotics development, and argues that progress towards a more useful set of principles could begin by thinking carefully about the ontological status of robots. Whilst most robots are currently lit...

  12. Solitary ulcerated congenital giant juvenile xanthogranuloma

    Directory of Open Access Journals (Sweden)

    Su Yuen Ng

    2015-01-01

    Full Text Available A 3-month-old female patient with a giant ulcerated nodule over the back since birth was diagnosed as congenital giant juvenile xanthogranuloma (JXG based on clinical and histopathological examination. Congenital giant JXG with ulceration at birth is a rare presentation of JXG and commonly misdiagnosed. This case emphasizes the importance of being aware of the myriad presentations of JXG in order to make a correct diagnosis and avoid unnecessary investigations or treatment.

  13. Designing Modular Robotic Playware

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Marti, Patrizia

    2009-01-01

    In this paper, we explore the design of modular robotic objects that may enhance playful experiences. The approach builds upon the development of modular robotics to create a kind of playware, which is flexible in both set-up and activity building for the end-user to allow easy creation of games...... robotic tiles, and discusses the challenges and opportunities of this modular playware when used by children with different cognitive abilities....

  14. 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

  15. 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

  16. Industrial Robot Programming

    OpenAIRE

    Nilsson, Klas

    1996-01-01

    Industrial robots play a key role in manufacturing systems. Robots are distinguished from other types of machinery mainly on the basis of their programmability and ability to be adaptable to different tasks. The use of computer control to achieve desired flexibility implies that software issues for embedded control systems are central for the applicability and utilization of the equipment. The structure of control systems today, however, limits the applicability of robots, thus leaving many h...

  17. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  18. 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...

  19. 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.

  20. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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