WorldWideScience

Sample records for ground assessment robot

  1. Evaluating Autonomous Ground-Robots

    Science.gov (United States)

    2012-06-14

    Evaluating Autonomous Ground-Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Anthony Finn; Adam Jacoff; Mike...these metrics against the detailed choreography of the challenge to prevent teams ‘gaming’ the result (i.e. devising technical solutions that were

  2. Robot locomotion on weak ground

    Science.gov (United States)

    Qian, Feifei; Li, Chen; Umbanhowar, Paul; Goldman, Daniel

    2012-11-01

    Natural substrates like sand, soil, and leaf litter vary widely in penetration resistance. Little is known about how animals (and increasingly robots) respond to this variation. To address this deficit, we built an air fluidized bed trackway, in which we control penetration resistance of 1mm granular substrates down to zero by increasing the upward flow rate, Q , to the fluidization transition. Using a 2 . 5 kg bio-inspired hexapedal robot as our model locomotor, we systematically study how locomotion performance (average forward speed, v) varies with penetration resistance, limb kinematics, and foot morphology. Average robot speed decreases with increasing Q, and decreases faster for robots with higher leg frequency or narrower leg width. A previously developed model, which captured the robot's performance on granular media with Q = 0 , also captures the observed performance for weakened states with Q > 0 . A single dimensionless control parameter from the model, which combines gait and ground parameters, determines v for all penetration resistances. Our ground control technique and modeling approach provide a way to probe and understand the limits of locomotor performance on yielding substrates.

  3. Ground robotic measurement of aeolian processes

    Science.gov (United States)

    Qian, Feifei; Jerolmack, Douglas; Lancaster, Nicholas; Nikolich, George; Reverdy, Paul; Roberts, Sonia; Shipley, Thomas; Van Pelt, R. Scott; Zobeck, Ted M.; Koditschek, Daniel E.

    2017-08-01

    Models of aeolian processes rely on accurate measurements of the rates of sediment transport by wind, and careful evaluation of the environmental controls of these processes. Existing field approaches typically require intensive, event-based experiments involving dense arrays of instruments. These devices are often cumbersome and logistically difficult to set up and maintain, especially near steep or vegetated dune surfaces. Significant advances in instrumentation are needed to provide the datasets that are required to validate and improve mechanistic models of aeolian sediment transport. Recent advances in robotics show great promise for assisting and amplifying scientists' efforts to increase the spatial and temporal resolution of many environmental measurements governing sediment transport. The emergence of cheap, agile, human-scale robotic platforms endowed with increasingly sophisticated sensor and motor suites opens up the prospect of deploying programmable, reactive sensor payloads across complex terrain in the service of aeolian science. This paper surveys the need and assesses the opportunities and challenges for amassing novel, highly resolved spatiotemporal datasets for aeolian research using partially-automated ground mobility. We review the limitations of existing measurement approaches for aeolian processes, and discuss how they may be transformed by ground-based robotic platforms, using examples from our initial field experiments. We then review how the need to traverse challenging aeolian terrains and simultaneously make high-resolution measurements of critical variables requires enhanced robotic capability. Finally, we conclude with a look to the future, in which robotic platforms may operate with increasing autonomy in harsh conditions. Besides expanding the completeness of terrestrial datasets, bringing ground-based robots to the aeolian research community may lead to unexpected discoveries that generate new hypotheses to expand the science

  4. Enhanced Ground Control for ISS Robotics Project

    Data.gov (United States)

    National Aeronautics and Space Administration — This project will investigate and adapt aides which will increase the efficiency of ISS robotics ground control operations with the intent of creating more...

  5. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

    GCS) is desig- nated as master and all other ground robots as slaves. .... Unlike modern day robots, they do not build detailed geometrical representa- tions of the environment. They rely on learnt associations between external perception and ...

  6. Robotic Sensitive-Site Assessment

    Science.gov (United States)

    2015-09-04

    standard payload, it is easily moved to other PackBot robots . The mast’s position over the rear payload bays allows the arm to manipulate objects...is a rugged UGV with tank-style continuous-track propulsion, a seven- degree-of-freedom manipulator arm , and mechanical and electrical interfaces for...near the front of the robot . Robotic Sensitive-Site Assessment 7 Onboard arm control software uses a three-dimensional (3D) envelope model that roughly

  7. Investigating Ground Swarm Robotics Using Agent Based Simulation

    National Research Council Canada - National Science Library

    Ho, Sze-Tek T

    2006-01-01

    The concept of employing ground swarm robotics to accomplish tasks has been proposed for future use in humanitarian de-mining, plume monitoring, searching for survivors in a disaster site, and other hazardous activities...

  8. Machine Vision Automation for Ground Control Tele-Robotics

    Data.gov (United States)

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

  9. A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

    OpenAIRE

    Harik, El Houssein Chouaib; Guérin, François; Guinand, Frédéric; Brethé, Jean-François; Pelvillain, Hervé

    2014-01-01

    International audience; —This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobi...

  10. Optimizing Communication in Air Ground Robot Networks using Decentralized Control

    Science.gov (United States)

    2010-05-08

    on a team of AscTec Hum- mingbird flying quadrotor robots providing network coverage for ground vehicles, using xBee -PRO modules for wireless...an ARM micro-processor and 2.4 GHz xBee mod- ules for wireless communication, and three ground vehicles. We conducted the experiments in a room... xBee -XSC wireless modules. The tests were conducted on four ground vehicles, and three aerial communication vehicles with control param- eters λ = 1

  11. Ground Robotic Hand Applications for the Space Program study (GRASP)

    Science.gov (United States)

    Grissom, William A.; Rafla, Nader I. (Editor)

    1992-01-01

    This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

  12. 2011 Ground Robotics Capabilities Conference and Exhibition

    Science.gov (United States)

    2011-03-24

    a HUB ZONE small business certified and registered ISO 9001 . Patco Electronics; Division of TRC - Booth # 205: PATCO Electronics is a global...KEYNOTE SPEAKER uMr. Frank Kendall, Principal Deputy Under Secretary of Defense for Acquisition, Technology and Logistics , OSD 9:20 am-9:40 am JGRE...neutralization and combat engineering applications, as well as advanced technology in robotic logistics and refueling. Stratom has delivered solutions to

  13. Integrated Intelligence: Robot Instruction via Interactive Grounded Learning

    Science.gov (United States)

    2016-02-14

    situated language understanding model that takes a natural language utterance and infers the intended procedure and its parameter instantiation. We...and to teach them about objects and attributes using a combination of modalities. To achieve this goal, we are developing an interactive grounded...ADDRESS (ES) U.S. Army Research Office P.O. Box 12211 Research Triangle Park, NC 27709-2211 Robotics; Natural Language Processing; Grounded Language

  14. A Taxonomy of Vision Systems for Ground Mobile Robots

    Directory of Open Access Journals (Sweden)

    Jesus Martinez-Gomez

    2014-07-01

    Full Text Available This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five years, a significant number of relevant papers have contributed to this subject. Firstly, a thorough review of the papers is proposed to discuss and classify both past and the most current approaches in the field. As a result, a global picture of the state of the art of the last five years is obtained. Moreover, the study of the articles is used to put forward a comprehensive taxonomy based on the most up-to-date research in ground mobile robotics. In this sense, the paper aims at being especially helpful to both budding and experienced researchers in the areas of vision systems and mobile ground robots. The taxonomy described is devised from a novel perspective, namely in order to respond to the main questions posed when designing robotic vision systems: why?, what for?, what with?, how?, and where? The answers are derived from the most relevant techniques described in the recent literature, leading in a natural way to a series of classifications that are discussed and contextualized. The article offers a global picture of the state of the art in the area and discovers some promising research lines.

  15. Foundations of autonomy for ground robotics

    Science.gov (United States)

    Bornstein, Jonathan A.; Mitchell, Robert R.

    2012-06-01

    Unmanned systems have become a critical element of the Army's Force Structure for applications such as Emergency Ordnance Disposal (EOD). Systems currently fielded are typically tele-operated and, thus, impose significant cognitive burden upon the operator. The Robotics CTA (RCTA), a collaborative research endeavor between the Army Research Laboratory and a consortium of eight industrial and academic partners, is developing fundamental technology to enable a new level of autonomous capability for future unmanned systems that can act as teammates to Soldiers making up a small unit. The Alliance is focusing research in five key areas: a cognitively based world model, semantic perception, learning, meta-cognition, and adaptive behaviors. Because current world model representations are relatively shallow, metrically based, and support only brittle behaviors, the RCTA is creating a cognitive-to-metric world model that can incorporate and utilize mission context. Current perceptual capabilities for unmanned systems are generally limited to a small number of well defined objects or behaviors. The RCTA is raising perception to a semantic level that enables understanding of relationships among objects and behaviors. To successfully team with small units, the command and control of unmanned systems must move away from the current hardware controller paradigm to one of verbal and gestural communication, implicit cues, and transparency of action between Soldier and robot. The RCTA is also exploring adaptive behavior and mechanics that will permit manipulation of arbitrarily shaped objects, animal-like mobility in complex environments, and conduct of military missions in dynamic tactical conditions. Efforts to incorporate learning from the lowest levels of the architecture upwards are key to each of the above.

  16. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

    Mobile robots have become a mature technology. The first cable guided logistics robots were introduced in the industry almost 60 years ago. In this time the market for mobile robots in industry has only experienced a very modest growth and only 2.100 systems were sold worldwide in 2011. In recent...... years, many other domains have adopted the mobile robots, such as logistics robots at hospitals and the vacuum robots in our homes. However, considering the achievements in research the last 15 years within perception and operation in natural environments together with the reductions of costs in modern...... sensor systems, the growth potential for mobile robot applications are enormous. Many new technological components are available to move the limits of commercial mobile robot applications, but a key hindrance is reliability. Natural environments are complex and dynamic, and thus the risk of robots...

  17. Developmental and Evolutionary Lexicon Acquisition in Cognitive Agents/Robots with Grounding Principle: A Short Review.

    Science.gov (United States)

    Rasheed, Nadia; Amin, Shamsudin H M

    2016-01-01

    Grounded language acquisition is an important issue, particularly to facilitate human-robot interactions in an intelligent and effective way. The evolutionary and developmental language acquisition are two innovative and important methodologies for the grounding of language in cognitive agents or robots, the aim of which is to address current limitations in robot design. This paper concentrates on these two main modelling methods with the grounding principle for the acquisition of linguistic ability in cognitive agents or robots. This review not only presents a survey of the methodologies and relevant computational cognitive agents or robotic models, but also highlights the advantages and progress of these approaches for the language grounding issue.

  18. Simulation tools for robotics research and assessment

    Science.gov (United States)

    Fields, MaryAnne; Brewer, Ralph; Edge, Harris L.; Pusey, Jason L.; Weller, Ed; Patel, Dilip G.; DiBerardino, Charles A.

    2016-05-01

    The Robotics Collaborative Technology Alliance (RCTA) program focuses on four overlapping technology areas: Perception, Intelligence, Human-Robot Interaction (HRI), and Dexterous Manipulation and Unique Mobility (DMUM). In addition, the RCTA program has a requirement to assess progress of this research in standalone as well as integrated form. Since the research is evolving and the robotic platforms with unique mobility and dexterous manipulation are in the early development stage and very expensive, an alternate approach is needed for efficient assessment. Simulation of robotic systems, platforms, sensors, and algorithms, is an attractive alternative to expensive field-based testing. Simulation can provide insight during development and debugging unavailable by many other means. This paper explores the maturity of robotic simulation systems for applications to real-world problems in robotic systems research. Open source (such as Gazebo and Moby), commercial (Simulink, Actin, LMS), government (ANVEL/VANE), and the RCTA-developed RIVET simulation environments are examined with respect to their application in the robotic research domains of Perception, Intelligence, HRI, and DMUM. Tradeoffs for applications to representative problems from each domain are presented, along with known deficiencies and disadvantages. In particular, no single robotic simulation environment adequately covers the needs of the robotic researcher in all of the domains. Simulation for DMUM poses unique constraints on the development of physics-based computational models of the robot, the environment and objects within the environment, and the interactions between them. Most current robot simulations focus on quasi-static systems, but dynamic robotic motion places an increased emphasis on the accuracy of the computational models. In order to understand the interaction of dynamic multi-body systems, such as limbed robots, with the environment, it may be necessary to build component

  19. A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots.

    Science.gov (United States)

    Nam, Tae Hyeon; Shim, Jae Hong; Cho, Young Im

    2017-11-25

    Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed.

  20. A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots

    Directory of Open Access Journals (Sweden)

    Tae Hyeon Nam

    2017-11-01

    Full Text Available Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed.

  1. A Modular Approach for a Family of Ground Mobile Robots

    Directory of Open Access Journals (Sweden)

    Giuseppe Quaglia

    2013-07-01

    Full Text Available This paper deals with Epi.q, a family of mobile robots whose main characteristic is a wheel-legged hybrid locomotion. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document presents state of the art security robotics, the Epi.q mechanical architecture, the concept behind the robot driving unit, three prototypes and the design of a new one.

  2. Ground Fluidization Promotes Rapid Running of a Lightweight Robot

    Science.gov (United States)

    2013-01-01

    Peterson K and Fearing RS (2009) DASH: A dynamic 16g hexapedal robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009...scientificamerican0410-16a. Mosauer W (1932) Adaptive convergence in the sand reptiles of the Sahara and of California: A study in structure and behavior...and Choset H (2007) Design of a modular snake robot. In IEEE/RSJ International Confer- ence on Intelligent Robots and Systems, 2007 (IROS 2007), pp

  3. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

    Directory of Open Access Journals (Sweden)

    David Zapata

    2013-01-01

    Full Text Available There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.

  4. Needs for Robotic Assessments of Nuclear Disasters

    International Nuclear Information System (INIS)

    Walker, Victor; Wadsworth, Derek

    2012-01-01

    Following the nuclear disaster at the Fukushima nuclear reactor plant in Japan, the need for systems which can assist in dynamic high-radiation environments such as nuclear incidents has become more apparent. The INL participated in delivering robotic technologies to Japan and has identified key components which are needed for success and obstacles to their deployment. In addition, we are proposing new work and methods to improve assessments and reactions to such events in the future. Robotics needs in disaster situations include phases such as: Assessment, Remediation, and Recovery Our particular interest is in the initial assessment activities. In assessment we need collection of environmental parameters, determination of conditions, and physical sample collection. Each phase would require key tools and efforts to develop. This includes study of necessary sensors and their deployment methods, the effects of radiation on sensors and deployment, and the development of training and execution systems.

  5. Grounding language in action and perception: from cognitive agents to humanoid robots.

    Science.gov (United States)

    Cangelosi, Angelo

    2010-06-01

    In this review we concentrate on a grounded approach to the modeling of cognition through the methodologies of cognitive agents and developmental robotics. This work will focus on the modeling of the evolutionary and developmental acquisition of linguistic capabilities based on the principles of symbol grounding. We review cognitive agent and developmental robotics models of the grounding of language to demonstrate their consistency with the empirical and theoretical evidence on language grounding and embodiment, and to reveal the benefits of such an approach in the design of linguistic capabilities in cognitive robotic agents. In particular, three different models will be discussed, where the complexity of the agent's sensorimotor and cognitive system gradually increases: from a multi-agent simulation of language evolution, to a simulated robotic agent model for symbol grounding transfer, to a model of language comprehension in the humanoid robot iCub. The review also discusses the benefits of the use of humanoid robotic platform, and specifically of the open source iCub platform, for the study of embodied cognition. Copyright 2010 Elsevier B.V. All rights reserved.

  6. Life after Future Combat System: a family of ground robotic systems

    Science.gov (United States)

    Knichel, David G.

    2010-04-01

    Until recently, the Army Future Combat System (FCS) was the future of Army ground robotics hallmarked by system of systems interoperability for manned and unmanned platforms. New missions, threats, and realities have caused the Army to restructure the Army Future Combat System, but still require unmanned systems interoperability without the FCS system of system interoperability architecture. The result is the Army material developer has no overarching unmanned ground vehicle (UGV) interoperability standards in place equal to the Army unmanned aircraft system (UAS) community. This paper will offer a Life After the FCS vision for an Army family of common ground robotics and payload standards with proposed IEEE, STANAG, SAE, and other standards to potentially achieve common ground robotics interoperability to support the Army and Army Maneuver Support Center of Excellence (MSCoE) Chemical, Engineer, and Military Police mission needs.

  7. A generic scale for assessment of attitudes towards social robots

    DEFF Research Database (Denmark)

    Damholdt, Malene Flensborg; Olesen, Martin Hammershøj; Nørskov, Marco

    2016-01-01

    The research field into social robotics is expanding and with it the need for consistent methods for assessing attitudinal stance towards social robots. In this paper we describe the development and planned validation of the Attitudes towards social robots scale (ASOR-5): a generic questionnaire ...

  8. Beyond speculative robot ethics: a vision assessment study on the future of the robotic caretaker.

    Science.gov (United States)

    van der Plas, Arjanna; Smits, Martijntje; Wehrmann, Caroline

    2010-11-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also led to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model, we think to have designed an interesting response on a recent call for a less speculative ethics of technology by encouraging discussions about the quality of positive and negative visions on the future of robotics.

  9. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

    sensor data to get information of the environment, to formulate its plan to achieve the given goals, to plan a path for movement to a designated location, to allow the robot to update itself con- tinuously to incorporate observed changes in its plans, etc. Among these activities, autonomous movement is very important for mobile ...

  10. Robot-supported assessment of balance in standing and walking.

    Science.gov (United States)

    Shirota, Camila; van Asseldonk, Edwin; Matjačić, Zlatko; Vallery, Heike; Barralon, Pierre; Maggioni, Serena; Buurke, Jaap H; Veneman, Jan F

    2017-08-14

    Clinically useful and efficient assessment of balance during standing and walking is especially challenging in patients with neurological disorders. However, rehabilitation robots could facilitate assessment procedures and improve their clinical value. We present a short overview of balance assessment in clinical practice and in posturography. Based on this overview, we evaluate the potential use of robotic tools for such assessment. The novelty and assumed main benefits of using robots for assessment are their ability to assess 'severely affected' patients by providing assistance-as-needed, as well as to provide consistent perturbations during standing and walking while measuring the patient's reactions. We provide a classification of robotic devices on three aspects relevant to their potential application for balance assessment: 1) how the device interacts with the body, 2) in what sense the device is mobile, and 3) on what surface the person stands or walks when using the device. As examples, nine types of robotic devices are described, classified and evaluated for their suitability for balance assessment. Two example cases of robotic assessments based on perturbations during walking are presented. We conclude that robotic devices are promising and can become useful and relevant tools for assessment of balance in patients with neurological disorders, both in research and in clinical use. Robotic assessment holds the promise to provide increasingly detailed assessment that allows to individually tailor rehabilitation training, which may eventually improve training effectiveness.

  11. To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

    Directory of Open Access Journals (Sweden)

    Nicole Mirnig

    2017-05-01

    . In contrast to existing research, we assess dimensions of user experience that have not been considered so far and we analyze the reactions users express when a robot makes a mistake. Our results show that decoding a human’s social signals can help the robot understand that there is an error and subsequently react accordingly.

  12. Autonomous Inspection Robot for Power Transmission Lines Maintenance While Operating on the Overhead Ground Wires

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2010-12-01

    Full Text Available This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, anchor clamps, and torsion tower. The mobile robot walks on overhead ground wires in 500KV power tower. Its ultimate purpose is to automate to inspect the defect of power transmission line. The robot with 13 motors is composed of two arms, two wheels, two claws, two wrists, etc. Each arm has 4 degree of freedom. Claws are also mounted on the arms. An embedded computer based on PC/104 is chosen as the core of control system. Visible light and thermal infrared cameras are installed to obtain the video and temperature information, and the communication system is based on wireless LAN TCP/IP protocol. A prototype robot was developed with careful considerations of mobility. The new sensor configuration is used for the claw to grasp the overhead ground wires. The bridge is installed in the torsion tower for the robot easy to cross obstacles. The new posture plan is proposed for obstacles cleaning in the torsion tower. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  13. Autonomous Inspection Robot for Power Transmission Lines Maintenance While Operating on the Overhead Ground Wires

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2011-01-01

    Full Text Available This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, anchor clamps, and torsion tower. The mobile robot walks on overhead ground wires in 500KV power tower. Its ultimate purpose is to automate to inspect the defect of power transmission line. The robot with 13 motors is composed of two arms, two wheels, two claws, two wrists, etc. Each arm has 4 degree of freedom. Claws are also mounted on the arms. An embedded computer based on PC/104 is chosen as the core of control system. Visible light and thermal infrared cameras are installed to obtain the video and temperature information, and the communication system is based on wireless LAN TCP/IP protocol. A prototype robot was developed with careful considerations of mobility. The new sensor configuration is used for the claw to grasp the overhead ground wires. The bridge is installed in the torsion tower for the robot easy to cross obstacles. The new posture plan is proposed for obstacles cleaning in the torsion tower. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  14. Robotic assessment of sensorimotor deficits after traumatic brain injury.

    Science.gov (United States)

    Debert, Chantel T; Herter, Troy M; Scott, Stephen H; Dukelow, Sean

    2012-06-01

    Robotic technology is commonly used to quantify aspects of typical sensorimotor function. We evaluated the feasibility of using robotic technology to assess visuomotor and position sense impairments following traumatic brain injury (TBI). We present results of robotic sensorimotor function testing in 12 subjects with TBI, who had a range of initial severities (9 severe, 2 moderate, 1 mild), and contrast these results with those of clinical tests. We also compared these with robotic test outcomes in persons without disability. For each subject with TBI, a review of the initial injury and neuroradiologic findings was conducted. Following this, each subject completed a number of standardized clinical measures (Fugl-Meyer Assessment, Purdue Peg Board, Montreal Cognitive Assessment, Rancho Los Amigos Scale), followed by two robotic tasks. A visually guided reaching task was performed to assess visuomotor control of the upper limb. An arm position-matching task was used to assess position sense. Robotic task performance in the subjects with TBI was compared with findings in a cohort of 170 person without disabilities. Subjects with TBI demonstrated a broad range of sensory and motor deficits on robotic testing. Notably, several subjects with TBI displayed significant deficits in one or both of the robotic tasks, despite normal scores on traditional clinical motor and cognitive assessment measures. The findings demonstrate the potential of robotic assessments for identifying deficits in visuomotor control and position sense following TBI. Improved identification of neurologic impairments following TBI may ultimately enhance rehabilitation.

  15. Investigating Ground Swarm Robotics Using Agent Based Simulation

    Science.gov (United States)

    2006-12-01

    interesting to see how alternatives like MANA (and even Pythagoras 3 ) measure up to the calling. If indeed MANA has rarely been dedicated to model swarm... Pythagoras is an agent based simulation package developed by Northrop Grumman 5 Figure 2. Simulation packages used to models robot swarms... Pythagoras , an agent based software platform developed by Northrop Grumman. 93 As mentioned before, the model is not complete without modeling the

  16. A Ground Experiment System of a Free-Floating Robot for Fine Manipulation

    Directory of Open Access Journals (Sweden)

    Houde Liu

    2012-11-01

    Full Text Available Robotic systems are expected to play an increasingly important role in future space activities with the development of space technology. One broad area of application is in the servicing, construction and maintenance of satellites and large space structures in orbit. Fine manipulation technology is very important for space robots to be able to perform these tasks, since it must ensure safe and reliable interaction with objects or the environment. In order to assure the task is accomplished successfully, ground experimentations are required in order to verify key planning and control algorithms before the space robot is launched. In this paper, based on the concept of a hybrid approach combining the mathematical model with the physical model, a ground experiment system is set up, which is composed of two industrial robots, global and hand-eye visual equipment, six-axis force/torquesensors, guide rail and four computers. Many control approaches of fine manipulation, such as compliance control, impedance control, hybrid force/position control, intelligent control and so on, can be verified using this system. As an example, a contour curves tracking experiment based on the compliance control strategy is performed. Experiment results show that the ground system is very useful for verifying the dexterous manipulation technology of space robots.

  17. New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

    Directory of Open Access Journals (Sweden)

    Luis Emmi

    2014-01-01

    Full Text Available Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis.

  18. New trends in robotics for agriculture: integration and assessment of a real fleet of robots.

    Science.gov (United States)

    Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

    2014-01-01

    Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis.

  19. New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

    Science.gov (United States)

    Gonzalez-de-Soto, Mariano; Pajares, Gonzalo

    2014-01-01

    Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis. PMID:25143976

  20. Ground plane detection for autonomous robots in complex environments inclined with flexed far-field terrains

    CSIR Research Space (South Africa)

    Osunmakind, IO

    2009-11-01

    Full Text Available In this paper, collective intelligence of the Emergent Situation Awareness (ESA) technology is proposed as a supportive strategy for autonomous robotic navigation. The ability to reveal uncertainties over time on flexed far-field is a ground plane...

  1. UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

    Science.gov (United States)

    Chen, Jessie Y C

    2010-08-01

    A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

  2. Development and verification of ground-based tele-robotics operations concept for Dextre

    Science.gov (United States)

    Aziz, Sarmad

    2013-05-01

    The Special Purpose Dextreous Manipulator (Dextre) is the latest addition to the on-orbit segment of the Mobile Servicing System (MSS); Canada's contribution to the International Space Station (ISS). Launched in March 2008, the advanced two-armed robot is designed to perform various ISS maintenance tasks on robotically compatible elements and on-orbit replaceable units using a wide variety of tools and interfaces. The addition of Dextre has increased the capabilities of the MSS, and has introduced significant complexity to ISS robotics operations. While the initial operations concept for Dextre was based on human-in-the-loop control by the on-orbit astronauts, the complexities of robotic maintenance and the associated costs of training and maintaining the operator skills required for Dextre operations demanded a reexamination of the old concepts. A new approach to ISS robotic maintenance was developed in order to utilize the capabilities of Dextre safely and efficiently, while at the same time reducing the costs of on-orbit operations. This paper will describe the development, validation, and on-orbit demonstration of the operations concept for ground-based tele-robotics control of Dextre. It will describe the evolution of the new concepts from the experience gained from the development and implementation of the ground control capability for the Space Station Remote Manipulator System; Canadarm 2. It will discuss the various technical challenges faced during the development effort, such as requirements for high positioning accuracy, force/moment sensing and accommodation, failure tolerance, complex tool operations, and the novel operational tools and techniques developed to overcome them. The paper will also describe the work performed to validate the new concepts on orbit and will discuss the results and lessons learned from the on-orbit checkout and commissioning of Dextre using the newly developed tele-robotics techniques and capabilities.

  3. Online Aerial Terrain Mapping for Ground Robot Navigation

    Directory of Open Access Journals (Sweden)

    John Peterson

    2018-02-01

    Full Text Available This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle’s overhead view to inform the ground vehicle’s path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles.

  4. Online Aerial Terrain Mapping for Ground Robot Navigation.

    Science.gov (United States)

    Peterson, John; Chaudhry, Haseeb; Abdelatty, Karim; Bird, John; Kochersberger, Kevin

    2018-02-20

    This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle's overhead view to inform the ground vehicle's path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles.

  5. Vision systems for manned and robotic ground vehicles

    Science.gov (United States)

    Sanders-Reed, John N.; Koon, Phillip L.

    2010-04-01

    A Distributed Aperture Vision System for ground vehicles is described. An overview of the hardware including sensor pod, processor, video compression, and displays is provided. This includes a discussion of the choice between an integrated sensor pod and individually mounted sensors, open architecture design, and latency issues as well as flat panel versus head mounted displays. This technology is applied to various ground vehicle scenarios, including closed-hatch operations (operator in the vehicle), remote operator tele-operation, and supervised autonomy for multi-vehicle unmanned convoys. In addition, remote vision for automatic perimeter surveillance using autonomous vehicles and automatic detection algorithms is demonstrated.

  6. Robot-supported assessment of balance in standing and walking

    NARCIS (Netherlands)

    Shirota, Camila; van Asseldonk, Edwin; Matjacic, Zlatko; Vallery, H.; Barralon, Pierre; Maggioni, Serena; Buurke, Jaap H.; Veneman, Jan F.

    2017-01-01

    Clinically useful and efficient assessment of balance during standing and walking is especially challenging in patients with neurological disorders. However, rehabilitation robots could facilitate assessment procedures and improve their clinical value. We present a short overview of balance

  7. A Ground-Based Validation System of Teleoperation for a Space Robot

    Directory of Open Access Journals (Sweden)

    Xueqian Wang

    2012-10-01

    Full Text Available Teleoperation of space robots is very important for future on-orbit service. In order to assure the task is accomplished successfully, ground experiments are required to verify the function and validity of the teleoperation system before a space robot is launched. In this paper, a ground-based validation subsystem is developed as a part of a teleoperation system. The subsystem is mainly composed of four parts: the input verification module, the onboard verification module, the dynamic and image workstation, and the communication simulator. The input verification module, consisting of hardware and software of the master, is used to verify the input ability. The onboard verification module, consisting of the same hardware and software as the onboard processor, is used to verify the processor's computing ability and execution schedule. In addition, the dynamic and image workstation calculates the dynamic response of the space robot and target, and generates emulated camera images, including the hand-eye cameras, global-vision camera and rendezvous camera. The communication simulator provides fidelity communication conditions, i.e., time delays and communication bandwidth. Lastly, we integrated a teleoperation system and conducted many experiments on the system. Experiment results show that the ground system is very useful for verified teleoperation technology.

  8. The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students

    National Research Council Canada - National Science Library

    Theisen, Bernard L

    2007-01-01

    ..., and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities...

  9. The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students

    National Research Council Canada - National Science Library

    Theisen, Bernard L

    2007-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s...

  10. Unattended ground sensor situation assessment workstation

    Energy Technology Data Exchange (ETDEWEB)

    Jeppesen, D.; Trellue, R.

    1997-04-01

    Effective utilization of unattended ground sensors (UGSs) in a theater reconnaissance, surveillance, target acquisition, and kill assessment environment requires that a human operator be able to interpret, and collectively assess, the significance of real time data obtained from UGS emplacements over large geographical regions of interest. The products of this UGS data interpretation and assessment activity can then be used in the decision support process for command level evaluation of appropriate courses of action. Advancements in both sensor hardware technology and in software systems and processing technology have enabled the development of practical real time situation assessment capabilities based upon information from unattended ground sensors. A decision support workstation that employs rule-based expert system processing of reports from unattended ground sensors is described. The primary goal of this development activity is to produce a suite of software to track vehicles using data from unattended ground sensors. The situational assessment products from this system have stand-alone utility, but are also intended to provide cueing support for overhead sensors and supplementary feeds to all-source fusion centers. The conceptual framework, developmental architecture, and demonstration field tests of the system are described.

  11. Safety assessment of a robotic system handling nuclear material

    International Nuclear Information System (INIS)

    Atcitty, C.B.; Robinson, D.G.

    1996-01-01

    This paper outlines the use of a Failure Modes and Effects Analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, The Weigh and Leak Check System, is to replace a manual process at the Department of Energy facility at Pantex by which nuclear material is inspected for weight and leakage. Failure Modes and Effects Analyses were completed for the robotics process to ensure that safety goals for the system had been meet. These analyses showed that the risks to people and the internal and external environment were acceptable

  12. Spacio-temporal situation assessment for mobile robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø; Risager, Claus; Andersen, Nils Axel

    2011-01-01

    chains are used to model the situation states and sequence, where stream clustering is used for state matching and dealing with noise. In experiments using simulated and real data, we show that we are able to learn a situation sequence for a mobile robot passing through a narrow passage. After learning......In this paper, we present a framework for situation modeling and assessment for mobile robot applications. We consider situations as data patterns that characterize unique circumstances for the robot, and represented not only by the data but also its temporal and spacial sequence. Dynamic Markov...

  13. 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)

  14. Reliability and Assessment Techniques on Ground Excavation

    Directory of Open Access Journals (Sweden)

    Sanga Tangchawal

    2009-05-01

    Full Text Available Planning and assessment on the excavation of the brittle materials (soil or rock can be done by using the machinery and/or explosives. The reliability assessment has been proposed to predict the failure of ground during excavation process. The stability planning on cutting soil (rock face by machinery can be compared between the deterministic and the statistical method. The risk of using explosives for rock excavation has to concern on the damage and environmental impacts after blasting events.

  15. Robotic Technology: An Assessment and Forecast,

    Science.gov (United States)

    1984-07-01

    competitiveness of this industry requires the . .. use of the most cost-effective manufacturing techniques available. Beyond cost-effectiveness, sheer ...It 4-1 (1983). Nagel* R., ’ Robots: Not Yet Smart Enough.’ IEEE Spectrum 20, 78 (1983). Schwartz. J. and Sharir, ’On the Piano Movers’ Problem: V. The

  16. Validity of Robot-Based Assessments of Upper Extremity Function.

    Science.gov (United States)

    McKenzie, Alison; Dodakian, Lucy; See, Jill; Le, Vu; Quinlan, Erin Burke; Bridgford, Claire; Head, Daniel; Han, Vy L; Cramer, Steven C

    2017-10-01

    To examine the validity of 5 robot-based assessments of arm motor function poststroke. Cross-sectional study. Outpatient clinical research center. Volunteer sample of participants (N=40; age, >18y; 3-6mo poststroke) with arm motor deficits that had reached a stable plateau. Not applicable. Clinical standards included the arm motor domain of the Fugl-Meyer Assessment (FMA) and 5 secondary motor outcomes: hand/wrist subsection of the arm motor domain of the FMA, Action Research Arm Test, Box and Block test (BBT), hand motor subscale of the Stroke Impact Scale Version 2.0, and Barthel Index. Robot-based assessments included wrist targeting, finger targeting, finger movement speed, reaction time, and a robotic version of the BBT. Anatomical measures included percent injury to the corticospinal tract (CST) and extent of injury of the hand region of the primary motor cortex obtained from magnetic resonance imaging. Participants had moderate to severe impairment (arm motor domain of the FMA scores, 35.6±14.4; range, 13.5-60). Performance on the robot-based tests, including speed (r=.82; Parm motor domain of the FMA scores. Wrist targeting (r=.57-.82) and finger targeting (r=.49-.68) correlated significantly with all 5 secondary motor outcomes and with percent CST injury. The robotic version of the BBT correlated significantly with the clinical BBT but was less prone to floor effects. Robot-based assessments were comparable to the arm motor domain of the FMA score in relation to percent CST injury and superior in relation to extent of injury to the hand region of the primary motor cortex. The present findings support using a battery of robot-based methods for assessing the upper extremity motor function in participants with chronic stroke. Copyright © 2017 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  17. Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

    Directory of Open Access Journals (Sweden)

    Xizhe Zang

    2017-09-01

    Full Text Available Walking on rough terrains still remains a challenge that needs to be addressed for biped robots because the unevenness on the ground can easily disrupt the walking stability. This paper proposes a novel foot system with passively adjustable stiffness for biped robots which is adaptable to small-sized bumps on the ground. The robotic foot is developed by attaching eight pneumatic variable stiffness units to the sole separately and symmetrically. Each variable stiffness unit mainly consists of a pneumatic bladder and a mechanical reversing valve. When walking on rough ground, the pneumatic bladders in contact with bumps are compressed, and the corresponding reversing valves are triggered to expel out the air, enabling the pneumatic bladders to adapt to the bumps with low stiffness; while the other pneumatic bladders remain rigid and maintain stable contact with the ground, providing support to the biped robot. The performances of the proposed foot system, including the variable stiffness mechanism, the adaptability on the bumps of different heights, and the application on a biped robot prototype are demonstrated by various experiments.

  18. Robotic surgery training: construct validity of Global Evaluative Assessment of Robotic Skills (GEARS).

    Science.gov (United States)

    Sánchez, Renata; Rodríguez, Omaira; Rosciano, José; Vegas, Liumariel; Bond, Verónica; Rojas, Aram; Sanchez-Ismayel, Alexis

    2016-09-01

    The objective of this study is to determine the ability of the GEARS scale (Global Evaluative Assessment of Robotic Skills) to differentiate individuals with different levels of experience in robotic surgery, as a fundamental validation. This is a cross-sectional study that included three groups of individuals with different levels of experience in robotic surgery (expert, intermediate, novice) their performance were assessed by GEARS applied by two reviewers. The difference between groups was determined by Mann-Whitney test and the consistency between the reviewers was studied by Kendall W coefficient. The agreement between the reviewers of the scale GEARS was 0.96. The score was 29.8 ± 0.4 to experts, 24 ± 2.8 to intermediates and 16 ± 3 to novices, with a statistically significant difference between all of them (p robotic surgery and, therefore, is a validated and useful tool to evaluate surgeons in training.

  19. Robot for Investigations and Assessments of Nuclear Areas

    Energy Technology Data Exchange (ETDEWEB)

    Kanaan, Daniel; Dogny, Stephane [AREVA D and S/DT, 30206 Bagnols sur Ceze (France)

    2015-07-01

    RIANA is a remote controlled Robot dedicated for Investigations and Assessments of Nuclear Areas. The development of RIANA is motivated by the need to have at disposal a proven robot, tested in hot cells; a robot capable of remotely investigate and characterise the inside of nuclear facilities in order to collect efficiently all the required data in the shortest possible time. It is based on a wireless medium sized remote carrier that may carry a wide variety of interchangeable modules, sensors and tools. It is easily customised to match specific requirements and quickly configured depending on the mission and the operator's preferences. RIANA integrates localisation and navigation systems. The robot will be able to generate / update a 2D map of its surrounding and exploring areas. The position of the robot is given accurately on the map. Furthermore, the robot will be able to autonomously calculate, define and follow a trajectory between 2 points taking into account its environment and obstacles. The robot is configurable to manage obstacles and restrict access to forbidden areas. RIANA allows an advanced control of modules, sensors and tools; all collected data (radiological and measured data) are displayed in real time in different format (chart, on the generated map...) and stored in a single place so that may be exported in a convenient format for data processing. This modular design gives RIANA the flexibility to perform multiple investigation missions where humans cannot work such as: visual inspections, dynamic localization and 2D mapping, characterizations and nuclear measurements of floor and walls, non destructive testing, samples collection: solid and liquid. The benefits of using RIANA are: - reducing the personnel exposures by limiting the manual intervention time, - minimizing the time and reducing the cost of investigation operations, - providing critical inputs to set up and optimize cleanup and dismantling operations. (authors)

  20. Human-robot interaction assessment using dynamic engagement profiles

    DEFF Research Database (Denmark)

    Drimus, Alin; Poltorak, Nicole

    2017-01-01

    This paper addresses the use of convolutional neural networks for image analysis resulting in an engagement metric that can be used to assess the quality of human robot interactions. We propose a method based on a pretrained convolutional network able to map emotions onto a continuous [0...

  1. A planar 3DOF robotic exoskeleton for rehabilitation and assessment.

    Science.gov (United States)

    Ball, Stephen J; Brown, Ian E; Scott, Stephen H

    2007-01-01

    A new robotic exoskeleton for the upper-limb has been designed and constructed. Its primary purpose is to act as a proof-of-concept prototype for a more sophisticated rehabilitation and assessment device that is currently in development. Simultaneously, it is intended to extend the capabilities of an existing planar exoskeleton device. The robot operates in the horizontal plane and provides independent control of a user's shoulder, elbow and wrist joints using a cable-driven actuation system. The novel component of the design is a curved track and carriage which allows the mechanism that drives the shoulder joint to be located away from the user, underneath their arm. This paper describes the design of the robot, and provides an initial indication of its performance.

  2. 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...

  3. Numerical Simulations of Level-Ground Walking Based on Passive Walk for Planar Biped Robots with Torso by Hip Actuators

    Science.gov (United States)

    Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo

    This study aims at a design technique of energy-efficient biped walking robots on level ground with simple mechanisms. To do this, we focus on the passive dynamic walkers which can walk stably down a shallow slope without actuators and controllers. On level ground, active walking should be studied because the mechanical energy is mainly lost through the swing-leg impacts with the ground. In this paper, numerical simulations show that planar biped robots with torso can walk efficiently on level ground over a wide range of speed by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive-dynamic walking. The torso is used to generate active power replacing gravity used in the case of the passive walk. The swing-leg control is introduced to walk stably over a wide range of speed.

  4. 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

  5. How robotics programs influence young women's career choices : a grounded theory model

    Science.gov (United States)

    Craig, Cecilia Dosh-Bluhm

    The fields of engineering, computer science, and physics have a paucity of women despite decades of intervention by universities and organizations. Women's graduation rates in these fields continue to stagnate, posing a critical problem for society. This qualitative grounded theory (GT) study sought to understand how robotics programs influenced young women's career decisions and the program's effect on engineering, physics, and computer science career interests. To test this, a study was mounted to explore how the FIRST (For Inspiration and Recognition of Science and Technology) Robotics Competition (FRC) program influenced young women's college major and career choices. Career theories suggested that experiential programs coupled with supportive relationships strongly influence career decisions, especially for science, technology, engineering, and mathematics careers. The study explored how and when young women made career decisions and how the experiential program and! its mentors and role models influenced career choice. Online focus groups and interviews (online and face-to-face) with 10 female FRC alumnae and GT processes (inductive analysis, open coding, categorizations using mind maps and content clouds) were used to generate a general systems theory style model of the career decision process for these young women. The study identified gender stereotypes and other career obstacles for women. The study's conclusions include recommendations to foster connections to real-world challenges, to develop training programs for mentors, and to nurture social cohesion, a mostly untapped area. Implementing these recommendations could help grow a critical mass of women in engineering, physics, and computer science careers, a social change worth pursuing.

  6. Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots.

    Science.gov (United States)

    d'Elia, Nicolò; Vanetti, Federica; Cempini, Marco; Pasquini, Guido; Parri, Andrea; Rabuffetti, Marco; Ferrarin, Maurizio; Molino Lova, Raffaele; Vitiello, Nicola

    2017-04-14

    . Hence, the physical human-robot coupling is reliable. These facts prove that the adopted mechanical design of passive degrees of freedom allows an effective human-robot kinematic coupling. We believe that this analysis may be useful for the definition of evaluation metrics for the ergonomics assessment of wearable robots.

  7. Brassboard development of a MEMS-scanned ladar sensor for small ground robots

    Science.gov (United States)

    Stann, Barry L.; Dammann, John F.; Enke, Joseph A.; Jian, Pey-Schuan; Giza, Mark M.; Lawler, William B.; Powers, Michael A.

    2011-06-01

    The Army Research Laboratory (ARL) is researching a short-range ladar imager for navigation, obstacle/collision avoidance, and target detection/identification on small unmanned ground vehicles (UGV).To date, commercial UGV ladars have been flawed by one or more factors including low pixelization, insufficient range or range resolution, image artifacts, no daylight operation, large size, high power consumption, and high cost. ARL built a breadboard ladar based on a newly developed but commercially available micro-electro-mechanical system (MEMS) mirror coupled to a lowcost pulsed Erbium fiber laser transmitter that largely addresses these problems. Last year we integrated the ladar and associated control software on an iRobot PackBot and distributed the ladar imagery data via the PackBot's computer network. The un-tethered PackBot was driven through an indoor obstacle course while displaying the ladar data realtime on a remote laptop computer over a wireless link. We later conducted additional driving experiments in cluttered outdoor environments. This year ARL partnered with General Dynamics Robotics Systems to start construction of a brass board ladar design. This paper will discuss refinements and rebuild of the various subsystems including the transmitter and receiver module, the data acquisition and data processing board, and software that will lead to a more compact, lower cost, and better performing ladar. The current ladar breadboard has a 5-6 Hz frame rate, an image size of 256 (h) × 128 (v) pixels, a 60° × 30° field of regard, 20 m range, eyesafe operation, and 40 cm range resolution (with provisions for super-resolution or accuracy).

  8. Grounding Action Words in the Sensorimotor Interaction with the World: Experiments with a Simulated iCub Humanoid Robot.

    Science.gov (United States)

    Marocco, Davide; Cangelosi, Angelo; Fischer, Kerstin; Belpaeme, Tony

    2010-01-01

    This paper presents a cognitive robotics model for the study of the embodied representation of action words. The present research will present how an iCub humanoid robot can learn the meaning of action words (i.e. words that represent dynamical events that happen in time) by physically interacting with the environment and linking the effects of its own actions with the behavior observed on the objects before and after the action. The control system of the robot is an artificial neural network trained to manipulate an object through a Back-Propagation-Through-Time algorithm. We will show that in the presented model the grounding of action words relies directly to the way in which an agent interacts with the environment and manipulates it.

  9. Grounding action words in the sensorimotor interaction with the world: experiments with a simulated iCub humanoid robot

    Directory of Open Access Journals (Sweden)

    Davide Marocco

    2010-05-01

    Full Text Available This paper presents a cognitive robotics model for the study of the embodied representation of action words. The present research will present how a iCub humanoid robot can learn the meaning of action words (i.e. words that represent dynamical events that happen in time by physically acting on the environment and linking the effects of its own actions with the behaviour observed on the objects before and after the action. The control system of the robot is an artificial neural network trained to manipulate an object through a Back-Propagation Through Time algorithm. We will show that in the presented model the grounding of action words relies directly to the way in which an agent interacts with the environment and manipulates it.

  10. Constructing a Grounded Theory of E-Learning Assessment

    Science.gov (United States)

    Alonso-Díaz, Laura; Yuste-Tosina, Rocío

    2015-01-01

    This study traces the development of a grounded theory of assessment in e-learning environments, a field in need of research to establish the parameters of an assessment that is both reliable and worthy of higher learning accreditation. Using grounded theory as a research method, we studied an e-assessment model that does not require physical…

  11. Ground-Based Robotic Sensing of an Agricultural Sub-Canopy Environment

    Science.gov (United States)

    Burns, A.; Peschel, J.

    2015-12-01

    Airborne remote sensing is a useful method for measuring agricultural crop parameters over large areas; however, the approach becomes limited to above-canopy characterization as a crop matures due to reduced visual access of the sub-canopy environment. During the growth cycle of an agricultural crop, such as soybeans, the micrometeorology of the sub-canopy environment can significantly impact pod development and reduced yields may result. Larger-scale environmental conditions aside, the physical structure and configuration of the sub-canopy matrix will logically influence local climate conditions for a single plant; understanding the state and development of the sub-canopy could inform crop models and improve best practices but there are currently no low-cost methods to quantify the sub-canopy environment at a high spatial and temporal resolution over an entire growth cycle. This work describes the modification of a small tactical and semi-autonomous, ground-based robotic platform with sensors capable of mapping the physical structure of an agricultural row crop sub-canopy; a soybean crop is used as a case study. Point cloud data representing the sub-canopy structure are stored in LAS format and can be used for modeling and visualization in standard GIS software packages.

  12. Using virtual robot-mediated play activities to assess cognitive skills.

    Science.gov (United States)

    Encarnação, Pedro; Alvarez, Liliana; Rios, Adriana; Maya, Catarina; Adams, Kim; Cook, Al

    2014-05-01

    To evaluate the feasibility of using virtual robot-mediated play activities to assess cognitive skills. Children with and without disabilities utilized both a physical robot and a matching virtual robot to perform the same play activities. The activities were designed such that successfully performing them is an indication of understanding of the underlying cognitive skills. Participants' performance with both robots was similar when evaluated by the success rates in each of the activities. Session video analysis encompassing participants' behavioral, interaction and communication aspects revealed differences in sustained attention, visuospatial and temporal perception, and self-regulation, favoring the virtual robot. The study shows that virtual robots are a viable alternative to the use of physical robots for assessing children's cognitive skills, with the potential of overcoming limitations of physical robots such as cost, reliability and the need for on-site technical support. Virtual robots can provide a vehicle for children to demonstrate cognitive understanding. Virtual and physical robots can be used as augmentative manipulation tools allowing children with disabilities to actively participate in play, educational and therapeutic activities. Virtual robots have the potential of overcoming limitations of physical robots such as cost, reliability and the need for on-site technical support.

  13. To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

    OpenAIRE

    Nicole Mirnig; Gerald Stollnberger; Markus Miksch; Susanne Stadler; Manuel Giuliani; Manfred Tscheligi; Manfred Tscheligi

    2017-01-01

    We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous wor...

  14. Robot-aided developmental assessment of wrist proprioception in children.

    Science.gov (United States)

    Marini, Francesca; Squeri, Valentina; Morasso, Pietro; Campus, Claudio; Konczak, Jürgen; Masia, Lorenzo

    2017-01-09

    Several neurodevelopmental disorders and brain injuries in children have been associated with proprioceptive dysfunction that will negatively affect their movement. Unfortunately, there is lack of reliable and objective clinical examination protocols and our current knowledge of how proprioception evolves in typically developing children is still sparse. Using a robotic exoskeleton, we investigated proprioceptive acuity of the wrist in a group of 49 typically developing healthy children (8-15 years), and a group of 40 young adults. Without vision participants performed an ipsilateral wrist joint position matching task that required them to reproduce (match) a previously experienced target position. All three joint degrees-of-freedom of the wrist/hand complex were assessed. Accuracy and precision were evaluated as a measure of proprioceptive acuity. The cross-sectional data indicating the time course of development of acuity were then fitted by four models in order to determine which function best describes developmental changes in proprioception across age. First, the robot-aided assessment proved to be an easy to administer method for objectively measuring proprioceptive acuity in both children and adult populations. Second, proprioceptive acuity continued to develop throughout middle childhood and early adolescence, improving by more than 50% with respect to the youngest group. Adult levels of performance were reached approximately by the age of 12 years. An inverse-root function best described the development of proprioceptive acuity across the age groups. Third, wrist/forearm proprioception is anisotropic across the three DoFs with the Abduction/Adduction exhibiting a higher level of acuity than those of Flexion/extension and Pronation/Supination. This anisotropy did not change across development. Proprioceptive development for the wrist continues well into early adolescence. Our normative data obtained trough this novel robot-aided assessment method provide a

  15. Assessment of strong ground motion records

    Indian Academy of Sciences (India)

    2003-05-01

    May 1, 2003 ... tos Nor-teamericanosy Japoneses; Revista DEL IDIEM 8,. Chile. Kalkan E and Gülkan P 2004 Site-dependent spectra derived from ground motion records in Turkey; Earthq. Spectra. 20(4) 853–882. Newmark N M and Hall W J 1982 Earthquake spectra and design; EERI Monograph Series, Earthquake ...

  16. An Integrated Assessment of Progress in Robotic Perception and Semantic Navigation

    Science.gov (United States)

    2015-09-01

    tethered to the robot to act as a substitute for HRI modules, which were not present for the component tests. The computers run software modules from...ARL-TR-7443 ● SEP 2015 US Army Research Laboratory An Integrated Assessment of Progress in Robotic Perception and Semantic...Integrated Assessment of Progress in Robotic Perception and Semantic Navigation by Craig Lennon, Barry Bodt, and Marshal Childers Vehicle Technology

  17. Pandora’s Box: Lethally-Armed Ground Robots in Operations in Iraq and Afghanistan

    Science.gov (United States)

    2010-10-27

    Others debate whether Isaac Asimov ‟s famous Three Laws of Robotics (featured in his book I, Robot and the movie of the same name) could be applied in...http://www.tgdaily.com/hardware-features/43441-engineers-rewrite- asimovs -three- laws (accessed 7 September 2010).

  18. A calibration system for measuring 3D ground truth for validation and error analysis of robot vision algorithms

    Science.gov (United States)

    Stolkin, R.; Greig, A.; Gilby, J.

    2006-10-01

    An important task in robot vision is that of determining the position, orientation and trajectory of a moving camera relative to an observed object or scene. Many such visual tracking algorithms have been proposed in the computer vision, artificial intelligence and robotics literature over the past 30 years. However, it is seldom possible to explicitly measure the accuracy of these algorithms, since the ground-truth camera positions and orientations at each frame in a video sequence are not available for comparison with the outputs of the proposed vision systems. A method is presented for generating real visual test data with complete underlying ground truth. The method enables the production of long video sequences, filmed along complicated six-degree-of-freedom trajectories, featuring a variety of objects and scenes, for which complete ground-truth data are known including the camera position and orientation at every image frame, intrinsic camera calibration data, a lens distortion model and models of the viewed objects. This work encounters a fundamental measurement problem—how to evaluate the accuracy of measured ground truth data, which is itself intended for validation of other estimated data. Several approaches for reasoning about these accuracies are described.

  19. 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.

  20. Service robotics: do you know your new companion? Framing an interdisciplinary technology assessment.

    Science.gov (United States)

    Decker, Michael; Dillmann, Rüdiger; Dreier, Thomas; Fischer, Martin; Gutmann, Mathias; Ott, Ingrid; Spiecker Genannt Döhmann, Indra

    2011-11-01

    Service-Robotic-mainly defined as "non-industrial robotics"-is identified as the next economical success story to be expected after robots have been ubiquitously implemented into industrial production lines. Under the heading of service-robotic, we found a widespread area of applications reaching from robotics in agriculture and in the public transportation system to service robots applied in private homes. We propose for our interdisciplinary perspective of technology assessment to take the human user/worker as common focus. In some cases, the user/worker is the effective subject acting by means of and in cooperation with a service robot; in other cases, the user/worker might become a pure object of the respective robotic system, for example, as a patient in a hospital. In this paper, we present a comprehensive interdisciplinary framework, which allows us to scrutinize some of the most relevant applications of service robotics; we propose to combine technical, economical, legal, philosophical/ethical, and psychological perspectives in order to design a thorough and comprehensive expert-based technology assessment. This allows us to understand the potentials as well as the limits and even the threats connected with the ongoing and the planned implementation of service robots into human lifeworld-particularly of those technical systems displaying increasing grades of autonomy.

  1. Enhanced Preliminary Assessment Report: Jefferson Proving Ground Madison, Indiana

    National Research Council Canada - National Science Library

    Williamson, S; Ehrman, C; Venkateswar, R

    1990-01-01

    An enhanced preliminary assessment of Jefferson Proving Ground was performed to characterize the environmental impacts of actions occurring at the property, and to provide a basis for the development of remedial actions...

  2. Autonomous Robotic Weapons: US Army Innovation for Ground Combat in the Twenty-First Century

    Science.gov (United States)

    2015-05-21

    less than a century, freeing mankind to pursue its higher aspirations.1 - Nikola Tesla , 1937 When, for these reasons or others like them, an anomaly...insights of genius-inventor Nikola Tesla who predicted extraordinary advancements in robotic capabilities for our near-term future, with the observations... nikola - teslas -amazing-predictions-for-the- 21st-century-26353702/?no-ist. 55 Purdy, Ellen M. “The Increasing Role of Robots in National

  3. The 17th Annual Intelligent Ground Vehicle Competition: Intelligent Robots Built by Intelligent Students

    Science.gov (United States)

    2009-11-23

    wheel chair, etc.). Overall dimensions cannot exceed seven feet in length, five feet in width and six feet in height. Propulsion must be by direct...Autonomous Challenge course a team can choose from steering controls such as Ackermann, differential, articulation and omnidirectional steering. All...or articulating robot can navigate obstacles as well as omnidirectional and differential steering robots. A team should choose whichever steering

  4. SITUATION ASSESSMENT THROUGH MULTI-MODAL SENSING OF DYNAMIC ENVIRONMENTS TO SUPPORT COGNITIVE ROBOT CONTROL

    Directory of Open Access Journals (Sweden)

    Atta Badii

    2014-12-01

    Full Text Available Awareness of emerging situations in a dynamic operational environment of a robotic assistive device is an essential capability of such a cognitive system, based on its effective and efficient assessment of the prevailing situation. This allows the system to interact with the environment in a sensible (semiautonomous / pro-active manner without the need for frequent interventions from a supervisor.  In this paper, we report a novel generic Situation Assessment Architecture for robotic systems directly assisting humans as developed in the CORBYS project. This paper presents the overall architecture for situation assessment and its application in proof-of-concept Demonstrators as developed and validated within the CORBYS project. These include a robotic human follower and a mobile gait rehabilitation robotic system. We present an overview of the structure and functionality of the Situation Assessment Architecture for robotic systems with results and observations as collected from initial validation on the two CORBYS Demonstrators.

  5. Eyes On the Ground: Year 2 Assessment.

    Energy Technology Data Exchange (ETDEWEB)

    Brost, Randolph; Little, Charles Q.; McDaniel, Michael; McLendon, William C.,; Wade, James Rokwel

    2018-03-01

    The goal of the Eyes On the Ground project is to develop tools to aid IAEA inspectors. Our original vision was to produce a tool that would take three-dimensional measurements of an unknown piece of equipment, construct a semantic representation of the measured object, and then use the resulting data to infer possible explanations of equipment function. We report our tests of a 3-d laser scanner to obtain 3-d point cloud data, and subsequent tests of software to convert the resulting point clouds into primitive geometric objects such as planes and cylinders. These tests successfully identified pipes of moderate diameter and planar surfaces, but also incurred significant noise. We also investigated the IAEA inspector task context, and learned that task constraints may present significant obstacles to using 3-d laser scanners. We further learned that equipment scale and enclosing cases may confound our original goal of equipment diagnosis. Meanwhile, we also surveyed the rapidly evolving field of 3-d measurement technology, and identified alternative sensor modalities that may prove more suitable for inspector use in a safeguards context. We conclude with a detailed discussion of lessons learned and the resulting implications for project goals. Approved for public release; further dissemination unlimited.

  6. ACOG Technology Assessment in Obstetrics and Gynecology No. 6: Robot-assisted surgery.

    Science.gov (United States)

    2009-11-01

    The field of robotic surgery is developing rapidly, but experience with this technology is currently limited. In response to increasing interest in robotics technology, the Committee on Gynecologic Practice's Technology Assessment was developed to describe the robotic surgical system,potential advantages and disadvantages, gynecologic applications, and the current state of the evidence. Randomized trials comparing robot-assisted surgery with traditional laparoscopic, vaginal, or abdominal surgery are needed to evaluate long-term clinical outcomes and cost-effectiveness, as well as to identify the best applications of this technology.

  7. Quantitative assessment of manual and robotic microcannulation for eye surgery using new eye model.

    Science.gov (United States)

    Tanaka, Shinichi; Harada, Kanako; Ida, Yoshiki; Tomita, Kyohei; Kato, Ippei; Arai, Fumihito; Ueta, Takashi; Noda, Yasuo; Sugita, Naohiko; Mitsuishi, Mamoru

    2015-06-01

    Microcannulation, a surgical procedure for the eye that requires drug injection into a 60-90 µm retinal vein, is difficult to perform manually. Robotic assistance has been proposed; however, its effectiveness in comparison to manual operation has not been quantified. An eye model has been developed to quantify the performance of manual and robotic microcannulation. The eye model, which is implemented with a force sensor and microchannels, also simulates the mechanical constraints of the instrument's movement. Ten subjects performed microcannulation using the model, with and without robotic assistance. The results showed that the robotic assistance was useful for motion stability when the drug was injected, whereas its positioning accuracy offered no advantage. An eye model was used to quantitatively assess the robotic microcannulation performance in comparison to manual operation. This approach could be valid for a better evaluation of surgical robotic assistance. Copyright © 2014 John Wiley & Sons, Ltd.

  8. The Role of Ground-Based Robotic Observatories in Satellite Projects

    Czech Academy of Sciences Publication Activity Database

    Hudec, René

    2010-01-01

    Roč. 2010, - (2010), 594854/1-594854/10 ISSN 1687-7969 R&D Projects: GA ČR GA205/08/1207 Grant - others:ESA(XE) ESA-PECS project No. 98058 Institutional research plan: CEZ:AV0Z10030501 Keywords : robotic telescopes * satellite projects * INTEGRAL mission Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics

  9. Augmented reality user interface for mobile ground robots with manipulator arms

    Science.gov (United States)

    Vozar, Steven; Tilbury, Dawn M.

    2011-01-01

    Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

  10. I want what you've got: Cross platform portabiity and human-robot interaction assessment.

    Energy Technology Data Exchange (ETDEWEB)

    Julie L. Marble, Ph.D.*.; Douglas A. Few; David J. Bruemmer

    2005-08-01

    Human-robot interaction is a subtle, yet critical aspect of design that must be assessed during the development of both the human-robot interface and robot behaviors if the human-robot team is to effectively meet the complexities of the task environment. Testing not only ensures that the system can successfully achieve the tasks for which it was designed, but more importantly, usability testing allows the designers to understand how humans and robots can, will, and should work together to optimize workload distribution. A lack of human-centered robot interface design, the rigidity of sensor configuration, and the platform-specific nature of research robot development environments are a few factors preventing robotic solutions from reaching functional utility in real word environments. Often the difficult engineering challenge of implementing adroit reactive behavior, reliable communication, trustworthy autonomy that combines with system transparency and usable interfaces is overlooked in favor of other research aims. The result is that many robotic systems never reach a level of functional utility necessary even to evaluate the efficacy of the basic system, much less result in a system that can be used in a critical, real-world environment. Further, because control architectures and interfaces are often platform specific, it is difficult or even impossible to make usability comparisons between them. This paper discusses the challenges inherent to the conduct of human factors testing of variable autonomy control architectures and across platforms within a complex, real-world environment. It discusses the need to compare behaviors, architectures, and interfaces within a structured environment that contains challenging real-world tasks, and the implications for system acceptance and trust of autonomous robotic systems for how humans and robots interact in true interactive teams.

  11. Assessing and inducing neuroplasticity with transcranial magnetic stimulation and robotics for motor function.

    Science.gov (United States)

    O'Malley, Marcia K; Ro, Tony; Levin, Harvey S

    2006-12-01

    To describe 2 new ways of assessing and inducing neuroplasticity in the human brain--transcranial magnetic stimulation (TMS) and robotics--and to investigate and promote the recovery of motor function after brain damage. We identified recent articles and books directly bearing on TMS and robotics. Articles using these tools for purposes other than rehabilitation were excluded. From these studies, we emphasize the methodologic and technical details of these tools as applicable for assessing and inducing plasticity. Because both tools have only recently been used for rehabilitation, the majority of the articles selected for this review have been published only within the last 10 years. We used the PubMed and Compendex databases to find relevant peer-reviewed studies for this review. The studies were required to be relevant to rehabilitation and to use TMS or robotics methodologies. Guidelines were applied via independent extraction by multiple observers. Despite the limited amount of research using these procedures for assessing and inducing neuroplasticity, there is growing evidence that both TMS and robotics can be very effective, inexpensive, and convenient ways for assessing and inducing rehabilitation. Although TMS has primarily been used as an assessment tool for motor function, an increasing number of studies are using TMS as a tool to directly induce plasticity and improve motor function. Similarly, robotic devices have been used for rehabilitation because of their suitability for delivery of highly repeatable training. New directions in robotics-assisted rehabilitation are taking advantage of novel measurements that can be acquired via the devices, enabling unique methods of assessment of motor recovery. As refinements in technology and advances in our knowledge continue, TMS and robotics should play an increasing role in assessing and promoting the recovery of function. Ongoing and future studies combining TMS and robotics within the same populations may

  12. Assessing User Needs and Requirements for Assistive Robots at Home.

    Science.gov (United States)

    Werner, Katharina; Werner, Franz

    2015-01-01

    'Robots in healthcare' is a very trending topic. This paper gives an overview of currently and commonly used methods to gather user needs and requirements in research projects in the field of assistive robotics. Common strategies between authors are presented as well as examples of exceptions, which can help future researchers to find methods suitable for their own work. Typical problems of the field are discussed and partial solutions are proposed.

  13. Assessment-driven selection and adaptation of exercise difficulty in robot-assisted therapy: a pilot study with a hand rehabilitation robot.

    Science.gov (United States)

    Metzger, Jean-Claude; Lambercy, Olivier; Califfi, Antonella; Dinacci, Daria; Petrillo, Claudio; Rossi, Paolo; Conti, Fabio M; Gassert, Roger

    2014-11-15

    Selecting and maintaining an engaging and challenging training difficulty level in robot-assisted stroke rehabilitation remains an open challenge. Despite the ability of robotic systems to provide objective and accurate measures of function and performance, the selection and adaptation of exercise difficulty levels is typically left to the experience of the supervising therapist. We introduce a patient-tailored and adaptive robot-assisted therapy concept to optimally challenge patients from the very first session and throughout therapy progress. The concept is evaluated within a four-week pilot study in six subacute stroke patients performing robot-assisted rehabilitation of hand function. Robotic assessments of both motor and sensory impairments of hand function conducted prior to the therapy are used to adjust exercise parameters and customize difficulty levels. During therapy progression, an automated routine adapts difficulty levels from session to session to maintain patients' performance around a target level of 70%, to optimally balance motivation and challenge. Robotic assessments suggested large differences in patients' sensorimotor abilities that are not captured by clinical assessments. Exercise customization based on these assessments resulted in an average initial exercise performance around 70% (62% ± 20%, mean ± std), which was maintained throughout the course of the therapy (64% ± 21%). Patients showed reduction in both motor and sensory impairments compared to baseline as measured by clinical and robotic assessments. The progress in difficulty levels correlated with improvements in a clinical impairment scale (Fugl-Meyer Assessment) (r s = 0.70), suggesting that the proposed therapy was effective at reducing sensorimotor impairment. Initial robotic assessments combined with progressive difficulty adaptation have the potential to automatically tailor robot-assisted rehabilitation to the individual patient. This results in optimal challenge and

  14. Robot-assisted arm assessments in spinal cord injured patients: a consideration of concept study.

    Science.gov (United States)

    Keller, Urs; Schölch, Sabine; Albisser, Urs; Rudhe, Claudia; Curt, Armin; Riener, Robert; Klamroth-Marganska, Verena

    2015-01-01

    Robotic assistance is increasingly used in neurological rehabilitation for enhanced training. Furthermore, therapy robots have the potential for accurate assessment of motor function in order to diagnose the patient status, to measure therapy progress or to feedback the movement performance to the patient and therapist in real time. We investigated whether a set of robot-based assessments that encompasses kinematic, kinetic and timing metrics is applicable, safe, reliable and comparable to clinical metrics for measurement of arm motor function. Twenty-four healthy subjects and five patients after spinal cord injury underwent robot-based assessments using the exoskeleton robot ARMin. Five different tasks were performed with aid of a visual display. Ten kinematic, kinetic and timing assessment parameters were extracted on joint- and end-effector level (active and passive range of motion, cubic reaching volume, movement time, distance-path ratio, precision, smoothness, reaction time, joint torques and joint stiffness). For cubic volume, joint torques and the range of motion for most joints, good inter- and intra-rater reliability were found whereas precision, movement time, distance-path ratio and smoothness showed weak to moderate reliability. A comparison with clinical scores revealed good correlations between robot-based joint torques and the Manual Muscle Test. Reaction time and distance-path ratio showed good correlation with the "Graded and Redefined Assessment of Strength, Sensibility and Prehension" (GRASSP) and the Van Lieshout Test (VLT) for movements towards a predefined position in the center of the frontal plane. In conclusion, the therapy robot ARMin provides a comprehensive set of assessments that are applicable and safe. The first results with spinal cord injured patients and healthy subjects suggest that the measurements are widely reliable and comparable to clinical scales for arm motor function. The methods applied and results can serve as a basis

  15. Robot-assisted arm assessments in spinal cord injured patients: a consideration of concept study.

    Directory of Open Access Journals (Sweden)

    Urs Keller

    Full Text Available Robotic assistance is increasingly used in neurological rehabilitation for enhanced training. Furthermore, therapy robots have the potential for accurate assessment of motor function in order to diagnose the patient status, to measure therapy progress or to feedback the movement performance to the patient and therapist in real time. We investigated whether a set of robot-based assessments that encompasses kinematic, kinetic and timing metrics is applicable, safe, reliable and comparable to clinical metrics for measurement of arm motor function. Twenty-four healthy subjects and five patients after spinal cord injury underwent robot-based assessments using the exoskeleton robot ARMin. Five different tasks were performed with aid of a visual display. Ten kinematic, kinetic and timing assessment parameters were extracted on joint- and end-effector level (active and passive range of motion, cubic reaching volume, movement time, distance-path ratio, precision, smoothness, reaction time, joint torques and joint stiffness. For cubic volume, joint torques and the range of motion for most joints, good inter- and intra-rater reliability were found whereas precision, movement time, distance-path ratio and smoothness showed weak to moderate reliability. A comparison with clinical scores revealed good correlations between robot-based joint torques and the Manual Muscle Test. Reaction time and distance-path ratio showed good correlation with the "Graded and Redefined Assessment of Strength, Sensibility and Prehension" (GRASSP and the Van Lieshout Test (VLT for movements towards a predefined position in the center of the frontal plane. In conclusion, the therapy robot ARMin provides a comprehensive set of assessments that are applicable and safe. The first results with spinal cord injured patients and healthy subjects suggest that the measurements are widely reliable and comparable to clinical scales for arm motor function. The methods applied and results can

  16. Robot-Assisted Arm Assessments in Spinal Cord Injured Patients: A Consideration of Concept Study

    Science.gov (United States)

    Albisser, Urs; Rudhe, Claudia; Curt, Armin; Riener, Robert; Klamroth-Marganska, Verena

    2015-01-01

    Robotic assistance is increasingly used in neurological rehabilitation for enhanced training. Furthermore, therapy robots have the potential for accurate assessment of motor function in order to diagnose the patient status, to measure therapy progress or to feedback the movement performance to the patient and therapist in real time. We investigated whether a set of robot-based assessments that encompasses kinematic, kinetic and timing metrics is applicable, safe, reliable and comparable to clinical metrics for measurement of arm motor function. Twenty-four healthy subjects and five patients after spinal cord injury underwent robot-based assessments using the exoskeleton robot ARMin. Five different tasks were performed with aid of a visual display. Ten kinematic, kinetic and timing assessment parameters were extracted on joint- and end-effector level (active and passive range of motion, cubic reaching volume, movement time, distance-path ratio, precision, smoothness, reaction time, joint torques and joint stiffness). For cubic volume, joint torques and the range of motion for most joints, good inter- and intra-rater reliability were found whereas precision, movement time, distance-path ratio and smoothness showed weak to moderate reliability. A comparison with clinical scores revealed good correlations between robot-based joint torques and the Manual Muscle Test. Reaction time and distance-path ratio showed good correlation with the “Graded and Redefined Assessment of Strength, Sensibility and Prehension” (GRASSP) and the Van Lieshout Test (VLT) for movements towards a predefined position in the center of the frontal plane. In conclusion, the therapy robot ARMin provides a comprehensive set of assessments that are applicable and safe. The first results with spinal cord injured patients and healthy subjects suggest that the measurements are widely reliable and comparable to clinical scales for arm motor function. The methods applied and results can serve as a

  17. End-to-end simulation and verification of GNC and robotic systems considering both space segment and ground segment

    Science.gov (United States)

    Benninghoff, Heike; Rems, Florian; Risse, Eicke; Brunner, Bernhard; Stelzer, Martin; Krenn, Rainer; Reiner, Matthias; Stangl, Christian; Gnat, Marcin

    2018-01-01

    In the framework of a project called on-orbit servicing end-to-end simulation, the final approach and capture of a tumbling client satellite in an on-orbit servicing mission are simulated. The necessary components are developed and the entire end-to-end chain is tested and verified. This involves both on-board and on-ground systems. The space segment comprises a passive client satellite, and an active service satellite with its rendezvous and berthing payload. The space segment is simulated using a software satellite simulator and two robotic, hardware-in-the-loop test beds, the European Proximity Operations Simulator (EPOS) 2.0 and the OOS-Sim. The ground segment is established as for a real servicing mission, such that realistic operations can be performed from the different consoles in the control room. During the simulation of the telerobotic operation, it is important to provide a realistic communication environment with different parameters like they occur in the real world (realistic delay and jitter, for example).

  18. Value-driven behavior generation for an autonomous mobile ground robot

    Science.gov (United States)

    Balakirsky, Stephen B.; Lacaze, Alberto

    2002-07-01

    In this paper, we will describe a value-driven graph search technique that is capable of generating a rich variety of single and multiple vehicle behaviors. The generation of behaviors depends on cost and benefit computations that may involve terrain characteristics, line of sight to enemy positions, and cost, benefit, and risk of traveling on roads. Depending on mission priorities and cost values, real-time planners can autonomously build appropriate behaviors on the fly that include road following, cross-country movement, stealthily movement, formation keeping, and bounding overwatch. This system follows NIST's 4D/RCS architecture, and a discussion of the world model, value judgment, and behavior generation components is provided. In addition, techniques for collapsing a multidimensional model space into a cost space and planning graph constraints are discussed. The work described in this paper has been performed under the Army Research Laboratory's Robotics Demo III program.

  19. Assessment of the impact of underground mining on ground surface

    International Nuclear Information System (INIS)

    Toomik, Arvi

    1999-01-01

    The mine able oil shale bed is located in horizontally lying Ordovician limestones at a depth of 10-60 meters from the ground surface. Limestones are covered with Quaternary sediments, mainly till and loam, sporadically seams of clay occur. The overburden rocks of oil shale bed are jointed limestones with weak contacts between layers. The upper part of limestones is weakened additionally due to weathering to depths of 10-20 metres. Ground movements caused by mining reach the ground surface easily due to the shallow location of workings. The size and nature of these movements depend on mining and roof control methods used. In this study the impact of geotechnical processes on the ground surface caused by four different mining methods is analysed. A new, artificial micro relief is formed on undermined areas, where the ground surface depressions are alternating with rising grounds. When the Quaternary cover contains loamy sediments, the surface (rain) water will accumulate in the depressions. The response of usable lands on undermined areas depends on the degree of changes in the relief and water regime. There exists a maximum degree (limit) of changes of ground movements in case of which the changes in land use are not yet considerable. The factor of land deterioration was developed for arable and forest lands taking into account the character and degree of negative impacts. When no one deterioration factor exceeds the limit, the value of arable land will be 1.0 (100%). When some factor exceeds the limit, then water logging in subsidence troughs will diminish the value to 0.7, slopes to 0.8 and the area of weathered basic rocks to 0.9. In case of a combined effect of all these factors the value of arable land will fall to 0.5. As the long-term character of ground movement after room and pillar mining is not yet established, the factor for quasi stable areas is taken preliminarily as 0.9. Using detailed plans of mined out areas and the proposed factors, it is possible

  20. Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance.

    Science.gov (United States)

    Vejdani, H R; Blum, Y; Daley, M A; Hurst, J W

    2013-12-01

    We proposed three swing leg control policies for spring-mass running robots, inspired by experimental data from our recent collaborative work on ground running birds. Previous investigations suggest that animals may prioritize injury avoidance and/or efficiency as their objective function during running rather than maintaining limit-cycle stability. Therefore, in this study we targeted structural capacity (maximum leg force to avoid damage) and efficiency as the main goals for our control policies, since these objective functions are crucial to reduce motor size and structure weight. Each proposed policy controls the leg angle as a function of time during flight phase such that its objective function during the subsequent stance phase is regulated. The three objective functions that are regulated in the control policies are (i) the leg peak force, (ii) the axial impulse, and (iii) the leg actuator work. It should be noted that each control policy regulates one single objective function. Surprisingly, all three swing leg control policies result in nearly identical subsequent stance phase dynamics. This implies that the implementation of any of the proposed control policies would satisfy both goals (damage avoidance and efficiency) at once. Furthermore, all three control policies require a surprisingly simple leg angle adjustment: leg retraction with constant angular acceleration.

  1. Integration of a high degree of freedom robotic manipulator on a large unmanned ground vehicle

    Science.gov (United States)

    Giesbrecht, Jared; Fairbrother, Blaine; Collier, Jack; Beckman, Blake

    2010-04-01

    The Multi-Agent Tactical Sentry Unmanned Ground Vehicle, developed at Defence R&D Canada - Suffield, has been in service with the Canadian Forces for five years. This tele-operated wheeled vehicle provides a capability for point detection of chemical, biological, radiological, and nuclear agents. Based on user experience, it is obvious that a manipulator capability would greatly enhance the vehicle's utility and increase its mobility in urban terrain. This paper details technical components of this development, and describes a number of trials undertaken to perform tasks with a manipulator arm such as picking up objects, opening vehicle and building doors, recording video, and creating 3D models of the environment. The lessons learned from these trials will guide further development of the technology.

  2. Functional assessment and performance evaluation for assistive robotic manipulators: Literature review.

    Science.gov (United States)

    Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A

    2013-07-01

    The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System - PITTCat. Twenty relevant studies were identified. Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators.

  3. Robot-assisted radical cystectomy versus open radical cystectomy: assessment of postoperative pain.

    Science.gov (United States)

    Guru, Khurshid A; Wilding, Gregory E; Piacente, Pamela; Thompson, Jannah; Deng, Wei; Kim, Hyung L; Mohler, James; O'Leary, Kathleen

    2007-12-01

    To date, no study has compared postoperative pain and requirement for pain medications in open versus robot-assisted radical cystectomy. Patient reported pain and opiate use were reviewed retrospectively using prospectively collected data from postoperative day one to day of discharge. Twenty consecutive robot-assisted radical cystectomy patients were compared to the prior 20 patients who underwent open radical cystectomy. Data was collected prospectively to determine opiate requirements and pain scores in each group. Daily opiate use was converted to morphine sulfate equivalents (MSE) to facilitate comparison. A Likert pain perception scale was used to assess perceived pain. Statistical models were used to test for differences in opiate usage and pain perception between groups of patients who underwent open versus robot-assisted surgery. Seven patients were excluded from the study (three from the open group, and four from the robotic group): five due to preoperative opiate usage, one due to missing pain data, and one whose procedure was aborted due to unresectable disease. All patients were similar with respect to age, body mass index and pathological parameters. Average MSE usage differed significantly between the two groups on all postoperative days (p < 0.007) whereas average pain scores were similar in the two groups. Patients who underwent robot-assisted radical cystectomy achieved similar pain control but required less opiates than those who underwent open radical cystectomy.

  4. Affective and Engagement Issues in the Conception and Assessment of a Robot-Assisted Psychomotor Therapy for Persons with Dementia

    Directory of Open Access Journals (Sweden)

    Natacha Rouaix

    2017-06-01

    Full Text Available The interest in robot-assisted therapies (RAT for dementia care has grown steadily in recent years. However, RAT using humanoid robots is still a novel practice for which the adhesion mechanisms, indications and benefits remain unclear. Also, little is known about how the robot's behavioral and affective style might promote engagement of persons with dementia (PwD in RAT. The present study sought to investigate the use of a humanoid robot in a psychomotor therapy for PwD. We examined the robot's potential to engage participants in the intervention and its effect on their emotional state. A brief psychomotor therapy program involving the robot as the therapist's assistant was created. For this purpose, a corpus of social and physical behaviors for the robot and a “control software” for customizing the program and operating the robot were also designed. Particular attention was given to components of the RAT that could promote participant's engagement (robot's interaction style, personalization of contents. In the pilot assessment of the intervention nine PwD (7 women and 2 men, M age = 86 y/o hospitalized in a geriatrics unit participated in four individual therapy sessions: one classic therapy (CT session (patient- therapist and three RAT sessions (patient-therapist-robot. Outcome criteria for the evaluation of the intervention included: participant's engagement, emotional state and well-being; satisfaction of the intervention, appreciation of the robot, and empathy-related behaviors in human-robot interaction (HRI. Results showed a high constructive engagement in both CT and RAT sessions. More positive emotional responses in participants were observed in RAT compared to CT. RAT sessions were better appreciated than CT sessions. The use of a social robot as a mediating tool appeared to promote the involvement of PwD in the therapeutic intervention increasing their immediate wellbeing and satisfaction.

  5. Analysis of reaching movements of upper arm in robot assisted exercises. Kinematic assessment of robot assisted upper arm reaching single-joint movements.

    Science.gov (United States)

    Iuppariello, Luigi; D'Addio, Giovanni; Romano, Maria; Bifulco, Paolo; Lanzillo, Bernardo; Pappone, Nicola; Cesarelli, Mario

    2016-01-01

    Robot-mediated therapy (RMT) has been a very dynamic area of research in recent years. Robotics devices are in fact capable to quantify the performances of a rehabilitation task in treatments of several disorders of the arm and the shoulder of various central and peripheral etiology. Different systems for robot-aided neuro-rehabilitation are available for upper limb rehabilitation but the biomechanical parameters proposed until today, to evaluate the quality of the movement, are related to the specific robot used and to the type of exercise performed. Besides, none study indicated a standardized quantitative evaluation of robot assisted upper arm reaching movements, so the RMT is still far to be considered a standardised tool. In this paper a quantitative kinematic assessment of robot assisted upper arm reaching movements, considering also the effect of gravity on the quality of the movements, is proposed. We studied a group of 10 healthy subjects and results indicate that our advised protocol can be useful for characterising normal pattern in reaching movements.

  6. Depleted uranium risk assessment at Aberdeen Proving Ground

    International Nuclear Information System (INIS)

    Ebinger, M.H.; Myers, O.B.; Kennedy, P.L.; Clements, W.H.

    1993-01-01

    The Environmental Science Group at Los Alamos and the Test and Evaluation Command (TECOM) are assessing the risk of depleted uranium (DU) testing at Aberdeen Proving Ground (APG). Conceptual and mathematical models of DU transfer through the APG ecosystem have been developed in order to show the mechanisms by which DU migrates or remains unavailable to different flora and fauna and to humans. The models incorporate actual rates of DU transfer between different ecosystem components as much as possible. Availability of data on DU transport through different pathways is scarce and constrains some of the transfer rates that can be used. Estimates of transfer rates were derived from literature sources and used in the mass-transfer models when actual transfer rates were unavailable. Objectives for this risk assessment are (1) to assess if DU transports away from impact areas; (2) to estimate how much, if any, DU migrates into Chesapeake Bay; (3) to determine if there are appreciable risks to the ecosystems due to DU testing; (4) to estimate the risk to human health as a result of DU testing

  7. Assessment of robotic patient simulators for training in manual physical therapy examination techniques.

    Science.gov (United States)

    Ishikawa, Shun; Okamoto, Shogo; Isogai, Kaoru; Akiyama, Yasuhiro; Yanagihara, Naomi; Yamada, Yoji

    2015-01-01

    Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard.

  8. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site in Lakeview, Oregon

    International Nuclear Information System (INIS)

    1994-10-01

    This Baseline Risk Assessment of Ground Water Contamination at the Uranium Mill Tailings Site in Lake view, Oregon evaluates potential impacts to public health or the environment resulting from ground water contamination at the former uranium mill processing site

  9. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site in Lakeview, Oregon

    Energy Technology Data Exchange (ETDEWEB)

    1994-10-01

    This Baseline Risk Assessment of Ground Water Contamination at the Uranium Mill Tailings Site in Lake view, Oregon evaluates potential impacts to public health or the environment resulting from ground water contamination at the former uranium mill processing site.

  10. Grounding Action Words in the Sensorimotor Interaction with the World: Experiments with a Simulated iCub Humanoid Robot

    OpenAIRE

    Marocco, Davide; Cangelosi, Angelo; Fischer, Kerstin; Belpaeme, Tony

    2010-01-01

    This paper presents a cognitive robotics model for the study of the embodied representation of action words. The present research will present how an iCub humanoid robot can learn the meaning of action words (i.e. words that represent dynamical events that happen in time) by physically interacting with the environment and linking the effects of its own actions with the behavior observed on the objects before and after the action. The control system of the robot is an artificial neural network...

  11. Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots

    Directory of Open Access Journals (Sweden)

    Francisco Rubio

    2015-01-01

    Full Text Available In this paper an analysis of productivity will be carried out from the resolution of the problem of trajectory planning of industrial robots. The analysis entails economic considerations, thus overcoming some limitations of the existing literature. Two methodologies based on optimization-simulation procedures are compared to calculate the time needed to perform an industrial robot task. The simulation methodology relies on the use of robotics and automation software called GRASP. The optimization methodology developed in this work is based on the kinematics and the dynamics of industrial robots. It allows us to pose a multiobjective optimization problem to assess the trade-offs between the economic variables by means of the Pareto fronts. The comparison is carried out for different examples and from a multidisciplinary point of view, thus, to determine the impact of using each method. Results have shown the opportunity costs of non using the methodology with optimized time trajectories. Furthermore, it allows companies to stay competitive because of the quick adaptation to rapidly changing markets.

  12. Imaging-guided thoracoscopic resection of a ground-glass opacity lesion in a hybrid operating room equipped with a robotic C-arm CT system.

    Science.gov (United States)

    Hsieh, Chen-Ping; Hsieh, Ming-Ju; Fang, Hsin-Yueh; Chao, Yin-Kai

    2017-05-01

    The intraoperative identification of small pulmonary nodules through video-assisted thoracoscopic surgery remains challenging. Although preoperative CT-guided nodule localization is commonly used to detect tumors during video-assisted thoracoscopic surgery (VATS), this approach carries inherent risks. We report the case of a patient with stage I lung cancer presenting as an area of ground-glass opacity (GGO) in the right upper pulmonary lobe. He successfully underwent a single-stage, CT-guided localization and removal of the pulmonary nodule within a hybrid operating room (OR) equipped with a robotic C-arm.

  13. Assessing ground compaction via time lapse surface wave analysis

    Czech Academy of Sciences Publication Activity Database

    Dal Moro, Giancarlo; Al-Arifi, N.; Moustafa, S.S.R.

    2016-01-01

    Roč. 13, č. 3 (2016), s. 249-256 ISSN 1214-9705 Institutional support: RVO:67985891 Keywords : Full velocity spectrum (FVS) analysis * ground compaction * ground compaction * phase velocities * Rayleigh waves * seismic data inversion * surface wave dispersion * surface waves Subject RIV: DC - Siesmology, Volcanology, Earth Structure Impact factor: 0.699, year: 2016

  14. Assessment of ground water pollution in the residential areas of ...

    African Journals Online (AJOL)

    Chemical and physico–chemical parameters of ground water samples from wells were analyzed by multivariate statistical tools to provide the characterisation of the ground water distribution of the settlements around cement factories in Ewekoro and Shagamu, Ogun State in Nigeria. The 17 parameters determined include: ...

  15. System of gait analysis based on ground reaction force assessment

    Directory of Open Access Journals (Sweden)

    František Vaverka

    2015-12-01

    Full Text Available Background: Biomechanical analysis of gait employs various methods used in kinematic and kinetic analysis, EMG, and others. One of the most frequently used methods is kinetic analysis based on the assessment of the ground reaction forces (GRF recorded on two force plates. Objective: The aim of the study was to present a method of gait analysis based on the assessment of the GRF recorded during the stance phase of two steps. Methods: The GRF recorded with a force plate on one leg during stance phase has three components acting in directions: Fx - mediolateral, Fy - anteroposterior, and Fz - vertical. A custom-written MATLAB script was used for gait analysis in this study. This software displays instantaneous force data for both legs as Fx(t, Fy(t and Fz(t curves, automatically determines the extremes of functions and sets the visual markers defining the individual points of interest. Positions of these markers can be easily adjusted by the rater, which may be necessary if the GRF has an atypical pattern. The analysis is fully automated and analyzing one trial takes only 1-2 minutes. Results: The method allows quantification of temporal variables of the extremes of the Fx(t, Fy(t, Fz(t functions, durations of the braking and propulsive phase, duration of the double support phase, the magnitudes of reaction forces in extremes of measured functions, impulses of force, and indices of symmetry. The analysis results in a standardized set of 78 variables (temporal, force, indices of symmetry which can serve as a basis for further research and diagnostics. Conclusions: The resulting set of variable offers a wide choice for selecting a specific group of variables with consideration to a particular research topic. The advantage of this method is the standardization of the GRF analysis, low time requirements allowing rapid analysis of a large number of trials in a short time, and comparability of the variables obtained during different research measurements.

  16. Children’s Peer Assessment and Self-disclosure in the Presence of an Educational Robot

    OpenAIRE

    Chandra, Shruti; Alves-Oliveira, Patricia; Lemaignan, Severin; Sequeira, Pedro; Paiva, Ana; Dillenbourg, Pierre

    2016-01-01

    Research in education has long established how children mutually influence and support each other's learning trajectories, eventually leading to the development and widespread use of learning methods based on peer activities. In order to explore children's learning behavior in the presence of a robotic facilitator during a collaborative writing activity, we investigated how they assess their peers in two specific group learning situations: peer-tutoring and peer-learning. Our scenario compris...

  17. Damage Stability Assessment of an HSC after Grounding

    DEFF Research Database (Denmark)

    Ravn, Erik Sonne; Simonsen, Bo Cerup; Baatrup, Jan

    2000-01-01

    Currently a substantial effort is done within the International Maritime Organisation (IMO) on revision of the High Speed Craft (HSC) Code. A main issue is the extent of bottom damage and raking damage due to grounding on hard rocks and the corresponding requirements to the damage stability.......In the present paper a detailed grounding and damage stability analysis is carried out for two specific HSC, a mono-hull (86 m) and a catamaran (69 m). First various grounding scenarios are considered with different values of the forward speed and ground geometry. The results indicate that 100% bottom damage...... is likely for grounding on sharp-pointed rocks. In the second part of the paper the damage stability is determined for the two craft damaged according to the proposal by the IMO working group. The results show that the two ferries cannot comply with the regulation unless modified either with a double bottom...

  18. Design of a robotic device for assessment and rehabilitation of hand sensory function.

    Science.gov (United States)

    Lambercy, Olivier; Robles, Alejandro Juárez; Kim, Yeongmi; Gassert, Roger

    2011-01-01

    This paper presents the design and implementation of the Robotic Sensory Trainer, a robotic interface for assessment and therapy of hand sensory function. The device can provide three types of well controlled stimuli: (i) angular displacement at the metacarpophalangeal (MCP) joint using a remote-center-of-motion double-parallelogram structure, (ii) vibration stimuli at the fingertip, proximal phalange and palm, and (iii) pressure at the fingertip, while recording position, interaction force and feedback from the user over a touch screen. These stimuli offer a novel platform to investigate sensory perception in healthy subjects and patients with sensory impairments, with the potential to assess deficits and actively train detection of specific sensory cues in a standardized manner. A preliminary study with eight healthy subjects demonstrates the feasibility of using the Robotic Sensory Trainer to assess the sensory perception threshold in MCP angular position. An average just noticeable difference (JND) in the MCP joint angle of 2.46° (14.47%) was found, which is in agreement with previous perception studies. © 2011 IEEE

  19. Simple Assessment of Post-Grounding Loads and Strength of Ships

    DEFF Research Database (Denmark)

    Paik, Jeom Kee; Pedersen, Preben Terndrup

    1997-01-01

    The aim of the present study is to determine the sectional forces induced by the ship grounding and also to assess the residual strength of grounded ship hulls. An analytical approach is used to estimate the grounding- induced sectional forces of ships. The extent and location of structural damage...... due to grounding is defined based on the ABS Safe Hull guide. The residual strength of damaged hulls is calculated by using a simple analytical formula. The method is applied to the residual strength assessment of a double-hull tanker of 38.400 dwt damaged due to grounding....

  20. AN ASSESSMENT OF CITIZEN CONTRIBUTED GROUND REFERENCE DATA FOR LAND COVER MAP ACCURACY ASSESSMENT

    Directory of Open Access Journals (Sweden)

    G. M. Foody

    2015-08-01

    Full Text Available It is now widely accepted that an accuracy assessment should be part of a thematic mapping programme. Authoritative good or best practices for accuracy assessment have been defined but are often impractical to implement. Key reasons for this situation are linked to the ground reference data used in the accuracy assessment. Typically, it is a challenge to acquire a large sample of high quality reference cases in accordance to desired sampling designs specified as conforming to good practice and the data collected are normally to some degree imperfect limiting their value to an accuracy assessment which implicitly assumes the use of a gold standard reference. Citizen sensors have great potential to aid aspects of accuracy assessment. In particular, they may be able to act as a source of ground reference data that may, for example, reduce sample size problems but concerns with data quality remain. The relative strengths and limitations of citizen contributed data for accuracy assessment are reviewed in the context of the authoritative good practices defined for studies of land cover by remote sensing. The article will highlight some of the ways that citizen contributed data have been used in accuracy assessment as well as some of the problems that require further attention, and indicate some of the potential ways forward in the future.

  1. Ground Validation Assessments of GPM Core Observatory Science Requirements

    Science.gov (United States)

    Petersen, Walt; Huffman, George; Kidd, Chris; Skofronick-Jackson, Gail

    2017-04-01

    NASA Global Precipitation Measurement (GPM) Mission science requirements define specific measurement error standards for retrieved precipitation parameters such as rain rate, raindrop size distribution, and falling snow detection on instantaneous temporal scales and spatial resolutions ranging from effective instrument fields of view [FOV], to grid scales of 50 km x 50 km. Quantitative evaluation of these requirements intrinsically relies on GPM precipitation retrieval algorithm performance in myriad precipitation regimes (and hence, assumptions related to physics) and on the quality of ground-validation (GV) data being used to assess the satellite products. We will review GPM GV products, their quality, and their application to assessing GPM science requirements, interleaving measurement and precipitation physical considerations applicable to the approaches used. Core GV data products used to assess GPM satellite products include 1) two minute and 30-minute rain gauge bias-adjusted radar rain rate products and precipitation types (rain/snow) adapted/modified from the NOAA/OU multi-radar multi-sensor (MRMS) product over the continental U.S.; 2) Polarimetric radar estimates of rain rate over the ocean collected using the K-Pol radar at Kwajalein Atoll in the Marshall Islands and the Middleton Island WSR-88D radar located in the Gulf of Alaska; and 3) Multi-regime, field campaign and site-specific disdrometer-measured rain/snow size distribution (DSD), phase and fallspeed information used to derive polarimetric radar-based DSD retrievals and snow water equivalent rates (SWER) for comparison to coincident GPM-estimated DSD and precipitation rates/types, respectively. Within the limits of GV-product uncertainty we demonstrate that the GPM Core satellite meets its basic mission science requirements for a variety of precipitation regimes. For the liquid phase, we find that GPM radar-based products are particularly successful in meeting bias and random error requirements

  2. Wave propagation in damage assessment of ground anchors

    Science.gov (United States)

    Zima, B.; Rucka, M.

    2015-07-01

    The inspection possibilities of ground anchors are limited to destructive test such as pull-out test. Guided wave propagation gives an opportunity to develop an inspection system dedicated to determine the condition of inspected element without violation of their integrity. In this paper the experimental study on wave propagation in laboratory models of ground anchors are presented. Experiments were conducted for different bonding lengths and different frequencies of excitation. Waves were generated by a piezoelectric actuator and the laser vibrometry technique was used to register velocity signals. For all tested anchors it was possible to identify the boundary between steel and concrete based on the registered reflections in wave propagation signals.

  3. The virtual reality simulator dV-Trainer(®) is a valid assessment tool for robotic surgical skills.

    Science.gov (United States)

    Perrenot, Cyril; Perez, Manuela; Tran, Nguyen; Jehl, Jean-Philippe; Felblinger, Jacques; Bresler, Laurent; Hubert, Jacques

    2012-09-01

    Exponential development of minimally invasive techniques, such as robotic-assisted devices, raises the question of how to assess robotic surgery skills. Early development of virtual simulators has provided efficient tools for laparoscopic skills certification based on objective scoring, high availability, and lower cost. However, similar evaluation is lacking for robotic training. The purpose of this study was to assess several criteria, such as reliability, face, content, construct, and concurrent validity of a new virtual robotic surgery simulator. This prospective study was conducted from December 2009 to April 2010 using three simulators dV-Trainers(®) (MIMIC Technologies(®)) and one Da Vinci S(®) (Intuitive Surgical(®)). Seventy-five subjects, divided into five groups according to their initial surgical training, were evaluated based on five representative exercises of robotic specific skills: 3D perception, clutching, visual force feedback, EndoWrist(®) manipulation, and camera control. Analysis was extracted from (1) questionnaires (realism and interest), (2) automatically generated data from simulators, and (3) subjective scoring by two experts of depersonalized videos of similar exercises with robot. Face and content validity were generally considered high (77 %). Five levels of ability were clearly identified by the simulator (ANOVA; p = 0.0024). There was a strong correlation between automatic data from dV-Trainer and subjective evaluation with robot (r = 0.822). Reliability of scoring was high (r = 0.851). The most relevant criteria were time and economy of motion. The most relevant exercises were Pick and Place and Ring and Rail. The dV-Trainer(®) simulator proves to be a valid tool to assess basic skills of robotic surgery.

  4. Testing of SIR (a transformable robotic submarine) in Lake Tahoe for future deployment at West Antarctic Ice Sheet grounding lines of Siple Coast

    Science.gov (United States)

    Powell, R. D.; Scherer, R. P.; Griffiths, I.; Taylor, L.; Winans, J.; Mankoff, K. D.

    2011-12-01

    A remotely operated vehicle (ROV) has been custom-designed and built by DOER Marine to meet scientific requirements for exploring subglacial water cavities. This sub-ice rover (SIR) will explore and quantitatively document the grounding zone areas of the Ross Ice Shelf cavity using a 3km-long umbilical tether by deployment through an 800m-long ice borehole in a torpedo shape, which is also its default mode if operational failure occurs. Once in the ocean cavity it transforms via a diamond-shaped geometry into a rectangular form when all of its instruments come alive in its flight mode. Instrumentation includes 4 cameras (one forward-looking HD), a vertical scanning sonar (long-range imaging for spatial orientation and navigation), Doppler current meter (determine water current velocities), multi-beam sonar (image and swath map bottom topography), sub-bottom profiler (profile sub-sea-floor sediment for geological history), CTD (determine salinity, temperature and depth), DO meter (determine dissolved oxygen content in water), transmissometer (determine suspended particulate concentrations in water), laser particle-size analyzer (determine sizes of particles in water), triple laser-beams (determine size and volume of objects), thermistor probe (measure in situ temperatures of ice and sediment), shear vane probe (determine in situ strength of sediment), manipulator arm (deploy instrumentation packages, collect samples), shallow ice corer (collect ice samples and glacial debris), water sampler (determine sea water/freshwater composition, calibrate real-time sensors, sample microbes), shallow sediment corer (sample sea floor, in-ice and subglacial sediment for stratigraphy, facies, particle size, composition, structure, fabric, microbes). A sophisticated array of data handling, storing and displaying will allow real-time observations and environmental assessments to be made. This robotic submarine and other instruments will be tested in Lake Tahoe in September, 2011 and

  5. Effects of energy development on ground water quality: an overview and preliminary assessment

    International Nuclear Information System (INIS)

    Parker, W.M. III; Yin, S.C.L.; Davis, M.J.; Kutz, W.J.

    1981-07-01

    A preliminary national overview of the various effects on ground water quality likely to result from energy development. Based on estimates of present and projected energy-development activities, those regions of the country are identified where ground water quality has the potential for being adversely affected. The general causes of change in ground water quality are reviewed. Specific effects on ground water quality of selected energy technologies are discussed, and some case-history material is provided. A brief overview of pertinent legislation relating to the protection and management of ground water quality is presented. Six methodologies that have some value for assessing the potential effects on ground water quality of energy development activities are reviewed. A method of identifying regions in the 48 contiguous states where there is a potential for ground water quality problems is described and then applied

  6. Online Assessment of Human-Robot Interaction for Hybrid Control of Walking

    Directory of Open Access Journals (Sweden)

    Ana de-los-Reyes

    2011-12-01

    Full Text Available Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.

  7. Research on advancement of technique for assessing ground seismic intensity

    International Nuclear Information System (INIS)

    Tamura, Keiichi; Kaneko, Masahiro; Honda, Riki; Tabuchi, Yoshihiro

    1997-01-01

    In the aseismatic design of nuclear power stations, as the characteristics of earthquake motion inputted in released base surface, the maximum amplitude and the frequency characteristics of earthquake motion, the presumption of earthquake motion using fault model, the time of continuation and the change of amplitude envelope with time are to be examined. In this research, in order to upgrade the earthquake motion used for aseismatic design, the method of evaluating quantitatively the amplifying characteristics of earthquake motion in unfair ground and the technique of setting design earthquake motion that can consider the change of structural state were investigated. The course of the research carried out so far is outlined. As to the amplifying characteristics of earthquake motion in unfair ground, the technique of analysis, the index showing the degree of amplifying of earthquake motion, the index showing the degree of unfairness of ground, the amplifying characteristics of earthquake motion in tray type base, and the evaluation of frequency zone of large degree of amplifying are reported. As to the design earthquake motion taking the plasticizing of structures in consideration, the analysis condition, the equivalent peculiar frequency and the equivalent damping constant and the design earthquake motion taking the plasticizing of structures in consideration are reported. (K.I.)

  8. Acute assessment of brain injuries in ground-level falls.

    Science.gov (United States)

    Pöyry, Tiina; Luoto, Teemu M; Kataja, Anneli; Brander, Antti; Tenovuo, Olli; Iverson, Grant L; Öhman, Juha

    2013-01-01

    The purpose of this study was to characterize traumatic brain injuries (TBI) sustained in ground-level falls (GLFs). The focus was on factors associated with acute computed tomographic (CT) findings. The sample included 575 subjects examined and treated at the Tampere University Hospital emergency department (ED). Retrospective data collection consisted of subject- and injury-related data and clinical information from the emergency department. All CT scans were analyzed and systematically coded. Ground-level falls were the mechanism of injury in 48.3% (n = 278) of the subjects. In the GLF group, independent risk factors for acute traumatic CT findings were long-term alcohol abuse, older age, being found on the ground, and left temporoparietal and occipital location of direct head impact. There were no significant differences in the incidence of any intracranial traumatic lesion type between those with GLFs and other causes of TBI. None of the classic clinical TBI severity markers studied were associated with acute traumatic CT findings in patients with GLFs. Older age and long-term alcohol abuse increase the likelihood of acute intracranial CT abnormalities. The pattern of intracranial traumatic CT findings does not differ from other causes of TBI. Clinical signs and indices of TBI severity did not predict traumatic CT findings.

  9. Comfort and learnability assessment of a new soft robotic manipulator for minimally invasive surgery.

    Science.gov (United States)

    Shafti, A; Andorno, F; Marchese, N; Arolfo, S; Aydin, A; Elhage, O; Noh, Y; Wurdemann, H A; Arezzo, A; Dasgupta, P; Althoefer, K

    2015-08-01

    Laparoscopic surgeons perform precise and time consuming procedures while holding awkward poses in their upper body and arms. There is an ongoing effort to produce robotic tools for laparoscopic surgery that will simplify these tasks and reduce risk of errors to help both the surgeon and the patient. STIFF-FLOP is an ongoing EU FP7 project focusing on this by creating a stiffness controllable soft robotic manipulator. This paper reports on a study to test the soft manipulator's learnability and the effort associated with its use. The tests involved a limited prototype of the manipulator with a custom built test rig and EMG acquisition system. Task times and video recordings along with EMG waveforms from the forearm muscles of participants (n=25) were measured for objective assessment. A questionnaire was also provided to the participants for subjective assessment. The data shows that in average EMG levels were 25.9% less in RMS when using the STIFF-FLOP arm than when conventional laparoscopic tools were used. In terms of learnability, from the first to the second attempt on the STIFF-FLOP manipulator, elapsed time was reduced by an average of 32.1%. Further details and analysis of the EMG signals as well as time and questionnaire results is presented in the paper.

  10. Assessment of upper limb spasticity in stroke patients using the robotic device REAplan

    Directory of Open Access Journals (Sweden)

    Stéphanie Dehem

    2017-06-01

    Full Text Available Objective: To assess the capacity of the robotic device REAplan to measure overall upper limb peak resistance force, as a reflection of upper limb spasticity. Methods: Twelve patients with chronic stroke presenting upper limb spasticity were recruited to the study. Patients underwent musculocutaneous motor nerve block to reduce the spasticity of elbow flexor muscles. Each patient was assessed before and after the motor nerve block. Overall the REAplan measured upper limb resistance force. The robot passively mobilized the patient’s upper limb at various velocities (10, 20, 30, 40 and 50 cm/s in a back-and-forth trajectory (30 cm. The peak resistance force was analysed for each forward movement. Ten movements were performed and averaged at each velocity condition. Results: The overall upper limb resistance force increased proportionally to the mobilization velocity (p 0.6. Conclusion: This study proposes a new, valid, reliable and sensitive protocol to quantify upper limb resistance force using the REAplan, as a reflection of upper limb spasticity.

  11. Assessment of Robotic Console Skills (ARCS): construct validity of a novel global rating scale for technical skills in robotically assisted surgery.

    Science.gov (United States)

    Liu, May; Purohit, Shreya; Mazanetz, Joshua; Allen, Whitney; Kreaden, Usha S; Curet, Myriam

    2018-01-01

    Skill assessment during robotically assisted surgery remains challenging. While the popularity of the Global Evaluative Assessment of Robotics Skills (GEARS) has grown, its lack of discrimination between independent console skills limits its usefulness. The purpose of this study was to evaluate construct validity and interrater reliability of a novel assessment designed to overcome this limitation. We created the Assessment of Robotic Console Skills (ARCS), a global rating scale with six console skill domains. Fifteen volunteers who were console surgeons for 0 ("novice"), 1-100 ("intermediate"), or >100 ("experienced") robotically assisted procedures performed three standardized tasks. Three blinded raters scored the task videos using ARCS, with a 5-point Likert scale for each skill domain. Scores were analyzed for evidence of construct validity and interrater reliability. Group demographics were indistinguishable except for the number of robotically assisted procedures performed (p = 0.001). The mean scores of experienced subjects exceeded those of novices in dexterity (3.8 > 1.4, p  1.8, p  2.2, p  1.9, p = 0.001), and force sensitivity (4.3 > 2.6, p  1.4, p = 0.002), field of view (2.8 > 1.8, p = 0.021), instrument visualization (3.2 > 2.2, p = 0.045), manipulator workspace (3.1 > 1.9, p = 0.004), and force sensitivity (3.7 > 2.6, p = 0.033). The mean scores of experienced subjects exceeded those of intermediates in dexterity (3.8 > 2.8, p = 0.003), field of view (4.1 > 2.8, p  3.2, p = 0.044). Rater agreement in each domain demonstrated statistically significant concordance (p skills plateau faster than others. Therefore, ARCS may be more useful than GEARS to evaluate distinct console skills. Future studies will examine why some domains did not adequately differentiate between subjects and applications for intraoperative use.

  12. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Canonsburg, Pennsylvania

    Energy Technology Data Exchange (ETDEWEB)

    1994-09-01

    This baseline risk assessment evaluates potential impacts to public health and the environment resulting from ground water contamination from past activities at the former uranium processing site in Canonsburg, Pennsylvania. The US Department of Energy Uranium Mill Tailings Remedial Action (UMTRA) Project has placed contaminated material from this site in an on-site disposal cell. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment is the first document specific to this site for the UMTRA Ground Water Project. Currently, no domestic or drinking water well tap into contaminated ground water of the two distinct ground water units: the unconsolidated materials and the bedrock. Because there is no access, no current health or environmental risks are associated with the direct use of the contaminated ground water. However, humans and ecological organisms could be exposed to contaminated ground water if a domestic well were to be installed in the unconsolidated materials in that part of the site being considered for public use (Area C). The first step is evaluating ground water data collected from monitor wells at the site. For the Canonsburg site, this evaluation showed the contaminants in ground water exceeding background in the unconsolidated materials in Area C are ammonia, boron, calcium, manganese, molybdenum, potassium, strontium, and uranium.

  13. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Canonsburg, Pennsylvania

    International Nuclear Information System (INIS)

    1994-09-01

    This baseline risk assessment evaluates potential impacts to public health and the environment resulting from ground water contamination from past activities at the former uranium processing site in Canonsburg, Pennsylvania. The US Department of Energy Uranium Mill Tailings Remedial Action (UMTRA) Project has placed contaminated material from this site in an on-site disposal cell. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment is the first document specific to this site for the UMTRA Ground Water Project. Currently, no domestic or drinking water well tap into contaminated ground water of the two distinct ground water units: the unconsolidated materials and the bedrock. Because there is no access, no current health or environmental risks are associated with the direct use of the contaminated ground water. However, humans and ecological organisms could be exposed to contaminated ground water if a domestic well were to be installed in the unconsolidated materials in that part of the site being considered for public use (Area C). The first step is evaluating ground water data collected from monitor wells at the site. For the Canonsburg site, this evaluation showed the contaminants in ground water exceeding background in the unconsolidated materials in Area C are ammonia, boron, calcium, manganese, molybdenum, potassium, strontium, and uranium

  14. Potential of robots as next-generation technology for clinical assessment of neurological disorders and upper-limb therapy.

    Science.gov (United States)

    Scott, Stephen H; Dukelow, Sean P

    2011-01-01

    Robotic technologies have profoundly affected the identification of fundamental properties of brain function. This success is attributable to robots being able to control the position of or forces applied to limbs, and their inherent ability to easily, objectively, and reliably quantify sensorimotor behavior. Our general hypothesis is that these same attributes make robotic technologies ideal for clinically assessing sensory, motor, and cognitive impairments in stroke and other neurological disorders. Further, they provide opportunities for novel therapeutic strategies. The present opinionated review describes how robotic technologies combined with virtual/augmented reality systems can support a broad range of behavioral tasks to objectively quantify brain function. This information could potentially be used to provide more accurate diagnostic and prognostic information than is available from current clinical assessment techniques. The review also highlights the potential benefits of robots to provide upper-limb therapy. Although the capital cost of these technologies is substantial, it pales in comparison with the potential cost reductions to the overall healthcare system that improved assessment and therapeutic interventions offer.

  15. Scaling earthquake ground motions for performance-based assessment of buildings

    Science.gov (United States)

    Huang, Y.-N.; Whittaker, A.S.; Luco, N.; Hamburger, R.O.

    2011-01-01

    The impact of alternate ground-motion scaling procedures on the distribution of displacement responses in simplified structural systems is investigated. Recommendations are provided for selecting and scaling ground motions for performance-based assessment of buildings. Four scaling methods are studied, namely, (1)geometric-mean scaling of pairs of ground motions, (2)spectrum matching of ground motions, (3)first-mode-period scaling to a target spectral acceleration, and (4)scaling of ground motions per the distribution of spectral demands. Data were developed by nonlinear response-history analysis of a large family of nonlinear single degree-of-freedom (SDOF) oscillators that could represent fixed-base and base-isolated structures. The advantages and disadvantages of each scaling method are discussed. The relationship between spectral shape and a ground-motion randomness parameter, is presented. A scaling procedure that explicitly considers spectral shape is proposed. ?? 2011 American Society of Civil Engineers.

  16. Scenario-Based Assessment of User Needs for Point-of-Care Robots.

    Science.gov (United States)

    Lee, Hyeong Suk; Kim, Jeongeun

    2018-01-01

    This study aimed to derive specific user requirements and barriers in a real medical environment to define the essential elements and functions of two types of point-of-care (POC) robot: a telepresence robot as a tool for teleconsultation, and a bedside robot to provide emotional care for patients. An analysis of user requirements was conducted; user needs were gathered and identified, and detailed, realistic scenarios were created. The prototype robots were demonstrated in physical environments for envisioning and evaluation. In all, three nurses and three clinicians participated as evaluators to observe the demonstrations and evaluate the robot systems. The evaluators were given a brief explanation of each scene and the robots' functionality. Four major functions of the teleconsultation robot were defined and tested in the demonstration. In addition, four major functions of the bedside robot were evaluated. Among the desired functions for a teleconsultation robot, medical information delivery and communication had high priority. For a bedside robot, patient support, patient monitoring, and healthcare provider support were the desired functions. The evaluators reported that the teleconsultation robot can increase support from and access to specialists and resources. They mentioned that the bedside robot can improve the quality of hospital life. Problems identified in the demonstration were those of space conflict, communication errors, and safety issues. Incorporating this technology into healthcare services will enhance communication and teamwork skills across distances and thereby facilitate teamwork. However, repeated tests will be needed to evaluate and ensure improved performance.

  17. Assessing the Impact of an Autonomous Robotics Competition for STEM Education

    Science.gov (United States)

    Chung, C. J. ChanJin; Cartwright, Christopher; Cole, Matthew

    2014-01-01

    Robotics competitions for K-12 students are popular, but are students really learning and improving their STEM scores through robotics competitions? If not, why not? If they are, how much more effective is learning through competitions than traditional classes? Is there room for improvement? What is the best robotics competition model to maximize…

  18. 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…

  19. Quality Assessment of Ground Water in Dhamar City, Yemen

    Directory of Open Access Journals (Sweden)

    Hefdallah Al Aizari

    2018-01-01

    Full Text Available Chemical and statistical regression analysis on groundwater at five fields (17 sampling wells located in Dhamar city, the central highlands of Yemen, was carried out. Samples were collected from the ground water supplies (tube wells during the year 2015. Physical parameters studied include (values between bracket s represents the measured mean values temperature (T, 25°, total dissolved solids (TDS, 271.47, pH (7.5, and electrical conductivity (EC, 424.18. The chemical parameters investigated include total hardness (TH, 127.45, calcium (Ca2+, 32.89, magnesium (Mg2+, 11.03, bicarbonate (HCO3̶, 143.84, sulphate (SO42-, 143.84, sodium (Na+, 35.11, potassium (K+, 6.28 and Chloride (Cl ̵, 22.69. The results were compared with drinking water quality standards issued by Yemen standards for drinking water. Except for T° and pH, all other measured parameters fall below the minimum permissible limits. The correlation between various physio-chemical parameters of the studied water wells was performed using Principal Component Analysis (PCA method. The obtained results show that all water samples are potable and can be safely used for both drinking and irrigation purposes. This comes in agreement with the public notion about groundwater of Dhamar Governorate. Sodium Absorption Ratio (SAR values were calculated and found below 3 except for one drill. The results revealed that systematic calculations of correlation coefficients between water parameters and regression analysis provide a useful means for rapid monitoring of water quality.International Journal of EnvironmentVolume-6, Issue-4, Sep-Nov 2017, page: 56-71

  20. Assessment of ground water contamination in Erode District ...

    African Journals Online (AJOL)

    admin

    A systematic study has been carried out to assess the water contamination and the effect of the tanneries and dyeing industries effluents on Erode District, Tamil Nadu. Ten (10) sampling locations were selected in and around industries. The water samples were collected from the selected sampling points. The samples ...

  1. Assessment of Vulnerability Zones for Ground Water Pollution using ...

    Indian Academy of Sciences (India)

    12

    foothill zones without actually assessing the environmental consequences such activities may. 21 invite in the future. ... working on prevention of further deterioration of environmental quality (Mendoza et al.,. 41. 2006). 42 ...... 513 and Sanitation, Govt. of India), 2015, Village level water quality data. Retrieved from. 514.

  2. Grounding Water: Building Conceptual Understanding through Multimodal Assessment

    Science.gov (United States)

    Schwartz, Kerry L.; Thomas-Hilburn, Holly; Haverland, Arin

    2011-01-01

    The world's population is growing by about 80 million people a year, implying an estimated increased freshwater demand of about 64 billion cubic meters annually (World Water Assessment Programme, 2009, Water in a Changing World: United Nations World Water Development Report 3, Chap. 1, p. 3-21). Groundwater depletion, which reduces the amount of…

  3. Assessment of surface and subsurface ground disturbance due to underground mining

    International Nuclear Information System (INIS)

    Khair, A.W.

    1994-01-01

    This paper presents highlights of the research carried out at West Virginia University in order to assess surface and subsurface ground disturbance due to longwall mining. Extensive instrumentation and measurements have been made over three longwall mines in northern West Virginia during a three-year period. Various monitoring techniques including full profile borehole extensometer, full profile borehole inclinometers, time domain reflectometry, sonic reflection technique, a unique mechanical grouting method, photographic and visual observations, standard surveying, and water-level measurements were utilized. The paper's emphasis is first on surface ground movement and its impact on integrity of surface ground and structures and second on type and magnitude of subsurface ground movements associated with mine geometry and geology. A subsidence prediction model based on implementation of both mechanisms of ground movement around the excavation and the geologic and geotechnical properties of the rock/coal surrounding the excavation has been developed. 8 refs., 14 figs., 1 tab

  4. Face, content, construct and concurrent validity of dry laboratory exercises for robotic training using a global assessment tool.

    Science.gov (United States)

    Ramos, Patrick; Montez, Jeremy; Tripp, Adrian; Ng, Casey K; Gill, Inderbir S; Hung, Andrew J

    2014-05-01

    To evaluate robotic dry laboratory (dry lab) exercises in terms of their face, content, construct and concurrent validities. To evaluate the applicability of the Global Evaluative Assessment of Robotic Skills (GEARS) tool to assess dry lab performance. Participants were prospectively categorized into two groups: robotic novice (no cases as primary surgeon) and robotic expert (≥30 cases). Participants completed three virtual reality (VR) exercises using the da Vinci Skills Simulator (Intuitive Surgical, Sunnyvale, CA, USA), as well as corresponding dry lab versions of each exercise (Mimic Technologies, Seattle, WA, USA) on the da Vinci Surgical System. Simulator performance was assessed by metrics measured on the simulator. Dry lab performance was blindly video-evaluated by expert review using the six-metric GEARS tool. Participants completed a post-study questionnaire (to evaluate face and content validity). A Wilcoxon non-parametric test was used to compare performance between groups (construct validity) and Spearman's correlation coefficient was used to assess simulation to dry lab performance (concurrent validity). The mean number of robotic cases experienced for novices was 0 and for experts the mean (range) was 200 (30-2000) cases. Expert surgeons found the dry lab exercises both 'realistic' (median [range] score 8 [4-10] out of 10) and 'very useful' for training of residents (median [range] score 9 [5-10] out of 10). Overall, expert surgeons completed all dry lab tasks more efficiently (P concurrent validity with the corresponding VR tasks. Until now, the assessment of dry lab exercises has been limited to basic metrics (i.e. time to completion and error avoidance). For the first time, we have shown it is feasibile to apply a global assessment tool (GEARS) to dry lab training. © 2013 The Authors. BJU International © 2013 BJU International.

  5. A proposal for an Italian minimum data set assessment protocol for robot-assisted rehabilitation: a Delphi study.

    Science.gov (United States)

    Franceschini, M; Colombo, R; Posteraro, F; Sale, P

    2015-12-01

    At present there is no agreement on a common evaluation protocol to assess improvement in stroke patients after robotic therapy. The aim of this study was to identify a Minimum Data Set Assessment Protocol, using an agreement-based survey. A Delphi survey. This study was conceived by the Italian Robotic Neurorehabilitation Research Group (IRNRG), an Italian group involved in the clinical application of robot-assisted rehabilitation devices Stroke subjects. A 3-round Delphi survey was carried out through the electronic submission of questionnaires to a panel of experts identified in fourteen rehabilitation centers. For each generated item, experts were asked to rate questions on a 5 point Likert Scale. After the 1st round the questionnaire was filled out by 43 (84.3%) out of 51 experts invited to participate in the study. In the 2nd and 3rd rounds we explored the specific evaluation tools for each of the ICF domains identified in the 1st round. The experts identified the following assessment tools for the upper limb: the Ashworth Scale, the Fugl-Meyer assessment scale, the Frenchay Arm Test, the Medical Research Council scale, the Motricity Index, Frenchay Activities Index and Modified Barthel Index; and for the lower limb: the Ashworth Scale, the Motricity Index, the 10 meter walking Test, the 6 minutes walking Test, the Functional Ambulatory Classification, the Timed Up and Go Test, the Walking Handicap Scale, the Borg Rating of Perceived Exertion, the Heart Rate, the Medical Research Council Scale, the Tinetti Balance Scale and the Modified Barthel Index. The Delphi survey presented in this study allows the identification of a shared assessment protocol to be applied in clinical practice and research for the evaluation of the real improvement related to robot-assisted rehabilitation of the upper and lower limb in patients after stroke. Clinicians and researchers could use the results of this study to obtain a common language in robotic rehabilitation assessments.

  6. Enhancing the authenticity of assessments through grounding in first impressions.

    Science.gov (United States)

    Humă, Bogdana

    2015-09-01

    This article examines first impressions through a discursive and interactional lens. Until now, social psychologists have studied first impressions in laboratory conditions, in isolation from their natural environment, thus overseeing their discursive roles as devices for managing situated interactional concerns. I examine fragments of text and talk in which individuals spontaneously invoke first impressions of other persons as part of assessment activities in settings where the authenticity of speakers' stances might be threatened: (1) in activities with inbuilt evaluative components and (2) in sequential contexts where recipients have been withholding affiliation to speakers' actions. I discuss the relationship between authenticity, as a type of credibility issue related to intersubjective trouble, and the characteristics of first impression assessments, which render them useful for dealing with this specific credibility concern. I identify four features of first impression assessments which make them effective in enhancing authenticity: witness positioning (Potter, 1996, Representing reality: Discourse, rhetoric and social construction, Sage, London), (dis)location in time and space, automaticity, and extreme formulations (Edwards, 2003, Analyzing race talk: Multidisciplinary perspectives on the research interview, Cambridge University Press, New York). © 2014 The British Psychological Society.

  7. Lunar Wormbot: Design and Development of a Ground Base Robotic Tunneling Worm for Operation in Harsh Environments

    Science.gov (United States)

    Boyles, Charles; Eledui, Emory; Gasser, Ben; Johnson, Josh; Long, Jay " Ben" Toy, Nathan; Murphy, Gloria

    2011-01-01

    From 1969 to 1972, the National Aeronautics and Space Administration (NASA) sent Apollo missions to the moon to conduct various exploration experiment. A few of the missions were directed to the study and sampling of moon soil, otherwise known as lunar regolith. The extent of the sample acquisition was limited due to the astronauts' limited ability to penetrate the moon's surface to a depth greater than three meters. However. the samples obtained were sufficient enough to provide key information pertaining to lunar regolith material properties that would further assist in future exploration endeavors. Analysis of the collected samples showed that the properties of lunar regolith may lead to knowledge of processed materials that will be beneficial for future human exploration or colonization. However, almost 40 years after the last Apollo mission, limited infonnation is known about regions underneath the moon's surface. Future lunar missions will require hardware that possesses the ability to burrow to greater depths in order to collect samples for subsequent analysis. During the summer of 2010, a team (Dr. Jessica Gaskin, Michael Kuhlman. Blaze Sanders, and Lafe Zabowski) from the NASA Robotics Academy at Marshall Space Flight Center (MSFC) was given the task of designing a robot to function as a soil collection and analysis device. Working with the National Space Science and Technology Center (NSSTC), the team was able to propose an initial design, build a prototype, and test the various subsystems of the prototype to be known as the "Lunar Wormbot" (LW). The NASA/NSSTC team then transferred the project to a University of Alabama in Huntsville (UAH) Mechanical and Aerospace Engineering (MAE) senior design class for further development. The UAH team was to utilize the NASA Systems Engineering Engine Design Process in the continuance of the Lunar Wormbot project. This process was implemented in order to coordinate the efforts of the team and guide the design of the

  8. Robotic assessment of the influence of age on upper-limb sensorimotor function

    Directory of Open Access Journals (Sweden)

    LLinares A

    2013-07-01

    Full Text Available Ana LLinares, Francisco Javier Badesa, Ricardo Morales, Nicolas Garcia-Aracil, JM Sabater, Eduardo Fernandez Biomedical Neuroengineering, Universidad Miguel Hernández de Elche, Elche, Spain Purpose: This paper examines the influence of age on several attributes of sensorimotor performance while performing a reaching task. Our hypothesis, based on previous studies, is that aged persons will show differences in one or more of the attributes of sensorimotor performance. Patients and methods: Fifty-one subjects (aged 20–80 years with no known neuromotor disorders of the upper limbs participated in the study. Subjects were asked to grasp the end-effector of a pneumatic robotic device with two degrees of freedom in order to reach peripheral targets (1.0 cm radius, "quickly and accurately", from a centrally located target (1.0 cm radius. Subjects began each trial by holding the hand within the central target for 2000 milliseconds. Afterwards, a peripheral target was illuminated. Then participants were given 3000 milliseconds to complete the movement. When a target was reached, the participant had to return to the central target in order to start a new trial. A total of 64 trials were completed and each peripheral target was illuminated in a random block design. Results: Subjects were divided into three groups according to age: group 1 (age 20–40 years, group 2 (age 41–60 years, and group 3 (age 61–80 years. The Kruskal–Wallis test showed significant differences (P < 0.05 between groups, except for the variables postural speed in the dominant arm, and postural speed and initial deviation in the non-dominant arm (P > 0.05. These results suggest that age introduces significant differences in upper-limb motor function. Conclusion: Our findings show that there are objective differences in sensorimotor function due to age, and that these differences are greater for the dominant arm. Therefore for the assessment of upper-limb function, we should

  9. Evolution and Implementation of the NASA Robotic Conjunction Assessment Risk Analysis Concept of Operations

    Science.gov (United States)

    Newman, Lauri K.; Frigm, Ryan C.; Duncan, Matthew G.; Hejduk, Matthew D.

    2014-01-01

    Reacting to potential on-orbit collision risk in an operational environment requires timely and accurate communication and exchange of data, information, and analysis to ensure informed decision-making for safety of flight and responsible use of the shared space environment. To accomplish this mission, it is imperative that all stakeholders effectively manage resources: devoting necessary and potentially intensive resource commitment to responding to high-risk conjunction events and preventing unnecessary expenditure of resources on events of low collision risk. After 10 years of operational experience, the NASA Robotic Conjunction Assessment Risk Analysis (CARA) is modifying its Concept of Operations (CONOPS) to ensure this alignment of collision risk and resource management. This evolution manifests itself in the approach to characterizing, reporting, and refining of collision risk. Implementation of this updated CONOPS is expected to have a demonstrated improvement on the efficacy of JSpOC, CARA, and owner/operator resources.

  10. Use of the NetBeans Platform for NASA Robotic Conjunction Assessment Risk Analysis

    Science.gov (United States)

    Sabey, Nickolas J.

    2014-01-01

    The latest Java and JavaFX technologies are very attractive software platforms for customers involved in space mission operations such as those of NASA and the US Air Force. For NASA Robotic Conjunction Assessment Risk Analysis (CARA), the NetBeans platform provided an environment in which scalable software solutions could be developed quickly and efficiently. Both Java 8 and the NetBeans platform are in the process of simplifying CARA development in secure environments by providing a significant amount of capability in a single accredited package, where accreditation alone can account for 6-8 months for each library or software application. Capabilities either in use or being investigated by CARA include: 2D and 3D displays with JavaFX, parallelization with the new Streams API, and scalability through the NetBeans plugin architecture.

  11. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Riverton, Wyoming

    International Nuclear Information System (INIS)

    1994-09-01

    This Risk Assessment evaluated potential impacts to public health or the environment caused by ground water contamination at the former uranium mill processing site. In the first phase of the U.S. Department of Energy's Uranium Mill Tailings Remedial Action (UMTRA) Project, the tailing and other contaminated material at this site were placed in a disposal cell near the Gas Hills Plant in 1990. The second phase of the UMTRA Project is to evaluate ground water contamination. This risk assessment is the first site-specific document to evaluate potential health and environmental risks for the Riverton site under the Ground Water Project; it will help determine whether remedial actions are needed for contaminated ground water at the site

  12. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Riverton, Wyoming

    Energy Technology Data Exchange (ETDEWEB)

    1994-09-01

    This Risk Assessment evaluated potential impacts to public health or the environment caused by ground water contamination at the former uranium mill processing site. In the first phase of the U.S. Department of Energy`s Uranium Mill Tailings Remedial Action (UMTRA) Project, the tailing and other contaminated material at this site were placed in a disposal cell near the Gas Hills Plant in 1990. The second phase of the UMTRA Project is to evaluate ground water contamination. This risk assessment is the first site-specific document to evaluate potential health and environmental risks for the Riverton site under the Ground Water Project; it will help determine whether remedial actions are needed for contaminated ground water at the site.

  13. Seismic ground motion and hazard assessment of the Greater Accra Metropolitan Area, southeastern Ghana

    International Nuclear Information System (INIS)

    Amponsah, P.E.; Banoeng-Yakubo, B.K.; Asiedu, D.; Vaccari, F.; Panza, G.F.

    2008-08-01

    The seismic ground motion of the Greater Accra Metropolitan area has been computed and the hazard zones assessed using a deterministic hybrid approach based on the modal summation and finite difference methods. The seismic ground motion along four profiles located in the Greater Accra Metropolitan Area has been modelled using the 1939 earthquake of magnitude 6.5(M L ) as the scenario earthquake. Synthetic seismic waveforms from which parameters for engineering design such as peak ground acceleration, velocity and spectral amplifications have been produced along the geological cross sections. From the seismograms computed, the seismic hazard of the metropolis, expressed in terms of peak ground acceleration and peak ground velocity have been estimated. The peak ground acceleration estimated in the study ranges from 0.14 - 0.57 g and the peak ground velocity from 9.2 - 37.1cms -1 . The presence of low velocity sediments gave rise to high peak values and amplifications. The maximum peak ground accelerations estimated are located in areas with low velocity formations such as colluvium, continental and marine deposits. Areas in the metropolis underlain by unconsolidated sediments have been classified as the maximum damage potential zone and those underlain by highly consolidated geological materials are classified as low damage potential zone. The results of the numerical simulation have been extended to all areas in the metropolis with similar geological formation. (author)

  14. From Self-Assessment to Frustration, A Small Step Towards Autonomy in Robotic Navigation.

    Directory of Open Access Journals (Sweden)

    Adrien eJauffret

    2013-10-01

    Full Text Available Autonomy and self-improvement capabilities are still challenging in the fields of robotics and machine learning. Allowing a robot to autonomously navigate in wide and unknown environments not only requires a repertoire of robust strategies to cope with miscellaneous situations, but also needs mechanisms of self-assessment for guiding learning and for monitoring strategies. Monitoring strategies requires feedbacks on the behavior’s quality, from a given fitness system in order to take correct decisions.In this work, we focus on how a second-order controller can be used to (1 manage behaviors according to the situation and (2 seek for human interactions to improve skills. Following an incremental and constructivist approach, we present a generic neural architecture, based on an online novelty detection algorithm that may be able to self-evaluate any sensory-motor strategies. This architecture learns contingencies between sensations and actions, giving the expected sensation from the previous perception. Prediction error, coming from surprising events, provides a measure of the quality of the underlying sensory-motor contingencies. We show how a simple second-order controller (emotional system based on the prediction progress allows the system to regulate its behavior to solve complex navigation tasks and also succeeds in asking for help if it detects dead-lock situations.We propose that this model could be a key structure toward self-assessment and autonomy. We made several experiments that can account for such properties for two different strategies (road following and place cells based navigation in different situations.

  15. Robotic Prostatectomy on the Web: A Cross-Sectional Qualitative Assessment.

    Science.gov (United States)

    Borgmann, Hendrik; Mager, René; Salem, Johannes; Bründl, Johannes; Kunath, Frank; Thomas, Christian; Haferkamp, Axel; Tsaur, Igor

    2016-08-01

    Many patients diagnosed with prostate cancer search for information on robotic prostatectomy (RobP) on the Web. We aimed to evaluate the qualitative characteristics of the mostly frequented Web sites on RobP with a particular emphasis on provider-dependent issues. Google was searched for the term "robotic prostatectomy" in Europe and North America. The mostly frequented Web sites were selected and classified as physician-provided and publically-provided. Quality was measured using Journal of the American Medical Association (JAMA) benchmark criteria, DISCERN score, and addressing of Trifecta surgical outcomes. Popularity was analyzed using Google PageRank and Alexa tool. Accessibility, usability, and reliability were investigated using the LIDA tool and readability was assessed using readability indices. Twenty-eight Web sites were physician-provided and 15 publically-provided. For all Web sites, 88% of JAMA benchmark criteria were fulfilled, DISCERN quality score was high, and 81% of Trifecta outcome measurements were addressed. Popularity was average according to Google PageRank (mean 2.9 ± 1.5) and Alexa Traffic Rank (median, 49,109; minimum, 7; maximum, 8,582,295). Accessibility (85 ± 7%), usability (92 ± 3%), and reliability scores (88 ± 8%) were moderate to high. Automated Readability Index was 7.2 ± 2.1 and Flesch-Kincaid Grade Level was 9 ± 2, rating the Web sites as difficult to read. Physician-provided Web sites had higher quality scores and lower readability compared with publically-provided Web sites. Websites providing information on RobP obtained medium to high ratings in all domains of quality in the current assessment. In contrast, readability needs to be significantly improved so that this content can become available for the populace. Copyright © 2015 Elsevier Inc. All rights reserved.

  16. Independent Orbiter Assessment (IOA): FMEA/CIL instructions and ground rules

    Science.gov (United States)

    Traves, S. T.

    1986-01-01

    The McDonnell Douglas Astronautics Company was selected to conduct an independent assessment of the Orbiter Failure Mode and Effects Analysis/Critical Items List (FMEA/CIL). Part of this effort involved an examination of the FMEA/CIL preparation instructions and ground rules. Assessment objectives were to identify omissions and ambiguities in the ground rules that may impede the identification of shuttle orbiter safety and mission critical items, and to ensure that ground rules allow these items to receive proper management visibility for risk assessment. Assessment objectives were followed during the performance of the assessment without being influenced by external considerations such as effects on budget, schedule, and documentation growth. Assessment personnel were employed who had a strong reliability background but no previous space shuttle FMEA/CIL experience to ensure an independent assessment would be achieved. The following observations were made: (1) not all essential items are in the CIL for management visibility; (2) ground rules omit FMEA/CIL coverage of items that perform critical functions; (3) essential items excluded from the CIL do not receive design justification; and (4) FMEAs/CILs are not updated in a timely manner. In addition to the above issues, a number of other issues were identified that correct FMEA/CIL preparation instruction omissions and clarify ambiguities. The assessment was successful in that many of the issues have significant safety implications.

  17. Assessment of Hanford burial grounds and interim TRU storage

    International Nuclear Information System (INIS)

    Geiger, J.F.; Brown, D.J.; Isaacson, R.E.

    1977-08-01

    A review and assessment is made of the Hanford low level solid radioactive waste management sites and facilities. Site factors considered favorable for waste storage and disposal are (1) limited precipitation, (2) a high deficiency of moisture in the underlying sediments (3) great depth to water table, all of which minimize radionuclide migration by water transport, and (4) high sorbtive capacity of the sediments. Facilities are in place for 20 year retrievable storage of transuranic (TRU) wastes and for disposal of nontransuranic radioactive wastes. Auxiliary facilities and services (utilities, roads, fire protection, shops, etc.) are considered adequate. Support staffs such as engineering, radiation monitoring, personnel services, etc., are available and are shared with other operational programs. The site and associated facilities are considered well suited for solid radioactive waste storage operations. However, recommendations are made for study programs to improve containment, waste package storage life, land use economy, retrievability and security of TRU wastes

  18. Technology of disaster response robot and issues

    International Nuclear Information System (INIS)

    Tadokoro, Satoshi

    2013-01-01

    The needs, function structure , ability of disaster response robot are stated. Robots are classified by move mode such as Unmanned Ground Vehicle (UGV), Legged Robots, Exoskeleton, Unmanned Aerial Vehicle (UAV), Wall Climbing Robots, robots for narrow space. Quince, disaster response robot, collected at first information in the building of Fukushima Daiichi Nuclear Power Station. Functions of rescue robots and technical problems under disaster conditions, shape and characteristics of robots and TRL, PackBot, Pelican, Quince, scope camera, and three-dimensional map made by Quince are illustrated. (S.Y.)

  19. Assessment of movement quality in robot- assisted upper limb rehabilitation after stroke: a review.

    Science.gov (United States)

    Nordin, Nurdiana; Xie, Sheng Quan; Wünsche, Burkhard

    2014-09-12

    : Studies of stroke patients undergoing robot-assisted rehabilitation have revealed various kinematic parameters describing movement quality of the upper limb. However, due to the different level of stroke impairment and different assessment criteria and interventions, the evaluation of the effectiveness of rehabilitation program is undermined. This paper presents a systematic review of kinematic assessments of movement quality of the upper limb and identifies the suitable parameters describing impairments in stroke patients. A total of 41 different clinical and pilot studies on different phases of stroke recovery utilizing kinematic parameters are evaluated. Kinematic parameters describing movement accuracy are mostly reported for chronic patients with statistically significant outcomes and correlate strongly with clinical assessments. Meanwhile, parameters describing feed-forward sensorimotor control are the most frequently reported in studies on sub-acute patients with significant outcomes albeit without correlation to any clinical assessments. However, lack of measures in coordinated movement and proximal component of upper limb enunciate the difficulties to distinguish the exploitation of joint redundancies exhibited by stroke patients in completing the movement. A further study on overall measures of coordinated movement is recommended.

  20. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Naturita, Colorado

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-08-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (phase I), and the Ground Water Project (phase II). For the UMTRA Project site located near Naturita, Colorado (the Naturita site), phase I involves the removal of radioactively contaminated soils and materials and their transportation to a disposal site at Union Carbide Corporation`s Upper Burbank Repository at Uravan, Colorado, about 13 road miles (mi) (21 kilometers [km]) to the northwest. No uranium mill tailings are involved because the tailings were removed from the Naturita site and placed at Coke Oven, Colorado, during 1977 to 1979. Phase II of the project will evaluate the nature and extent of ground water contamination resulting from uranium processing and its effect on human health or the environment; and will determine site-specific ground water compliance strategies in accordance with the US Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. Human health risks could occur from drinking water pumped from a hypothetical well drilled in the contaminated ground water area. Environmental risks may result if plants or animals are exposed to contaminated ground water, or surface water that has received contaminated ground water. Therefore, a risk assessment is conducted for the Naturita site. This risk assessment report is the first site-specific document prepared for the Ground Water Project at the Naturita site. What follows is an evaluation of current and possible future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will be used to determine whether any action is needed to protect human health or the environment.

  1. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Naturita, Colorado

    International Nuclear Information System (INIS)

    1995-08-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (phase I), and the Ground Water Project (phase II). For the UMTRA Project site located near Naturita, Colorado (the Naturita site), phase I involves the removal of radioactively contaminated soils and materials and their transportation to a disposal site at Union Carbide Corporation's Upper Burbank Repository at Uravan, Colorado, about 13 road miles (mi) (21 kilometers [km]) to the northwest. No uranium mill tailings are involved because the tailings were removed from the Naturita site and placed at Coke Oven, Colorado, during 1977 to 1979. Phase II of the project will evaluate the nature and extent of ground water contamination resulting from uranium processing and its effect on human health or the environment; and will determine site-specific ground water compliance strategies in accordance with the US Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. Human health risks could occur from drinking water pumped from a hypothetical well drilled in the contaminated ground water area. Environmental risks may result if plants or animals are exposed to contaminated ground water, or surface water that has received contaminated ground water. Therefore, a risk assessment is conducted for the Naturita site. This risk assessment report is the first site-specific document prepared for the Ground Water Project at the Naturita site. What follows is an evaluation of current and possible future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will be used to determine whether any action is needed to protect human health or the environment

  2. Implementing Assessments of Robotic-Assisted Technical Skill in Urologic Education: A Systematic Review and Synthesis of the Validity Evidence.

    Science.gov (United States)

    Goldenberg, Mitchell G; Lee, Jason Y; Kwong, Jethro Cc; Grantcharov, Teodor P; Costello, Anthony

    2018-03-31

    To systematically review and synthesize the validity evidence supporting intraoperative and simulation-based assessments of technical skill in urologic robotic-assisted surgery (RAS), and make evidence-based recommendations for the implementation of these assessments in urologic training. A literature search of the MEDLINE, PsycINFO and Embase databases was performed. Articles using technical skill and simulation-based assessments in RAS were abstracted. Only studies involving urology trainees or faculty were included in the final analysis. Multiple tools for the assessment of technical robotic skill have been published, with mixed sources of validity evidence to support their use. These evaluations have been used in both the ex vivo and in vivo settings. Performance evaluations range from global rating scales to psychometrics, and assessments are carried out through automation, expert analysts, and crowdsourcing. There have been rapid expansions in approaches to robotic technical skills assessment, both in simulated and clinical settings. Alternative approaches to assessment in RAS such as crowdsourcing and psychometrics remain under investigation. Evidence to support the use of these metrics in high-stakes decisions is likely insufficient at present. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

  3. Agile Walking Robot

    Science.gov (United States)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.; Waldron, Kenneth J.

    1990-01-01

    Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.

  4. Ground water impact assessment report for the 216-B-3 Pond system

    International Nuclear Information System (INIS)

    Johnson, V.G.; Law, A.G.; Reidel, S.P.; Evelo, S.D.; Barnett, D.B.; Sweeney, M.D.

    1995-01-01

    Ground water impact assessments were required for a number of liquid effluent receiving sites according to the Hanford Federal Facility Agreement and Consent Order Milestones M-17-00A and M-17-00B, as agreed upon by the US Department of Energy. This report is one of the last three assessments required and addresses the impact of continued discharge of uncontaminated wastewater to the 216-B-3C expansion lobe of the B Pond system in the 200 East Area until June 1997. Evaluation of past and projected effluent volumes and composition, geohydrology of the receiving site, and contaminant plume distribution patterns, combined with ground water modeling, were used to assess both changes in ground water flow regime and contaminant-related impacts

  5. Space Weather Impacts to Conjunction Assessment: A NASA Robotic Orbital Safety Perspective

    Science.gov (United States)

    Ghrist, Richard; Ghrist, Richard; DeHart, Russel; Newman, Lauri

    2013-01-01

    National Aeronautics and Space Administration (NASA) recognizes the risk of on-orbit collisions from other satellites and debris objects and has instituted a process to identify and react to close approaches. The charter of the NASA Robotic Conjunction Assessment Risk Analysis (CARA) task is to protect NASA robotic (unmanned) assets from threats posed by other space objects. Monitoring for potential collisions requires formulating close-approach predictions a week or more in the future to determine analyze, and respond to orbital conjunction events of interest. These predictions require propagation of the latest state vector and covariance assuming a predicted atmospheric density and ballistic coefficient. Any differences between the predicted drag used for propagation and the actual drag experienced by the space objects can potentially affect the conjunction event. Therefore, the space environment itself, in particular how space weather impacts atmospheric drag, is an essential element to understand in order effectively to assess the risk of conjunction events. The focus of this research is to develop a better understanding of the impact of space weather on conjunction assessment activities: both accurately determining the current risk and assessing how that risk may change under dynamic space weather conditions. We are engaged in a data-- ]mining exercise to corroborate whether or not observed changes in a conjunction event's dynamics appear consistent with space weather changes and are interested in developing a framework to respond appropriately to uncertainty in predicted space weather. In particular, we use historical conjunction event data products to search for dynamical effects on satellite orbits from changing atmospheric drag. Increased drag is expected to lower the satellite specific energy and will result in the satellite's being 'later' than expected, which can affect satellite conjunctions in a number of ways depending on the two satellites' orbits

  6. TARDEC's Intelligent Ground Systems overview

    Science.gov (United States)

    Jaster, Jeffrey F.

    2009-05-01

    The mission of the Intelligent Ground Systems (IGS) Area at the Tank Automotive Research, Development and Engineering Center (TARDEC) is to conduct technology maturation and integration to increase Soldier robot control/interface intuitiveness and robotic ground system robustness, functionality and overall system effectiveness for the Future Combat System Brigade Combat Team, Robotics Systems Joint Project Office and game changing capabilities to be fielded beyond the current force. This is accomplished through technology component development focused on increasing unmanned ground vehicle autonomy, optimizing crew interfaces and mission planners that capture commanders' intent, integrating payloads that provide 360 degree local situational awareness and expanding current UGV tactical behavior, learning and adaptation capabilities. The integration of these technology components into ground vehicle demonstrators permits engineering evaluation, User assessment and performance characterization in increasingly complex, dynamic and relevant environments to include high speed on road or cross country operations, all weather/visibility conditions and military operations in urban terrain (MOUT). Focused testing and experimentation is directed at reducing PM risk areas (safe operations, autonomous maneuver, manned-unmanned collaboration) and transitioning technology in the form of hardware, software algorithms, test and performance data, as well as User feedback and lessons learned.

  7. 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/

  8. The use of nontraditional assays in an integrated environmental assessment of contaminated ground water

    Energy Technology Data Exchange (ETDEWEB)

    Twerdok, L.E. [Geo-Centers, Inc., Fort Detrick, MD (United States); Burton, D.T. [Univ. of Maryland, Queenstown, MD (United States). Wye Research and Education Center; Gardner, H.S.; Shedd, T.R. [Army Biomedical Research and Development Lab., Fort Detrick, MD (United States); Wolfe, M.J. [Experimental Pathology Labs., Herndon, VA (United States)

    1997-09-01

    The toxic potential of ground water contaminated with several probable carcinogenic heavy metals and halogenated solvents was evaluated using an integrated environmental assessment approach. A number of assays, which included acute toxicity, short-term chronic toxicity, genotoxicity, developmental toxicity and carcinogenicity, were used to assist in a hazard assessment. Comprehensive analytical chemistry was performed throughout the 9-month exposure to document the chemical characteristics of the ground water. An initiation-promotion protocol using a non-neoplastic concentration of diethylnitrosamine as an initiator in a 9-month chronic exposure of Japanese medaka (Oryzias latipes) was used to evaluate potential carcinogenicity of the ground water. The fish were exposed to groundwater concentrations of 1% and 10% ground water by volume. No significant lesions were found in the Japanese medaka exposed to groundwater concentrations at 1% or 10% ground water by volume. Likewise, no genotoxicity, developmental toxicity, acute toxicity or short-term chronic toxicity, were found at concentrations of {le} 10% ground water by volume. The negative results obtained in this study show that the potential hazard posed by low concentrations of a complex mixture containing suspect carcinogens may not be manifested at environmentally relevant concentrations.

  9. Environmental Assessment of Ground Water Compliance at the Gunnison, Colorado, UMTRA Project Site

    International Nuclear Information System (INIS)

    2002-01-01

    The U.S. Department of Energy (DOE) is in the process of selecting a ground water compliance strategy for the Gunnison, Colorado, Uranium Mill Tailings Remedial Action (UMTRA) Project site. This Environmental Assessment (EA) discusses two alternatives and the effects associated with each. The two alternatives are (1) natural flushing coupled with institutional controls and continued monitoring and (2) no action. The compliance strategy must meet U.S. Environmental Protection Agency (EPA) ground water standards defined in Title 40 ''Code of Federal Regulations'' Part 192, Subpart B, in areas where ground water beneath and around the site is contaminated as a result of past milling operations. It has been determined that contamination in the ground water at the Gunnison site consists of soluble residual radioactive material (RRM) as defined in the Uranium Mill Tailings Radiation Control Act (UMTRCA)

  10. 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. ...

  11. 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...

  12. Seismic Hazard Assessment in Site Evaluation for Nuclear Installations: Ground Motion Prediction Equations and Site Response

    International Nuclear Information System (INIS)

    2016-07-01

    The objective of this publication is to provide the state-of-the-art practice and detailed technical elements related to ground motion evaluation by ground motion prediction equations (GMPEs) and site response in the context of seismic hazard assessments as recommended in IAEA Safety Standards Series No. SSG-9, Seismic Hazards in Site Evaluation for Nuclear Installations. The publication includes the basics of GMPEs, ground motion simulation, selection and adjustment of GMPEs, site characterization, and modelling of site response in order to improve seismic hazard assessment. The text aims at delineating the most important aspects of these topics (including current practices, criticalities and open problems) within a coherent framework. In particular, attention has been devoted to filling conceptual gaps. It is written as a reference text for trained users who are responsible for planning preparatory seismic hazard analyses for siting of all nuclear installations and/or providing constraints for anti-seismic design and retrofitting of existing structures

  13. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

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

  14. Interdisciplinary technology assessment of service robots: the psychological/work science perspective.

    Science.gov (United States)

    Fischer, Martin

    2012-12-01

    The article sheds light on psychological and work science aspects of the design and utilization of service robots. An initial presentation of the characteristics of man-robot interaction is followed by a discussion of the principles of the division of functions between human beings and robots in service area work systems. The following aspects are to be considered: (1) the organisation of societal work (such as the different employment and professional profiles of service employees), (2) the work tasks to be performed by humans and robots (such as handling, monitoring or decision-making tasks), (3) the possibilities and the limitations of realizing such tasks by means of information technology (depending, for example, on the motoric capabilities, perception and cognition of the robot). Consideration of these three design perspectives gives rise to criteria of usability. Current debate focuses on the (work science) principles of man-machine communication, though in future these should be supplemented with robot-specific criteria such as "motoric capabilities" or "relationship quality." The article concludes by advocating the convergence and combination of work science criteria with ideas drawn from participative design approaches in the development and utilization of service robots.

  15. Data on the quantitative assessment pulmonary ground-glass opacification from coronary computed tomography angiography datasets

    DEFF Research Database (Denmark)

    Kühl, J Tobias; Kristensen, Thomas S; Thomsen, Anna F

    2017-01-01

    We assessed the CT attenuation density of the pulmonary tissue adjacent to the heart in patients with acute non-ST segment elevation myocardial infarction (J.T. Kuhl, T.S. Kristensen, A.F. Thomsen et al., 2016) [1]. This data was related to the level of ground-glass opacification evaluated by a r...

  16. Forelimb and hindlimb ground reaction forces of walking cats: Assessment and comparison with walking dogs

    NARCIS (Netherlands)

    Corbee, R.J.; Maas, H.; Doornenbal, A; Hazewinkel, H.A.W.

    2014-01-01

    The primary aim of this study was to assess the potential of force plate analysis for describing the stride cycle of the cat. The secondary aim was to define differences in feline and canine locomotion based on force plate characteristics. Ground reaction forces of 24 healthy cats were measured and

  17. Quantitative assessment of motor functions post-stroke: Responsiveness of upper-extremity robotic measures and its task dependence.

    Science.gov (United States)

    Hussain, Asif; Budhota, Aamani; Contu, Sara; Kager, Simone; Vishwanath, Deshmukh A; Kuah, Christopher W K; Yam, Lester H L; Chua, Karen S G; Masia, Lorenzo; Campolo, Domenico

    2017-07-01

    Technology aided measures offer a sensitive, accurate and time-efflcient approach for the assessment of sensorimotor function after neurological impairment compared to standard clinical assessments. This preliminary study investigated the relationship between task definition and its effect on robotic measures using a planar, two degree of freedom, robotic-manipulator (H-Man). Four chronic stroke participants (49.5±11.95 years, 2 Female, FMA: 37.5±13.96) and eight healthy control participants (26.25± 4.70 years, 2 Female) participated in the study. Motor functions were evaluated using line tracing and circle tracing tasks with dominant and nondominant hand of healthy and affected vs. non affected hand of stroke participants. The results show significant dependence of quantitative measures on investigated tasks.

  18. Remedial investigation report for J-Field, Aberdeen Proving Ground, Maryland. Volume 3: Ecological risk assessment

    Energy Technology Data Exchange (ETDEWEB)

    Hlohowskyj, I.; Hayse, J.; Kuperman, R.; Van Lonkhuyzen, R.

    2000-02-25

    The Environmental Management Division of the U.S. Army Aberdeen Proving Ground (APG), Maryland, is conducting a remedial investigation (RI) and feasibility study (FS) of the J-Field area at APG, pursuant to the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), as amended. As part of that activity, Argonne National Laboratory (ANL) conducted an ecological risk assessment (ERA) of the J-Field site. This report presents the results of that assessment.

  19. Remedial investigation report for J-Field, Aberdeen Proving Ground, Maryland. Volume 3: Ecological risk assessment

    International Nuclear Information System (INIS)

    Hlohowskyj, I.; Hayse, J.; Kuperman, R.; Van Lonkhuyzen, R.

    2000-01-01

    The Environmental Management Division of the U.S. Army Aberdeen Proving Ground (APG), Maryland, is conducting a remedial investigation (RI) and feasibility study (FS) of the J-Field area at APG, pursuant to the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), as amended. As part of that activity, Argonne National Laboratory (ANL) conducted an ecological risk assessment (ERA) of the J-Field site. This report presents the results of that assessment

  20. Initial experience using a robotic-driven laparoscopic needle holder with ergonomic handle: assessment of surgeons' task performance and ergonomics.

    Science.gov (United States)

    Sánchez-Margallo, Juan A; Sánchez-Margallo, Francisco M

    2017-12-01

    The objective of this study is to assess the surgeons' performance and ergonomics during the use of a robotic-driven needle holder in laparoscopic suturing tasks. Six right-handed laparoscopic surgeons with different levels of experience took part in this study. Participants performed a set of three different intracorporeal suturing tasks organized in ten trials during a period of five weeks. Surgeons used both conventional (Conv) and robotic (Rob) laparoscopic needle holders. Precision using the surgical needle, quality of the intracorporeal suturing performance, execution time and leakage pressure for the urethrovesical anastomosis, as well as the ergonomics of the surgeon's hand posture, were analyzed during the first, fifth and last trials. No statistically significant differences in precision and quality of suturing performance were obtained between both groups of instruments. Surgeons required more time using the robotic instrument than using the conventional needle holder to perform the urethrovesical anastomosis, but execution time was significantly reduced after training ([Formula: see text] 0.05). There were no differences in leakage pressure for the anastomoses carried out by both instruments. After training, novice surgeons significantly improved the ergonomics of the wrist ([Formula: see text] 0.05) and index finger (Conv: 36.381[Formula: see text], Rob: 30.389[Formula: see text]; p = 0.024) when using the robotic instrument compared to the conventional needle holder. Results have shown that, although both instruments offer similar technical performance, the robotic-driven instrument results in better ergonomics for the surgeon's hand posture compared to the use of a conventional laparoscopic needle holder in intracorporeal suturing.

  1. Prospective assessment of positioning-related pain in robotic urologic surgery.

    Science.gov (United States)

    Ginsburg, Kevin B; Pape, Kelsey; Heilbronn, Chase; Levin, Michael; Cher, Michael L

    2018-03-01

    This was a prospective study to assess positioning-related pain in 20 awake volunteers in the dorsal lithotomy (DL) and lateral decubitus (LD) positions. Each volunteer was put through the series of discrete, sequential steps used to achieve a final position; each step had two options. The Wong-Baker scale (WB) was used to rate pain for each option and the preferred option and ad lib comments were recorded. We found that awake volunteers could clearly and immediately distinguish differences in pain levels between position options. For the DL position, volunteers favored having the arms slightly flexed and pronated as opposed to being straight and supinated reflected by statistically less painful WB scores and option preference. Volunteers preferred having the neck flexed as opposed to being flat. For the LD position, volunteers reported statistically lower pain scores and preference for a foam roll for axilla support as opposed to a rolled blanket, the table flexed without the kidney rest as opposed to a raised kidney rest, and the over arm board as oppose to stacked blankets for contralateral arm support. Ad lib comments from the volunteers supported the above findings. To our knowledge, ours is the first study to demonstrate objective preferences for variations in surgical positioning using awake volunteers. This exercise with awake volunteers resulted in immediate changes in positioning for real robotic surgery patients in our practice.

  2. Hopping Robot with Wheels

    Science.gov (United States)

    Barlow, Edward; Marzwell, Nevellie; Fuller, Sawyer; Fionni, Paolo; Tretton, Andy; Burdick, Joel; Schell, Steve

    2003-01-01

    A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

  3. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Durango, Colorado

    International Nuclear Information System (INIS)

    1995-02-01

    This risk assessment evaluates the possibility of health and environmental risks from contaminated ground water at the uranium mill tailings site near Durango, Colorado. The former uranium processing site's contaminated soil and material were removed and placed at a disposal site located in Body Canyon, Colorado, during 1986--1991 by the US Departments of Energy's Uranium Mill Tailings Remedial Action (UMTRA) Project. Currently, the UMTRA Project is evaluating the nature and extent of ground water contamination at the site. This risk assessment follows an approach similar to that used by the US Environmental Protection Agency. The first step is to determine what site-related contaminants are found in ground water samples. The next step in the risk assessment is to determine how much of these contaminants people might ingest if they got their drinking water from a well on the site. In accordance with standard practice for this type of risk assessment, the highest contaminant concentrations from the most contaminated wells are used. The risk assessment then explains the possible health problems that could result from this amount of contamination

  4. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Durango, Colorado

    Energy Technology Data Exchange (ETDEWEB)

    1995-02-01

    This risk assessment evaluates the possibility of health and environmental risks from contaminated ground water at the uranium mill tailings site near Durango, Colorado. The former uranium processing site`s contaminated soil and material were removed and placed at a disposal site located in Body Canyon, Colorado, during 1986--1991 by the US Departments of Energy`s Uranium Mill Tailings Remedial Action (UMTRA) Project. Currently, the UMTRA Project is evaluating the nature and extent of ground water contamination at the site. This risk assessment follows an approach similar to that used by the US Environmental Protection Agency. The first step is to determine what site-related contaminants are found in ground water samples. The next step in the risk assessment is to determine how much of these contaminants people might ingest if they got their drinking water from a well on the site. In accordance with standard practice for this type of risk assessment, the highest contaminant concentrations from the most contaminated wells are used. The risk assessment then explains the possible health problems that could result from this amount of contamination.

  5. 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...

  6. 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.

  7. 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.

  8. Prototype Environmental Assessment of the impacts of siting and construction of an SPS ground receiving station

    Science.gov (United States)

    Hill, J.

    1980-01-01

    A prototype assessment of the environmental impacts of siting and constructing a Satellite Power System (SPS) Ground Receiving Station (GRS) is reported. The objectives of the study were: (1) to develop an assessment of the nonmicrowave related impacts of the reference system SPS GRS on the natural environment; (2) to assess the impacts of GRS construction and operations in the context of actual baseline data for a site in the California desert; and (3) to identify critical GRS characteristics or parameters that are most significant in terms of the natural environment.

  9. Ground-water quality assessment of the central Oklahoma Aquifer, Oklahoma; project description

    Science.gov (United States)

    Christenson, S.C.; Parkhurst, D.L.

    1987-01-01

    In April 1986, the U.S. Geological Survey began a pilot program to assess the quality of the Nation's surface-water and ground-water resources. The program, known as the National Water-Quality Assessment (NAWQA) program, is designed to acquire and interpret information about a variety of water-quality issues. The Central Oklahoma aquifer project is one of three ground-water pilot projects that have been started. The NAWQA program also incudes four surface-water pilot projects. The Central Oklahoma aquifer project, as part of the pilot NAWQA program, will develop and test methods for performing assessments of ground-water quality. The objectives of the Central Oklahoma aquifer assessment are: (1) To investigate regional ground-water quality throughout the aquifer in the manner consistent with the other pilot ground-water projects, emphasizing the occurrence and distribution of potentially toxic substances in ground water, including trace elements, organic compounds, and radioactive constituents; (2) to describe relations between ground-water quality, land use, hydrogeology, and other pertinent factors; and (3) to provide a general description of the location, nature, and possible causes of selected prevalent water-quality problems within the study unit; and (4) to describe the potential for water-quality degradation of ground-water zones within the study unit. The Central Oklahoma aquifer, which includes in descending order the Garber Sandstone and Wellington Formation, the Chase Group, the Council Grove Group, the Admire Group, and overlying alluvium and terrace deposits, underlies about 3,000 square miles of central Oklahoma and is used extensively for municipal, industrial, commercial, and domestic water supplies. The aquifer was selected for study by the NAWQA program because it is a major source for water supplies in central Oklahoma and because it has several known or suspected water-quality problems. Known problems include concentrations of arsenic, chromium

  10. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Shiprock, New Mexico. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    1994-04-01

    This baseline risk assessment at the former uranium mill tailings site near Shiprock, New Mexico, evaluates the potential impact to public health or the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in an on-site disposal cell in 1986 through the US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment is the first document specific to this site for the Ground Water Project. There are no domestic or drinking water wells in the contaminated ground water of the two distinct ground water units: the contaminated ground water in the San Juan River floodplain alluvium below the site and the contaminated ground water in the terrace alluvium area where the disposal cell is located. Because no one is drinking the affected ground water, there are currently no health or environmental risks directly associated with the contaminated ground water. However, there is a potential for humans, domestic animals, and wildlife to the exposed to surface expressions of ground water in the seeps and pools in the area of the San Juan River floodplain below the site. For these reasons, this risk assessment evaluates potential exposure to contaminated surface water and seeps as well as potential future use of contaminated ground water.

  11. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Shiprock, New Mexico

    International Nuclear Information System (INIS)

    1994-04-01

    This baseline risk assessment at the former uranium mill tailings site near Shiprock, New Mexico, evaluates the potential impact to public health or the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in an on-site disposal cell in 1986 through the US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment is the first document specific to this site for the Ground Water Project. There are no domestic or drinking water wells in the contaminated ground water of the two distinct ground water units: the contaminated ground water in the San Juan River floodplain alluvium below the site and the contaminated ground water in the terrace alluvium area where the disposal cell is located. Because no one is drinking the affected ground water, there are currently no health or environmental risks directly associated with the contaminated ground water. However, there is a potential for humans, domestic animals, and wildlife to the exposed to surface expressions of ground water in the seeps and pools in the area of the San Juan River floodplain below the site. For these reasons, this risk assessment evaluates potential exposure to contaminated surface water and seeps as well as potential future use of contaminated ground water

  12. Mining robotics sensors

    CSIR Research Space (South Africa)

    Green, JJ

    2012-04-01

    Full Text Available sources, and techniques such as surfel modeling and synthetic view generation are explored towards creating visualizations of the data that could be used by miners to monitor areas of risk in the stope. Further work will determine this potential.... Index Terms?underground mining robotics, perception sensors, sensor fusion, infrared camera, 3D laser scan. I. INTRODUCTION To date, robotics in the mining industry has seen much advancement in automation for above-ground applications where...

  13. Environmental assessment of SP-100 ground engineering system test site: Hanford Site, Richland, Washington

    Energy Technology Data Exchange (ETDEWEB)

    1988-12-01

    The US Department of Energy (DOE) proposes to modify an existing reactor containment building (decommissioned Plutonium Recycle Test Reactor (PRTR) 309 Building) to provide ground test capability for the prototype SP-100 reactor. The 309 Building (Figure 1.1) is located in the 300 Area on the Hanford Site in Washington State. The National Environmental Policy Act (NEPA) requires that Federal agencies assess the potential impacts that their actions may have on the environment. This Environmental Assessment describes the consideration given to environmental impacts during reactor concept and test site selection, examines the environmental effects of the DOE proposal to ground test the nuclear subsystem, describes alternatives to the proposed action, and examines radiological risks of potential SP-100 use in space. 73 refs., 19 figs., 7 tabs.

  14. Robots in mining

    CSIR Research Space (South Africa)

    Green, J

    2010-09-01

    Full Text Available ? • FOG – Fall of ground • Who is at risk? • What is the cost of incident? • What can we do about it? The Robot Potential • Technology • Conclusion © CSIR 2010 Slide 3 Yes Robots can improve mine safety Robot patrols unoccupied areas Generates a... risk map Additional tool Inform miners in making safe © CSIR 2010 Slide 4 Miner Safety Statistics • from DME (2010/03) • March 2010 • 490 000 employed • 400 000 suppliers1 • 9 died, 7 in rockfall incidents 2 • Prior year- March 2010 • 152...

  15. Urodynamic assessment of bladder and urethral sphincter function before and after robot-assisted radical prostatectomy.

    Science.gov (United States)

    Barnoiu, O S; Vozmediano-Chicharro, R; García-Galisteo, E; Soler-Martinez, J; del Rosa-Samaniego, J M; Machuca-Santacruz, J; Baena-Gonzalez, V

    2014-03-01

    Affectation of the bladder after open prostatectomy is demonstrated. Decrease in bladder capacity and bladder compliance, detrusor hyper-or hypo-activity and voiding dysfunction are observed. We propose to investigate the effects of robotic surgery on bladder and sphincter function through the comparative study of preoperative and postoperative urodynamic values 3 months after prostatectomy. Prospective study of 32 consecutive patients undergoing robotic prostatectomy. They all underwent urodynamic study one month before the intervention and 3 months after the radical prostatectomy. Twenty five percent of patients undergoing robotic prostatectomy showed detrusor hyperactivity accompanied by a decrease in bladder compliance of 30.2 to 21.8 ml/cmH2O. Urethral profile showed diminished functional length of 67 to 44 mm and decreased maximum urethral pressure of 48.5 to 29.3 cmH2O. After robotic prostatectomy 21.8% of patients had detrusor hypoactivity, obstruction decreased between 28.1% to 12.5%. Decreased bladder compliance, detrusor hypo- or hyperactivity and obstruction improvement observed in the study of the flow pressure have been associated with sphincter involvement. It is part of the complex of lower urinary tract dysfunction that occurs after robotic prostatectomy. Copyright © 2013 AEU. Published by Elsevier Espana. All rights reserved.

  16. Multi-criteria decision analysis with probabilistic risk assessment for the management of contaminated ground water

    OpenAIRE

    Khadam, I.; Kaluarachchi, J. J.

    2003-01-01

    Traditionally, environmental decision analysis in subsurface contamination scenarios is performed using cost–benefit analysis. In this paper, we discuss some of the limitations associated with cost–benefit analysis, especially its definition of risk, its definition of cost of risk, and its poor ability to communicate risk-related information. This paper presents an integrated approach for management of contaminated ground water resources using health risk assessment and economic analysis thro...

  17. Statistical Models to Assess the Health Effects and to Forecast Ground Level Ozone

    Czech Academy of Sciences Publication Activity Database

    Schlink, U.; Herbath, O.; Richter, M.; Dorling, S.; Nunnari, G.; Cawley, G.; Pelikán, Emil

    2006-01-01

    Roč. 21, č. 4 (2006), s. 547-558 ISSN 1364-8152 R&D Projects: GA AV ČR 1ET400300414 Institutional research plan: CEZ:AV0Z10300504 Keywords : statistical models * ground level ozone * health effects * logistic model * forecasting * prediction performance * neural network * generalised additive model * integrated assessment Subject RIV: BB - Applied Statistics, Operational Research Impact factor: 1.992, year: 2006

  18. Proprioceptive assessment in clinical settings: Evaluation of joint position sense in upper limb post-stroke using a robotic manipulator.

    Directory of Open Access Journals (Sweden)

    Sara Contu

    Full Text Available Proprioception is a critical component for motor functions and directly affects motor learning after neurological injuries. Conventional methods for its assessment are generally ordinal in nature and hence lack sensitivity. Robotic devices designed to promote sensorimotor learning can potentially provide quantitative precise, accurate, and reliable assessments of sensory impairments. In this paper, we investigate the clinical applicability and validity of using a planar 2 degrees of freedom robot to quantitatively assess proprioceptive deficits in post-stroke participants. Nine stroke survivors and nine healthy subjects participated in the study. Participants' hand was passively moved to the target position guided by the H-Man robot (Criterion movement and were asked to indicate during a second passive movement towards the same target (Matching movement when they felt that they matched the target position. The assessment was carried out on a planar surface for movements in the forward and oblique directions in the contralateral and ipsilateral sides of the tested arm. The matching performance was evaluated in terms of error magnitude (absolute and signed and its variability. Stroke patients showed higher variability in the estimation of the target position compared to the healthy participants. Further, an effect of target was found, with lower absolute errors in the contralateral side. Pairwise comparison between individual stroke participant and control participants showed significant proprioceptive deficits in two patients. The proposed assessment of passive joint position sense was inherently simple and all participants, regardless of motor impairment level, could complete it in less than 10 minutes. Therefore, the method can potentially be carried out to detect changes in proprioceptive deficits in clinical settings.

  19. Proprioceptive assessment in clinical settings: Evaluation of joint position sense in upper limb post-stroke using a robotic manipulator.

    Science.gov (United States)

    Contu, Sara; Hussain, Asif; Kager, Simone; Budhota, Aamani; Deshmukh, Vishwanath A; Kuah, Christopher W K; Yam, Lester H L; Xiang, Liming; Chua, Karen S G; Masia, Lorenzo; Campolo, Domenico

    2017-01-01

    Proprioception is a critical component for motor functions and directly affects motor learning after neurological injuries. Conventional methods for its assessment are generally ordinal in nature and hence lack sensitivity. Robotic devices designed to promote sensorimotor learning can potentially provide quantitative precise, accurate, and reliable assessments of sensory impairments. In this paper, we investigate the clinical applicability and validity of using a planar 2 degrees of freedom robot to quantitatively assess proprioceptive deficits in post-stroke participants. Nine stroke survivors and nine healthy subjects participated in the study. Participants' hand was passively moved to the target position guided by the H-Man robot (Criterion movement) and were asked to indicate during a second passive movement towards the same target (Matching movement) when they felt that they matched the target position. The assessment was carried out on a planar surface for movements in the forward and oblique directions in the contralateral and ipsilateral sides of the tested arm. The matching performance was evaluated in terms of error magnitude (absolute and signed) and its variability. Stroke patients showed higher variability in the estimation of the target position compared to the healthy participants. Further, an effect of target was found, with lower absolute errors in the contralateral side. Pairwise comparison between individual stroke participant and control participants showed significant proprioceptive deficits in two patients. The proposed assessment of passive joint position sense was inherently simple and all participants, regardless of motor impairment level, could complete it in less than 10 minutes. Therefore, the method can potentially be carried out to detect changes in proprioceptive deficits in clinical settings.

  20. Probabilistic seismic hazard assessment of Kazakhstan and Almaty city in peak ground accelerations

    Directory of Open Access Journals (Sweden)

    N.V. Silacheva

    2018-03-01

    Full Text Available As for many post-soviet countries, Kazakhstan's building code for seismic design was based on a deterministic approach. Recently, Kazakhstan seismologists are engaged to adapt the PSHA (probabilistic hazard assessment procedure to the large amount of available geological, geophysical and tectonic Kazakh data and to meet standard requirements for the Eurocode 8. The new procedure has been used within National projects to develop the Probabilistic GSZ (General Seismic Zoning maps of the Kazakhstan territory and the SMZ (Probabilistic Seismic Microzoning maps of Almaty city. They agree with the seismic design principles of Eurocode 8 and are expressed in terms of not only seismic intensity, but also engineering parameters (peak ground acceleration PGA. The whole packet of maps has been developed by the Institute of Seismology, together with other Kazakhstan Institutions. Our group was responsible for making analysis in PGA. The GSZ maps and hazard assessment maps for SMZ in terms of PGA for return periods 475 and 2475 years are considered in the article. Keywords: Probabilistic seismic hazard assessment, Seismic zoning map, Peak ground acceleration, Seismic sources, Seismotectonic setting, Seismic regime, Ground motion prediction equations

  1. The policies and practices of sports governing bodies in relation to assessing the safety of sports grounds.

    Science.gov (United States)

    Swan, Peter; Otago, Leonie; Finch, Caroline F; Payne, Warren R

    2009-01-01

    Sport is an important context for physical activity and it is critical that safe environments are provided for such activity. Sports safety is influenced by the presence of sports ground environmental hazards such as ground hardness, poorly maintained playing fields, surface irregularities and the presence of debris/rubbish. To reduce injury risk, sports governing bodies need to ensure regular assessment of grounds safety and the removal of identified hazards. This study describes sports ground safety guidelines and recommendations of a sample of sports governing bodies and provides recommendations for how they could be improved. Semi-structured key informant interviews were conducted with nominees of state governing bodies for Australian football, cricket, soccer and hockey. The use of matchday checklists to identify ground hazards, as mandated by insurance companies was widely promoted across all levels of play. Sports governing bodies had more direct involvement in assessing grounds used for higher level of play, than grounds used for community or junior sport. There was a general presumption that identified hazards on community grounds would be corrected by local councils or clubs before anyone played on them, but this was rarely monitored. Sports governing bodies run the risk of being negligent in their duty of care to sports participants if they do not formally monitor the implementation of their ground safety polices and guidelines. There is also further scope for sports bodies to work closely with insurers to develop ground safety assessment guidelines specific to their sport.

  2. KC-135 materials handling robotics

    Science.gov (United States)

    Workman, Gary L.

    1991-01-01

    Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

  3. Sensory-motor deficits in children with fetal alcohol spectrum disorder assessed using a robotic virtual reality platform.

    Science.gov (United States)

    Williams, Loriann; Jackson, Carl P T; Choe, Noreen; Pelland, Lucie; Scott, Stephen H; Reynolds, James N

    2014-01-01

    Fetal alcohol spectrum disorder (FASD) is associated with a large number of cognitive and sensory-motor deficits. In particular, the accurate assessment of sensory-motor deficits in children with FASD is not always simple and relies on clinical assessment tools that may be coarse and subjective. Here we present a new approach: using robotic technology to accurately and objectively assess motor deficits of children with FASD in a center-out reaching task. A total of 152 typically developing children and 31 children with FASD, all aged between 5 and 18 were assessed using a robotic exoskeleton device coupled with a virtual reality projection system. Children made reaching movements to 8 peripheral targets in a random order. Reach trajectories were subsequently analyzed to extract 12 parameters that had been previously determined to be good descriptors of a reaching movement, and these parameters were compared for each child with FASD to a normative model derived from the performance of the typically developing population. Compared with typically developing children, the children with FASD were found to be significantly impaired on most of the parameters measured, with the greatest deficits found in initial movement direction error. Also, children with FASD tended to fail more parameters than typically developing children: 95% of typically developing children failed fewer than 3 parameters compared with 69% of children with FASD. These results were particularly pronounced for younger children. The current study has shown that robotic technology is a sensitive and powerful tool that provides increased specificity regarding the type of motor problems exhibited by children with FASD. The high frequency of motor deficits in children with FASD suggests that interventions aimed at stimulating and/or improving motor development should routinely be considered for this population. Copyright © 2013 by the Research Society on Alcoholism.

  4. Development and validation of the first robotic scale for the clinical assessment of upper extremity motor impairments in stroke patients.

    Science.gov (United States)

    Einav, Omer; Geva, Diklah; Yoeli, Doron; Kerzhner, Marina; Mauritz, Karl-Heinz

    2011-10-01

    We aimed to develop and validate the first robotic-based instrument and procedure for assessing upper extremity motor impairments in patients with stroke and to test its discriminative power. The ReoGo robotic rehabilitation platform was used to design a novel, upper limb functionality assessment tool, the Reo Scale Assessment (RSA). We used the RSA to evaluate 100 patients with stroke. The RSA items were tested for internal consistency and submitted to factor analysis. The Fugl-Meyer (FM) motor test, the Wolf Motor Function Test (WMFT), and the Action Research Arm Test (ARAT) were used to examine the validity of the RSA. RSA scores were compared and correlated with the scores of the 3 scales. The discriminative power of the RSA was tested against the FM impairment levels by analysis of variance. The total RSA score correlated closely with the upper extremity scores of the FM, WMFT, and ARAT (r = 0.95, 0.93, and 0.90, respectively). The RSA was able to discriminate between low, moderate, and high functioning patients (86% agreement with FM). Principal component analysis revealed that the RSA coefficients loaded on 3 tested components: proximal, distal, and force. Our results provide strong evidence that the validity of the RSA is comparable with that of the FM, WMFT, and ARAT. The objective measuring and scoring systems of the robotic RSA make it an efficient tool for assessing motor function of stroke patients in clinical and research settings. Additional studies are needed to test the reliability and sensitivity of the RSA.

  5. European regulatory framework for person carrier robots

    NARCIS (Netherlands)

    Fosch Villaronga, E.; Roig, A.

    The aim of this paper is to establish the grounds for a future regulatory framework for Person Carrier Robots, which includes legal and ethical aspects. Current industrial standards focus on physical human–robot interaction, i.e. on the prevention of harm. Current robot technology nonetheless

  6. Human Robotic Systems (HRS): Robotic ISRU Acquisition Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic ISRU Resource Acquisition project element will develop two technologies:Exploration Ground Data Systems (xGDS)Sample Acquisition on...

  7. Trust me, I am Robot!

    DEFF Research Database (Denmark)

    Stoyanova, Angelina; Drefeld, Jonas; Tanev, Stoyan

    of the emerging trust relationship is a key component of the use value of the robotic system and of the value proposition of the robotic system producers. The study is based on a qualitative research approach combining the phenomenological research paradigm with a grounded theory building approach based...

  8. Multi-Robot Assembly Strategies and Metrics

    Science.gov (United States)

    MARVEL, JEREMY A.; BOSTELMAN, ROGER; FALCO, JOE

    2018-01-01

    We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies. PMID:29497234

  9. Multi-Robot Assembly Strategies and Metrics.

    Science.gov (United States)

    Marvel, Jeremy A; Bostelman, Roger; Falco, Joe

    2018-02-01

    We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

  10. Environmental Assessment of Ground Water Compliance at the Naturita, Colorado, UMTRA Project Site

    Energy Technology Data Exchange (ETDEWEB)

    None

    2003-04-23

    This Environmental Assessment addresses the environmental effects of a proposed action and the no action alternative to comply with U.S. Environmental Protection Agency (EPA) ground water standards at the Naturita, Colorado, Uranium Mill Tailings Remedial Action Project site. In 1998, the U.S. Department of Energy (DOE) completed surface cleanup at the site and encapsulated the tailings in a disposal cell 15 miles northwest near the former town of Uravan, Colorado. Ground water contaminants of potential concern at the Naturita site are uranium and vanadium. Uranium concentrations exceed the maximum concentration limit (MCL) of 0.044 milligram per liter (mg/L). Vanadium has no MCL; however, vanadium concentrations exceed the EPA Region III residential risk-based concentration of 0.33 mg/L (EPA 2002). The proposed compliance strategy for uranium and vanadium at the Naturita site is no further remediation in conjunction with the application of alternate concentration limits. Institutional controls with ground water and surface water monitoring will be implemented for these constituents as part of the compliance strategy. This compliance strategy will be protective of human health and the environment. The proposed monitoring program will begin upon regulatory concurrence with the Ground Water Compliance Action Plan (DOE 2002a). Monitoring will consist of verifying that institutional controls remain in place, collecting ground water samples to verify that concentrations of uranium and vanadium are decreasing, and collecting surface water samples to verify that contaminant concentrations do not exceed a regulatory limit or risk-based concentration. If these criteria are not met, DOE would reevaluate the proposed action and determine the need for further National Environmental Policy Act documentation. No comments were received from the public during the public comment period. Two public meetings were held during this period. Minutes of these meetings are included as

  11. Robotics: Assessing Its Role in Improving Mathematics Skills for Grades 4 to 5

    Science.gov (United States)

    Laughlin, Sara Rose

    2013-01-01

    Inspiring and motivating students to pursue science, technology, engineering, and mathematics education continues to be an important educational focus in the United States. Robotics programs are one strategy developed to accomplish this goal. This causal comparative study focused on investigating whether a causal relationship exists between…

  12. Baseline risk assessment of ground water contamination at the inactive uriniferous lignite ashing site near Belfield, North Dakota

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-08-01

    This Baseline Risk Assessment of Ground Water Contamination at the Inactive Uraniferous Lignite Ashing Site Near Belfield, North Dakota, evaluates potential impacts to public health or the environment resulting from ground water contamination at the site where coal containing uranium was burned to produce uranium. The US Department of Energy`s Uranium Mill Tailings Remedial Action (UMTRA) Project is evaluating plans to remedy soil and ground water contamination at the site. Phase I of the UMTRA Project consists of determining the extent of soil contamination. Phase II of the UMTRA Project consists of evaluating ground water contamination. Under Phase II, results of this risk assessment will help determine what remedial actions may be necessary for contaminated ground water at the site. This risk assessment evaluates the potential risks to human health and the environment resulting from exposure to contaminated ground water as it relates to historic processing activities at the site. Potential risk is quantified for constituents introduced from the processing activities, and not for those constituents naturally occurring in water quality in the site vicinity. Background ground water quality has the potential to cause adverse health effects from exposure through drinking. Any risks associated with contaminants attributable to site activities are incremental to these risks from background ground water quality. This incremental risk from site-related contaminants is quantified in this risk assessment. The baseline risk from background water quality is incorporated only into the assessment of potential chemical interactions and the definition of the overall site condition.

  13. Baseline risk assessment of ground water contamination at the inactive uraniferous lignite ashing site near Belfield, North Dakota

    International Nuclear Information System (INIS)

    1994-08-01

    This Baseline Risk Assessment of Ground Water Contamination at the Inactive Uraniferous Lignite Ashing Site Near Belfield, North Dakota, evaluates potential impacts to public health or the environment resulting from ground water contamination at the site where coal containing uranium was burned to produce uranium. The US Department of Energy's Uranium Mill Tailings Remedial Action (UMTRA) Project is evaluating plans to remedy soil and ground water contamination at the site. Phase I of the UMTRA Project consists of determining the extent of soil contamination. Phase II of the UMTRA Project consists of evaluating ground water contamination. Under Phase II, results of this risk assessment will help determine what remedial actions may be necessary for contaminated ground water at the site. This risk assessment evaluates the potential risks to human health and the environment resulting from exposure to contaminated ground water as it relates to historic processing activities at the site. Potential risk is quantified for constituents introduced from the processing activities, and not for those constituents naturally occurring in water quality in the site vicinity. Background ground water quality has the potential to cause adverse health effects from exposure through drinking. Any risks associated with contaminants attributable to site activities are incremental to these risks from background ground water quality. This incremental risk from site-related contaminants is quantified in this risk assessment. The baseline risk from background water quality is incorporated only into the assessment of potential chemical interactions and the definition of the overall site condition

  14. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Sites near Slick Rock, Colorado. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-09-01

    Two UMTRA (Uranium Mill Tailings Remedial Action) Project sites are near Slick Rock, Colorado: the North Continent site and the Union Carbide site. Currently, no one uses the contaminated ground water at either site for domestic or agricultural purposes. However, there may be future land development. This risk assessment evaluates possible future health problems associated with exposure to contaminated ground water. Since some health problems could occur, it is recommended that the contaminated ground water not be used as drinking water.

  15. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Sites near Slick Rock, Colorado. Revision 1

    International Nuclear Information System (INIS)

    1995-09-01

    Two UMTRA (Uranium Mill Tailings Remedial Action) Project sites are near Slick Rock, Colorado: the North Continent site and the Union Carbide site. Currently, no one uses the contaminated ground water at either site for domestic or agricultural purposes. However, there may be future land development. This risk assessment evaluates possible future health problems associated with exposure to contaminated ground water. Since some health problems could occur, it is recommended that the contaminated ground water not be used as drinking water

  16. Robotic assessment of neuromuscular characteristics using musculoskeletal models: A pilot study.

    Science.gov (United States)

    Jayaneththi, V R; Viloria, J; Wiedemann, L G; Jarrett, C; McDaid, A J

    2017-07-01

    Non-invasive neuromuscular characterization aims to provide greater insight into the effectiveness of existing and emerging rehabilitation therapies by quantifying neuromuscular characteristics relating to force production, muscle viscoelasticity and voluntary neural activation. In this paper, we propose a novel approach to evaluate neuromuscular characteristics, such as muscle fiber stiffness and viscosity, by combining robotic and HD-sEMG measurements with computational musculoskeletal modeling. This pilot study investigates the efficacy of this approach on a healthy population and provides new insight on potential limitations of conventional musculoskeletal models for this application. Subject-specific neuromuscular characteristics of the biceps and triceps brachii were evaluated using robot-measured kinetics, kinematics and EMG activity as inputs to a musculoskeletal model. Repeatability experiments in five participants revealed large variability within each subjects evaluated characteristics, with almost all experiencing variation greater than 50% of full scale when repeating the same task. The use of robotics and HD-sEMG, in conjunction with musculoskeletal modeling, to quantify neuromuscular characteristics has been explored. Despite the ability to predict joint kinematics with relatively high accuracy, parameter characterization was inconsistent i.e. many parameter combinations gave rise to minimal kinematic error. The proposed technique is a novel approach for in vivo neuromuscular characterization and is a step towards the realization of objective in-home robot-assisted rehabilitation. Importantly, the results have confirmed the technical (robot and HD-sEMG) feasibility while highlighting the need to develop new musculoskeletal models and optimization techniques capable of achieving consistent results across a range of dynamic tasks. Copyright © 2017 Elsevier Ltd. All rights reserved.

  17. MEMS sensors for assessing flow-related control of an underwater biomimetic robotic stingray.

    Science.gov (United States)

    Asadnia, Mohsen; Kottapalli, Ajay Giri Prakash; Haghighi, Reza; Cloitre, Audren; Alvarado, Pablo Valdivia Y; Miao, Jianmin; Triantafyllou, Michael

    2015-05-18

    A major difference between manmade underwater robotic vehicles (URVs) and undersea animals is the dense arrays of sensors on the body of the latter which enable them to execute extreme control of their limbs and demonstrate super-maneuverability. There is a high demand for miniaturized, low-powered, lightweight and robust sensors that can perform sensing on URVs to improve their control and maneuverability. In this paper, we present the design, fabrication and experimental testing of two types of microelectromechanical systems (MEMS) sensors that benefit the situational awareness and control of a robotic stingray. The first one is a piezoresistive liquid crystal polymer haircell flow sensor which is employed to determine the velocity of propagation of the stingray. The second one is Pb(Zr(0.52)Ti(0.48))O3 piezoelectric micro-diaphragm pressure sensor which measures various flapping parameters of the stingray's fins that are key parameters to control the robot locomotion. The polymer flow sensors determine that by increasing the flapping frequency of the fins from 0.5 to 3 Hz the average velocity of the stingray increases from 0.05 to 0.4 BL s(-1), respectively. The role of these sensors in detecting errors in control and functioning of the actuators in performing tasks like flapping at a desired amplitude and frequency, swimming at a desired velocity and direction are quantified. The proposed sensors are also used to provide inputs for a model predictive control which allows the robot to track a desired trajectory. Although a robotic stingray is used as a platform to emphasize the role of the MEMS sensors, the applications can be extended to most URVs.

  18. The SPARC water vapor assessment II: intercomparison of satellite and ground-based microwave measurements

    Science.gov (United States)

    Nedoluha, Gerald E.; Kiefer, Michael; Lossow, Stefan; Gomez, R. Michael; Kämpfer, Niklaus; Lainer, Martin; Forkman, Peter; Christensen, Ole Martin; Oh, Jung Jin; Hartogh, Paul; Anderson, John; Bramstedt, Klaus; Dinelli, Bianca M.; Garcia-Comas, Maya; Hervig, Mark; Murtagh, Donal; Raspollini, Piera; Read, William G.; Rosenlof, Karen; Stiller, Gabriele P.; Walker, Kaley A.

    2017-12-01

    As part of the second SPARC (Stratosphere-troposphere Processes And their Role in Climate) water vapor assessment (WAVAS-II), we present measurements taken from or coincident with seven sites from which ground-based microwave instruments measure water vapor in the middle atmosphere. Six of the ground-based instruments are part of the Network for the Detection of Atmospheric Composition Change (NDACC) and provide datasets that can be used for drift and trend assessment. We compare measurements from these ground-based instruments with satellite datasets that have provided retrievals of water vapor in the lower mesosphere over extended periods since 1996. We first compare biases between the satellite and ground-based instruments from the upper stratosphere to the upper mesosphere. We then show a number of time series comparisons at 0.46 hPa, a level that is sensitive to changes in H2O and CH4 entering the stratosphere but, because almost all CH4 has been oxidized, is relatively insensitive to dynamical variations. Interannual variations and drifts are investigated with respect to both the Aura Microwave Limb Sounder (MLS; from 2004 onwards) and each instrument's climatological mean. We find that the variation in the interannual difference in the mean H2O measured by any two instruments is typically ˜ 1%. Most of the datasets start in or after 2004 and show annual increases in H2O of 0-1 % yr-1. In particular, MLS shows a trend of between 0.5 % yr-1 and 0.7 % yr-1 at the comparison sites. However, the two longest measurement datasets used here, with measurements back to 1996, show much smaller trends of +0.1 % yr-1 (at Mauna Loa, Hawaii) and -0.1 % yr-1 (at Lauder, New Zealand).

  19. Assessing post-fire ground cover in Mediterranean shrublands with field spectrometry and digital photography

    Science.gov (United States)

    Montorio Llovería, Raquel; Pérez-Cabello, Fernando; García-Martín, Alberto

    2016-09-01

    Fire severity can be assessed by identifying and quantifying the fractional abundance of post-fire ground cover types, an approach with great capacity to predict ecosystem response. Focused on shrubland formations of Mediterranean-type ecosystems, three burned areas (Ibieca and Zuera wildfires and Peñaflor experimental fire) were sampled in the summers of 2006 and 2007. Two different ground measurements were made for each of the 356 plots: (i) 3-band high spatial resolution photography (HSRP) and (ii) the hemispherical-conical reflectance factor (HCRF) in the visible to near-infrared spectral range (VNIR, 400-900 nm). Stepwise multiple lineal regression (SMLR) models were fitted to spectral variables (HCRF, first derivative spectra or FDS, and four absorption indices) to estimate the fractional cover of seven post-fire ground cover types (vegetation and soil - unburned and charred components - and ash - char and ash, individually and as a combined category). Models were developed and validated at the Peñaflor site (training, n = 217; validation, n = 88) and applied to the samples from the Ibieca and Zuera sites (n = 51). The best results were observed for the abundance estimations of green vegetation (Radj.20.70-0.90), unburned soil (Radj.20.40-0.75), and the combination of ashes (Radj.20.65-0.80). In comparison of spectral data, FDS outperforms reflectance or absorption data because of its higher accuracy levels and, importantly, its greater capacity to yield generalizable models. Future efforts should be made to improve the estimation of intermediate severity levels and upscaling the developed models. In the context of fire severity assessment, our study demonstrates the potential of hyperspectral data to estimate in a quick and objective manner post-fire ground cover fractions and thus provide valuable information to guide management responses.

  20. The SPARC water vapor assessment II: intercomparison of satellite and ground-based microwave measurements

    Directory of Open Access Journals (Sweden)

    G. E. Nedoluha

    2017-12-01

    Full Text Available As part of the second SPARC (Stratosphere–troposphere Processes And their Role in Climate water vapor assessment (WAVAS-II, we present measurements taken from or coincident with seven sites from which ground-based microwave instruments measure water vapor in the middle atmosphere. Six of the ground-based instruments are part of the Network for the Detection of Atmospheric Composition Change (NDACC and provide datasets that can be used for drift and trend assessment. We compare measurements from these ground-based instruments with satellite datasets that have provided retrievals of water vapor in the lower mesosphere over extended periods since 1996. We first compare biases between the satellite and ground-based instruments from the upper stratosphere to the upper mesosphere. We then show a number of time series comparisons at 0.46 hPa, a level that is sensitive to changes in H2O and CH4 entering the stratosphere but, because almost all CH4 has been oxidized, is relatively insensitive to dynamical variations. Interannual variations and drifts are investigated with respect to both the Aura Microwave Limb Sounder (MLS; from 2004 onwards and each instrument's climatological mean. We find that the variation in the interannual difference in the mean H2O measured by any two instruments is typically  ∼  1%. Most of the datasets start in or after 2004 and show annual increases in H2O of 0–1 % yr−1. In particular, MLS shows a trend of between 0.5 % yr−1 and 0.7 % yr−1 at the comparison sites. However, the two longest measurement datasets used here, with measurements back to 1996, show much smaller trends of +0.1 % yr−1 (at Mauna Loa, Hawaii and −0.1 % yr−1 (at Lauder, New Zealand.

  1. Baseline risk assessment of ground water contamination at the inactive uraniferous lignite ashing site near Belfield, North Dakota. Revision 1

    International Nuclear Information System (INIS)

    1994-09-01

    This risk assessment evaluates the potential for impacts to public health or the environment from contaminated ground water at this site caused by the burning of coal containing uranium to produce uranium. Potential risk is quantified for constituents introduced from the processing activities and not for those constituents naturally occurring in background ground water in the site vicinity. Because background ground water quality has the potential to cause adverse health effects from exposure through drinking, any risks associated with contaminants attributable to site activities are incremental to these risks from background. The incremental risk from site-related contaminants is quantified in this risk assessment. The baseline risk from background water quality is incorporated only into the assessment of potential chemical interactions and the definition of the overall site condition. The US Department of Energy's (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project is developing plans to remedy soil and ground water contamination at the site. The UMTRA Surface Project consists of determining the extent of soil contamination and disposing of the contaminated soils in an engineered disposal cell. The UMTRA Ground Water Project consists of evaluating ground water contamination. Under the UMTRA Ground Water Project, results of this risk assessment will help determine what ground water compliance strategy may be applied at the site

  2. Ecological risk assessment of depleted uranium in the environment at Aberdeen Proving Ground

    International Nuclear Information System (INIS)

    Clements, W.H.; Kennedy, P.L.; Myers, O.B.

    1993-01-01

    A preliminary ecological risk assessment was conducted to evaluate the effects of depleted uranium (DU) in the Aberdeen Proving Ground (APG) ecosystem and its potential for human health effects. An ecological risk assessment of DU should include the processes of hazard identification, dose-response assessment, exposure assessment, and risk characterization. Ecological risk assessments also should explicitly examine risks incurred by nonhuman as well as human populations, because risk assessments based only on human health do not always protect other species. To begin to assess the potential ecological risk of DU release to the environment we modeled DU transport through the principal components of the aquatic ecosystem at APG. We focused on the APG aquatic system because of the close proximity of the Chesapeake Bay and concerns about potential impacts on this ecosystem. Our objective in using a model to estimate environmental fate of DU is to ultimately reduce the uncertainty about predicted ecological risks due to DU from APG. The model functions to summarize information on the structure and functional properties of the APG aquatic system, to provide an exposure assessment by estimating the fate of DU in the environment, and to evaluate the sources of uncertainty about DU transport

  3. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Tuba City, Arizona

    International Nuclear Information System (INIS)

    1994-06-01

    This document evaluates potential public health or environmental impacts resulting from ground water contamination at the former uranium mill site. The tailings and other contaminated material at this site were placed in a disposal cell on the site in 1990 by the US Department of Energy's Uranium Mill Tailings Remedial Action (UMTRA) Project. The second phase of the UMTRA Project is to evaluate ground water contamination. This risk assessment is the first site-specific document under the Ground Water Project. It will help determine what remedial actions are necessary for contaminated ground water at the site

  4. Development of new geomagnetic storm ground response scaling factors for utilization in hazard assessments

    Science.gov (United States)

    Pulkkinen, A. A.; Bernabeu, E.; Weigel, R. S.; Kelbert, A.; Rigler, E. J.; Bedrosian, P.; Love, J. J.

    2017-12-01

    Development of realistic storm scenarios that can be played through the exposed systems is one of the key requirements for carrying out quantitative space weather hazards assessments. In the geomagnetically induced currents (GIC) and power grids context, these scenarios have to quantify the spatiotemporal evolution of the geoelectric field that drives the potentially hazardous currents in the system. In response to the Federal Energy Regulatory Commission (FERC) order 779, a team of scientists and engineers that worked under the auspices of North American Electric Reliability Corporation (NERC), has developed extreme geomagnetic storm and geoelectric field benchmark(s) that use various scaling factors that account for geomagnetic latitude and ground structure of the locations of interest. These benchmarks, together with the information generated in the National Space Weather Action Plan, are the foundation for the hazards assessments that the industry will be carrying out in response to the FERC order and under the auspices of the National Science and Technology Council. While the scaling factors developed in the past work were based on the best available information, there is now significant new information available for parts of the U.S. pertaining to the ground response to external geomagnetic field excitation. The significant new information includes the results magnetotelluric surveys that have been conducted over the past few years across the contiguous US and results from previous surveys that have been made available in a combined online database. In this paper, we distill this new information in the framework of the NERC benchmark and in terms of updated ground response scaling factors thereby allowing straightforward utilization in the hazard assessments. We also outline the path forward for improving the overall extreme event benchmark scenario(s) including generalization of the storm waveforms and geoelectric field spatial patterns.

  5. Probabilistic seismic assessment of base-isolated NPPs subjected to strong ground motions of Tohoku earthquake

    Energy Technology Data Exchange (ETDEWEB)

    Ali, Ahmer; Hayah, Nadin Abu; Kim, Doo Kie [Dept. of Civil and Environmental Engineering, Kunsan National University, Kunsan (Korea, Republic of); Cho, Sung Gook [R and D Center, JACE KOREA Company, Gyeonggido (Korea, Republic of)

    2014-10-15

    The probabilistic seismic performance of a standard Korean nuclear power plant (NPP) with an idealized isolation is investigated in the present work. A probabilistic seismic hazard analysis (PSHA) of the Wolsong site on the Korean peninsula is performed by considering peak ground acceleration (PGA) as an earthquake intensity measure. A procedure is reported on the categorization and selection of two sets of ground motions of the Tohoku earthquake, i.e. long-period and common as Set A and Set B respectively, for the nonlinear time history response analysis of the base-isolated NPP. Limit state values as multiples of the displacement responses of the NPP base isolation are considered for the fragility estimation. The seismic risk of the NPP is further assessed by incorporation of the rate of frequency exceedance and conditional failure probability curves. Furthermore, this framework attempts to show the unacceptable performance of the isolated NPP in terms of the probabilistic distribution and annual probability of limit states. The comparative results for long and common ground motions are discussed to contribute to the future safety of nuclear facilities against drastic events like Tohoku.

  6. Determination of arsenic and health risk assessment in the ground water of sindh, pakistan

    International Nuclear Information System (INIS)

    Bhatti, Z.A.; Qureshi, K.; Bhatti, I.; Unar, I.N.; Khuhawar, Y.

    2017-01-01

    As (Arsenic) is one of the lethal element present at the various locations of the world, putting human beings in danger by polluting the water. Arsenic Kit and atomic absorption spectrometer were used to determine As in ground water of Sindh province, Pakistan. Twenty-Four (24) districts both on the left and right bank of RI (River Indus) were analyzed. It was observed from the results that highest As concentration 200 ppb (parts per billion) i.e. above the WHO (World Health Organization) limit (10 ppb) was observed in Sakrand, district Shaheed Benazirabad followed by Hala, Matairi, TMK (Tando Mohammad Khan) and Nasarpur regions. It was further found that ground water of regions on the left bank of RIwas more contaminated than the right bank. Contour map was created using OriginPro and coordinate systems to highlight the elevated arsenic in the studied area. HRA (Health Risk Assessment) of these areas was carried out to calculate EDI (Estimated Daily Intake), TQH (Target Hazard Quotient) and CR (Cancer Risk). 45% of the total ground water samples analyzed were above the permissible limit for As in water and mostly these are located on the left bank of RI. The local wells in Sindh have never been tested for metal concentration former to use. These results provide baselines for researchers, NGO's (Non-Governmental Organizations) and government to apply arsenic treatment technologies in those areas. (author)

  7. PROBABILISTIC SEISMIC ASSESSMENT OF BASE-ISOLATED NPPS SUBJECTED TO STRONG GROUND MOTIONS OF TOHOKU EARTHQUAKE

    Directory of Open Access Journals (Sweden)

    AHMER ALI

    2014-10-01

    Full Text Available The probabilistic seismic performance of a standard Korean nuclear power plant (NPP with an idealized isolation is investigated in the present work. A probabilistic seismic hazard analysis (PSHA of the Wolsong site on the Korean peninsula is performed by considering peak ground acceleration (PGA as an earthquake intensity measure. A procedure is reported on the categorization and selection of two sets of ground motions of the Tohoku earthquake, i.e. long-period and common as Set A and Set B respectively, for the nonlinear time history response analysis of the base-isolated NPP. Limit state values as multiples of the displacement responses of the NPP base isolation are considered for the fragility estimation. The seismic risk of the NPP is further assessed by incorporation of the rate of frequency exceedance and conditional failure probability curves. Furthermore, this framework attempts to show the unacceptable performance of the isolated NPP in terms of the probabilistic distribution and annual probability of limit states. The comparative results for long and common ground motions are discussed to contribute to the future safety of nuclear facilities against drastic events like Tohoku.

  8. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Grand Junction, Colorado

    Energy Technology Data Exchange (ETDEWEB)

    1994-06-01

    This Baseline Risk Assessment of Ground Water Contamination at the Uranium Mill Tailings Site Near Grand Junction, Colorado evaluates potential impacts to public health or the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in an off-site disposal cell by the US Department of Energy`s (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project. The remedial activities at the site were conducted from 1989 to 1993. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment is the first document specific to this site for the Ground Water Project. This risk assessment evaluates the most contaminated ground water that flows beneath the processing site toward the Colorado River. The monitor wells that have consistently shown the highest concentrations of most contaminants are used to assess risk. This risk assessment will be used in conjunction with additional activities and documents to determine what remedial action may be needed for contaminated ground water at the site. This risk assessment follows an approach outlined by the EPA. the first step is to evaluate ground water data collected from monitor wells at the site. Evaluation of these data showed that the contaminants of potential concern in the ground water are arsenic, cadmium, cobalt, fluoride, iron, manganese, molybdenum, nickel, sulfate, uranium, vanadium, zinc, and radium-226. The next step in the risk assessment is to estimate how much of these contaminants people would be exposed to if they drank from a well installed in the contaminated ground water at the former processing site.

  9. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Grand Junction, Colorado

    International Nuclear Information System (INIS)

    1994-06-01

    This Baseline Risk Assessment of Ground Water Contamination at the Uranium Mill Tailings Site Near Grand Junction, Colorado evaluates potential impacts to public health or the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in an off-site disposal cell by the US Department of Energy's (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project. The remedial activities at the site were conducted from 1989 to 1993. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment is the first document specific to this site for the Ground Water Project. This risk assessment evaluates the most contaminated ground water that flows beneath the processing site toward the Colorado River. The monitor wells that have consistently shown the highest concentrations of most contaminants are used to assess risk. This risk assessment will be used in conjunction with additional activities and documents to determine what remedial action may be needed for contaminated ground water at the site. This risk assessment follows an approach outlined by the EPA. the first step is to evaluate ground water data collected from monitor wells at the site. Evaluation of these data showed that the contaminants of potential concern in the ground water are arsenic, cadmium, cobalt, fluoride, iron, manganese, molybdenum, nickel, sulfate, uranium, vanadium, zinc, and radium-226. The next step in the risk assessment is to estimate how much of these contaminants people would be exposed to if they drank from a well installed in the contaminated ground water at the former processing site

  10. Baseline risk assessment of ground water contamination at the inactive uraniferous lignite ashing site near Bowman, North Dakota

    International Nuclear Information System (INIS)

    1994-11-01

    This baseline risk assessment of ground water contamination at the inactive uraniferous lignite ashing site near Bowman, North Dakota, evaluates the potential impacts to public health or the environment from contaminated ground water at this site. This contamination is a result of the uraniferous lignite ashing process, when coal containing uranium was burned to produce uranium. Potential risk is quantified only for constituents introduced by the processing activities and not for the constituents naturally occurring in background ground water in the site vicinity. Background ground water, separate from any site-related contamination, imposes a percentage of the overall risk from ground water ingestion in the Bowman site vicinity. The US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project is developing plans to address soil and ground water contamination at the site. The UMTRA Surface Project involves the determination of the extent of soil contamination and design of an engineered disposal cell for long-term storage of contaminated materials. The UMTRA Ground Water Project evaluates ground water contamination. Based on results from future site monitoring activities as defined in the site observational work plan and results from this risk assessment, the DOE will propose an approach for managing contaminated ground water at the Bowman site

  11. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Green River, Utah. Revision 1

    International Nuclear Information System (INIS)

    1995-09-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (phase 1) and the Ground Water Project (phase 2). For the UMTRA Project site located near Green River, Utah, the Surface Project cleanup occurred from 1988 to 1989. The tailings and radioactively contaminated soils and materials were removed from their original locations and placed into a disposal cell on the site. The disposal cell is designed to minimize radiation emissions and minimize further contamination of ground water beneath the site. The UMTRA Project's second phase, the Ground Water Project, evaluates the nature and extent of ground water contamination resulting from uranium processing and determines a strategy for ground water compliance with the Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. For the Green River site, the risk assessment helps determine whether human health risks result from exposure to ground water contaminated by uranium processing. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Green River site. What follows is an evaluation of current and possible future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will be used to determine what is necessary, if anything, to protect human health and the environment while complying with EPA standards

  12. Baseline risk assessment of ground water contamination at the inactive uraniferous lignite ashing site near Bowman, North Dakota

    Energy Technology Data Exchange (ETDEWEB)

    1994-11-01

    This baseline risk assessment of ground water contamination at the inactive uraniferous lignite ashing site near Bowman, North Dakota, evaluates the potential impacts to public health or the environment from contaminated ground water at this site. This contamination is a result of the uraniferous lignite ashing process, when coal containing uranium was burned to produce uranium. Potential risk is quantified only for constituents introduced by the processing activities and not for the constituents naturally occurring in background ground water in the site vicinity. Background ground water, separate from any site-related contamination, imposes a percentage of the overall risk from ground water ingestion in the Bowman site vicinity. The US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project is developing plans to address soil and ground water contamination at the site. The UMTRA Surface Project involves the determination of the extent of soil contamination and design of an engineered disposal cell for long-term storage of contaminated materials. The UMTRA Ground Water Project evaluates ground water contamination. Based on results from future site monitoring activities as defined in the site observational work plan and results from this risk assessment, the DOE will propose an approach for managing contaminated ground water at the Bowman site.

  13. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Green River, Utah. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-09-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (phase 1) and the Ground Water Project (phase 2). For the UMTRA Project site located near Green River, Utah, the Surface Project cleanup occurred from 1988 to 1989. The tailings and radioactively contaminated soils and materials were removed from their original locations and placed into a disposal cell on the site. The disposal cell is designed to minimize radiation emissions and minimize further contamination of ground water beneath the site. The UMTRA Project`s second phase, the Ground Water Project, evaluates the nature and extent of ground water contamination resulting from uranium processing and determines a strategy for ground water compliance with the Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. For the Green River site, the risk assessment helps determine whether human health risks result from exposure to ground water contaminated by uranium processing. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Green River site. What follows is an evaluation of current and possible future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will be used to determine what is necessary, if anything, to protect human health and the environment while complying with EPA standards.

  14. Performance Assessment Monitoring Plan for the Hanford Site Low-Level Burial Grounds

    Energy Technology Data Exchange (ETDEWEB)

    None

    2006-03-30

    The U.S. Department of Energy Order 435.1, Radioactive Waste Management, requires a disposal authorization statement authorizing operation (or continued operation) for low-level waste disposal facilities. In fulfillment of these requirements, a disposal authorization statement was issued on October 25, 1999, authorizing the Hanford Site to transfer, receive, possess, and dispose of low-level radioactive waste at the 200 East Area burial grounds and the 200 West Area burial grounds. One of the conditions is that monitoring plans for the 200 East Area and 200 West Area low-level burial grounds be written and approved by the Richland Operations Office. As a result of a record of decision for the Hanford Site Solid Waste Program and acceptance of the Hanford Site Solid Waste Environmental Impact Statement, the use of the low-level burial ground (LLBG) as a disposal facility for low-level and mixed low-level wastes has been restricted to lined trenches and the Navy reactor-compartment trench only. Hence, as of July 2004, only the two lined trenches in burial ground 218-W-5 (trenches 31 and 34, see Appendix A) and the Navy reactor-compartment trench in burial ground 218 E 12B (trench 94) are allowed to receive waste. When the two lined trenches are filled, the LLBG will cease to operate except for reactor compartment disposal at trench 94. Remaining operational lifetime of the LLBG is dependent on waste volume disposal rates. Existing programs for air sampling and analyses and subsidence monitoring are currently adequate for performance assessment at the LLBG. The waste disposal authorization for the Hanford Site is based (in part) on the post-closure performance assessments for the LLBG. In order to maintain a useful link between operational monitoring (e.g., Resource Conservation and Recovery Act [RCRA], Comprehensive Environmental Response, Compensation, and Liability Act, and State Waste Discharge Permits), constituents, monitoring frequencies, and boundaries require

  15. Performance Assessment Monitoring Plan for the Hanford Site Low-Level Burial Grounds

    International Nuclear Information System (INIS)

    2006-01-01

    The U.S. Department of Energy Order 435.1, Radioactive Waste Management, requires a disposal authorization statement authorizing operation (or continued operation) for low-level waste disposal facilities. In fulfillment of these requirements, a disposal authorization statement was issued on October 25, 1999, authorizing the Hanford Site to transfer, receive, possess, and dispose of low-level radioactive waste at the 200 East Area burial grounds and the 200 West Area burial grounds. One of the conditions is that monitoring plans for the 200 East Area and 200 West Area low-level burial grounds be written and approved by the Richland Operations Office. As a result of a record of decision for the Hanford Site Solid Waste Program and acceptance of the Hanford Site Solid Waste Environmental Impact Statement, the use of the low-level burial ground (LLBG) as a disposal facility for low-level and mixed low-level wastes has been restricted to lined trenches and the Navy reactor-compartment trench only. Hence, as of July 2004, only the two lined trenches in burial ground 218-W-5 (trenches 31 and 34, see Appendix A) and the Navy reactor-compartment trench in burial ground 218 E 12B (trench 94) are allowed to receive waste. When the two lined trenches are filled, the LLBG will cease to operate except for reactor compartment disposal at trench 94. Remaining operational lifetime of the LLBG is dependent on waste volume disposal rates. Existing programs for air sampling and analyses and subsidence monitoring are currently adequate for performance assessment at the LLBG. The waste disposal authorization for the Hanford Site is based (in part) on the post-closure performance assessments for the LLBG. In order to maintain a useful link between operational monitoring (e.g., Resource Conservation and Recovery Act [RCRA], Comprehensive Environmental Response, Compensation, and Liability Act, and State Waste Discharge Permits), constituents, monitoring frequencies, and boundaries require

  16. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  17. 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 ...

  18. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  19. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site at Grand Junction, Colorado. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    1994-09-01

    This risk assessment evaluates potential impacts to public health or the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in an off-site disposal cell by the US Department of Energy`s (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project. The remedial activities at the site were conducted from 1989 to 1993. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment evaluates the most contaminated ground water that flows beneath the processing site toward the Colorado River. The monitor wells that have consistently shown the highest concentrations of most contaminants are used to assess risk. This risk assessment will be used in conjunction with additional activities and documents to determine what remedial action may be needed for contaminated ground water at the site.

  20. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site at Grand Junction, Colorado. Revision 1

    International Nuclear Information System (INIS)

    1994-09-01

    This risk assessment evaluates potential impacts to public health or the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in an off-site disposal cell by the US Department of Energy's (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project. The remedial activities at the site were conducted from 1989 to 1993. Currently, the UMTRA Project is evaluating ground water contamination. This risk assessment evaluates the most contaminated ground water that flows beneath the processing site toward the Colorado River. The monitor wells that have consistently shown the highest concentrations of most contaminants are used to assess risk. This risk assessment will be used in conjunction with additional activities and documents to determine what remedial action may be needed for contaminated ground water at the site

  1. Usability Assessment of Two Different Control Modes for the Master Console of a Laparoscopic Surgical Robot

    Directory of Open Access Journals (Sweden)

    Xiaoli Zhang

    2012-01-01

    Full Text Available The objective of this study is to evaluate potential interface control modes for a compact four-degree-of-freedom (4-DOF surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1 a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation, and (2 an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5 successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15. The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.

  2. Baseline risk assessment of ground water contamination at the uranium mill tailings sites near Slick Rock, Colorado

    International Nuclear Information System (INIS)

    1994-11-01

    This baseline risk assessment of ground water contamination at the uranium mill tailings sites near Slick Rock, Colorado, evaluates potential public health and environmental impacts resulting from ground water contamination at the former North Continent (NC) and Union Carbide (UC) uranium mill processing sites. The tailings at these sites will be placed in a disposal cell at the proposed Burro Canyon, Colorado, site. The US Department of Energy (DOE) anticipates the start of the first phase remedial action by the spring of 1995 under the direction of the DOE's Uranium Mill Tailings Remedial Action (UMTRA) Project. The second phase of the UMTRA Project will evaluate ground water contamination. This baseline risk assessment is the first site-specific document for these sites under the Ground Water Project. It will help determine the compliance strategy for contaminated ground water at the site. In addition, surface water and sediment are qualitatively evaluated in this report

  3. Baseline risk assessment of ground water contamination at the uranium mill tailings sites near Slick Rock, Colorado

    Energy Technology Data Exchange (ETDEWEB)

    1994-11-01

    This baseline risk assessment of ground water contamination at the uranium mill tailings sites near Slick Rock, Colorado, evaluates potential public health and environmental impacts resulting from ground water contamination at the former North Continent (NC) and Union Carbide (UC) uranium mill processing sites. The tailings at these sites will be placed in a disposal cell at the proposed Burro Canyon, Colorado, site. The US Department of Energy (DOE) anticipates the start of the first phase remedial action by the spring of 1995 under the direction of the DOE`s Uranium Mill Tailings Remedial Action (UMTRA) Project. The second phase of the UMTRA Project will evaluate ground water contamination. This baseline risk assessment is the first site-specific document for these sites under the Ground Water Project. It will help determine the compliance strategy for contaminated ground water at the site. In addition, surface water and sediment are qualitatively evaluated in this report.

  4. Current state of micro-robots/devices as substitutes for screening colonoscopy: assessment based on technology readiness levels.

    Science.gov (United States)

    Tapia-Siles, Silvia C; Coleman, Stuart; Cuschieri, Alfred

    2016-02-01

    Previous reports have described several candidates, which have the potential to replace colonoscopy, but to date, there is still no device capable of fully replacing flexible colonoscopy in the management of colonic disorders and for mass adult population screening for asymptomatic colorectal cancer. NASA developed the TRL methodology to describe and define the stages of development before use and marketing of any device. The definitions of the TRLS used in the present review are those formulated by "The US Department of Defense Technology Readiness Assessment Guidance" but adapted to micro-robots for colonoscopy. All the devices included are reported in scientific literature. They were identified by a systematic search in Web of Science, PubMed and IEEE Xplore amongst other sources. Devices that clearly lack the potential for full replacement of flexible colonoscopy were excluded. The technological salient features of all the devices included for assessment are described briefly, with particular focus on device propulsion. The devices are classified according to the TRL criteria based on the reported information. An analysis is next undertaken of the characteristics and salient features of the devices included in the review: wireless/tethered devices, data storage-transmission and navigation, additional functionality, residual technology challenges and clinical and socio-economical needs. Few devices currently possess the required functionality and performance to replace the conventional colonoscopy. The requirements, including functionalities which favour the development of a micro-robot platform to replace colonoscopy, are highlighted.

  5. Evolution and Implementation of the NASA Robotic Conjunction Assessment Risk Analysis Concept of Operations

    Science.gov (United States)

    Newman, L.; Hejduk, M.; Frigm, R.; Duncan, M.

    2014-09-01

    On-orbit collisions pose a significant mission risk to satellites operating in the space environment. Recognizing the likelihood and consequence of on-orbit collisions, NASA has taken several proactive measures to mitigate the risk of both a catastrophic loss of mission and the increase in the space debris population. In fall 2004, NASA GSFC established an Agency-wide, institutionalized process and service for identifying and reacting to predicted close approaches. The team responsible for executing this mission is the NASA Robotic Conjunction Assessment Risk Analysis (CARA) team. By fall 2005, this process had resulted in the execution of the first collision avoidance maneuver by a NASA unmanned satellite. In February 2008, NASA adopted a policy, documented in NASA Procedural Requirement 8715.6a Process for Limiting Orbital Debris that directed maneuverable satellites to have such an on-orbit collision mitigation process. In 2009, NASA decided to require support for all operational satellites. By January 2014, the CARA team has processed nearly 500,000 close approach messages from the Joint Space Operations Center (JSpOC) and has assisted our mission customers with planning and executing over 75 collision avoidance maneuvers for unmanned satellites in LEO, GEO, and HEO orbital regimes. With the increase in number of operational missions supported; growth in the orbital debris environment due to events such as the intentional destruction of the Fengyun 1-C satellite in 2007 and collision between Iridium-33 and Cosmos-2251; and improvements to the United States Space Surveillance Network (SSN) and its ability to track, catalog, and screen against small debris objects, the demands on the CARA process have consequently required the CARA Concept of Operations (CONOPS) to evolve to manage those demands. This evolution is centered on the ability to effectively and efficiently manage JSpOC, CARA, and Mission Operations resources, applying operational and analytical

  6. A Method for Assessing Ground-Truth Accuracy of the 5DCT Technique

    Energy Technology Data Exchange (ETDEWEB)

    Dou, Tai H., E-mail: tdou@mednet.ucla.edu; Thomas, David H.; O' Connell, Dylan P.; Lamb, James M.; Lee, Percy; Low, Daniel A.

    2015-11-15

    Purpose: To develop a technique that assesses the accuracy of the breathing phase-specific volume image generation process by patient-specific breathing motion model using the original free-breathing computed tomographic (CT) scans as ground truths. Methods: Sixteen lung cancer patients underwent a previously published protocol in which 25 free-breathing fast helical CT scans were acquired with a simultaneous breathing surrogate. A patient-specific motion model was constructed based on the tissue displacements determined by a state-of-the-art deformable image registration. The first image was arbitrarily selected as the reference image. The motion model was used, along with the free-breathing phase information of the original 25 image datasets, to generate a set of deformation vector fields that mapped the reference image to the 24 nonreference images. The high-pitch helically acquired original scans served as ground truths because they captured the instantaneous tissue positions during free breathing. Image similarity between the simulated and the original scans was assessed using deformable registration that evaluated the pointwise discordance throughout the lungs. Results: Qualitative comparisons using image overlays showed excellent agreement between the simulated images and the original images. Even large 2-cm diaphragm displacements were very well modeled, as was sliding motion across the lung–chest wall boundary. The mean error across the patient cohort was 1.15 ± 0.37 mm, and the mean 95th percentile error was 2.47 ± 0.78 mm. Conclusion: The proposed ground truth–based technique provided voxel-by-voxel accuracy analysis that could identify organ-specific or tumor-specific motion modeling errors for treatment planning. Despite a large variety of breathing patterns and lung deformations during the free-breathing scanning session, the 5-dimensionl CT technique was able to accurately reproduce the original helical CT scans, suggesting its

  7. Site Effect Assessment of Earthquake Ground Motion Based on Advanced Data Processing of Microtremor Array Measurements

    Science.gov (United States)

    Liu, L.; He, K.; Mehl, R.; Wang, W.; Chen, Q.

    2008-12-01

    High-resolution near-surface geologic information is essential for earthquake ground motion prediction. The near-surface geology forms the critical constituent to influence seismic wave propagation, which is known as the local site effects. We have collected microtremor data over 1000 sites in Beijing area for extracting the much needed earthquake engineering parameters (primarily sediment thickness, with the shear wave velocity profiling at a few important control points) in this heavily populated urban area. Advanced data processing algorithms are employed in various stages in assessing the local site effect on earthquake ground motion. First, we used the empirical mode decomposition (EMD), also known as the Hilbert-Huang transform (HHT), to enhance the microtremor data analysis by excluding the local transients and continuous monochromic industrial noises. With this enhancement we have significantly increased the number of data points to be useful in delineating sediment thickness in this area. Second, we have used the cross-correlation of microtremor data acquired for the pairs of two adjacent sites to generate a 'pseudo-reflection' record, which can be treated as the Green function of the 1D layered earth model at the site. The sediment thickness information obtained this way is also consistent with the results obtained by the horizontal to vertical spectral ratio method (HVSR). For most sites in this area, we can achieve 'self consistent' results among different processing skechems regarding to the sediment thickness - the fundamental information to be used in assessing the local site effect. Finally, the pseudo-spectral time domain method was used to simulate the seismic wave propagation caused by a scenario earthquake in this area - the 1679 M8 Sanhe-pinggu earthquake. The characteristics of the simulated earthquake ground motion have found a general correlation with the thickness of the sediments in this area. And more importantly, it is also in agreement

  8. Forelimb and hindlimb ground reaction forces of walking cats: assessment and comparison with walking dogs.

    Science.gov (United States)

    Corbee, R J; Maas, H; Doornenbal, A; Hazewinkel, H A W

    2014-10-01

    The primary aim of this study was to assess the potential of force plate analysis for describing the stride cycle of the cat. The secondary aim was to define differences in feline and canine locomotion based on force plate characteristics. Ground reaction forces of 24 healthy cats were measured and compared with ground reaction forces of 24 healthy dogs. Force-time waveforms in cats generated by force plate analysis were consistent, as reflected by intra-class correlation coefficients for peak vertical force, peak propulsive force and peak braking force (0.94-0.95, 0.85-0.89 and 0.89-0.90, respectively). Compared with dogs, cats had a higher peak vertical force during the propulsion phase (cat, 3.89 ± 0.19 N/kg; dog, 3.03 ± 0.16 N/kg), and a higher hindlimb propulsive force (cat, -1.08 ± 0.13 N/kg; dog, (-0.87 ± 0.13 N/kg) and hindlimb impulse (cat, -0.18 ± 0.03 N/kg; dog, -0.14 ± 0.02 N/kg). Force plate analysis is a valuable tool for the assessment of locomotion in cats, because it can be applied in the clinical setting and provides a non-invasive and objective measurement of locomotion characteristics with high repeatability in cats, as well as information about kinetic characteristics. Differences in force-time waveforms between cats and dogs can be explained by the more crouched position of cats during stance and their more compliant gait compared with dogs. Feline waveforms of the medio-lateral ground reaction forces also differ between cats and dogs and this can be explained by differences in paw supination-pronation. Copyright © 2014 Elsevier Ltd. All rights reserved.

  9. A Method for Assessing Ground-Truth Accuracy of the 5DCT Technique

    International Nuclear Information System (INIS)

    Dou, Tai H.; Thomas, David H.; O'Connell, Dylan P.; Lamb, James M.; Lee, Percy; Low, Daniel A.

    2015-01-01

    Purpose: To develop a technique that assesses the accuracy of the breathing phase-specific volume image generation process by patient-specific breathing motion model using the original free-breathing computed tomographic (CT) scans as ground truths. Methods: Sixteen lung cancer patients underwent a previously published protocol in which 25 free-breathing fast helical CT scans were acquired with a simultaneous breathing surrogate. A patient-specific motion model was constructed based on the tissue displacements determined by a state-of-the-art deformable image registration. The first image was arbitrarily selected as the reference image. The motion model was used, along with the free-breathing phase information of the original 25 image datasets, to generate a set of deformation vector fields that mapped the reference image to the 24 nonreference images. The high-pitch helically acquired original scans served as ground truths because they captured the instantaneous tissue positions during free breathing. Image similarity between the simulated and the original scans was assessed using deformable registration that evaluated the pointwise discordance throughout the lungs. Results: Qualitative comparisons using image overlays showed excellent agreement between the simulated images and the original images. Even large 2-cm diaphragm displacements were very well modeled, as was sliding motion across the lung–chest wall boundary. The mean error across the patient cohort was 1.15 ± 0.37 mm, and the mean 95th percentile error was 2.47 ± 0.78 mm. Conclusion: The proposed ground truth–based technique provided voxel-by-voxel accuracy analysis that could identify organ-specific or tumor-specific motion modeling errors for treatment planning. Despite a large variety of breathing patterns and lung deformations during the free-breathing scanning session, the 5-dimensionl CT technique was able to accurately reproduce the original helical CT scans, suggesting its

  10. Assessment of changes in gait parameters and vertical ground reaction forces after total hip arthroplasty

    Directory of Open Access Journals (Sweden)

    Bhargava P

    2007-01-01

    Full Text Available The principal objectives of arthroplasty are relief of pain and enhancement of range of motion. Currently, postoperative pain and functional capacity are assessed largely on the basis of subjective evaluation scores. Because of the lack of control inherent in this method it is often difficult to interpret data presented by different observers in the critical evaluation of surgical method, new components and modes of rehabilitation. Gait analysis is a rapid, simple and reliable method to assess functional outcome. This study was undertaken in an effort to evaluate the gait characteristics of patients who underwent arthroplasty, using an Ultraflex gait analyzer. Materials and Methods: The study was based on the assessment of gait and weight-bearing pattern of both hips in patients who underwent total hip replacement and its comparison with an age and sex-matched control group. Twenty subjects of total arthroplasty group having unilateral involvement, operated by posterior approach at our institution with a minimum six-month postoperative period were selected. Control group was age and sex-matched, randomly selected from the general population. Gait analysis was done using Ultraflex gait analyzer. Gait parameters and vertical ground reaction forces assessment was done by measuring the gait cycle properties, step time parameters and VGRF variables. Data of affected limb was compared with unaffected limb as well as control group to assess the weight-bearing pattern. Statistical analysis was done by′t′ test. Results: Frequency is reduced and gait cycle duration increased in total arthroplasty group as compared with control. Step time parameters including Step time, Stance time and Single support time are significantly reduced ( P value < .05 while Double support time and Single swing time are significantly increased ( P value < .05 in the THR group. Forces over each sensor are increased more on the unaffected limb of the THR group as compared to

  11. Spin Is Common in Studies Assessing Robotic Colorectal Surgery: An Assessment of Reporting and Interpretation of Study Results.

    Science.gov (United States)

    Patel, Sunil V; Van Koughnett, Julie Ann M; Howe, Brett; Wexner, Steven D

    2015-09-01

    Spin has been defined previously as "specific reporting that could distort the interpretation of results and mislead readers." The purpose of this study was to determine the frequency and extent of misrepresentation of results in robotic colorectal surgery. Publications referenced in MEDLINE or EMBASE between 1992 and 2014 were included in this study. Studies comparing robotic colorectal surgery with other techniques with a nonsignificant difference in the primary outcome(s) were included. Interventions included robotic versus alternative techniques. Frequency, strategy, and extent of spin, as previously defined, were the main outcome measures : A total of 38 studies (including 24,303 patients) were identified for inclusion in this study. Evidence of spin was found in 82% of studies. The most common form of spin was concluding equivalence between surgical techniques based on nonsignificant differences (76% of abstracts and 71% of conclusions). Claiming improved benefits, despite nonsignificance, was also commonly observed (26% of abstracts and 45% of conclusions). Because of the small sample size, we did not find evidence of an association between spin and study design, type of funding, publication year, or study size. Acknowledging the equivocal nature of the study happened rarely (47% of abstracts and 34% of conclusions). The absence of spin predicted whether authors acknowledged equivocal results (p = 0.02). A total of 50% of studies did not disclose whether they received funding, whereas 39% of studies failed to state whether a conflict of interest existed. A limited number of randomized controlled trials were available. Spin occurred in >80% of included studies. Many studies concluded that robotic surgery was as safe as more traditional techniques, despite small sample sizes and limited follow-up. Authors often failed to recognize the difference between nonsignificance and equivalence. Failure to disclose financial relationships, which could represent

  12. Nutritional status assessment in semiclosed environments: ground-based and space flight studies in humans

    Science.gov (United States)

    Smith, S. M.; Davis-Street, J. E.; Rice, B. L.; Nillen, J. L.; Gillman, P. L.; Block, G.

    2001-01-01

    Adequate nutrition is critical during long-term spaceflight, as is the ability to easily monitor dietary intake. A comprehensive nutritional status assessment profile was designed for use before, during and after flight. It included assessment of both dietary intake and biochemical markers of nutritional status. A spaceflight food-frequency questionnaire (FFQ) was developed to evaluate intake of key nutrients during spaceflight. The nutritional status assessment protocol was evaluated during two ground-based closed-chamber studies (60 and 91 d; n = 4/study), and was implemented for two astronauts during 4-mo stays on the Mir space station. Ground-based studies indicated that the FFQ, administered daily or weekly, adequately estimated intake of key nutrients. Chamber subjects maintained prechamber energy intake and body weight. Astronauts tended to eat 40--50% of WHO-predicted energy requirements, and lost >10% of preflight body mass. Serum ferritin levels were lower after the chamber stays, despite adequate iron intake. Red blood cell folate concentrations were increased after the chamber studies. Vitamin D stores were decreased by > 40% on chamber egress and after spaceflight. Mir crew members had decreased levels of most nutritional indices, but these are difficult to interpret given the insufficient energy intake and loss of body mass. Spaceflight food systems can provide adequate intake of macronutrients, although, as expected, micronutrient intake is a concern for any closed or semiclosed food system. These data demonstrate the utility and importance of nutritional status assessment during spaceflight and of the FFQ during extended-duration spaceflight.

  13. Application of Grounded Theory in Determining Required Elements for IPv6 Risk Assessment Equation

    Directory of Open Access Journals (Sweden)

    Rosli Athirah

    2018-01-01

    Full Text Available The deployment of Internet Protocol version 6 (IPv6 has raised security concerns among the network administrators. Thus, in strengthening the network security, administrator requires an appropriate method to assess the possible risks that occur in their networks. Aware of the needs to calculate risk in IPv6 network, it is essential to an organization to have an equation that is flexible and consider the requirements of the network. However, the existing risk assessment equations do not consider the requirement of the network. Therefore, this paper presents the adaptation of grounded theory to search for elements that are needed to develop IPv6 risk assessment (IRA6 equation. The attack scenarios’ experiments; UDP Flooding, TCP Flooding and Multicast attacks were carried out in different network environment to show how the IPv6 risk assessment equation being used. The result shows that the IRA6 equation is more flexible to be used regardless the network sizes and easier to calculate the risk value compared to the existing risk assessment equations. Hence, network administrators can have a proper decision making and strategic planning for a robust network security.

  14. Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

    Directory of Open Access Journals (Sweden)

    Max Schwarz

    2016-10-01

    Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

  15. Combining satellite, aerial and ground measurements to assess forest carbon stocks in Democratic Republic of Congo

    Science.gov (United States)

    Beaumont, Benjamin; Bouvy, Alban; Stephenne, Nathalie; Mathoux, Pierre; Bastin, Jean-François; Baudot, Yves; Akkermans, Tom

    2015-04-01

    Monitoring tropical forest carbon stocks changes has been a rising topic in the recent years as a result of REDD+ mechanisms negotiations. Such monitoring will be mandatory for each project/country willing to benefit from these financial incentives in the future. Aerial and satellite remote sensing technologies offer cost advantages in implementing large scale forest inventories. Despite the recent progress made in the use of airborne LiDAR for carbon stocks estimation, no widely operational and cost effective method has yet been delivered for central Africa forest monitoring. Within the Maï Ndombe region of Democratic Republic of Congo, the EO4REDD project develops a method combining satellite, aerial and ground measurements. This combination is done in three steps: [1] mapping and quantifying forest cover changes using an object-based semi-automatic change detection (deforestation and forest degradation) methodology based on very high resolution satellite imagery (RapidEye), [2] developing an allometric linear model for above ground biomass measurements based on dendrometric parameters (tree crown areas and heights) extracted from airborne stereoscopic image pairs and calibrated using ground measurements of individual trees on a data set of 18 one hectare plots and [3] relating these two products to assess carbon stocks changes at a regional scale. Given the high accuracies obtained in [1] (> 80% for deforestation and 77% for forest degradation) and the suitable, but still to be improved with a larger calibrating sample, model (R² of 0.7) obtained in [2], EO4REDD products can be seen as a valid and replicable option for carbon stocks monitoring in tropical forests. Further improvements are planned to strengthen the cost effectiveness value and the REDD+ suitability in the second phase of EO4REDD. This second phase will include [A] specific model developments per forest type; [B] measurements of afforestation, reforestation and natural regeneration processes and

  16. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Durango, Colorado. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-09-01

    For the UMTRA Project site located near Durango, Colorado (the Durango site), the Surface Project cleanup occurred from 1986 to 1991. An evaluation was made to determine whether exposure to ground water contaminated by uranium processing could affect people`s health. Exposure could occur from drinking water pumped from a hypothetical well drilled in the contaminated ground water area. In addition, environmental risks may result if plants or animals are exposed to contaminated ground water, or surface water that has mixed with contaminated ground water. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Durango site. The results of this report and further site characterization of the Durango site will be used to determine what is necessary to protect public health and the environment, and to comply with the EPA standards.

  17. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Durango, Colorado. Revision 1

    International Nuclear Information System (INIS)

    1995-09-01

    For the UMTRA Project site located near Durango, Colorado (the Durango site), the Surface Project cleanup occurred from 1986 to 1991. An evaluation was made to determine whether exposure to ground water contaminated by uranium processing could affect people's health. Exposure could occur from drinking water pumped from a hypothetical well drilled in the contaminated ground water area. In addition, environmental risks may result if plants or animals are exposed to contaminated ground water, or surface water that has mixed with contaminated ground water. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Durango site. The results of this report and further site characterization of the Durango site will be used to determine what is necessary to protect public health and the environment, and to comply with the EPA standards

  18. TRL Assessment of Solar Sail Technology Development Following the 20-Meter System Ground Demonstrator Hardware Testing

    Science.gov (United States)

    Young, Roy M.; Adams, Charles L.

    2010-01-01

    The NASA In-Space Propulsion Technology (ISPT) Projects Office sponsored two separate, independent solar sail system design and development demonstration activities during 2002-2005. ATK Space Systems of Goleta, CA was the prime contractor for one development team and L' Garde, Inc. of Tustin, CA was the prime contractor for the other development team. The goal of these activities was to advance the technology readiness level (TRL) of solar sail propulsion from 3 towards 6 by the year 2006. Component and subsystem fabrication and testing were completed successfully, including the ground deployment of 10-meter and 20-meter demonstration hardware systems under vacuum conditions. The deployment and structural testing of the 20-meter solar sail systems was conducted in the 30 meter diameter Space Power Facility thermal-vacuum chamber at NASA Glenn Plum Brook in April though August, 2005. This paper will present the results of the TRL assessment following the solar sail technology development activities associated with the design, development, analysis and testing of the 20-meter system ground demonstrators.

  19. A code MOGRA for predicting and assessing the migration of ground additions

    International Nuclear Information System (INIS)

    Amano, Hikaru; Atarashi-Andoh, Mariko; Uchida, Shigeo; Matsuoka, Syungo; Ikeda, Hiroshi; Hayashi, Hiroko; Kurosawa, Naohiro

    2004-01-01

    The environment should be protected from the toxic effects of not only ionizing radiation but also any other environmental load materials. A Code MOGRA (Migration Of GRound Additions) is a migration prediction code for toxic ground additions including radioactive materials in a terrestrial environment, which consists of computational codes that are applicable to various evaluation target systems, and can be used on personal computers for not only the purpose of the migration analysis but also the environmental assessment to livings of the environmental load materials. The functionality of MOGRA has been verified by applying it in the analyses of the migration rates of radioactive substances from the atmosphere to soils and plants and flow rates into the rivers. Migration of radionuclides in combinations of hypothetical various land utilization areas was also verified. The system can analyze the dynamic changes of target radionuclide's concentrations in each compartment, fluxes from one compartment to another compartment. The code MOGRA has varieties of databases, which is included in an additional code MOGRA-DB. This additional code MOGRA-DB consists of radionuclides decay chart, distribution coefficients between solid and liquid, transfer factors from soil to plant, transfer coefficients from feed to beef and milk, concentration factors, and age dependent dose conversion factors for many radionuclides. Another additional code MOGRA-MAP can take in graphic map such as JPEG, TIFF, BITMAP, and GIF files, and calculate the square measure of the target land. (author)

  20. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Naturita, Colorado. Revision 1

    International Nuclear Information System (INIS)

    1995-11-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project, and the Ground Water Project. For the UMTRA Project site located near Naturita, Colorado, phase I involves the removal of radioactively contaminated soils and materials and their transportation to a disposal site at Union Carbide Corporation's Upper Burbank Repository at Uravan, Colorado. The surface cleanup will reduce radon and other radiation emissions from the former uranium processing site and prevent further site-related contamination of ground water. Phase II of the project will evaluate the nature and extent of ground water contamination resulting from uranium processing and its effect on human health and the environment, and will determine site-specific ground water compliance strategies in accordance with the US Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. Human health risks could occur from drinking water pumped from a hypothetical well drilled in the contaminated ground water area. Environmental risks may result if plants or animals are exposed to contaminated ground water or surface water that has mixed with contaminated ground water. Therefore, a risk assessment was conducted for the Naturita site. This risk assessment report is the first site-specific document prepared for the Ground Water Project at the Naturita site. What follows is an evaluation of current and possible future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will be used to determine whether any action is needed to protect human health or the environment

  1. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Naturita, Colorado. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-11-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project, and the Ground Water Project. For the UMTRA Project site located near Naturita, Colorado, phase I involves the removal of radioactively contaminated soils and materials and their transportation to a disposal site at Union Carbide Corporation`s Upper Burbank Repository at Uravan, Colorado. The surface cleanup will reduce radon and other radiation emissions from the former uranium processing site and prevent further site-related contamination of ground water. Phase II of the project will evaluate the nature and extent of ground water contamination resulting from uranium processing and its effect on human health and the environment, and will determine site-specific ground water compliance strategies in accordance with the US Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. Human health risks could occur from drinking water pumped from a hypothetical well drilled in the contaminated ground water area. Environmental risks may result if plants or animals are exposed to contaminated ground water or surface water that has mixed with contaminated ground water. Therefore, a risk assessment was conducted for the Naturita site. This risk assessment report is the first site-specific document prepared for the Ground Water Project at the Naturita site. What follows is an evaluation of current and possible future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will be used to determine whether any action is needed to protect human health or the environment.

  2. Baseline risk assessment of ground water contamination at the Monument Valley uranium mill tailings site Cane Valley, Arizona

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-03-01

    The U.S. Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (Phase I) and the Ground Water Project (Phase II). Under the UMTRA Surface Project, tailings, radioactive contaminated soil, equipment, and materials associated with the former uranium ore processing at UMTRA Project sites are placed into disposal cells. The cells are designed to reduce radon and other radiation emissions and to minimize further contamination of ground water. Surface cleanup at the Monument Valley UMTRA Project site near Cane Valley, Arizona, was completed in 1994. The Ground Water Project evaluates the nature and extent of ground water contamination that resulted from the uranium ore processing activities. The Ground Water Project is in its beginning stages. Human health may be at risk from exposure to ground water contaminated by uranium ore processing. Exposure could occur by drinking water pumped out of a hypothetical well drilled in the contaminated areas. Adverse ecological and agricultural effects may also result from exposure to contaminated ground water. For example, livestock should not be watered with contaminated ground water. A risk assessment describes a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the ecological environment may be exposed, and the health or ecological effects that could result from that exposure. This risk assessment is a site-specific document that will be used to evaluate current and potential future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site investigations will be used to determine a compliance strategy to comply with the UMTRA ground water standards.

  3. Baseline risk assessment of ground water contamination at the Monument Valley uranium mill tailings site Cane Valley, Arizona

    International Nuclear Information System (INIS)

    1996-03-01

    The U.S. Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (Phase I) and the Ground Water Project (Phase II). Under the UMTRA Surface Project, tailings, radioactive contaminated soil, equipment, and materials associated with the former uranium ore processing at UMTRA Project sites are placed into disposal cells. The cells are designed to reduce radon and other radiation emissions and to minimize further contamination of ground water. Surface cleanup at the Monument Valley UMTRA Project site near Cane Valley, Arizona, was completed in 1994. The Ground Water Project evaluates the nature and extent of ground water contamination that resulted from the uranium ore processing activities. The Ground Water Project is in its beginning stages. Human health may be at risk from exposure to ground water contaminated by uranium ore processing. Exposure could occur by drinking water pumped out of a hypothetical well drilled in the contaminated areas. Adverse ecological and agricultural effects may also result from exposure to contaminated ground water. For example, livestock should not be watered with contaminated ground water. A risk assessment describes a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the ecological environment may be exposed, and the health or ecological effects that could result from that exposure. This risk assessment is a site-specific document that will be used to evaluate current and potential future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site investigations will be used to determine a compliance strategy to comply with the UMTRA ground water standards

  4. The Future of Ground Fire Support Systems

    National Research Council Canada - National Science Library

    Beckinger, Robert

    2002-01-01

    .... The potential of these and future systems, such as armed Unmanned Aerial Vehicles (UAVs) and micro-robotic platforms, signal the demise of at least ground fire support systems if not conventional ground forces...

  5. Baseline risk assessment of ground water contamination at the Monument Valley Uranium Mill Tailings Site, Cane Valley, Arizona. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    1994-08-01

    This baseline risk assessment evaluates potential impact to public health or the environment from ground water contamination at the former uranium mill processing site in Cane Valley near Monument Valley, Arizona. The US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project has relocated and stabilized this site`s tailings and other contaminated material in a disposal cell at Mexican Hat, Utah. The second phase of the UMTRA Project is to evaluate ground water contamination. This risk assessment is the first document specific to this site for the Ground Water Project that evaluates potential health and environmental risks. It will help determine the approach required to address contaminated ground water at the site.

  6. Baseline risk assessment of ground water contamination at the uranium mill tailings site Salt Lake City, Utah

    Energy Technology Data Exchange (ETDEWEB)

    1994-09-01

    This baseline risk assessment of groundwater contamination at the uranium mill tailings site near Salt Lake City, Utah, evaluates potential public health or environmental impacts resulting from ground water contamination at the former uranium ore processing site. The tailings and other contaminated material at this site were placed in a disposal cell located at Clive, Utah, in 1987 by the US Department of Energy`s Uranium Mill Tailings Remedial Action (UMTRA) Project. The second phase of the UMTRA Project is to evaluate residual ground water contamination at the former uranium processing site, known as the Vitro processing site. This risk assessment is the first site-specific document under the Ground Water Project. It will help determine the appropriate remedial action for contaminated ground water at the site.

  7. Baseline risk assessment of ground water contamination at the Monument Valley Uranium Mill Tailings Site, Cane Valley, Arizona. Revision 1

    International Nuclear Information System (INIS)

    1994-08-01

    This baseline risk assessment evaluates potential impact to public health or the environment from ground water contamination at the former uranium mill processing site in Cane Valley near Monument Valley, Arizona. The US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project has relocated and stabilized this site's tailings and other contaminated material in a disposal cell at Mexican Hat, Utah. The second phase of the UMTRA Project is to evaluate ground water contamination. This risk assessment is the first document specific to this site for the Ground Water Project that evaluates potential health and environmental risks. It will help determine the approach required to address contaminated ground water at the site

  8. Baseline risk assessment of ground water contamination at the uranium mill tailings site Salt Lake City, Utah

    International Nuclear Information System (INIS)

    1994-09-01

    This baseline risk assessment of groundwater contamination at the uranium mill tailings site near Salt Lake City, Utah, evaluates potential public health or environmental impacts resulting from ground water contamination at the former uranium ore processing site. The tailings and other contaminated material at this site were placed in a disposal cell located at Clive, Utah, in 1987 by the US Department of Energy's Uranium Mill Tailings Remedial Action (UMTRA) Project. The second phase of the UMTRA Project is to evaluate residual ground water contamination at the former uranium processing site, known as the Vitro processing site. This risk assessment is the first site-specific document under the Ground Water Project. It will help determine the appropriate remedial action for contaminated ground water at the site

  9. Countermeasures Assessment of Liquefaction-Induced Lateral Deformation in a Slope Ground System

    Directory of Open Access Journals (Sweden)

    Davide Forcellini

    2013-01-01

    Full Text Available Liquefaction-induced lateral spreading may result in significant damage and disruption of functionality for structures and Slope Ground System. In this regard, finite-element simulations are increasingly providing a versatile environment in order to assess economical and effective countermeasures. Several systematic bidimensional FEM computations have been conducted to evaluate mitigation strategies under the action of an applied earthquake excitation. The presented study highlights the potential of computations in providing insights for analysis of liquefaction-induced lateral deformations. In the analysis, some specific assumptions are introduced and verified such as a nine-node quadrilateral elements, massive columns of soil with periodic boundary conditions, and a Lysmer-Kuhlemeyer dashpot used to model the finite rigidity of the underlying elastic medium. Moreover, the study aims to systematically explore the effectiveness of densification as a countermeasure and then evaluate the best extension comparing two scenarios.

  10. Preclosure radiological safety assessment for the ground support system in the exploratory studies facility

    International Nuclear Information System (INIS)

    Smith, A.J.; Tsai, F.C.

    1995-01-01

    An initial probabilistic safety assessment was performed for the exploratory studies facility underground opening to determine whether the ground support system should be classified as an item important to safety. The initiating event was taken to be a rock fall in an operational facility impacting a loaded waste transporter. Rock fall probability rates were estimated from data reported by commercial mining operations. This information was retrieved from the data base compiled by the Mining Safety and Health Administration from the mandatory reporting of incidents. The statistical distribution of the rock fall magnitude was estimated from the horizontal and vertical spacing fractures measured at the Yucca Mountain repository horizon. Simple models were developed to estimate container deformation and radionuclide releases arising from the projected distribution of impacts. Accepted techniques were used to calculate atmospheric dispersion and obtain the committed dose to individuals

  11. The Afghan symptom checklist: a culturally grounded approach to mental health assessment in a conflict zone.

    Science.gov (United States)

    Miller, Kenneth E; Omidian, Patricia; Quraishy, Abdul Samad; Quraishy, Naseema; Nasiry, Mohammed Nader; Nasiry, Seema; Karyar, Nazar Mohammed; Yaqubi, Abdul Aziz

    2006-10-01

    This article describes a methodology for developing culturally grounded assessment measures in conflict and postconflict situations. A mixed-method design was used in Kabul, Afghanistan, to identify local indicators of distress and develop the 22-item Afghan Symptom Checklist (ASCL). The ASCL contains several indigenous items and items familiar to Western mental health professionals. The ASCL was pilot tested and subsequently administered to 324 adults in 8 districts of Kabul. It demonstrated excellent reliability (alpha=.93) and good construct validity, correlating strongly with a measure of exposure to war-related violence and loss (r=.70). Results of the survey indicate moderate levels of distress among Afghan men and markedly higher levels of distress and impaired functioning among women (and widows in particular). (c) 2007 APA, all rights reserved

  12. Distributed Modelling of Stormflow Generation: Assessing the Effect of Ground Cover

    Science.gov (United States)

    Jarihani, B.; Sidle, R. C.; Roth, C. H.; Bartley, R.; Wilkinson, S. N.

    2017-12-01

    Understanding the effects of grazing management and land cover changes on surface hydrology is important for water resources and land management. A distributed hydrological modelling platform, wflow, (that was developed as part of Deltares's OpenStreams project) is used to assess the effect of land management practices on runoff generation processes. The model was applied to Weany Creek, a small catchment (13.6 km2) of the Burdekin Basin, North Australia, which is being studied to understand sources of sediment and nutrients to the Great Barrier Reef. Satellite and drone-based ground cover data, high resolution topography from LiDAR, soil properties, and distributed rainfall data were used to parameterise the model. Wflow was used to predict total runoff, peak runoff, time of rise, and lag time for several events of varying magnitudes and antecedent moisture conditions. A nested approach was employed to calibrate the model by using recorded flow hydrographs at three scales: (1) a hillslope sub-catchment: (2) a gullied sub-catchment; and the 13.6 km2 catchment outlet. Model performance was evaluated by comparing observed and predicted stormflow hydrograph attributes using the Nash Sutcliffe efficiency metric. By using a nested approach, spatiotemporal patterns of overland flow occurrence across the catchment can also be evaluated. The results show that a process-based distributed model can be calibrated to simulate spatial and temporal patterns of runoff generation processes, to help identify dominant processes which may be addressed by land management to improve rainfall retention. The model will be used to assess the effects of ground cover changes due to management practices in grazed lands on storm runoff.

  13. Forcing factors of cloud-to-ground lightning over Iberia: regional-scale assessments

    Directory of Open Access Journals (Sweden)

    J. A. Santos

    2013-07-01

    Full Text Available Cloud-to-ground lightning in a sector covering the Iberian Peninsula, the Balearic Islands and nearby seas (36–44° N, 10° W–5° E is analysed in the period from 2003 to 2009 (7 yr. Two Iberian lightning detection networks, composed of 18 sensors over Portugal and Spain, are combined for the first time in the present study. The selected characteristics are cloud-to-ground flashes (CGFs, first stroke peak current, polarity and multiplicity (number of strokes in a given flash. This study examines the temporal (on hourly, monthly and seasonal timescales and spatial variability of CGFs. The influence of five forcing factors on lightning (elevation, lifted index, convective available potential energy and daily minimum and maximum near-surface air temperatures over the Iberian sector is also assessed. For regional-scale assessments, six subsectors with different climatic conditions were analysed separately. Despite important regional differences, the strongest lightning activity occurs from late spring to early autumn, and mostly in the afternoon. Furthermore, CGFs are mainly located over high-elevation areas in late spring to summer, while they tend to occur over the sea in autumn. The results suggest that (1 orographically forced thunderstorms over mountainous areas, mostly from May to September, (2 tropospheric buoyancy forcing over western-central and northern regions in summer and over the Mediterranean regions in autumn, and (3 near-surface thermal contrasts from October to February largely control the location of lightning in Iberia. There is no evidence of different forcings by polarity. A clear correspondence between summertime precipitation patterns and CGFs is also found.

  14. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Green River, Utah

    International Nuclear Information System (INIS)

    1994-09-01

    This document evaluates potential impacts to public health and the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in a disposal cell on the site in 1989 by the US DOE's Uranium Mill Tailings Remedial Action (UMTRA) Project. Currently, UMTRA Project is evaluating ground water contamination in this risk assessment

  15. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Green River, Utah

    Energy Technology Data Exchange (ETDEWEB)

    1994-09-01

    This document evaluates potential impacts to public health and the environment resulting from ground water contamination at the former uranium mill processing site. The tailings and other contaminated material at this site were placed in a disposal cell on the site in 1989 by the US DOE`s Uranium Mill Tailings Remedial Action (UMTRA) Project. Currently, UMTRA Project is evaluating ground water contamination in this risk assessment.

  16. Assessing the Ability of Ground-Penetrating Radar to Detect Fungal Decay in Douglas-Fir Beams

    Science.gov (United States)

    Christopher Adam Senalik; James Wacker; Xiping Wang; F. Jalinoos

    2016-01-01

    This paper describes the testing plan and current progress for assessing the efficacy of using ground-penetrating radar (GPR) to detect fungal decay within Douglas-fir beams. Initially, the beams were assessed using a variety of physical, mechanical, and nondestructive evaluation (NDE) test methods including micro-resistance drilling, Janka hardness, ultrasonic...

  17. Assessment of learning powered mobility use--applying grounded theory to occupational performance.

    Science.gov (United States)

    Nilsson, Lisbeth; Durkin, Josephine

    2014-01-01

    Collaboration by two grounded theory researchers, who each had developed a learning continuum instrument, led to the emergence of a new tool for assessment of learning powered mobility use. We undertook a rigorous process of comparative reanalysis that included merging, modifying, and expanding our previous research findings. A new instrument together with its facilitating strategies emerged in the course of revisits to our existing rich account of data taken from real environment powered mobility practice over an extensive time period. Instrument descriptors, categories, phases, and stages allow a facilitator to assess actual phase and plot actual occupational performance and provide a learner with the just right challenge through the learning process. Facilitating strategies are described for each of the phases and provide directions for involvement during learner performance. The learning approach is led by a belief system that the intervention is user-led, working in partnership and empowering the learner. The new assessment tool is inclusive of every potential powered mobility user because it focuses on the whole continuum of the learning process of powered mobility use from novice to expert. The new tool was appraised by clinicians and has been used successfully in clinical practice in the United Kingdom and Sweden.

  18. Cardiopulmonary performance testing using a robotics-assisted tilt table: feasibility assessment in able-bodied subjects.

    Science.gov (United States)

    Saengsuwan, J; Laubacher, M; Nef, T; Hunt, K J

    2014-01-01

    Robotics-assisted tilt table technology was introduced for early rehabilitation of neurological patients. It provides cyclical stepping movement and physiological loading of the legs. The aim of the present study was to assess the feasibility of this type of device for peak cardiopulmonary performance testing using able-bodied subjects. A robotics-assisted tilt table was augmented with force sensors in the thigh cuffs and a work rate estimation algorithm. A custom visual feedback system was employed to guide the subjects' work rate and to provide real time feedback of actual work rate. Feasibility assessment focused on: (i) implementation (technical feasibility), and (ii) responsiveness (was there a measurable, high-level cardiopulmonary reaction?). For responsiveness testing, each subject carried out an incremental exercise test to the limit of functional capacity with a work rate increment of 5 W/min in female subjects and 8 W/min in males. 11 able-bodied subjects were included (9 male, 2 female; age 29.6 ± 7.1 years: mean ± SD). Resting oxygen uptake (O_{2}) was 4.6 ± 0.7 mL/min/kg and O_{2}peak was 32.4 ± 5.1 mL/min/kg; this mean O_{2}peak was 81.1% of the predicted peak value for cycle ergometry. Peak heart rate (HRpeak) was 177.5 ± 9.7 beats/min; all subjects reached at least 85% of their predicted HRpeak value. Respiratory exchange ratio (RER) at O_{2}peak was 1.02 ± 0.07. Peak work rate) was 61.3 ± 15.1 W. All subjects reported a Borg CR10 value for exertion and leg fatigue of 7 or more. The robotics-assisted tilt table is deemed feasible for peak cardiopulmonary performance testing: the approach was found to be technically implementable and substantial cardiopulmonary responses were observed. Further testing in neurologically-impaired subjects is warranted.

  19. 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

  20. International Conference Educational Robotics 2016

    CERN Document Server

    Moro, Michele; Menegatti, Emanuele

    2017-01-01

    This book includes papers presented at the International Conference “Educational Robotics 2016 (EDUROBOTICS)”, Athens, November 25, 2016. The papers build on constructivist and constructionist pedagogy and cover a variety of topics, including teacher education, design of educational robotics activities, didactical models, assessment methods, theater robotics, programming & making electronics with Snap4Arduino, the Duckietown project, robotics driven by tangible programming, Lego Mindstorms combined with App Inventor, the Orbital Education Platform, Anthropomorphic Robots and Human Meaning Makers in Education, and more. It provides researchers interested in educational robotics with the latest advances in the field with a focus on science, technology, engineering, arts and mathematics (STEAM) education. At the same time it offers teachers and educators from primary to secondary and tertiary education insights into how educational robotics can trigger the development of technological interest and 21st c...

  1. 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.)

  2. 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…

  3. 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);…

  4. Relationship between clinical assessments of function and measurements from an upper-limb robotic rehabilitation device in cervical spinal cord injury.

    Science.gov (United States)

    Zariffa, José; Kapadia, Naaz; Kramer, John L K; Taylor, Philippa; Alizadeh-Meghrazi, Milad; Zivanovic, Vera; Albisser, Urs; Willms, Rhonda; Townson, Andrea; Curt, Armin; Popovic, Milos R; Steeves, John D

    2012-05-01

    Upper limb robotic rehabilitation devices can collect quantitative data about the user's movements. Identifying relationships between robotic sensor data and manual clinical assessment scores would enable more precise tracking of the time course of recovery after injury and reduce the need for time-consuming manual assessments by skilled personnel. This study used measurements from robotic rehabilitation sessions to predict clinical scores in a traumatic cervical spinal cord injury (SCI) population. A retrospective analysis was conducted on data collected from subjects using the Armeo Spring (Hocoma, AG) in three rehabilitation centers. Fourteen predictive variables were explored, relating to range-of-motion, movement smoothness, and grip ability. Regression models using up to four predictors were developed to describe the following clinical scores: the GRASSP (consisting of four sub-scores), the ARAT, and the SCIM. The resulting adjusted R(2) value was highest for the GRASSP "Quantitative Prehension" component (0.78), and lowest for the GRASSP "Sensibility" component (0.54). In contrast to comparable studies in stroke survivors, movement smoothness was least beneficial for predicting clinical scores in SCI. Prediction of upper-limb clinical scores in SCI is feasible using measurements from a robotic rehabilitation device, without the need for dedicated assessment procedures.

  5. From the laboratory to the soldier: providing tactical behaviors for Army robots

    Science.gov (United States)

    Knichel, David G.; Bruemmer, David J.

    2008-04-01

    The Army Future Combat System (FCS) Operational Requirement Document has identified a number of advanced robot tactical behavior requirements to enable the Future Brigade Combat Team (FBCT). The FBCT advanced tactical behaviors include Sentinel Behavior, Obstacle Avoidance Behavior, and Scaled Levels of Human-Machine control Behavior. The U.S. Army Training and Doctrine Command, (TRADOC) Maneuver Support Center (MANSCEN) has also documented a number of robotic behavior requirements for the Army non FCS forces such as the Infantry Brigade Combat Team (IBCT), Stryker Brigade Combat Team (SBCT), and Heavy Brigade Combat Team (HBCT). The general categories of useful robot tactical behaviors include Ground/Air Mobility behaviors, Tactical Mission behaviors, Manned-Unmanned Teaming behaviors, and Soldier-Robot Interface behaviors. Many DoD research and development centers are achieving the necessary components necessary for artificial tactical behaviors for ground and air robots to include the Army Research Laboratory (ARL), U.S. Army Research, Development and Engineering Command (RDECOM), Space and Naval Warfare (SPAWAR) Systems Center, US Army Tank-Automotive Research, Development and Engineering Center (TARDEC) and non DoD labs such as Department of Energy (DOL). With the support of the Joint Ground Robotics Enterprise (JGRE) through DoD and non DoD labs the Army Maneuver Support Center has recently concluded successful field trails of ground and air robots with specialized tactical behaviors and sensors to enable semi autonomous detection, reporting, and marking of explosive hazards to include Improvised Explosive Devices (IED) and landmines. A specific goal of this effort was to assess how collaborative behaviors for multiple unmanned air and ground vehicles can reduce risks to Soldiers and increase efficiency for on and off route explosive hazard detection, reporting, and marking. This paper discusses experimental results achieved with a robotic countermine system

  6. Performance Assessment Monitoring Plan for the Hanford Site Low-Level Waste Burial Grounds

    International Nuclear Information System (INIS)

    SONNICHSEN, J.C.

    2000-01-01

    As directed by the U.S. Department of Energy (DOE), Richland Operations Office (DOE-RL), Fluor Hanford, Inc. will implement the requirements of DOE Order 435.1, Radioactive Waste Management, as the requirements relate to the continued operation of the low-level waste disposal facilities on the Hanford Site. DOE Order 435.1 requires a disposal authorization statement authorizing operation (or continued operation) of a low-level waste disposal facility. The objective of this Order is to ensure that all DOE radioactive waste is managed in a manner that protects the environment and personnel and public health and safety. The manual (DOE Order 435.1 Manual) implementing the Order states that a disposal authorization statement shall be issued based on a review of the facility's performance assessment and composite analysis or appropriate Comprehensive Environmental Response, Compensation and Liability Act (CERCLA) of 1980 documentation. The disposal authorization shall specify the limits and conditions on construction, design, operations, and closure of the low-level waste facility. Failure to obtain a disposal authorization statement shall result in shutdown of an operational disposal facility. In fulfillment of the requirements of DOE Order 435.1, a disposal authorization statement was issued on October 25, 1999, authorizing the Hanford Site to transfer, receive, possess, and dispose of low-level radioactive waste at the 200 East Area and the 200 West Area Low-Level Burial Grounds. The disposal authorization statement constitutes approval of the performance assessment and composite analysis, authorizes operation of the facility, and includes conditions that the disposal facility must meet. One of the conditions is that monitoring plans for the 200 East Area and 200 West Area Low-Level Burial Grounds be written and approved by the DOE-RL. The monitoring plan is to be updated and implemented within 1 year following issuance of the disposal authorization statement to

  7. UROLOGIC ROBOTS AND FUTURE DIRECTIONS

    Science.gov (United States)

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2009-01-01

    Purpose of review Robot-assisted laparoscopic surgery in urology has gained immense popularity with the Da Vinci system but a lot of research teams are working on new robots. The purpose of this paper is to review current urologic robots and present future developments directions. Recent findings Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. Summary The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks based on medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for remote system could be augmented reality, haptic feed back, size reduction and development of new tools for NOTES surgery. The paradigm of image-guided robots is close to a clinical availability and the most advanced robots are presented with end-user technical assessments. It is also notable that the potential of robots lies much further ahead than the accomplishments of the daVinci system. The integration of imaging with robotics holds a substantial promise, because this can accomplish tasks otherwise impossible. Image guided robots have the potential to offer a paradigm shift. PMID:19057227

  8. Calibration of ground-based microwave radiometers - Accuracy assessment and recommendations for network users

    Science.gov (United States)

    Pospichal, Bernhard; Küchler, Nils; Löhnert, Ulrich; Crewell, Susanne; Czekala, Harald; Güldner, Jürgen

    2016-04-01

    Ground-based microwave radiometers (MWR) are becoming widely used in atmospheric remote sensing and start to be routinely operated by national weather services and other institutions. However, common standards for calibration of these radiometers and a detailed knowledge about the error characteristics is needed, in order to assimilate the data into models. Intercomparisons of calibrations by different MWRs have rarely been done. Therefore, two calibration experiments in Lindenberg (2014) and Meckenheim (2015) were performed in the frame of TOPROF (Cost action ES1303) in order to assess uncertainties and differences between various instruments. In addition, a series of experiments were taken in Oklahoma in autumn 2014. The focus lay on the performance of the two main instrument types, which are currently used operationally. These are the MP-Profiler series by Radiometrics Corporation as well as the HATPRO series by Radiometer Physics GmbH (RPG). Both instrument types are operating in two frequency bands, one along the 22 GHz water vapour line, the other one at the lower wing of the 60 GHz oxygen absorption complex. The goal was to establish protocols for providing quality controlled (QC) MWR data and their uncertainties. To this end, standardized calibration procedures for MWR were developed and recommendations for radiometer users were compiled. We focus here mainly on data types, integration times and optimal settings for calibration intervals, both for absolute (liquid nitrogen, tipping curve) as well as relative (hot load, noise diode) calibrations. Besides the recommendations for ground-based MWR operators, we will present methods to determine the accuracy of the calibration as well as means for automatic data quality control. In addition, some results from the intercomparison of different radiometers will be discussed.

  9. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Canonsburg, Pennsylvania. Revision 1

    International Nuclear Information System (INIS)

    1995-11-01

    For the UMTRA Project site located near Canonsburg, Pennsylvania (the Canonsburg site), the Surface Project cleanup occurred from 1983 to 1985, and involved removing the uranium processing mill tailings and radioactively contaminated soils and materials from their original locations and placing them in a disposal cell located on the former Canonsburg uranium mill site. This disposal cell is designed to minimize radiation emissions and further contamination of ground water beneath the site. The Ground Water Project will evaluate the nature and the extent of ground water contamination resulting from uranium processing at the former Canonsburg uranium mill site, and will determine a ground water strategy for complying with the US Environmental Protection Agency's (EPA) ground water standards established for the UMTRA Project. For the Canonsburg site, an evaluation was made to determine whether exposure to ground water contaminated by uranium processing could affect people's health. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Canonsburg site. The results of this report and further site characterization of the Canonsburg site will be used to determine how to protect public health and the environment, and how to comply with the EPA standards

  10. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Canonsburg, Pennsylvania. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-11-01

    For the UMTRA Project site located near Canonsburg, Pennsylvania (the Canonsburg site), the Surface Project cleanup occurred from 1983 to 1985, and involved removing the uranium processing mill tailings and radioactively contaminated soils and materials from their original locations and placing them in a disposal cell located on the former Canonsburg uranium mill site. This disposal cell is designed to minimize radiation emissions and further contamination of ground water beneath the site. The Ground Water Project will evaluate the nature and the extent of ground water contamination resulting from uranium processing at the former Canonsburg uranium mill site, and will determine a ground water strategy for complying with the US Environmental Protection Agency`s (EPA) ground water standards established for the UMTRA Project. For the Canonsburg site, an evaluation was made to determine whether exposure to ground water contaminated by uranium processing could affect people`s health. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Canonsburg site. The results of this report and further site characterization of the Canonsburg site will be used to determine how to protect public health and the environment, and how to comply with the EPA standards.

  11. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Lakeview, Oregon. Revision 1

    International Nuclear Information System (INIS)

    1995-12-01

    Surface cleanup at the Uranium Mill Tailings Remedial Action (UMTRA) Project site near Lakeview, Oregon was completed in 1989. The Ground Water Project evaluates the nature and extent of ground water contamination that resulted from the uranium ore processing activities. The Ground Water Project is in its beginning stages. Human health may be at risk from exposure to ground water contaminated by uranium ore processing. Exposure could occur by drinking water pumped out of a hypothetical well drilled in the contaminated areas. Ecological risks to plants or animals may result from exposure to surface water and sediment that have received contaminated ground water. A risk assessment describes a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the ecological environment may be exposed, and the health or ecological effects that could result from that exposure. This risk assessment is a site-specific document that will be used to evaluate current and potential future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will determine whether any action is needed to protect human health or the ecological environment

  12. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Falls City, Texas: Revision 1

    International Nuclear Information System (INIS)

    1994-09-01

    This baseline risk assessment of ground water contamination of the uranium mill tailings site near Falls City, Texas, evaluates potential impact to public health and the environment resulting from ground water contamination at the former Susquehanna Western, Inc. (SWI), uranium mill processing site. This document fulfills the following objectives: determine if the site presents immediate or potential future health risks, determine the need for interim institutional controls, serve as a key input to project planning and prioritization, and recommend future data collection efforts to more fully characterize risk. The Uranium Mill Tailings Remedial Action (UMTRA) Project has begun its evaluation of ground water contamination at the Falls City site. This risk assessment is one of the first documents specific to this site for the Ground Water Project. The first step is to evaluate ground water data collected from monitor wells at or near the site. Evaluation of these data show the main contaminants in the Dilworth ground water are cadmium, cobalt, fluoride, iron, nickel, sulfate, and uranium. The data also show high levels of arsenic and manganese occur naturally in some areas

  13. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Falls City, Texas: Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    1994-09-01

    This baseline risk assessment of ground water contamination of the uranium mill tailings site near Falls City, Texas, evaluates potential impact to public health and the environment resulting from ground water contamination at the former Susquehanna Western, Inc. (SWI), uranium mill processing site. This document fulfills the following objectives: determine if the site presents immediate or potential future health risks, determine the need for interim institutional controls, serve as a key input to project planning and prioritization, and recommend future data collection efforts to more fully characterize risk. The Uranium Mill Tailings Remedial Action (UMTRA) Project has begun its evaluation of ground water contamination at the Falls City site. This risk assessment is one of the first documents specific to this site for the Ground Water Project. The first step is to evaluate ground water data collected from monitor wells at or near the site. Evaluation of these data show the main contaminants in the Dilworth ground water are cadmium, cobalt, fluoride, iron, nickel, sulfate, and uranium. The data also show high levels of arsenic and manganese occur naturally in some areas.

  14. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Salt Lake City, Utah. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-09-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of two phases: the first is the Surface Project, and the second is the Ground Water Project. For the UMTRA Project site known as the Vitro site, near Salt Lake City, Utah, Surface Project cleanup occurred from 1985 to 1987. The UMTRA Project`s second phase, the Ground Water Project, evaluates the nature and extent of ground water contamination resulting from uranium processing and determines a strategy for ground water compliance with the Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. A risk assessment is the process of describing a source of contamination and showing how that contamination may reach people and the environment. The amount of contamination people or the environment may be exposed to is calculated and used to characterize the possible health or environmental effects that may result from this exposure. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Vitro site. The results of this report and further site characterization of the Vitro site will be used to determine what is necessary, if anything, to protect human health and the environment while complying with EPA standards.

  15. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Lakeview, Oregon. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-01

    Surface cleanup at the Uranium Mill Tailings Remedial Action (UMTRA) Project site near Lakeview, Oregon was completed in 1989. The Ground Water Project evaluates the nature and extent of ground water contamination that resulted from the uranium ore processing activities. The Ground Water Project is in its beginning stages. Human health may be at risk from exposure to ground water contaminated by uranium ore processing. Exposure could occur by drinking water pumped out of a hypothetical well drilled in the contaminated areas. Ecological risks to plants or animals may result from exposure to surface water and sediment that have received contaminated ground water. A risk assessment describes a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the ecological environment may be exposed, and the health or ecological effects that could result from that exposure. This risk assessment is a site-specific document that will be used to evaluate current and potential future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will determine whether any action is needed to protect human health or the ecological environment.

  16. Baseline risk assessment of ground water contamination at the uranium mill tailings site near Salt Lake City, Utah. Revision 1

    International Nuclear Information System (INIS)

    1995-09-01

    The Uranium Mill Tailings Remedial Action (UMTRA) Project consists of two phases: the first is the Surface Project, and the second is the Ground Water Project. For the UMTRA Project site known as the Vitro site, near Salt Lake City, Utah, Surface Project cleanup occurred from 1985 to 1987. The UMTRA Project's second phase, the Ground Water Project, evaluates the nature and extent of ground water contamination resulting from uranium processing and determines a strategy for ground water compliance with the Environmental Protection Agency (EPA) ground water standards established for the UMTRA Project. A risk assessment is the process of describing a source of contamination and showing how that contamination may reach people and the environment. The amount of contamination people or the environment may be exposed to is calculated and used to characterize the possible health or environmental effects that may result from this exposure. This risk assessment report is the first site-specific document prepared for the UMTRA Ground Water Project at the Vitro site. The results of this report and further site characterization of the Vitro site will be used to determine what is necessary, if anything, to protect human health and the environment while complying with EPA standards

  17. Evaluating Robot-Operator Job Performance

    National Research Council Canada - National Science Library

    Moses, Franklin L; Brooks, Peter S; Hofmann, M; Johnson, E; Laveson, J; Zaccaro, S

    2007-01-01

    .... This paper views the operator and robot as a team, outlines a schema for measuring robot-operator team performance, and presents an initial proof-of-principle test for quantitatively assessing that performance...

  18. 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.

  19. 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)

  20. Collaborative Tools for Mixed Teams of Humans and Robots

    National Research Council Canada - National Science Library

    Bruemmer, David J; Walton, Miles C

    2003-01-01

    .... Our approach has been to consider the air vehicles, ground robots and humans as team members with different levels of authority, different communication, processing, power and mobility capabilities...

  1. ISS Robotic Student Programming

    Science.gov (United States)

    Barlow, J.; Benavides, J.; Hanson, R.; Cortez, J.; Le Vasseur, D.; Soloway, D.; Oyadomari, K.

    2016-01-01

    The SPHERES facility is a set of three free-flying satellites launched in 2006. In addition to scientists and engineering, middle- and high-school students program the SPHERES during the annual Zero Robotics programming competition. Zero Robotics conducts virtual competitions via simulator and on SPHERES aboard the ISS, with students doing the programming. A web interface allows teams to submit code, receive results, collaborate, and compete in simulator-based initial rounds and semi-final rounds. The final round of each competition is conducted with SPHERES aboard the ISS. At the end of 2017 a new robotic platform called Astrobee will launch, providing new game elements and new ground support for even more student interaction.

  2. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Site near Lakeview, Oregon. Revision 2

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-03-01

    The U.S. Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (Phase I) and the Ground Water Project (Phase II). Under the UMTRA Surface Project, tailings, contaminated soil, equipment, and materials associated with the former uranium ore processing at UMTRA Project sites are placed into disposal cells. The cells are designed to reduce radon and other radiation emissions and to minimize further contamination of ground water. Surface cleanup at the UMTRA Project site near Lakeview, Oregon, was completed in 1989. The mill operated from February 1958 to November 1960. The Ground Water Project evaluates the nature and extent of ground water contamination that resulted from the uranium ore processing activities. The Ground Water Project is in its beginning stages. Human health may be at risk from exposure to ground water contaminated by uranium ore processing. Exposure could occur by drinking water pumped out of a hypothetical well drilled in the contaminated areas. Ecological risks to plants or animals may result from exposure to surface water and sediment that have received contaminated ground water. A risk assessment describes a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the ecological environment may be exposed, and the health or ecological effects that could result from that exposure. This risk assessment is a site-specific document that will be used to evaluate current and potential future impacts to the public and the environment from exposure to contaminated ground water. The results of this evaluation and further site characterization will determine whether any action is needed to protect human health or the ecological environment.

  3. 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...

  4. 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....

  5. 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

  6. Integration of New Technology for Research in the Emergency Department: Feasibility of Deploying a Robotic Assessment Tool for Mild Traumatic Brain Injury Evaluation.

    Science.gov (United States)

    Subbian, Vignesh; Ratcliff, Jonathan J; Meunier, Jason M; Korfhagen, Joseph J; Beyette, Fred R; Shaw, George J

    2015-01-01

    The objective of this paper is to demonstrate the effective deployment of a robotic assessment tool for the evaluation of mild traumatic brain injury (mTBI) patients in a busy, resource-constrained, urban emergency department (ED). Functional integration of new robotic technology for research in the ED presented several obstacles that required a multidisciplinary approach, including participation from electrical and computer engineers, emergency medicine clinicians, and clinical operations staff of the hospital. Our team addressed many challenges in deployment of this advanced technology including: 1) adapting the investigational device for the unique clinical environment; 2) acquisition and maintenance of appropriate testing space for point-of-care assessment; and 3) dedicated technical support and upkeep of the device. Upon successful placement of the robotic device in the ED, the clinical study required screening of all patients presenting to the ED with complaints of head injury. Eligible patients were enrolled and tested using a robot-assisted test battery. Three weeks after the injury, patients were contacted to complete follow-up assessments. Adapting the existing technology to meet anticipated physical constraints of the ED was performed by engineering a mobile platform. Due to the large footprint of the device, it was frequently moved before ultimately being fully integrated into the ED. Over 14 months, 1423 patients were screened. Twenty-eight patients could not be enrolled because the device was unavailable due to operations limitations. Technical problems with the device resulted in failure to include 20 patients. A total of 66 mTBI patients were enrolled and 42 of them completed both robot-assisted testing and follow-up assessment. Successful completion of screening and enrollment demonstrated that the challenges associated with integration of investigational devices into the ED can be effectively addressed through a collaborative patient

  7. Ground water potential assessment of Jatijajar-Ayah-Karangbolong mountain area, South Gombong

    Science.gov (United States)

    Sumotarto, U.

    2018-01-01

    South Gombong is an area of central Java having quite potential natural resources including ground water. A geohydrological survey has been conducted to explore and analyze ground water potential of South Gombong mountain area. Geological knowledge of the area indicates the presence of Karst topography generated from limestone rocks exposed to the earth surface and tropical climatological process. The ground water resource and reserve that formed particularly in the Karst area has been utilized for various purposes, such as for agricultural land, use for drinking water, and others. The survey, as well as data and information analysis, have been performed, outputting figures of how significant the ground water resources in the area are. It is concluded that detailed study and understanding about Karst and its ground water formation are important to develop and to preserve the existence of ground water in the area for living.

  8. Self-paced reaching after stroke: A quantitative assessment of longitudinal and directional sensitivity using the H-man planar robot for upper limb neurorehabilitation

    Directory of Open Access Journals (Sweden)

    Asif Hussain

    2016-10-01

    Full Text Available Technology aided measures offer a sensitive, accurate and time-efficient approach for the assessment of sensorimotor function after neurological insult compared to standard clinical assessments. This study investigated the sensitivity of robotic measures to capture differences in planar reaching movements as a function of neurological status (stroke, healthy, direction (front, ipsilateral, contralateral, movement segment (outbound, inbound, and time (baseline, post-training, 2-week follow-up using a planar, two-degrees of freedom, robotic-manipulator (H-Man. Twelve chronic stroke (age: 55±10.0 years, 5 female, 7 male, time since stroke: 11.2±6.0 months and nine aged-matched healthy participants (age: 53±4.3 years, 5 female, 4 male participated in this study. Both healthy and stroke participants performed planar reaching movements in contralateral, ipsilateral and front directions with the H-Man, and the robotic measures, spectral arc length (SAL, normalized time to peak velocities 〖(T〗_peakN, and root-mean square error (RMSE were evaluated. Healthy participants went through a one-off session of assessment to investigate the baseline. Stroke participants completed a 2-week intensive robotic training plus standard arm therapy (8 x 90 minute sessions. Motor function for stroke participants was evaluated prior to training (baseline, week-0, immediately following training (post-training, week-2, and 2-weeks after training (follow-up, week-4 using robotic assessment and the clinical measures Fugl-Meyer Assessment (FMA, Activity-Research-Arm Test (ARAT, and grip-strength. Robotic assessments were able to capture differences due to neurological status, movement direction, and movement segment. Movements performed by stroke participants were less-smooth, featured longer T_peakN, and larger RMSE values, compared to healthy controls. Significant movement direction differences were observed, with improved reaching performance for the front, compared

  9. Self-Paced Reaching after Stroke: A Quantitative Assessment of Longitudinal and Directional Sensitivity Using the H-Man Planar Robot for Upper Limb Neurorehabilitation.

    Science.gov (United States)

    Hussain, Asif; Budhota, Aamani; Hughes, Charmayne Mary Lee; Dailey, Wayne D; Vishwanath, Deshmukh A; Kuah, Christopher W K; Yam, Lester H L; Loh, Yong J; Xiang, Liming; Chua, Karen S G; Burdet, Etienne; Campolo, Domenico

    2016-01-01

    Technology aided measures offer a sensitive, accurate and time-efficient approach for the assessment of sensorimotor function after neurological insult compared to standard clinical assessments. This study investigated the sensitivity of robotic measures to capture differences in planar reaching movements as a function of neurological status (stroke, healthy), direction (front, ipsilateral, contralateral), movement segment (outbound, inbound), and time (baseline, post-training, 2-week follow-up) using a planar, two-degrees of freedom, robotic-manipulator (H-Man). Twelve chronic stroke (age: 55 ± 10.0 years, 5 female, 7 male, time since stroke: 11.2 ± 6.0 months) and nine aged-matched healthy participants (age: 53 ± 4.3 years, 5 female, 4 male) participated in this study. Both healthy and stroke participants performed planar reaching movements in contralateral, ipsilateral and front directions with the H-Man, and the robotic measures, spectral arc length (SAL), normalized time to peak velocities ( T peakN ), and root-mean square error (RMSE) were evaluated. Healthy participants went through a one-off session of assessment to investigate the baseline. Stroke participants completed a 2-week intensive robotic training plus standard arm therapy (8 × 90 min sessions). Motor function for stroke participants was evaluated prior to training (baseline, week-0), immediately following training (post-training, week-2), and 2-weeks after training (follow-up, week-4) using robotic assessment and the clinical measures Fugl-Meyer Assessment (FMA), Activity-Research-Arm Test (ARAT), and grip-strength. Robotic assessments were able to capture differences due to neurological status, movement direction, and movement segment. Movements performed by stroke participants were less-smooth, featured longer T peakN , and larger RMSE values, compared to healthy controls. Significant movement direction differences were observed, with improved reaching performance for the front, compared to

  10. Robot-assisted assessment of wrist proprioception: does wrist proprioceptive acuity follow Weber's law?

    Science.gov (United States)

    Contu, Sara; Marini, Francesca; Cappello, Leonardo; Masia, Lorenzo

    2016-08-01

    Proprioception is essential for planning and controlling limb posture and movement. In our recent work, we introduced a standardized robot-aided method for measuring proprioceptive discrimination thresholds at the wrist to obtain reliable and accurate measures of proprioceptive acuity. Weber's law defines discrimination thresholds as a constant ratio between the just noticeable difference and the reference or standard stimulus. Reporting Weber's fractions thus provides the possibility of comparing results with the reports of others collected worldwide. This work aims to determine that Weber's Law holds for proprioceptive discrimination thresholds and to provide Weber's fraction for wrist joint proprioception. To this end, eight healthy subjects experienced two passive wrist movements of different amplitude and verbally indicated which was larger. An adaptive psychophysical procedure established the amplitude of the largest stimulus according to participants' responses. This comparison stimulus was then compared to a standard stimulus amplitude of 10°, 20°, 30° or 40°. The discrimination thresholds for each standard stimulus were established at the 75% correct response level. The obtained thresholds followed Weber's Law indicating that larger amplitudes were associated with higher discrimination thresholds. Based on a linear regression function the overall Weber's fraction, defined as the slope of the line, was computed to be 0.09. This result expands the present limited knowledge on wrist proprioception showing that its proprioceptive acuity follows Weber's law.

  11. Modular Platform for Commercial Mobile Robots

    DEFF Research Database (Denmark)

    Kjærgaard, Morten

    , and not on putting the robots on the commercial market. At the time when this research project was started in May 2010, the amount of successful commercial applications based on mobile robots was very limited. The most known applications were vacuum cleaners, lawn mowers, and few examples of specialized transport......Despite a rapid development in computers and sensor technologies, surprisingly few autonomous robot systems have successfully made it to the consumer market and into people's homes. Robotics is a popular topic in research circles, but focus is often on ground-breaking technologies...... by the individual groups and perhaps a few close industrial partners. This research project addresses the problem of increasing the potential for more commercial applications based on mobile wheeled robots. Therefore the main focus is not on inventing new ground-breaking robotics technology, but instead...

  12. Control of multiple robots using vision sensors

    CERN Document Server

    Aranda, Miguel; Sagüés, Carlos

    2017-01-01

    This monograph introduces novel methods for the control and navigation of mobile robots using multiple-1-d-view models obtained from omni-directional cameras. This approach overcomes field-of-view and robustness limitations, simultaneously enhancing accuracy and simplifying application on real platforms. The authors also address coordinated motion tasks for multiple robots, exploring different system architectures, particularly the use of multiple aerial cameras in driving robot formations on the ground. Again, this has benefits of simplicity, scalability and flexibility. Coverage includes details of: a method for visual robot homing based on a memory of omni-directional images a novel vision-based pose stabilization methodology for non-holonomic ground robots based on sinusoidal-varying control inputs an algorithm to recover a generic motion between two 1-d views and which does not require a third view a novel multi-robot setup where multiple camera-carrying unmanned aerial vehicles are used to observe and c...

  13. BEHAVE-II: The Revised Set of Measures to Assess Users’ Attitudinal and Behavioral Responses to a Social Robot

    NARCIS (Netherlands)

    Joosse, M.P.; Sardar, Aziez; Lohse, M.; Evers, Vanessa

    2013-01-01

    In order to inform the design of behaviors for robots that share domestic and public spaces with people, it is important to know what robot behavior is considered as normative. The work reported in this paper stems from the premise that what is perceived as socially normative behavior for people may

  14. Hand-held medical robots.

    Science.gov (United States)

    Payne, Christopher J; Yang, Guang-Zhong

    2014-08-01

    Medical robots have evolved from autonomous systems to tele-operated platforms and mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have seen both commercial and clinical success, uptake of these robots remains moderate because of their high cost, large physical footprint and long setup times. More recently, researchers have moved toward developing hand-held robots that are completely ungrounded and manipulated by surgeons in free space, in a similar manner to how conventional instruments are handled. These devices provide specific functions that assist the surgeon in accomplishing tasks that are otherwise challenging with manual manipulation. Hand-held robots have the advantages of being compact and easily integrated into the normal surgical workflow since there is typically little or no setup time. Hand-held devices can also have a significantly reduced cost to healthcare providers as they do not necessitate the complex, multi degree-of-freedom linkages that grounded robots require. However, the development of such devices is faced with many technical challenges, including miniaturization, cost and sterility, control stability, inertial and gravity compensation and robust instrument tracking. This review presents the emerging technical trends in hand-held medical robots and future development opportunities for promoting their wider clinical uptake.

  15. Towards Systematic Prediction of Urban Heat Islands: Grounding Measurements, Assessing Modeling Techniques

    Directory of Open Access Journals (Sweden)

    Jackson Voelkel

    2017-06-01

    Full Text Available While there exists extensive assessment of urban heat, we observe myriad methods for describing thermal distribution, factors that mediate temperatures, and potential impacts on urban populations. In addition, the limited spatial and temporal resolution of satellite-derived heat measurements may limit the capacity of decision makers to take effective actions for reducing mortalities in vulnerable populations whose locations require highly-refined measurements. Needed are high resolution spatial and temporal information for urban heat. In this study, we ask three questions: (1 how do urban heat islands vary throughout the day? (2 what statistical methods best explain the presence of temperatures at sub-meter spatial scales; and (3 what landscape features help to explain variation in urban heat islands? Using vehicle-based temperature measurements at three periods of the day in the Pacific Northwest city of Portland, Oregon (USA, we incorporate LiDAR-derived datasets, and evaluate three statistical techniques for modeling and predicting variation in temperatures during a heat wave. Our results indicate that the random forest technique best predicts temperatures, and that the evening model best explains the variation in temperature. The results suggest that ground-based measurements provide high levels of accuracy for describing the distribution of urban heat, its temporal variation, and specific locations where targeted interventions with communities can reduce mortalities from heat events.

  16. Ground motion input in seismic evaluation studies: impacts on risk assessment of uniform hazard spectra

    International Nuclear Information System (INIS)

    Wu, S.C.; Sewell, R.T.

    1996-07-01

    Conservatism and variability in seismic risk estimates are studied: effects of uniform hazard spectrum (UHS) are examined for deriving probabilistic estimates of risk and in-structure demand levels, as compared to the more-exact use of realistic time history inputs (of given probability) that depend explicitly on magnitude and distance. This approach differs from the conventional in its exhaustive treatment of the ground-motion threat and in its more detailed assessment of component responses to that threat. The approximate UH-ISS (in-structure spectrum) obtained based on UHS appear to be very close to the more-exact results directed computed from scenario earthquakes. This conclusion does not depend on site configurations and structural characteristics. Also, UH-ISS has composite shapes and may not correspond to the characteristics possessed a single earthquake. The shape is largely affected by the structural property in most cases and can be derived approximately from the corresponding UHS. Motions with smooth spectra, however, will not have the same damage potential as those of more realistic motions with jagged spectral shapes. As a result, UHS-based analysis may underestimate the real demands in nonlinear structural analyses

  17. Operational Phase Life Cycle Assessment of Select NASA Ground Test Facilities

    Science.gov (United States)

    Sydnor, George H.; Marshall, Timothy J.; McGinnis, Sean

    2011-01-01

    NASA's Aeronautics Test Program (ATP) is responsible for many large, high-energy ground test facilities that accomplish the nation s most advanced aerospace research. In order to accomplish these national objectives, significant energy and resources are consumed. A select group of facilities was analyzed using life-cycle assessment (LCA) to determine carbon footprint and environmental impacts. Most of these impacts stem from electricity and natural gas consumption, used directly at the facility and to generate support processes such as compressed air and steam. Other activities were analyzed but determined to be smaller in scale and frequency with relatively negligible environmental impacts. More specialized facilities use R-134a, R-14, jet fuels, or nitrogen gas, and these unique inputs can have a considerable effect on a facility s overall environmental impact. The results of this LCA will be useful to ATP and NASA as the nation looks to identify its top energy consumers and NASA looks to maximize research output and minimize environmental impact. Keywords: NASA, Aeronautics, Wind tunnel, Keyword 4, Keyword 5

  18. Baseline risk assessment of ground water contamination at the uranium mill tailings sites near Rifle, Colorado. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-08-01

    The US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (Phase 1) and the Ground Water Project (Phase 2). Under the UMTRA Surface Project, tailings, radioactive contaminated soil, equipment, and materials associated with the former uranium ore processing sites are placed into disposal cells. The cells are designed to reduce radon and other radiation emissions and to prevent further ground water contamination. The Ground Water Project evaluates the nature and extent of ground water contamination resulting from the uranium ore processing activities. Two UMTRA Project sites are near Rifle, Colorado: the Old Rifle site and the New Rifle site. Surface cleanup at the two sites is under way and is scheduled for completion in 1996. The Ground Water Project is in its beginning stages. A risk assessment identifies a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the environment may be exposed, and the health or environmental effects that could result from that exposure. This report is a site-specific document that will be used to evaluate current and future impacts to the public and the environment from exposure to contaminated ground water. This evaluation and further site characterization will be used to determine if action is needed to protect human health or the environment.

  19. Baseline risk assessment of ground water contamination at the uranium mill tailings sites near Rifle, Colorado. Revision 1

    International Nuclear Information System (INIS)

    1995-08-01

    The US Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (Phase 1) and the Ground Water Project (Phase 2). Under the UMTRA Surface Project, tailings, radioactive contaminated soil, equipment, and materials associated with the former uranium ore processing sites are placed into disposal cells. The cells are designed to reduce radon and other radiation emissions and to prevent further ground water contamination. The Ground Water Project evaluates the nature and extent of ground water contamination resulting from the uranium ore processing activities. Two UMTRA Project sites are near Rifle, Colorado: the Old Rifle site and the New Rifle site. Surface cleanup at the two sites is under way and is scheduled for completion in 1996. The Ground Water Project is in its beginning stages. A risk assessment identifies a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the environment may be exposed, and the health or environmental effects that could result from that exposure. This report is a site-specific document that will be used to evaluate current and future impacts to the public and the environment from exposure to contaminated ground water. This evaluation and further site characterization will be used to determine if action is needed to protect human health or the environment

  20. Astrobee: Space Station Robotic Free Flyer

    Science.gov (United States)

    Provencher, Chris; Bualat, Maria G.; Barlow, Jonathan; Fong, Terrence W.; Smith, Marion F.; Smith, Ernest E.; Sanchez, Hugo S.

    2016-01-01

    Astrobee is a free flying robot that will fly inside the International Space Station and primarily serve as a research platform for robotics in zero gravity. Astrobee will also provide mobile camera views to ISS flight and payload controllers, and collect various sensor data within the ISS environment for the ISS Program. Astrobee consists of two free flying robots, a dock, and ground data system. This presentation provides an overview, high level design description, and project status.

  1. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Sites near Rifle, Colorado

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-05-01

    The ground water project evaluates the nature and extent of ground water contamination resulting from the uranium ore processing activities. This report is a site specific document that will be used to evaluate current and future impacts to the public and the environment from exposure to contaminated ground water. Currently, no one is using the ground water and therefore, no one is at risk. However, the land will probably be developed in the future and so the possibility of people using the ground water does exist. This report examines the future possibility of health hazards resulting from the ingestion of contaminated drinking water, skin contact, fish ingestion, or contact with surface waters and sediments.

  2. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Sites near Rifle, Colorado

    International Nuclear Information System (INIS)

    1995-05-01

    The ground water project evaluates the nature and extent of ground water contamination resulting from the uranium ore processing activities. This report is a site specific document that will be used to evaluate current and future impacts to the public and the environment from exposure to contaminated ground water. Currently, no one is using the ground water and therefore, no one is at risk. However, the land will probably be developed in the future and so the possibility of people using the ground water does exist. This report examines the future possibility of health hazards resulting from the ingestion of contaminated drinking water, skin contact, fish ingestion, or contact with surface waters and sediments

  3. An assessment of testing requirement impacts on nuclear thermal propulsion ground test facility design

    International Nuclear Information System (INIS)

    Shipers, L.R.; Ottinger, C.A.; Sanchez, L.C.

    1993-01-01

    Programs to develop solid core nuclear thermal propulsion (NTP) systems have been under way at the Department of Defense (DoD), the National Aeronautics and Space Administration (NASA), and the Department of Energy (DOE). These programs have recognized the need for a new ground test facility to support development of NTP systems. However, the different military and civilian applications have led to different ground test facility requirements. The Department of Energy (DOE) in its role as landlord and operator of the proposed research reactor test facilities has initiated an effort to explore opportunities for a common ground test facility to meet both DoD and NASA needs. The baseline design and operating limits of the proposed DoD NTP ground test facility are described. The NASA ground test facility requirements are reviewed and their potential impact on the DoD facility baseline is discussed

  4. A study on autonomous maintenance robot, 7

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Shimasaka, Naoki; Kaneshige, Masanori; Iwasaki, Shinnosuke.

    1990-01-01

    This paper deals with the new mechanism of a new maintenance robot, Mark IV, following the previous reports on pipeline inspection and maintenance robots of Mark I, II, and III. The Mark IV has a mechanism capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces, which is another capability of the maintenance robots, different from the previous ones. The main features of Mark IV are as follows, (i) The robot has a multijoint structure, so that it has better adaptability to the curvartures of pipelines and storage tanks. (ii) The joint of the robot has SMA actuators to make the robot lighter in weight. Some actuator shape characteristics are also examined for the robot structure and control. (iii) The robot has suckers at both ends so that the robot can climb up along the wall from the ground. (iv) A robot with the inch worm mechanisms has many functional motions, such that it can pass over flanges and T-joints, and transfer to adjacent pipelines with a wider range of pipe diameters. (v) A control method is given for the mobile motion control. Thus, the functional level of the maintenance robot has been greatly improved by the introduction of the Mark IV robot. (author)

  5. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Sites near Rifle, Colorado. Revision 2

    International Nuclear Information System (INIS)

    1996-02-01

    The U.S. Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (Phase I) and the Ground Water Project (Phase II). Under the UMTRA Surface Project, tailings, radioactive contaminated soil, equipment, and materials associated with the former uranium ore processing sites are placed into disposal cells. The cells are designed to reduce radon and other radiation emissions and to prevent further ground water contamination. The Ground Water Project evaluates the nature and extent of ground water contamination resulting from the uranium ore processing activities. Two UMTRA Project sites are near Rifle, Colorado: the Old Rifle site and the New Rifle site. Surface cleanup at the two sites is under way and is scheduled for completion in 1996. The Ground Water Project is in its beginning stages. A risk assessment identifies a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the environment may be exposed, and the health or environmental effects that could result from that exposure. This report is a site-specific document that will be used to evaluate current and future impacts to the public and the environment from exposure to contaminated ground water. This evaluation and further site characterization will be used to determine if action is needed to protect human health or the environment. Human health risk may result from exposure to ground water contaminated from uranium ore processing. Exposure could occur from drinking water obtained from a well placed in the areas of contamination. Furthermore, environmental risk may result from plant or animal exposure to surface water and sediment that have received contaminated ground water

  6. Baseline risk assessment of ground water contamination at the Uranium Mill Tailings Sites near Rifle, Colorado. Revision 2

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-02-01

    The U.S. Department of Energy (DOE) Uranium Mill Tailings Remedial Action (UMTRA) Project consists of the Surface Project (Phase I) and the Ground Water Project (Phase II). Under the UMTRA Surface Project, tailings, radioactive contaminated soil, equipment, and materials associated with the former uranium ore processing sites are placed into disposal cells. The cells are designed to reduce radon and other radiation emissions and to prevent further ground water contamination. The Ground Water Project evaluates the nature and extent of ground water contamination resulting from the uranium ore processing activities. Two UMTRA Project sites are near Rifle, Colorado: the Old Rifle site and the New Rifle site. Surface cleanup at the two sites is under way and is scheduled for completion in 1996. The Ground Water Project is in its beginning stages. A risk assessment identifies a source of contamination, how that contamination reaches people and the environment, the amount of contamination to which people or the environment may be exposed, and the health or environmental effects that could result from that exposure. This report is a site-specific document that will be used to evaluate current and future impacts to the public and the environment from exposure to contaminated ground water. This evaluation and further site characterization will be used to determine if action is needed to protect human health or the environment. Human health risk may result from exposure to ground water contaminated from uranium ore processing. Exposure could occur from drinking water obtained from a well placed in the areas of contamination. Furthermore, environmental risk may result from plant or animal exposure to surface water and sediment that have received contaminated ground water.

  7. 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

  8. State estimation for a hexapod robot

    CSIR Research Space (South Africa)

    Lubbe, Estelle

    2015-09-01

    Full Text Available on a quadruped. The EKF fuses the kinematic model with on-board IMU measurements to estimate the pose of the robot. The methodology was tested with experiments using a physical hexapod robot and validated with independent ground truth measurements....

  9. Coupling of ground biosensor networks for water monitoring with satellite observations in assessing Leptospirosis

    Science.gov (United States)

    Skouloudis, A. N.; Rickerby, D. G.

    2012-12-01

    mapping is reliant on the identification of location where such networks could be of use. Systematic monitoring from satellite images are utilized for increasing the potential areas of application, for assessing the geographical representativeness on the measurements of the sensors and proposing the methodology on assessing the environmental conditions that are associated with outbreaks of leptospirosis. Unfortunately, several combined deployments of earth observations with ground sensors are required before for the understanding of the connections between hydrology and the human health. Ultimately this will lead to the establishment of early warning system that might investigate the effectiveness of key control measures, including vaccine (when they will become available) and affront the water decontamination, and animal control issues.

  10. 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.

  11. 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.

  12. 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.

  13. Rapid assessment of bioactive phenolics and methylxanthines in spent coffee grounds by FT-NIR spectroscopy.

    Science.gov (United States)

    Magalhães, Luís M; Machado, Sandia; Segundo, Marcela A; Lopes, João A; Páscoa, Ricardo N M J

    2016-01-15

    Spent coffee grounds (SCGs) are a great source of bioactive compounds with interest to pharmaceutical and cosmetic industries. Phenolics and methylxanthines are the main health related compounds present in SCG samples. Content estimation of these compounds in SCGs is of upmost importance in what concerns their profitable use by waste recovery industries. In the present work, near-infrared spectroscopy (NIRS) was proposed as a rapid and non-destructive technique to assess the content of three main phenolics (caffeic acid, (+)-catechin and chlorogenic acid) and three methylxanthines (caffeine, theobromine and theophylline) in SCG samples obtained from different coffee brands and diverse coffee machines. The content of these compounds was determined for 61 SCG samples by HPLC coupled with diode-array detection. Partial least squares (PLS) regression based models were calibrated to correlate diffuse reflectance NIR spectra against the reference data for the six parameters obtained by HPLC. Spectral wavelength selection and number of latent variables were optimized by minimizing the cross-validation error. PLS models showed good linearity with a coefficient of determination for the prediction set (Rp(2)) of 0.95, 0.92, 0.88, 071 and 0.84 for caffeine, caffeic acid, (+)-catechin, chlorogenic acid and theophylline, respectively. The range error ratio (RER) was higher for caffeine (17.8) when compared to other compounds (12.0, 10.1, 7.6 and 9.2, respectively for caffeic acid, (+)-catechin, chlorogenic acid and theophylline). Moreover, the content of caffeine could be used to predict the antioxidant properties of SCG samples (R=0.808, n=61), despite not presenting this property itself. The results obtained confirmed that NIRS is a suitable technique to screen SCG samples unveiling those with high content of bioactive compounds, which are interesting for subsequent extraction procedures. Copyright © 2015 Elsevier B.V. All rights reserved.

  14. Life-Cycle Assessments of Selected NASA Ground-Based Test Facilities

    Science.gov (United States)

    Sydnor, George Honeycutt

    2012-01-01

    In the past two years, two separate facility-specific life cycle assessments (LCAs) have been performed as summer student projects. The first project focused on 13 facilities managed by NASA s Aeronautics Test Program (ATP), an organization responsible for large, high-energy ground test facilities that accomplish the nation s most advanced aerospace research. A facility inventory was created for each facility, and the operational-phase carbon footprint and environmental impact were calculated. The largest impacts stemmed from electricity and natural gas used directly at the facility and to generate support processes such as compressed air and steam. However, in specialized facilities that use unique inputs like R-134a, R-14, jet fuels, or nitrogen gas, these sometimes had a considerable effect on the facility s overall environmental impact. The second LCA project was conducted on the NASA Ames Arc Jet Complex and also involved creating a facility inventory and calculating the carbon footprint and environmental impact. In addition, operational alternatives were analyzed for their effectiveness at reducing impact. Overall, the Arc Jet Complex impact is dominated by the natural-gas fired boiler producing steam on-site, but alternatives were provided that could reduce the impact of the boiler operation, some of which are already being implemented. The data and results provided by these LCA projects are beneficial to both the individual facilities and NASA as a whole; the results have already been used in a proposal to reduce carbon footprint at Ames Research Center. To help future life cycle projects, several lessons learned have been recommended as simple and effective infrastructure improvements to NASA, including better utility metering and data recording and standardization of modeling choices and methods. These studies also increased sensitivity to and appreciation for quantifying the impact of NASA s activities.

  15. Work plan for conducting an ecological risk assessment at J-Field, Aberdeen Proving Ground, Maryland

    Energy Technology Data Exchange (ETDEWEB)

    Hlohowskyj, I.; Hayse, J.; Kuperman, R. [Argonne National Lab., IL (United States). Environmental Assessment Div.] [and others

    1995-03-01

    The Environmental Management Division of Aberdeen Proving Ground (APG), Maryland, is conducting a remedial investigation and feasibility study (RI/FS) of the J-Field area at APG pursuant to the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), as amended. J-Field is within the Edgewood Area of APG in Harford County, Maryland, and activities at the Edgewood Area since World War II have included the development, manufacture, testing, and destruction of chemical agents and munitions. The J-Field site was used to destroy chemical agents and munitions by open burning and open detonation. This work plan presents the approach proposed to conduct an ecological risk assessment (ERA) as part of the RI/FS program at J-Field. This work plan identifies the locations and types of field studies proposed for each area of concern (AOC), the laboratory studies proposed to evaluate toxicity of media, and the methodology to be used in estimating doses to ecological receptors and discusses the approach that will be used to estimate and evaluate ecological risks at J-Field. Eight AOCs have been identified at J-Field, and the proposed ERA is designed to evaluate the potential for adverse impacts to ecological receptors from contaminated media at each AOC, as well as over the entire J-Field site. The proposed ERA approach consists of three major phases, incorporating field and laboratory studies as well as modeling. Phase 1 includes biotic surveys of the aquatic and terrestrial habitats, biological tissue sampling and analysis, and media toxicity testing at each AOC and appropriate reference locations. Phase 2 includes definitive toxicity testing of media from areas of known or suspected contamination or of media for which the Phase 1 results indicate toxicity or adverse ecological effects. In Phase 3, the uptake models initially developed in Phase 2 will be finalized, and contaminant dose to each receptor from all complete pathways will be estimated.

  16. GROUND WATER SAMPLING OF VOCS IN THE WATER/CAPILLARY FRINGE AREA FOR VAPOR INTRUSION ASSESSMENT

    Science.gov (United States)

    Vapor intrusion has recently been considered a major pathway for increased indoor air contamination from certain volatile organic contaminants (VOCs). The recent Draft EPA Subsurface Vapor Intrusion Guidance Document states that ground water samples should be obtained from the u...

  17. Feedback-controlled robotics-assisted treadmill exercise to assess and influence aerobic capacity early after stroke: a proof-of-concept study.

    Science.gov (United States)

    Stoller, Oliver; Schindelholz, Matthias; Bichsel, Lukas; Schuster, Corina; de Bie, Rob A; de Bruin, Eling D; Hunt, Kenneth J

    2014-07-01

    The majority of post-stroke individuals suffer from low exercise capacity as a secondary reaction to immobility. The aim of this study was to prove the concept of feedback-controlled robotics-assisted treadmill exercise (RATE) to assess aerobic capacity and guide cardiovascular exercise in severely impaired individuals early after stroke. Subjects underwent constant load and incremental exercise testing using a human-in-the-loop feedback system within a robotics-assisted exoskeleton (Lokomat, Hocoma AG, CH). Inclusion criteria were: stroke onset ≤8 weeks, stable medical condition, non-ambulatory status, moderate motor control of the lower limbs and appropriate cognitive function. Outcome measures included oxygen uptake kinetics, peak oxygen uptake (VO2peak), gas exchange threshold (GET), peak heart rate (HRpeak), peak work rate (Ppeak) and accuracy of reaching target work rate (P-RMSE). Three subjects (18-42 d post-stroke) were included. Oxygen uptake kinetics during constant load ranged from 42.0 to 60.2 s. Incremental exercise testing showed: VO2peak range 19.7-28.8 ml/min/kg, GET range 11.6-12.7 ml/min/kg, and HRpeak range 115-161 bpm. Ppeak range was 55.2-110.9 W and P-RMSE range was 3.8-7.5 W. The concept of feedback-controlled RATE for assessment of aerobic capacity and guidance of cardiovascular exercise is feasible. Further research is warranted to validate the method on a larger scale. Aerobic capacity is seriously reduced in post-stroke individuals as a secondary reaction to immobility. Robotics-assisted walking devices may have substantial clinical relevance regarding assessment and improvement of aerobic capacity early after stroke. Feedback-controlled robotics-assisted treadmill exercise represents a new concept for cardiovascular assessment and intervention protocols for severely impaired individuals.

  18. Jefferson Proving Ground South of the Firing Line: Proposed Assessment and Measurement Endpoints for the Detailed Ecological Risk Assessment

    National Research Council Canada - National Science Library

    1997-01-01

    ...) conducted at sites located south of the Firing Line at Jefferson Proving Ground (JPG), Madison, Indiana. The RI/PS is being conducted under the Comprehensive Environmental Response, Compensation, and Liability Act...

  19. Assessing the ground vibrations produced by a heavy vehicle traversing a traffic obstacle.

    Science.gov (United States)

    Ducarne, Loïc; Ainalis, Daniel; Kouroussis, Georges

    2018-01-15

    Despite advancements in alternative transport networks, road transport remains the dominant mode in many modern and developing countries. The ground-borne motions produced by the passage of a heavy vehicle over a geometric obstacle (e.g. speed hump, train tracks) pose a fundamental problem in transport annoyance in urban areas. In order to predict the ground vibrations generated by the passage of a heavy vehicle over a geometric obstacle, a two-step numerical model is developed. The first step involves simulating the dynamic loads generated by the heavy vehicle using a multibody approach, which includes the tyre-obstacle-ground interaction. The second step involves the simulation of the ground wave propagation using a three dimensional finite element model. The simulation is able to be decoupled due to the large difference in stiffness between the vehicle's tyres and the road. First, the two-step model is validated using an experimental case study available in the literature. A sensitivity analysis is then presented, examining the influence of various factors on the generated ground vibrations. Factors investigated include obstacle shape, obstacle dimensions, vehicle speed, and tyre stiffness. The developed model can be used as a tool in the early planning stages to predict the ground vibrations generated by the passage of a heavy vehicle over an obstacle in urban areas. Copyright © 2017 Elsevier B.V. All rights reserved.

  20. 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?".

  1. Assessment of Beer Quality Based on a Robotic Pourer, Computer Vision, and Machine Learning Algorithms Using Commercial Beers.

    Science.gov (United States)

    Gonzalez Viejo, Claudia; Fuentes, Sigfredo; Torrico, Damir D; Howell, Kate; Dunshea, Frank R

    2018-03-30

    Sensory attributes of beer are directly linked to perceived foam-related parameters and beer color. The aim of this study was to develop an objective predictive model using machine learning modeling to assess the intensity levels of sensory descriptors in beer using the physical measurements of color and foam-related parameters. A robotic pourer (RoboBEER), was used to obtain 15 color and foam-related parameters from 22 different commercial beer samples. A sensory session using quantitative descriptive analysis (QDA ® ) with trained panelists was conducted to assess the intensity of 10 beer descriptors. Results showed that the principal component analysis explained 64% of data variability with correlations found between foam-related descriptors from sensory and RoboBEER such as the positive and significant correlation between carbon dioxide and carbonation mouthfeel (R = 0.62), correlation of viscosity to sensory, and maximum volume of foam and total lifetime of foam (R = 0.75, R = 0.77, respectively). Using the RoboBEER parameters as inputs, an artificial neural network (ANN) regression model showed high correlation (R = 0.91) to predict the intensity levels of 10 related sensory descriptors such as yeast, grains and hops aromas, hops flavor, bitter, sour and sweet tastes, viscosity, carbonation, and astringency. This paper is a novel approach for food science using machine modeling techniques that could contribute significantly to rapid screenings of food and brewage products for the food industry and the implementation of Artificial Intelligence (AI). The use of RoboBEER to assess beer quality showed to be a reliable, objective, accurate, and less time-consuming method to predict sensory descriptors compared to trained sensory panels. Hence, this method could be useful as a rapid screening procedure to evaluate beer quality at the end of the production line for industry applications. © 2018 Institute of Food Technologists®.

  2. Multivariate analysis of the Fugl-Meyer outcome measures assessing the effectiveness of GENTLE/S robot-mediated stroke therapy

    Directory of Open Access Journals (Sweden)

    Amirabdollahian Farshid

    2007-02-01

    Full Text Available Abstract Background Robot-mediated therapies offer entirely new approaches to neurorehabilitation. In this paper we present the results obtained from trialling the GENTLE/S neurorehabilitation system assessed using the upper limb section of the Fugl-Meyer (FM outcome measure. Methods We demonstrate the design of our clinical trial and its results analysed using a novel statistical approach based on a multivariate analytical model. This paper provides the rational for using multivariate models in robot-mediated clinical trials and draws conclusions from the clinical data gathered during the GENTLE/S study. Results The FM outcome measures recorded during the baseline (8 sessions, robot-mediated therapy (9 sessions and sling-suspension (9 sessions was analysed using a multiple regression model. The results indicate positive but modest recovery trends favouring both interventions used in GENTLE/S clinical trial. The modest recovery shown occurred at a time late after stroke when changes are not clinically anticipated. Conclusion This study has applied a new method for analysing clinical data obtained from rehabilitation robotics studies. While the data obtained during the clinical trial is of multivariate nature, having multipoint and progressive nature, the multiple regression model used showed great potential for drawing conclusions from this study. An important conclusion to draw from this paper is that this study has shown that the intervention and control phase both caused changes over a period of 9 sessions in comparison to the baseline. This might indicate that use of new challenging and motivational therapies can influence the outcome of therapies at a point when clinical changes are not expected. Further work is required to investigate the effects arising from early intervention, longer exposure and intensity of the therapies. Finally, more function-oriented robot-mediated therapies or sling-suspension therapies are needed to clarify the

  3. Comparative health technology assessment of robotic-assisted, direct manual laparoscopic and open surgery: a prospective study.

    Science.gov (United States)

    Turchetti, Giuseppe; Pierotti, Francesca; Palla, Ilaria; Manetti, Stefania; Freschi, Cinzia; Ferrari, Vincenzo; Cuschieri, Alfred

    2017-02-01

    Despite many publications reporting on the increased hospital cost of robotic-assisted surgery (RAS) compared to direct manual laparoscopic surgery (DMLS) and open surgery (OS), the reported health economic studies lack details on clinical outcome, precluding valid health technology assessment (HTA). The present prospective study reports total cost analysis on 699 patients undergoing general surgical, gynecological and thoracic operations between 2011 and 2014 in the Italian Public Health Service, during which period eight major teaching hospitals treated the patients. The study compared total healthcare costs of RAS, DMLS and OS based on prospectively collected data on patient outcome in addition to healthcare costs incurred by the three approaches. The cost of RAS operations was significantly higher than that of OS and DMLS for both gynecological and thoracic operations (p hospital stay of RAS approach (p hospitalization and after discharge. The present HTA while confirming higher total healthcare costs for RAS operations identified significant clinical benefits which may justify the increased expenditure incurred by this approach.

  4. Application of InSAR and GIS Techniques to Ground Subsidence Assessment in the Nobi Plain, Central Japan

    Science.gov (United States)

    Zheng, Minxue; Fukuyama, Kaoru; Sanga-Ngoie, Kazadi

    2014-01-01

    Spatial variation and temporal changes in ground subsidence over the Nobi Plain, Central Japan, are assessed using GIS techniques and ground level measurements data taken over this area since the 1970s. Notwithstanding the general slowing trend observed in ground subsidence over the plains, we have detected ground rise at some locations, more likely due to the ground expansion because of recovering groundwater levels and the tilting of the Nobi land mass. The problem of non-availability of upper-air meteorological information, especially the 3-dimensional water vapor distribution, during the JERS-1 observational period (1992–1998) was solved by applying the AWC (analog weather charts) method onto the high-precision GPV-MSM (Grid Point Value of Meso-Scale Model) water-vapor data to find the latter's matching meteorological data. From the selected JERS-1 interferometry pair and the matching GPV-MSM meteorological data, the atmospheric path delay generated by water vapor inhomogeneity was then quantitatively evaluated. A highly uniform spatial distribution of the atmospheric delay, with a maximum deviation of approximately 38 mm in its horizontal distribution was found over the Plain. This confirms the effectiveness of using GPV-MSM data for SAR differential interferometric analysis, and sheds thus some new light on the possibility of improving InSAR analysis results for land subsidence applications. PMID:24385028

  5. Application of InSAR and GIS techniques to ground subsidence assessment in the Nobi Plain, Central Japan.

    Science.gov (United States)

    Zheng, Minxue; Fukuyama, Kaoru; Sanga-Ngoie, Kazadi

    2013-12-31

    Spatial variation and temporal changes in ground subsidence over the Nobi Plain, Central Japan, are assessed using GIS techniques and ground level measurements data taken over this area since the 1970s. Notwithstanding the general slowing trend observed in ground subsidence over the plains, we have detected ground rise at some locations, more likely due to the ground expansion because of recovering groundwater levels and the tilting of the Nobi land mass. The problem of non-availability of upper-air meteorological information, especially the 3-dimensional water vapor distribution, during the JERS-1 observational period (1992-1998) was solved by applying the AWC (analog weather charts) method onto the high-precision GPV-MSM (Grid Point Value of Meso-Scale Model) water-vapor data to find the latter's matching meteorological data. From the selected JERS-1 interferometry pair and the matching GPV-MSM meteorological data, the atmospheric path delay generated by water vapor inhomogeneity was then quantitatively evaluated. A highly uniform spatial distribution of the atmospheric delay, with a maximum deviation of approximately 38 mm in its horizontal distribution was found over the Plain. This confirms the effectiveness of using GPV-MSM data for SAR differential interferometric analysis, and sheds thus some new light on the possibility of improving InSAR analysis results for land subsidence applications.

  6. Application of InSAR and GIS Techniques to Ground Subsidence Assessment in the Nobi Plain, Central Japan

    Directory of Open Access Journals (Sweden)

    Minxue Zheng

    2013-12-01

    Full Text Available Spatial variation and temporal changes in ground subsidence over the Nobi Plain, Central Japan, are assessed using GIS techniques and ground level measurements data taken over this area since the 1970s. Notwithstanding the general slowing trend observed in ground subsidence over the plains, we have detected ground rise at some locations, more likely due to the ground expansion because of recovering groundwater levels and the tilting of the Nobi land mass. The problem of non-availability of upper-air meteorological information, especially the 3-dimensional water vapor distribution, during the JERS-1 observational period (1992–1998 was solved by applying the AWC (analog weather charts method onto the high-precision GPV-MSM (Grid Point Value of Meso-Scale Model water-vapor data to find the latter’s matching meteorological data. From the selected JERS-1 interferometry pair and the matching GPV-MSM meteorological data, the atmospheric path delay generated by water vapor inhomogeneity was then quantitatively evaluated. A highly uniform spatial distribution of the atmospheric delay, with a maximum deviation of approximately 38 mm in its horizontal distribution was found over the Plain. This confirms the effectiveness of using GPV-MSM data for SAR differential interferometric analysis, and sheds thus some new light on the possibility of improving InSAR analysis results for land subsidence applications.

  7. Incremental development of large-scale human-robot teamwork in disaster response environments

    NARCIS (Netherlands)

    Greeff, J. de; Smets, N.J.J.M.; Hindriks, K.; Neerincx, M.A.; Kruijff-Korbayová, I.

    2017-01-01

    We report on the latest large-scale disaster-response exercise conducted by our project, which involves a robotic system with both ground robots (UGVs) and aerial robots (UAVs). In particularly, we focus on aspects related to Human-Robot teaming, and the uptake of new technology by end-users. © 2017

  8. Assessment of potential strong ground motions in the city of Rome

    Directory of Open Access Journals (Sweden)

    L. Malagnini

    1994-06-01

    Full Text Available A methodology is used which combines stochastic generation of random series with a finite-difference technique to estimate the expected horizontal ground motion for the city of Rome as induced by a large earthquake in the Central Apennines. In this approach, source properties and long-path propagation are modelled through observed spectra of ground motion in the region, while the effects of the near-surface geology in the city are simulated by means of a finite-difference technique applied to 2-D models including elastic and anelastic properties of geologic materials and topographic variations. The parameters commonly used for earthquake engineering purposes are estimated from the simulated time histories of horizontal ground motion. We focus our attention on peak ground acceleration and velocity, and on the integral of the squared acceleration and velocity (that are proportional to the Arias intensity and seismic energy flux, respectively. Response spectra are analyzed as well. Parameter variations along 2-D profiles visualize the effects of the small-scale geological heterogeneities and topography irregularities on ground motion in the case of a strong earthquake. Interestingly, the largest amplification of peak ground acceleration and Arias intensity does not necessarily occur at the same sites where peak ground velocity and flux of seismic energy reach their highest values, depending on the frequency band of amplification. A magnitude 7 earthquake at a distance of 100 km results in peak ground accelerations ranging from 30 to 70 gals while peak ground velocities are estimated to vary from 5 to 7 cm/s; moreover, simulated time histories of horizontal ground motion yield amplitudes of 5% damped pseudovelocity response spectra as large as 15-20 cm/s for frequencies from 1to 3 Hz. In this frequency band, the mean value is 7 cm/s for firm sites and ranges from 10 to 13 cm/s for soil sites. All these results are in good agreement with predictions

  9. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  10. Hydrochemical and Isotopic Assessment of Ground Water in Eastern Desert, Egypt

    International Nuclear Information System (INIS)

    Atiti, S.Y.; Ali, M.M.; Yousef, L.A.; Dessouki, H.A.

    2011-01-01

    The recharge rate is the most critical factor to ground water resources especially in semi- arid and arid areas. Fourteen representative ground water samples were collected from South Eastern Desert of Egypt and subjected to chemical and isotopic composition. The chemical data reported that, the alkalinity (ph) ranges between 6.5 and 8.5, the salinity of water ranges between 396 and 7874 ppm, sodium is the most dominant cation and chloride is the most dominant anion. The concentration of trace elements (Fe, Pb, Cd, Ni, Cu, Zn, and Mn) was analyzed to evaluate the suitability for drinking and irrigation. Uranium and thorium concentrations were found within the safe limit. Most of ground water was found suitable for drinking water, laundry, irrigation, building, industrial, livestock and poultry. The environmental stable isotopes (D and 18 O) and the radioactive isotope 3 H were evaluated for water samples of the investigated area to focus on the origin of the ground water, sources of recharging and the water rock interaction between aquifers and water. The isotopic compositions of these ground water samples indicated that, there are three different sources of recharge; paleo-water, local precipitation and rain water

  11. Collision Avoidance Short Course: Conjunction Assessment Risk Analysis - NASA Robotic CARA. Part I: ; Theory

    Science.gov (United States)

    Hejduk, M. D.; Frigm, Ryan C.

    2015-01-01

    Satellite conjunction assessment is perhaps the fastest growing area in space situational awareness and protection with military, civil and commercial satellite owner-operators embracing more and more sophisticated processes to avoid the avoidable - namely collisions between high value space assets and orbital debris. NASA and Centre National d'Etudes Spatiales (CNES) have collaborated to offer an introductory short course on all the major aspects of the conjunctions assessment problem. This half-day course will cover satellite conjunction dynamics and theory. Joint Space Operations Center (JsPOC) conjunction data products, major risk assessment parameters and plots, conjunction remediation decision support, and present and future challenges. This briefing represents the NASA portion of the course.

  12. 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....

  13. 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.

  14. 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...

  15. 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

  16. Assessment of Ground Water Quality in and around Gobichettipalayam Town Erode District, Tamilnadu

    Directory of Open Access Journals (Sweden)

    P. N. Palanisamy

    2007-01-01

    Full Text Available Ground water samples collected from different localities in and around Gobichettipalayam town, Erode District, Tamil Nadu were analyzed for their physico- chemical characteristics. This analysis result was compared with the WHO & ICMR standards of drinking water quality parameters with the following water quality parameters namely pH, Electrical conductivity, CN-, Cl-, SO42-, Na+, K+, Ca & Mg in CaCO3 equivalents, phenolphthalein alkalinity, hydroxide alkalinity, carbonate alkalinity, bicarbonate alkalinity, total alkalinity, total dissolved solids, total solids, total suspended solids, calcium, magnesium, total hardness, dissolved oxygen, fluoride etc., The usefulness of these parameters in predicting ground water quality characteristics were discussed. Thus an attempt has been made to find the quality of ground water in and around Gobichettipalayam town, suitable for drinking purposes or not.

  17. 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.

  18. 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.

  19. 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.

  20. Assessment of ground-based monitoring techniques applied to landslide investigations

    Science.gov (United States)

    Uhlemann, S.; Smith, A.; Chambers, J.; Dixon, N.; Dijkstra, T.; Haslam, E.; Meldrum, P.; Merritt, A.; Gunn, D.; Mackay, J.

    2016-01-01

    A landslide complex in the Whitby Mudstone Formation at Hollin Hill, North Yorkshire, UK is periodically re-activated in response to rainfall-induced pore-water pressure fluctuations. This paper compares long-term measurements (i.e., 2009-2014) obtained from a combination of monitoring techniques that have been employed together for the first time on an active landslide. The results highlight the relative performance of the different techniques, and can provide guidance for researchers and practitioners for selecting and installing appropriate monitoring techniques to assess unstable slopes. Particular attention is given to the spatial and temporal resolutions offered by the different approaches that include: Real Time Kinematic-GPS (RTK-GPS) monitoring of a ground surface marker array, conventional inclinometers, Shape Acceleration Arrays (SAA), tilt meters, active waveguides with Acoustic Emission (AE) monitoring, and piezometers. High spatial resolution information has allowed locating areas of stability and instability across a large slope. This has enabled identification of areas where further monitoring efforts should be focused. High temporal resolution information allowed the capture of 'S'-shaped slope displacement-time behaviour (i.e. phases of slope acceleration, deceleration and stability) in response to elevations in pore-water pressures. This study shows that a well-balanced suite of monitoring techniques that provides high temporal and spatial resolutions on both measurement and slope scale is necessary to fully understand failure and movement mechanisms of slopes. In the case of the Hollin Hill landslide it enabled detailed interpretation of the geomorphological processes governing landslide activity. It highlights the benefit of regularly surveying a network of GPS markers to determine areas for installation of movement monitoring techniques that offer higher resolution both temporally and spatially. The small sensitivity of tilt meter measurements

  1. Assessment of ground transportation stress in juvenile Kemp’s ridley sea turtles (Lepidochelys kempii)

    Science.gov (United States)

    Hunt, Kathleen E.; Innis, Charles J.; Kennedy, Adam E.; McNally, Kerry L.; Davis, Deborah G.; Burgess, Elizabeth A.; Merigo, Constance

    2016-01-01

    Sea turtle rehabilitation centres frequently transport sea turtles for long distances to move animals between centres or to release them at beaches, yet there is little information on the possible effects of transportation-related stress (‘transport stress’) on sea turtles. To assess whether transport stress is a clinically relevant concern for endangered Kemp’s ridley sea turtles (Lepidochelys kempii), we obtained pre-transport and post-transport plasma samples from 26 juvenile Kemp’s ridley sea turtles that were transported for 13 h (n = 15 turtles) or 26 h (n = 11 turtles) by truck for release at beaches. To control for effects of handling, food restriction and time of day, the same turtles were also studied on ‘control days’ 2 weeks prior to transport, i.e. with two samples taken to mimic pre-transport and post-transport timing, but without transportation. Blood samples were analysed for nine clinical health measures (pH, pCO2, pO2, HCO3, sodium, potassium, ionized calcium, lactate and haematocrit) and four ‘stress-associated’ parameters (corticosterone, glucose, white blood cell count and heterophil-to-lymphocyte ratio). Vital signs (heart rate, respiratory rate and cloacal temperature) were also monitored. Corticosterone and glucose showed pronounced elevations due specifically to transportation; for corticosterone, this elevation was significant only for the longer transport duration, whereas glucose increased significantly after both transport durations. However, clinical health measures and vital signs showed minimal or no changes in response to any sampling event (with or without transport), and all turtles appeared to be in good clinical health after both transport durations. Thus, transportation elicits a mild, but detectable, adrenal stress response that is more pronounced during longer durations of transport; nonetheless, Kemp’s ridley sea turtles can tolerate ground transportation of up to 26 h in good health. These

  2. Handling uncertainty and networked structure in robot control

    CERN Document Server

    Tamás, Levente

    2015-01-01

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

  3. A virtual reality system integrated with robot-assisted haptics to simulate pinch-grip task: Motor ingredients for the assessment in chronic stroke.

    Science.gov (United States)

    Yeh, Shih-Ching; Lee, Si-Huei; Chan, Rai-Chi; Chen, Shuya; Rizzo, Albert

    2014-01-01

    Among numerous studies on virtual reality (VR) technology for motor rehabilitation, the majorities have only used it as a motor training system and did not use the kinematic or kinetic information obtained as the basis for therapeutic effect assessment. Incorporating the kinematic and kinetic information acquired through a robot-assisted VR system on pinch-grip training, this study intends to propose novel motor ingredients represented as indices for the interpretation of motor behaviors and verify the efficacy of them for the assessment in chronic stroke. Clinical trials were conducted on eight stroke patients and clinical assessments were made as the objective standard. Non-parametric test and correlation analysis were performed on results of motor indices and clinical assessments. Non-parametric test indicated that 50% of the motor indices significantly improved while the others showed a trend of improvement, consisting with the findings in clinical assessments. Correlation analysis showed that the three clinical assessment items were correlated to items in the motor ingredients. The proposed motor ingredients gathered from the robot-assisted VR training system were able to contribute to the assessment of therapeutic effect in chronic stroke and were capable for the interpretation of behavior phases.

  4. A rapid method for landscape assessment of carbon storage and ecosystem function in moss and lichen ground layers

    Science.gov (United States)

    Sarah Jovan; Robert J. Smith; Juan C. Benavides; Michael Amacher; Bruce McCune

    2015-01-01

    Mat-forming ‘‘ground layers’’ of mosses and lichens often have functional impacts disproportionate to their biomass, and are responsible for sequestering one-third of the world’s terrestrial carbon as they regulate water tables, cool soils and inhibit microbial decomposition. Without reliable assessment tools, the potential effects of climate and land use changes on...

  5. Inventing Japan's 'robotics culture': the repeated assembly of science, technology, and culture in social robotics.

    Science.gov (United States)

    Sabanović, Selma

    2014-06-01

    Using interviews, participant observation, and published documents, this article analyzes the co-construction of robotics and culture in Japan through the technical discourse and practices of robotics researchers. Three cases from current robotics research--the seal-like robot PARO, the Humanoid Robotics Project HRP-2 humanoid, and 'kansei robotics' - show the different ways in which scientists invoke culture to provide epistemological grounding and possibilities for social acceptance of their work. These examples show how the production and consumption of social robotic technologies are associated with traditional crafts and values, how roboticists negotiate among social, technical, and cultural constraints while designing robots, and how humans and robots are constructed as cultural subjects in social robotics discourse. The conceptual focus is on the repeated assembly of cultural models of social behavior, organization, cognition, and technology through roboticists' narratives about the development of advanced robotic technologies. This article provides a picture of robotics as the dynamic construction of technology and culture and concludes with a discussion of the limits and possibilities of this vision in promoting a culturally situated understanding of technology and a multicultural view of science.

  6. Motion and operation planning of robotic systems background and practical approaches

    CERN Document Server

    Gomez-Barvo, Fernando

    2015-01-01

    This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researche...

  7. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

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

    2015-01-01

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

  8. Mobile Robot Designed with Autonomous Navigation System

    Science.gov (United States)

    An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

    2017-10-01

    With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

  9. Flocking and rendezvous in distributed robotics

    CERN Document Server

    Francis, Bruce A

    2016-01-01

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

  10. Electrical impedance map (EIM) for margin assessment during robot-assisted laparoscopic prostatectomy (RALP) using a microendoscopic probe

    Science.gov (United States)

    Mahara, Aditya; Khan, Shadab; Schned, Alan R.; Hyams, Elias S.; Halter, Ryan J.

    2015-03-01

    Positive surgical margins (PSMs) found following prostate cancer surgery are a significant risk factor for post-operative disease recurrence. Noxious adjuvant radiation and chemical-based therapies are typically offered to men with PSMs. Unfortunately, no real-time intraoperative technology is currently available to guide surgeons to regions of suspicion during the initial prostatectomy where immediate surgical excisions could be used to reduce the chance of PSMs. A microendoscopic electrical impedance sensing probe was developed with the intention of providing real-time feedback regarding margin status to surgeons during robot-assisted laparoscopic prostatectomy (RALP) procedures. A radially configured 17-electrode microendoscopic probe was designed, constructed, and initially evaluated through use of gelatin-based phantoms and an ex vivo human prostate specimen. Impedance measurements are recorded at 10 frequencies (10 kHz - 100 kHz) using a high-speed FPGA-based electrical impedance tomography (EIT) system. Tetrapolar impedances are recorded from a number of different electrode configurations strategically chosen to sense tissue in a pre-defined sector underlying the probe face. A circular electrical impedance map (EIM) with several color-coded pie-shaped sectors is created to represent the impedance values of the probed tissue. Gelatin phantom experiments show an obvious distinction in the impedance maps between high and low impedance regions. Similarly, the EIM generated from the ex vivo prostate case shows distinguishing features between cancerous and benign regions. Based on successful development of this probe and these promising initial results, EIMs of additional prostate specimens are being collected to further evaluate this approach for intraoperative surgical margin assessment during RALP procedures.

  11. Assessment of shallow ground-water quality in recently urbanized areas of Sacramento, California, 1998

    Science.gov (United States)

    Shelton, Jennifer L.

    2005-01-01

    Evidence for anthropogenic impact on shallow ground-water quality beneath recently developed urban areas of Sacramento, California, has been observed in the sampling results from 19 monitoring wells in 1998. Eight volatile organic compounds (VOCs), four pesticides, and one pesticide transformation product were detected in low concentrations, and nitrate, as nitrogen, was detected in elevated concentrations; all of these concentrations were below National and State primary and secondary maximum contaminant levels. VOC results from this study are more consistent with the results from urban areas nationwide than from agricultural areas in the Central Valley, indicating that shallow ground-water quality has been impacted by urbanization. VOCs detected may be attributed to either the chlorination of drinking water, such as trichloromethane (chloroform) detected in 16 samples, or to the use of gasoline additives, such as methyl tert-butyl ether (MTBE), detected in 2 samples. Pesticides detected may be attributed to use on household lawns and gardens and rights-of-way, such as atrazine detected in three samples, or to past agricultural practices, and potentially to ground-water/surface-water interactions, such as bentazon detected in one sample from a well adjacent to the Sacramento River and downstream from where bentazon historically was used on rice. Concentrations of nitrate may be attributed to natural sources, animal waste, old septic tanks, and fertilizers used on lawns and gardens or previously used on agricultural crops. Seven sample concentrations of nitrate, as nitrogen, exceeded 3.0 milligrams per liter, a level that may indicate impact from human activities. Ground-water recharge from rainfall or surface-water runoff also may contribute to the concentrations of VOCs and pesticides observed in ground water. Most VOCs and pesticides detected in ground-water samples also were detected in air and surface-water samples collected at sites within or adjacent to the

  12. 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....

  13. Social Robots

    DEFF Research Database (Denmark)

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

  14. I Show You How I Like You: Emotional Human-Robot Interaction through Facial Expression and Tactile Stimulation

    DEFF Research Database (Denmark)

    Fredslund, Jakob; Cañamero, Lola D.

    2001-01-01

    We report work on a LEGO robot capable of displaying several emo- tional expressions in response to physical contact. Our motivation has been to explore believable emotional exchanges to achieve plausible interaction with a simple robot. We have worked toward this goal in two ways. First......, emotional states need to be clearly conveyed. We have drawn inspira- tion from theories of human basic emotions with associated universal facial expressions, which we have implemented in a caricaturized face. We have conducted experiments on both children and adults to assess the recogniz- ability......, acknowledging the importance of physical manipulation in children's inter- actions, interaction with the robot is through tactile stimulation; the various kinds of stimulation that can elicit the robot's emotions are grounded in a model of emotion activation based on different stimulation patterns. Sec- ond...

  15. Technology-assisted risk of bias assessment in systematic reviews: a prospective cross-sectional evaluation of the RobotReviewer machine learning tool.

    Science.gov (United States)

    Gates, Allison; Vandermeer, Ben; Hartling, Lisa

    2018-04-01

    To evaluate the reliability of RobotReviewer's risk of bias judgments. In this prospective cross-sectional evaluation, we used RobotReviewer to assess risk of bias among 1,180 trials. We computed reliability with human reviewers using Cohen's kappa coefficient and calculated sensitivity and specificity. We investigated differences in reliability by risk of bias domain, topic, and outcome type using the chi-square test in meta-analysis. Reliability (95% CI) was moderate for random sequence generation (0.48 [0.43, 0.53]), allocation concealment (0.45 [0.40, 0.51]), and blinding of participants and personnel (0.42 [0.36, 0.47]); fair for overall risk of bias (0.34 [0.25, 0.44]); and slight for blinding of outcome assessors (0.10 [0.06, 0.14]), incomplete outcome data (0.14 [0.08, 0.19]), and selective reporting (0.02 [-0.02, 0.05]). Reliability for blinding of participants and personnel (P risk of bias (P Risk of bias appraisal is subjective. Compared with reliability between author groups, RobotReviewer's reliability with human reviewers was similar for most domains and better for allocation concealment, blinding of participants and personnel, and overall risk of bias. Copyright © 2018 Elsevier Inc. All rights reserved.

  16. Assessment of Coumarin Levels in Ground Cinnamon Available in the Czech Retail Market

    Directory of Open Access Journals (Sweden)

    Jana Blahová

    2012-01-01

    Full Text Available The objective of this study was to determine the coumarin content of ground cinnamon purchased from retail markets in the Czech Republic. No sample was labelled with information on the botanical source, but, in some cases, the countries of origin were specified. For comparison, a single cinnamon sample imported directly from a plantation in Sri Lanka that came from Cinnamomum verum was analyzed. Results from 60 ground cinnamon samples comprising twelve brands confirmed a high content of coumarin, with mean levels ranging from 2 650 to 7 017 mg · kg−1. The high coumarin content confirmed that these cinnamon samples obtained from cassia cinnamon were in contrast to the sample from Sri Lanka, which was coumarin-free.

  17. Integrationof Remote Sensing and Geographic information system in Ground Water Quality Assessment and Management

    Science.gov (United States)

    Shakak, N.

    2015-04-01

    Spatial variations in ground water quality in the Khartoum state, Sudan, have been studied using geographic information system (GIS) and remote sensing technique. Gegraphical informtion system a tool which is used for storing, analyzing and displaying spatial data is also used for investigating ground water quality information. Khartoum landsat mosac image aquired in 2013was used, Arc/Gis software applied to extract the boundary of the study area, the image was classified to create land use/land cover map. The land use map,geological and soil map are used for correlation between land use , geological formations, and soil types to understand the source of natural pollution that can lower the ground water quality. For this study, the global positioning system (GPS), used in the field to identify the borehole location in a three dimentional coordinate (Latitude, longitude, and altitude), water samples were collected from 156 borehole wells, and analyzed for physico-chemical parameters like electrical conductivity, Total dissolved solid,Chloride, Nitrate, Sodium, Magnisium, Calcium,and Flouride, using standard techniques in the laboratory and compared with the standards.The ground water quality maps of the entire study area have been prepared using spatial interpolation technique for all the above parameters.then the created maps used to visualize, analyze, and understand the relationship among the measured points. Mapping was coded for potable zones, non-potable zones in the study area, in terms of water quality sutability for drinking water and sutability for irrigation. In general satellite remote sensing in conjunction with geographical information system (GIS) offers great potential for water resource development and management.

  18. Monitoring Strategies of Earth Dams by Ground-Based Radar Interferometry: How to Extract Useful Information for Seismic Risk Assessment.

    Science.gov (United States)

    Di Pasquale, Andrea; Nico, Giovanni; Pitullo, Alfredo; Prezioso, Giuseppina

    2018-01-16

    The aim of this paper is to describe how ground-based radar interferometry can provide displacement measurements of earth dam surfaces and of vibration frequencies of its main concrete infrastructures. In many cases, dams were built many decades ago and, at that time, were not equipped with in situ sensors embedded in the structure when they were built. Earth dams have scattering properties similar to landslides for which the Ground-Based Synthetic Aperture Radar (GBSAR) technique has been so far extensively applied to study ground displacements. In this work, SAR and Real Aperture Radar (RAR) configurations are used for the measurement of earth dam surface displacements and vibration frequencies of concrete structures, respectively. A methodology for the acquisition of SAR data and the rendering of results is described. The geometrical correction factor, needed to transform the Line-of-Sight (LoS) displacement measurements of GBSAR into an estimate of the horizontal displacement vector of the dam surface, is derived. Furthermore, a methodology for the acquisition of RAR data and the representation of displacement temporal profiles and vibration frequency spectra of dam concrete structures is presented. For this study a Ku-band ground-based radar, equipped with horn antennas having different radiation patterns, has been used. Four case studies, using different radar acquisition strategies specifically developed for the monitoring of earth dams, are examined. The results of this work show the information that a Ku-band ground-based radar can provide to structural engineers for a non-destructive seismic assessment of earth dams.

  19. Monitoring Strategies of Earth Dams by Ground-Based Radar Interferometry: How to Extract Useful Information for Seismic Risk Assessment

    Directory of Open Access Journals (Sweden)

    Andrea Di Pasquale

    2018-01-01

    Full Text Available The aim of this paper is to describe how ground-based radar interferometry can provide displacement measurements of earth dam surfaces and of vibration frequencies of its main concrete infrastructures. In many cases, dams were built many decades ago and, at that time, were not equipped with in situ sensors embedded in the structure when they were built. Earth dams have scattering properties similar to landslides for which the Ground-Based Synthetic Aperture Radar (GBSAR technique has been so far extensively applied to study ground displacements. In this work, SAR and Real Aperture Radar (RAR configurations are used for the measurement of earth dam surface displacements and vibration frequencies of concrete structures, respectively. A methodology for the acquisition of SAR data and the rendering of results is described. The geometrical correction factor, needed to transform the Line-of-Sight (LoS displacement measurements of GBSAR into an estimate of the horizontal displacement vector of the dam surface, is derived. Furthermore, a methodology for the acquisition of RAR data and the representation of displacement temporal profiles and vibration frequency spectra of dam concrete structures is presented. For this study a Ku-band ground-based radar, equipped with horn antennas having different radiation patterns, has been used. Four case studies, using different radar acquisition strategies specifically developed for the monitoring of earth dams, are examined. The results of this work show the information that a Ku-band ground-based radar can provide to structural engineers for a non-destructive seismic assessment of earth dams.

  20. 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...

  1. 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.

  2. 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...

  3. 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.

  4. 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

  5. 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.

  6. Robotic Surgery for Lung Cancer

    Science.gov (United States)

    Ambrogi, Marcello C; Fanucchi, Olivia; Melfi, Franco; Mussi, Alfredo

    2014-01-01

    During the last decade the role of minimally invasive surgery has been increased, especially with the introduction of the robotic system in the surgical field. The most important advantages of robotic system are represented by the wristed instrumentation and the depth perception, which can overcome the limitation of traditional thoracoscopy. However, some data still exist in literature with regard to robotic lobectomy. The majority of papers are focused on its safety and feasibility, but further studies with long follow-ups are necessary in order to assess the oncologic outcomes. We reviewed the literature on robotic lobectomy, with the main aim to better define the role of robotic system in the clinical practice. PMID:25207216

  7. Biologically inspired intelligent robots

    Science.gov (United States)

    Bar-Cohen, Yoseph; Breazeal, Cynthia

    2003-07-01

    Humans throughout history have always sought to mimic the appearance, mobility, functionality, intelligent operation, and thinking process of biological creatures. This field of biologically inspired technology, having the moniker biomimetics, has evolved from making static copies of human and animals in the form of statues to the emergence of robots that operate with realistic behavior. Imagine a person walking towards you where suddenly you notice something weird about him--he is not real but rather he is a robot. Your reaction would probably be "I can't believe it but this robot looks very real" just as you would react to an artificial flower that is a good imitation. You may even proceed and touch the robot to check if your assessment is correct but, as oppose to the flower case, the robot may be programmed to respond physical and verbally. This science fiction scenario could become a reality as the current trend continues in developing biologically inspired technologies. Technology evolution led to such fields as artificial muscles, artificial intelligence, and artificial vision as well as biomimetic capabilities in materials science, mechanics, electronics, computing science, information technology and many others. This paper will review the state of the art and challenges to biologically-inspired technologies and the role that EAP is expected to play as the technology evolves.

  8. Preliminary Assessment of Detection Efficiency for the Geostationary Lightning Mapper Using Intercomparisons with Ground-Based Systems

    Science.gov (United States)

    Bateman, Monte; Mach, Douglas; Blakeslee, Richard J.; Koshak, William

    2018-01-01

    As part of the calibration/validation (cal/val) effort for the Geostationary Lightning Mapper (GLM) on GOES-16, we need to assess instrument performance (detection efficiency and accuracy). One major effort is to calculate the detection efficiency of GLM by comparing to multiple ground-based systems. These comparisons will be done pair-wise between GLM and each other source. A complication in this process is that the ground-based systems sense different properties of the lightning signal than does GLM (e.g., RF vs. optical). Also, each system has a different time and space resolution and accuracy. Preliminary results indicate that GLM is performing at or above its specification.

  9. Demonstration of the Military Ecological Risk Assessment Framework (MERAF): Apache Longbow - Hell Missile Test at Yuma Proving Ground

    Energy Technology Data Exchange (ETDEWEB)

    Efroymson, R.A.

    2002-05-09

    This ecological risk assessment for a testing program at Yuma Proving Ground, Arizona, is a demonstration of the Military Ecological Risk Assessment Framework (MERAF; Suter et al. 2001). The demonstration is intended to illustrate how risk assessment guidance concerning-generic military training and testing activities and guidance concerning a specific type of activity (e.g., low-altitude aircraft overflights) may be implemented at a military installation. MERAF was developed with funding from the Strategic Research and Development Program (SERDP) of the Department of Defense. Novel aspects of MERAF include: (1) the assessment of risks from physical stressors using an ecological risk assessment framework, (2) the consideration of contingent or indirect effects of stressors (e.g., population-level effects that are derived from habitat or hydrological changes), (3) the integration of risks associated with different component activities or stressors, (4) the emphasis on quantitative risk estimates and estimates of uncertainty, and (5) the modularity of design, permitting components of the framework to be used in various military risk assessments that include similar activities. The particular subject of this report is the assessment of ecological risks associated with a testing program at Cibola Range of Yuma Proving Ground, Arizona. The program involves an Apache Longbow helicopter firing Hellfire missiles at moving targets, i.e., M60-A1 tanks. Thus, the three component activities of the Apache-Hellfire test were: (1) helicopter overflight, (2) missile firing, and (3) tracked vehicle movement. The demonstration was limited, to two ecological endpoint entities (i.e., potentially susceptible and valued populations or communities): woody desert wash communities and mule deer populations. The core assessment area is composed of about 126 km{sup 2} between the Chocolate and Middle Mountains. The core time of the program is a three-week period, including fourteen days of

  10. Demonstration of the Military Ecological Risk Assessment Framework (MERAF): Apache Longbow - Hell Missile Test at Yuma Proving Ground

    International Nuclear Information System (INIS)

    Efroymson, R.A.

    2002-01-01

    This ecological risk assessment for a testing program at Yuma Proving Ground, Arizona, is a demonstration of the Military Ecological Risk Assessment Framework (MERAF; Suter et al. 2001). The demonstration is intended to illustrate how risk assessment guidance concerning-generic military training and testing activities and guidance concerning a specific type of activity (e.g., low-altitude aircraft overflights) may be implemented at a military installation. MERAF was developed with funding from the Strategic Research and Development Program (SERDP) of the Department of Defense. Novel aspects of MERAF include: (1) the assessment of risks from physical stressors using an ecological risk assessment framework, (2) the consideration of contingent or indirect effects of stressors (e.g., population-level effects that are derived from habitat or hydrological changes), (3) the integration of risks associated with different component activities or stressors, (4) the emphasis on quantitative risk estimates and estimates of uncertainty, and (5) the modularity of design, permitting components of the framework to be used in various military risk assessments that include similar activities. The particular subject of this report is the assessment of ecological risks associated with a testing program at Cibola Range of Yuma Proving Ground, Arizona. The program involves an Apache Longbow helicopter firing Hellfire missiles at moving targets, i.e., M60-A1 tanks. Thus, the three component activities of the Apache-Hellfire test were: (1) helicopter overflight, (2) missile firing, and (3) tracked vehicle movement. The demonstration was limited, to two ecological endpoint entities (i.e., potentially susceptible and valued populations or communities): woody desert wash communities and mule deer populations. The core assessment area is composed of about 126 km 2 between the Chocolate and Middle Mountains. The core time of the program is a three-week period, including fourteen days of

  11. 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...

  12. Robotic microsurgical training and evaluation.

    Science.gov (United States)

    Selber, Jesse C; Alrasheed, Taiba

    2014-02-01

    Robotic surgery has expanded rapidly over the past two decades and is in widespread use among the surgical subspecialties. Clinical applications in plastic surgery have emerged gradually over the last few years. One of the promising applications is robotic-assisted microvascular anastomosis. Here the authors first describe a process by which an assessment instrument they developed called the Structured Assessment of Robotic Microsurgical Skills (SARMS) was validated. The instrument combines the previously validated Structured Assessment of Microsurgical Skills (SAMS) with other skill domains in robotic surgery. Interrater reliability for the SARMS instrument was excellent for all skill areas among four expert, blinded evaluators. They then present a process by which the learning curve for robotic-assisted microvascular anastomoses was measured and plotted. Ten study participants performed five robotic microanastomoses each that were recorded, deidentified and scored. Trends in SARMS scores were plotted. All skill areas and overall performance improved significantly for each participant over the five microanastomotic sessions, and operative time decreased for all participants. The results showed an initial steep ascent in technical skill acquisition followed by more gradual improvement, and a steady decrease in operative times for the cohort. Participants at all levels of training, ranging from minimal microsurgical experience to expert microsurgeons gained proficiency over the course of five robotic sessions.

  13. Spider World: A Robot Language for Learning to Program. Assessing the Cognitive Consequences of Computer Environments for Learning (ACCCEL).

    Science.gov (United States)

    Dalbey, John; Linn, Marcia

    Spider World is an interactive program designed to help individuals with no previous computer experience to learn the fundamentals of programming. The program emphasizes cognitive tasks which are central to programming and provides significant problem-solving opportunities. In Spider World, the user commands a hypothetical robot (called the…

  14. da Vinci Skills Simulator for Assessing Learning Curve and Criterion-based Training of Robotic Basic Skills

    NARCIS (Netherlands)

    Brinkman, W.M.; Luursema, J.M.; Kengen, B.; Schout, B.M.; Witjes, J.A.; Bekkers, R.L.M.

    2013-01-01

    OBJECTIVE: To answer 2 research questions: what are the learning curve patterns of novices on the da Vinci skills simulator parameters and what parameters are appropriate for criterion-based robotic training. MATERIALS AND METHODS: A total of 17 novices completed 2 simulator sessions within 3 days.

  15. 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

  16. Assessment of nitrification potential in ground water using short term, single-well injection experiments.

    Science.gov (United States)

    Smith, R L; Baumgartner, L K; Miller, D N; Repert, D A; Böhlke, J K

    2006-01-01

    Nitrification was measured within a sand and gravel aquifer on Cape Cod, MA, using a series of single-well injection tests. The aquifer contained a wastewater-derived contaminant plume, the core of which was anoxic and contained ammonium. The study was conducted near the downgradient end of the ammonium zone, which was characterized by inversely trending vertical gradients of oxygen (270 to 0 microM) and ammonium (19 to 625 microM) and appeared to be a potentially active zone for nitrification. The tests were conducted by injecting a tracer solution (ambient ground water + added constituents) into selected locations within the gradients using multilevel samplers. After injection, the tracers moved by natural ground water flow and were sampled with time from the injection port. Rates of nitrification were determined from changes in nitrate and nitrite concentration relative to bromide. Initial tests were conducted with (15)N-enriched ammonium; subsequent tests examined the effect of adding ammonium, nitrite, or oxygen above background concentrations and of adding difluoromethane, a nitrification inhibitor. In situ net nitrate production exceeded net nitrite production by 3- to 6- fold and production rates of both decreased in the presence of difluoromethane. Nitrification rates were 0.02-0.28 mumol (L aquifer)(-1) h(-1) with in situ oxygen concentrations and up to 0.81 mumol (L aquifer)(-1) h(-1) with non-limiting substrate concentrations. Geochemical considerations indicate that the rates derived from single-well injection tests yielded overestimates of in situ rates, possibly because the injections promoted small-scale mixing within a transport-limited reaction zone. Nonetheless, these tests were useful for characterizing ground water nitrification in situ and for comparing potential rates of activity when the tracer cloud included non-limiting ammonium and oxygen concentrations.

  17. Assessment of nitrification potential in ground water using short term, single-well injection experiments

    Science.gov (United States)

    Smith, R.L.; Baumgartner, L.K.; Miller, D.N.; Repert, D.A.; Böhlke, J.K.

    2006-01-01

    Nitrification was measured within a sand and gravel aquifer on Cape Cod, MA, using a series of single-well injection tests. The aquifer contained a wastewater-derived contaminant plume, the core of which was anoxic and contained ammonium. The study was conducted near the downgradient end of the ammonium zone, which was characterized by inversely trending vertical gradients of oxygen (270 to 0 μM) and ammonium (19 to 625 μM) and appeared to be a potentially active zone for nitrification. The tests were conducted by injecting a tracer solution (ambient ground water + added constituents) into selected locations within the gradients using multilevel samplers. After injection, the tracers moved by natural ground water flow and were sampled with time from the injection port. Rates of nitrification were determined from changes in nitrate and nitrite concentration relative to bromide. Initial tests were conducted with 15N-enriched ammonium; subsequent tests examined the effect of adding ammonium, nitrite, or oxygen above background concentrations and of adding difluoromethane, a nitrification inhibitor. In situ net nitrate production exceeded net nitrite production by 3- to 6- fold and production rates of both decreased in the presence of difluoromethane. Nitrification rates were 0.02–0.28 μmol (L aquifer)−1 h−1 with in situ oxygen concentrations and up to 0.81 μmol (L aquifer)−1 h−1 with non-limiting substrate concentrations. Geochemical considerations indicate that the rates derived from single-well injection tests yielded overestimates of in situ rates, possibly because the injections promoted small-scale mixing within a transport-limited reaction zone. Nonetheless, these tests were useful for characterizing ground water nitrification in situ and for comparing potential rates of activity when the tracer cloud included non-limiting ammonium and oxygen concentrations.

  18. Soft Legged Wheel-Based Robot with Terrestrial Locomotion Abilities

    Directory of Open Access Journals (Sweden)

    Ali Sadeghi

    2016-12-01

    Full Text Available In recent years robotics has been influenced by a new approach, soft-robotics, bringing the idea that safe interaction with user and more adaptation to the environment can be achieved by exploiting easily deformable materials and flexible components in the structure of robots. In 2016, the soft-robotics community has promoted a new robotics challenge, named RoboSoft Grand Challenge, with the aim of bringing together different opinions on the usefulness and applicability of softness and compliancy in robotics. In this paper we describe the design and implementation of a terrestrial robot based on two soft legged wheels. The tasks predefined by the challenge were set as targets in the robot design, which finally succeeded to accomplish all the tasks. The wheels of the robot can passively climb over stairs and adapt to slippery grounds using two soft legs embedded in their structure. The soft legs, fabricated by integration of soft and rigid materials and mounted on the circumference of a conventional wheel, succeed to enhance its functionality and easily adapt to unknown grounds. The robot has a semi stiff tail that helps in the stabilization and climbing of stairs. An active wheel is embedded at the extremity of the tail in order to increase the robot maneuverability in narrow environments. Moreover two parallelogram linkages let the robot to reconfigure and shrink its size allowing entering inside gates smaller than its initial dimensions.

  19. An accuracy assessment of different rigid body image registration methods and robotic couch positional corrections using a novel phantom

    Energy Technology Data Exchange (ETDEWEB)

    Arumugam, Sankar; Xing Aitang [Liverpool and Macarthur Cancer Therapy Centres and Ingham Institute, New South Wales 2170 (Australia); Jameson, Michael G. [Liverpool and Macarthur Cancer Therapy Centres and Ingham Institute, New South Wales 2170, Australia and Centre for Medical Radiation Physics, University of Wollongong, Wollongong, New South Wales 2522 (Australia); Holloway, Lois [Liverpool and Macarthur Cancer Therapy Centres and Ingham Institute, New South Wales 2170 (Australia); Centre for Medical Radiation Physics, University of Wollongong, Wollongong, New South Wales 2522 (Australia); University of New South Wales, Sydney, New South Wales 2052 (Australia); Institute of Medical Physics, School of Physics, University of Sydney, Sydney, New South Wales 2006 (Australia)

    2013-03-15

    Purpose: Image guided radiotherapy (IGRT) using cone beam computed tomography (CBCT) images greatly reduces interfractional patient positional uncertainties. An understanding of uncertainties in the IGRT process itself is essential to ensure appropriate use of this technology. The purpose of this study was to develop a phantom capable of assessing the accuracy of IGRT hardware and software including a 6 degrees of freedom patient positioning system and to investigate the accuracy of the Elekta XVI system in combination with the HexaPOD robotic treatment couch top. Methods: The constructed phantom enabled verification of the three automatic rigid body registrations (gray value, bone, seed) available in the Elekta XVI software and includes an adjustable mount that introduces known rotational offsets to the phantom from its reference position. Repeated positioning of the phantom was undertaken to assess phantom rotational accuracy. Using this phantom the accuracy of the XVI registration algorithms was assessed considering CBCT hardware factors and image resolution together with the residual error in the overall image guidance process when positional corrections were performed through the HexaPOD couch system. Results: The phantom positioning was found to be within 0.04 ({sigma}= 0.12) Degree-Sign , 0.02 ({sigma}= 0.13) Degree-Sign , and -0.03 ({sigma}= 0.06) Degree-Sign in X, Y, and Z directions, respectively, enabling assessment of IGRT with a 6 degrees of freedom patient positioning system. The gray value registration algorithm showed the least error in calculated offsets with maximum mean difference of -0.2({sigma}= 0.4) mm in translational and -0.1({sigma}= 0.1) Degree-Sign in rotational directions for all image resolutions. Bone and seed registration were found to be sensitive to CBCT image resolution. Seed registration was found to be most sensitive demonstrating a maximum mean error of -0.3({sigma}= 0.9) mm and -1.4({sigma}= 1.7) Degree-Sign in translational

  20. An accuracy assessment of different rigid body image registration methods and robotic couch positional corrections using a novel phantom

    International Nuclear Information System (INIS)

    Arumugam, Sankar; Xing Aitang; Jameson, Michael G.; Holloway, Lois

    2013-01-01

    Purpose: Image guided radiotherapy (IGRT) using cone beam computed tomography (CBCT) images greatly reduces interfractional patient positional uncertainties. An understanding of uncertainties in the IGRT process itself is essential to ensure appropriate use of this technology. The purpose of this study was to develop a phantom capable of assessing the accuracy of IGRT hardware and software including a 6 degrees of freedom patient positioning system and to investigate the accuracy of the Elekta XVI system in combination with the HexaPOD robotic treatment couch top. Methods: The constructed phantom enabled verification of the three automatic rigid body registrations (gray value, bone, seed) available in the Elekta XVI software and includes an adjustable mount that introduces known rotational offsets to the phantom from its reference position. Repeated positioning of the phantom was undertaken to assess phantom rotational accuracy. Using this phantom the accuracy of the XVI registration algorithms was assessed considering CBCT hardware factors and image resolution together with the residual error in the overall image guidance process when positional corrections were performed through the HexaPOD couch system. Results: The phantom positioning was found to be within 0.04 (σ= 0.12)°, 0.02 (σ= 0.13)°, and −0.03 (σ= 0.06)° in X, Y, and Z directions, respectively, enabling assessment of IGRT with a 6 degrees of freedom patient positioning system. The gray value registration algorithm showed the least error in calculated offsets with maximum mean difference of −0.2(σ= 0.4) mm in translational and −0.1(σ= 0.1)° in rotational directions for all image resolutions. Bone and seed registration were found to be sensitive to CBCT image resolution. Seed registration was found to be most sensitive demonstrating a maximum mean error of −0.3(σ= 0.9) mm and −1.4(σ= 1.7)° in translational and rotational directions over low resolution images, and this is reduced to

  1. Assessment of knee laxity using a robotic testing device: a comparison to the manual clinical knee examination.

    Science.gov (United States)

    Branch, T P; Stinton, S K; Siebold, R; Freedberg, H I; Jacobs, C A; Hutton, W C

    2017-08-01

    The purpose of this study was to collect knee laxity data using a robotic testing device. The data collected were then compared to the results obtained from manual clinical examination. Two human cadavers were studied. A medial collateral ligament (MCL) tear was simulated in the left knee of cadaver 1, and a posterolateral corner (PLC) injury was simulated in the right knee of cadaver 2. Contralateral knees were left intact. Five blinded examiners carried out manual clinical examination on the knees. Laxity grades and a diagnosis were recorded. Using a robotic knee device which can measure knee laxity in three planes of motion: anterior-posterior, internal-external tibia rotation, and varus-valgus, quantitative data were obtained to document tibial motion relative to the femur. One of the five examiners correctly diagnosed the MCL injury. Robotic testing showed a 1.7° larger valgus angle, 3° greater tibial internal rotation, and lower endpoint stiffness (11.1 vs. 24.6 Nm/°) in the MCL-injured knee during varus-valgus testing when compared to the intact knee and 4.9 mm greater medial tibial translation during rotational testing. Two of the five examiners correctly diagnosed the PLC injury, while the other examiners diagnosed an MCL tear. The PLC-injured knee demonstrated 4.1 mm more lateral tibial translation and 2.2 mm more posterior tibial translation during varus-valgus testing when compared to the intact knee. The robotic testing device was able to provide objective numerical data that reflected differences between the injured knees and the uninjured knees in both cadavers. The examiners that performed the manual clinical examination on the cadaver knees proved to be poor at diagnosing the injuries. Robotic testing could act as an adjunct to the manual clinical examination by supplying numbers that could improve diagnosis of knee injury. Level II.

  2. Assessment of Soil, Surface-Water, and Ground-Water Contamination at Selected Sites at J-Field, Aberdeen Proving Ground, Maryland

    National Research Council Canada - National Science Library

    Phelan, Daniel

    1998-01-01

    .... Only emergency disposal operations have been conducted at J-Field since the early 1980's. Soil, surface-water, and ground-water contamination has resulted from the migration of unburned chemicals and fuels from the disposal...

  3. Design of an exoskeleton ankle robot for robot-assisted gait training of stroke patients.

    Science.gov (United States)

    Yeung, Ling-Fung; Ockenfeld, Corinna; Pang, Man-Kit; Wai, Hon-Wah; Soo, Oi-Yan; Li, Sheung-Wai; Tong, Kai-Yu

    2017-07-01

    Lower Limb Exoskeleton robot that can facilitate stair walking is a big challenge, most systems could only provide level ground walking. In this study, a lightweight (0.5kg at ankle, 0.5kg at waist for control box) and autonomous exoskeleton Ankle Robot was proposed to provide power assistance for gait training of chronic stroke patients and it can facilitate three walking conditions in real-time: (1) level walking, (2) stair ascending, and (3) stair descending. Chronic stroke patients (n=3) with drop foot gait deficit and moderate motor impairment were recruited to evaluate the system under different walking conditions (Functional Ambulatory Category: FAC=4.7±0.5 and Fugl-Meyer Assessment for lower-extremity: FMA-LE=13.7±2.9). The system consisted of a specially designed carbon fiber AFO, servomotor, gear transmission system, IMU and force sensors, and control box. The IMU sensors embedded in the shank measured acceleration and angular velocity to identify distinct features in leg tilting angle and leg angular velocity between the three walking conditions. The results showed the powered ankle dorsiflexion assistance could reduce dropped foot of the stroke patients in swing phase and provide better gait pattern. A demo of the ankle robot will be conducted in the conference.

  4. Design and Rolling Analysis of a Novel Deformable Polyhedron Robot

    Directory of Open Access Journals (Sweden)

    Yaobin Tian

    2014-10-01

    Full Text Available In this paper, a new rolling robot is proposed. The mechanism of the robot consists of eight links with three degrees of freedom (DOFs. The shape of each link of the robot is an equilateral triangle. The robot realizes its direction switching function by deforming into different modes of planar parallelogram mechanisms (PPM. In any deterministic mode, the robot can roll on the ground. The motion of the robot is studied based on the kinematic and zero moment point (ZMP analyses. Though the robot has three DOFs, we show that it can realize flexible mobility via direction switching and rolling functions with two DOFs and one DOF, respectively. A prototype robot was manufactured. A series of simulations and experiments done using this prototype is reported, verifying the feasibility of the design.

  5. A Survey on Intermediation Architectures for Underwater Robotics

    Science.gov (United States)

    Li, Xin; Martínez, José-Fernán; Rodríguez-Molina, Jesús; Martínez, Néstor Lucas

    2016-01-01

    Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues. PMID:26861321

  6. A Survey on Intermediation Architectures for Underwater Robotics

    Directory of Open Access Journals (Sweden)

    Xin Li

    2016-02-01

    Full Text Available Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.. However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.

  7. Assessment of Infrasound Signals Recorded on Seismic Stations and Infrasound Arrays in the Western United States using Ground Truth Sources

    Science.gov (United States)

    Park, Junghyun; Hayward, Chris; Stump, Brian W.

    2018-02-01

    Ground truth sources in Utah during 2003-2013 are used to assess the contribution of temporal atmospheric conditions to infrasound detection and the predictive capabilities of atmospheric models. Ground truth sources consist of 28 long duration static rocket motor burn tests and 28 impulsive rocket body demolitions. Automated infrasound detections from a hybrid of regional seismometers and infrasound arrays use a combination of STA/LTA ratios and spectral analyses. These detections are grouped into station triads using a Delaunay triangulation network and then associated to estimate phase velocity and azimuth to filter signals associated with a particular source location. The resulting range and azimuth distribution from sources to detecting stations varies seasonally and is consistent with predictions based on seasonal atmospheric models. Impulsive signals from rocket body detonations are observed at greater distances ( > 700 km) than the extended duration signals generated by the rocket burn test (up to 600 km). Infrasound energy attenuation associated with the two source types is quantified as a function of range and azimuth from infrasound amplitude measurements. Ray tracing results using ground-to-space (G2S) atmospheric specifications are compared to these observations and illustrate the degree to which the time variations in characteristics of the observations can be predicted over a multiple year time period.

  8. Ground water and energy

    Energy Technology Data Exchange (ETDEWEB)

    1980-11-01

    This national workshop on ground water and energy was conceived by the US Department of Energy's Office of Environmental Assessments. Generally, OEA needed to know what data are available on ground water, what information is still needed, and how DOE can best utilize what has already been learned. The workshop focussed on three areas: (1) ground water supply; (2) conflicts and barriers to ground water use; and (3) alternatives or solutions to the various issues relating to ground water. (ACR)

  9. An assessment of the performance of global rainfall estimates without ground-based observations

    Science.gov (United States)

    Massari, Christian; Crow, Wade; Brocca, Luca

    2017-09-01

    Satellite-based rainfall estimates over land have great potential for a wide range of applications, but their validation is challenging due to the scarcity of ground-based observations of rainfall in many areas of the planet. Recent studies have suggested the use of triple collocation (TC) to characterize uncertainties associated with rainfall estimates by using three collocated rainfall products. However, TC requires the simultaneous availability of three products with mutually uncorrelated errors, a requirement which is difficult to satisfy with current global precipitation data sets. In this study, a recently developed method for rainfall estimation from soil moisture observations, SM2RAIN, is demonstrated to facilitate the accurate application of TC within triplets containing two state-of-the-art satellite rainfall estimates and a reanalysis product. The validity of different TC assumptions are indirectly tested via a high-quality ground rainfall product over the contiguous United States (CONUS), showing that SM2RAIN can provide a truly independent source of rainfall accumulation information which uniquely satisfies the assumptions underlying TC. On this basis, TC is applied with SM2RAIN on a global scale in an optimal configuration to calculate, for the first time, reliable global correlations (vs. an unknown truth) of the aforementioned products without using a ground benchmark data set. The analysis is carried out during the period 2007-2012 using daily rainfall accumulation products obtained at 1° × 1° spatial resolution. Results convey the relatively high performance of the satellite rainfall estimates in eastern North and South America, southern Africa, southern and eastern Asia, eastern Australia, and southern Europe, as well as complementary performances between the reanalysis product and SM2RAIN, with the first performing reasonably well in the Northern Hemisphere and the second providing very good performance in the Southern Hemisphere. The

  10. An assessment of the performance of global rainfall estimates without ground-based observations

    Directory of Open Access Journals (Sweden)

    C. Massari

    2017-09-01

    Full Text Available Satellite-based rainfall estimates over land have great potential for a wide range of applications, but their validation is challenging due to the scarcity of ground-based observations of rainfall in many areas of the planet. Recent studies have suggested the use of triple collocation (TC to characterize uncertainties associated with rainfall estimates by using three collocated rainfall products. However, TC requires the simultaneous availability of three products with mutually uncorrelated errors, a requirement which is difficult to satisfy with current global precipitation data sets. In this study, a recently developed method for rainfall estimation from soil moisture observations, SM2RAIN, is demonstrated to facilitate the accurate application of TC within triplets containing two state-of-the-art satellite rainfall estimates and a reanalysis product. The validity of different TC assumptions are indirectly tested via a high-quality ground rainfall product over the contiguous United States (CONUS, showing that SM2RAIN can provide a truly independent source of rainfall accumulation information which uniquely satisfies the assumptions underlying TC. On this basis, TC is applied with SM2RAIN on a global scale in an optimal configuration to calculate, for the first time, reliable global correlations (vs. an unknown truth of the aforementioned products without using a ground benchmark data set. The analysis is carried out during the period 2007–2012 using daily rainfall accumulation products obtained at 1° × 1° spatial resolution. Results convey the relatively high performance of the satellite rainfall estimates in eastern North and South America, southern Africa, southern and eastern Asia, eastern Australia, and southern Europe, as well as complementary performances between the reanalysis product and SM2RAIN, with the first performing reasonably well in the Northern Hemisphere and the second providing very good performance in the Southern

  11. A Spherical Aerial Terrestrial Robot

    Science.gov (United States)

    Dudley, Christopher J.

    This thesis focuses on the design of a novel, ultra-lightweight spherical aerial terrestrial robot (ATR). The ATR has the ability to fly through the air or roll on the ground, for applications that include search and rescue, mapping, surveillance, environmental sensing, and entertainment. The design centers around a micro-quadcopter encased in a lightweight spherical exoskeleton that can rotate about the quadcopter. The spherical exoskeleton offers agile ground locomotion while maintaining characteristics of a basic aerial robot in flying mode. A model of the system dynamics for both modes of locomotion is presented and utilized in simulations to generate potential trajectories for aerial and terrestrial locomotion. Details of the quadcopter and exoskeleton design and fabrication are discussed, including the robot's turning characteristic over ground and the spring-steel exoskeleton with carbon fiber axle. The capabilities of the ATR are experimentally tested and are in good agreement with model-simulated performance. An energy analysis is presented to validate the overall efficiency of the robot in both modes of locomotion. Experimentally-supported estimates show that the ATR can roll along the ground for over 12 minutes and cover the distance of 1.7 km, or it can fly for 4.82 minutes and travel 469 m, on a single 350 mAh battery. Compared to a traditional flying-only robot, the ATR traveling over the same distance in rolling mode is 2.63-times more efficient, and in flying mode the system is only 39 percent less efficient. Experimental results also demonstrate the ATR's transition from rolling to flying mode.

  12. 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.

  13. 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.

  14. 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.

  15. The Holy Grail of Resource Assessment: Low Cost Ground-Based Measurements with Good Accuracy

    Energy Technology Data Exchange (ETDEWEB)

    Marion, Bill; Smith, Benjamin

    2017-06-22

    Using performance data from some of the millions of installed photovoltaic (PV) modules with micro-inverters may afford the opportunity to provide ground-based solar resource data critical for developing PV projects. The method used back-solves for the direct normal irradiance (DNI) and the diffuse horizontal irradiance (DHI) from the micro-inverter ac production data. When the derived values of DNI and DHI were then used to model the performance of other PV systems, the annual mean bias deviations were within +/- 4%, and only 1% greater than when the PV performance was modeled using high quality irradiance measurements. An uncertainty analysis shows the method better suited for modeling PV performance than using satellite-based global horizontal irradiance.

  16. Human health risk assessment methodology for the UMTRA Ground Water Project

    International Nuclear Information System (INIS)

    1994-11-01

    This document presents the method used to evaluate human risks associated with ground water contamination at inactive uranium processing sites. The intent of these evaluations is to provide the public and remedial action decision-makers with information about the health risks that might be expected at each site in a manner that is easily understood. The method (1) develops probabilistic distributions for exposure variables where sufficient data exist, (2) simulates predicted exposure distributions using Monte Carlo techniques, and (3) develops toxicity ranges that reflect human data when available, animal data if human data are insufficient, regulatory levels, and uncertainties. Risk interpretation is based on comparison of the potential exposure distributions with the derived toxicity ranges. Graphic presentations are an essential element of the semiquantitative interpretation and are expected to increase understanding by the public and decision-makers

  17. Main factors affecting strong ground motion calculations: Critical review and assessment

    International Nuclear Information System (INIS)

    Mohammadioun, B.; Pecker, A.

    1990-01-01

    In the interests of guarding lives and property against the effects of earthquakes, building codes are frequently enforced when erecting conventional structures, usually calling for simple, static calculations. Where more vulnerable facilities are involved, the failure of which, or of parts of which, could subject the environment to harmful substances, more sophisticated methods are used to compute or verify their design, often accompanied by safety margins intended to compensate for uncertainties encountered at various stages of the analysis that begins with input seismic data and culminates with an effective anti-seismic design. The forthcoming discussion will deal with what is known of the characteristics of strong ground motion, highly variable according to context, without entering into the problems raised by seismotectonic studies, which actually constitute the first aspect that must be addressed when performing such an analysis. Our conclusion will be devoted to cogent R and D work in this area

  18. Assessing subsurface strata using geophysical and geotechnical methods for designing structures near ground cracks

    Science.gov (United States)

    AlFouzan, F.; Dafalla, M.; Mutaz, E.

    2012-04-01

    This paper presents a combined approach using both geophysical and geotechnical approaches to study and evaluate the subsurface strata near ground for sites suffering from faults and cracks. It demonstrates how both techniques can be utilized to gather useful information for design geotechnical engineers. The safe distance for construction close to a ground crack is mainly dependant on the subsurface stratification and the engineering properties of underlying soils or rocks. Other factors include the area geology and concepts of safety margins. This study is carried out for a site in Al-Qassim region, Saudi Arabia. This type of faults and cracks can normally occur due to a geological or physical event or due to the nature and properties of the subsurface material. The geotechnical works included advancing rotary boreholes to depths of 25m to 31m with sampling and testing. The geophysical method used included performing 2D electrical resistivity profiles. The results of geophysical and geotechnical works showed good and close agreement. The use of 2D electrical resistivity was found useful to establish the layer thicknesses of shale and highly plastic clay. This cannot be determined without deep and expensive direct boring investigation. The results showed that a thick layer of expansive soil, which is considered a high-risk soil type containing large percentage of highly plastic clay materials, underlies the site. The volume changes due to humidity variations can result in either swelling or shrinking. These changes can have significant impact on engineering structures such as light buildings and roads. The logic of placing structures in close vicinity of the cracks is based on lateral stresses exerted on the crack face. The layer thickness is a detrimental factor to establish a safe design distance. Stress distribution analysis procedure is explained.

  19. Contemporary virtual reality laparoscopy simulators: quicksand or solid grounds for assessing surgical trainees?

    NARCIS (Netherlands)

    Thijssen, Anthony S.; Schijven, Marlies P.

    2010-01-01

    BACKGROUND: A demand for safe, efficient laparoscopic training tools has prompted the introduction of virtual reality (VR) laparoscopic simulators, which might be used for performance assessment. The purpose of this review is to determine the value of VR metrics in laparoscopic skills assessment.

  20. Assessing the cumulative environmental effects of marine renewable energy developments: Establishing common ground.

    Science.gov (United States)

    Willsteed, Edward; Gill, Andrew B; Birchenough, Silvana N R; Jude, Simon

    2017-01-15

    Assessing and managing the cumulative impacts of human activities on the environment remains a major challenge to sustainable development. This challenge is highlighted by the worldwide expansion of marine renewable energy developments (MREDs) in areas already subject to multiple activities and climate change. Cumulative effects assessments in theory provide decision makers with adequate information about how the environment will respond to the incremental effects of licensed activities and are a legal requirement in many nations. In practise, however, such assessments are beset by uncertainties resulting in substantial delays during the licensing process that reduce MRED investor confidence and limit progress towards meeting climate change targets. In light of these targets and ambitions to manage the marine environment sustainably, reducing the uncertainty surrounding MRED effects and cumulative effects assessment are timely and vital. This review investigates the origins and evolution of cumulative effects assessment to identify why the multitude of approaches and pertinent research have emerged, and discusses key considerations and challenges relevant to assessing the cumulative effects of MREDs and other activities on ecosystems. The review recommends a shift away from the current reliance on disparate environmental impact assessments and limited strategic environmental assessments, and a move towards establishing a common system of coordinated data and research relative to ecologically meaningful areas, focussed on the needs of decision makers tasked with protecting and conserving marine ecosystems and services. Copyright © 2016. Published by Elsevier B.V.

  1. Grounding formative assessment in high-school chemistry classrooms: Connections between professional development and teacher practice

    Science.gov (United States)

    Cisterna Alburquerque, Dante Igor

    This study describes and analyzes the experiences of two high-school chemistry teachers who participated in a team-based professional development program to learn about and enact formative assessment in their classrooms. The overall purpose of this study is to explain how participation in this professional development influenced both teachers' classroom enactment of formative assessment practices. This study focuses on 1) teachers' participation in the professional development program, 2) teachers' enactment of formative assessment, and 3) factors that enabled or hindered enactment of formative assessment. Drawing on cultural-historical activity theory (CHAT) and using evidence from teacher lessons, teacher interviews, professional development meetings as data sources, this single embedded case study analyzes how these two teachers who participated in the same learning team and have similar characteristics (i.e., teaching in the same school, teaching the same courses and population of students, and using the same materials) differentially used the professional development learning about formative assessment as mediating tools to improve their classroom instruction. The learning team experience contributed to both teachers' development of a better understanding of formative assessment---especially in recognizing that their current grading and assessment practices were not appropriate to promote student learning---and the co-creation of artifacts to gather evidence of students' ideas. Although both teachers demonstrated understanding about how formative assessment may serve to promote student learning and had a set of tools available to utilize for formative assessment use, they did not enact these tools in the same way. One teacher appropriated formative assessment as mediating tool to verify if the students were following her explanations, and to check if the students were able to provide the correct response. The other teacher used the mediating tool to promote

  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. 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."

  4. 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

  5. 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...

  6. 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.

  7. Use of Ground Motion Simulations of a Historical Earthquake for the Assessment of Past and Future Urban Risks

    Science.gov (United States)

    Kentel, E.; Çelik, A.; karimzadeh Naghshineh, S.; Askan, A.

    2017-12-01

    Erzincan city located in the Eastern part of Turkey at the conjunction of three active faults is one of the most hazardous regions in the world. In addition to several historical events, this city has experienced one of the largest earthquakes during the last century: The 27 December 1939 (Ms=8.0) event. With limited knowledge of the tectonic structure by then, the city center was relocated to the North after the 1939 earthquake by almost 5km, indeed closer to the existing major strike slip fault. This decision coupled with poor construction technologies, led to severe damage during a later event that occurred on 13 March 1992 (Mw=6.6). The 1939 earthquake occurred in the pre-instrumental era in the region with no available local seismograms whereas the 1992 event was only recorded by 3 nearby stations. There are empirical isoseismal maps from both events indicating indirectly the spatial distribution of the damage. In this study, we focus on this region and present a multidisciplinary approach to discuss the different components of uncertainties involved in the assessment and mitigation of seismic risk in urban areas. For this initial attempt, ground motion simulation of the 1939 event is performed to obtain the anticipated ground motions and shaking intensities. Using these quantified results along with the spatial distribution of the observed damage, the relocation decision is assessed and suggestions are provided for future large earthquakes to minimize potential earthquake risks.

  8. Using tethered robotics to launch flying and hovering robot agents for tactical air superiority in land warfare and anti-terrorist activities

    Science.gov (United States)

    Ratner, Danny; McKerrow, Phillip

    2004-08-01

    This paper discusses conceptual ideas and simple experiments with prototypes of an aerial tethered robot carried by a hovering platform with a long cable. The robot includes a gravity stabilized sensing head and can host a cluster of robotic agents which are deployed very near to the ground target without exposing the host platform to risk.

  9. Environmental assessment for Trench 33 widening in 218-W-5 Low-Level Burial Ground, Hanford Site, Richland, Washington

    International Nuclear Information System (INIS)

    1997-07-01

    This environmental assessment (EA) has been prepared to assess potential environmental impacts associated with the US Department of Energy''s proposed action: to widen and operated the unused Trench 33 in the 218-W-5 Low-Level Burial Ground. Information contained herein will be used by the US Department of Energy, Richland Operations Office Manager, to determine if the Proposed Action is a major federal action significantly affecting the quality of the human environment. If the Proposed Action is determined to be major and significant, an environmental impact statement will be prepared. If the Proposed Action is determined not to be major and significant, a Finding of No significant Impact will be issued and the action may proceed

  10. Environmental assessment for Trench 33 widening in 218-W-5 Low-Level Burial Ground, Hanford Site, Richland, Washington

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-07-01

    This environmental assessment (EA) has been prepared to assess potential environmental impacts associated with the US Department of Energy`s proposed action: to widen and operated the unused Trench 33 in the 218-W-5 Low-Level Burial Ground. Information contained herein will be used by the US Department of Energy, Richland Operations Office Manager, to determine if the Proposed Action is a major federal action significantly affecting the quality of the human environment. If the Proposed Action is determined to be major and significant, an environmental impact statement will be prepared. If the Proposed Action is determined not to be major and significant, a Finding of No significant Impact will be issued and the action may proceed.

  11. Quantifying Upper-Arm Rehabilitation Metrics for Children through Interaction with a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Douglas A. Brooks

    2012-01-01

    Full Text Available The objective of this research effort is to integrate therapy instruction with child-robot play interaction in order to better assess upper-arm rehabilitation. Using computer vision techniques such as Motion History Imaging (MHI, edge detection, and Random Sample Consensus (RANSAC, movements can be quantified through robot observation. In addition, incorporating prior knowledge regarding exercise data, physical therapeutic metrics, and novel approaches, a mapping to therapist instructions can be created allowing robotic feedback and intelligent interaction. The results are compared with ground truth data retrieved via the Trimble 5606 Robotic Total Station and visual experts for the purpose of assessing the efficiency of this approach. We performed a series of upper-arm exercises with two male subjects, which were captured via a simple webcam. The specific exercises involved adduction and abduction and lateral and medial movements. The analysis shows that our algorithmic results compare closely to the results obtain from the ground truth data, with an average algorithmic error is less than 9% for the range of motion and less than 8% for the peak angular velocity of each subject.

  12. 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...

  13. 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

  14. Bio-inspired annelid robot: a dielectric elastomer actuated soft robot.

    Science.gov (United States)

    Xu, Liang; Chen, Han-Qing; Zou, Jiang; Dong, Wan-Ting; Gu, Guo-Ying; Zhu, Li-Min; Zhu, Xiang-Yang

    2017-01-31

    Biologically inspired robots with inherent softness and body compliance increasingly attract attention in the field of robotics. Aimed at solving existing problems with soft robots, regarding actuation technology and biological principles, this paper presents a soft bio-inspired annelid robot driven by dielectric elastomer actuators (DEAs) that can advance on flat rigid surfaces. The DEA, a kind of soft functional actuator, is designed and fabricated to mimic the axial elongation and differential friction of a single annelid body segment. Several (at least three) DEAs are connected together into a movable multi-segment robot. Bristles are attached at the bottom of some DEAs to achieve differential friction for imitating the setae of annelids. The annelid robot is controlled by periodic square waves, propagating from the posterior to the anterior, which imitate the peristaltic waves of annelids. Controlled by these waves, each DEA, one-by-one from tail to head, anchors to the ground by circumferential distention and pushes the front DEAs forward by axial elongation, enabling the robot to advance. Preliminary tests demonstrate that a 3-segment robot can reach an average speed of 5.3 mm s -1 (1.871 body lengths min -1 ) on flat rigid surfaces and can functionally mimic the locomotion of annelids. Compared to the existing robots that imitate terrestrial annelids our annelid robot shows advantages in terms of speed and bionics.

  15. Utilization of 3D sensors in robotics

    Directory of Open Access Journals (Sweden)

    Marcaník Miroslav

    2017-01-01

    Full Text Available Recently, the interest in development of service robots highly increases. The annual turnover in this area is estimated to a number close to 17 milliard Euro in the past years. The annual turnover could rise to 0.1 billion Euro by 2020 by IFR considering 30 % growth every year. Investments are expected to flow into all areas related to service robotics, mainly into the development of assistant robots for seniors and the handicapped people, health monitoring and surgical robots, robots in agriculture, pilotless drones and helicopters and ground vehicles without a driver. Very promising years seems to be coming for all the new and already existing companies focused on this area with their software and sensor engineers together with producers of important accessories.

  16. 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.

  17. Kinematic and biomimetic assessment of a hydraulic ankle/foot in level ground and camber walking

    Science.gov (United States)

    Bai, Xuefei; Ewins, David; Crocombe, Andrew D.

    2017-01-01

    Improved walking comfort has been linked with better bio-mimicking of the prosthetic ankle. This study investigated if a hydraulic ankle/foot can provide enough motion in both the sagittal and frontal planes during level and camber walking and if the hydraulic ankle/foot better mimics the biological ankle moment pattern compared with a fixed ankle/foot device. Five active male unilateral trans-femoral amputees performed level ground walking at normal and fast speeds and 2.5° camber walking in both directions using their own prostheses fitted with an “Echelon” hydraulic ankle/foot and an “Esprit” fixed ankle/foot. Ankle angles and the Trend Symmetry Index of the ankle moments were compared between prostheses and walking conditions. Significant differences between prostheses were found in the stance plantarflexion and dorsiflexion peaks with a greater range of motion being reached with the Echelon foot. The Echelon foot also showed significantly improved bio-mimicry of the ankle resistance moment in all walking conditions, either compared with the intact side of the same subject or with the “normal” mean curve from non-amputees. During camber walking, both types of ankle/foot devices showed similar changes in the frontal plane ankle angles. Results from a questionnaire showed the subjects were more satisfied with Echelon foot. PMID:28704428

  18. Kinematic and biomimetic assessment of a hydraulic ankle/foot in level ground and camber walking.

    Directory of Open Access Journals (Sweden)

    Xuefei Bai

    Full Text Available Improved walking comfort has been linked with better bio-mimicking of the prosthetic ankle. This study investigated if a hydraulic ankle/foot can provide enough motion in both the sagittal and frontal planes during level and camber walking and if the hydraulic ankle/foot better mimics the biological ankle moment pattern compared with a fixed ankle/foot device. Five active male unilateral trans-femoral amputees performed level ground walking at normal and fast speeds and 2.5° camber walking in both directions using their own prostheses fitted with an "Echelon" hydraulic ankle/foot and an "Esprit" fixed ankle/foot. Ankle angles and the Trend Symmetry Index of the ankle moments were compared between prostheses and walking conditions. Significant differences between prostheses were found in the stance plantarflexion and dorsiflexion peaks with a greater range of motion being reached with the Echelon foot. The Echelon foot also showed significantly improved bio-mimicry of the ankle resistance moment in all walking conditions, either compared with the intact side of the same subject or with the "normal" mean curve from non-amputees. During camber walking, both types of ankle/foot devices showed similar changes in the frontal plane ankle angles. Results from a questionnaire showed the subjects were more satisfied with Echelon foot.

  19. Assessing Workshop Models for Informal Educators: ASP's "Astronomy from the Ground Up” Experiment.

    Science.gov (United States)

    Manning, Jim; Gurton, S.; Hurst Schmitt, A.; Pompea, S.; Glass, M.; Haley, K.

    2011-01-01

    The classic workshop model for science educators in the past has been largely in situ: you show up somewhere, meet your fellow workshoppers, get personal treatment from instructors over several intensive days of content delivery, illustrative activities, and practice in technique, and try to incorporate what you've learned once you get back. But in an age when everybody's digitally connected, and many can't afford to travel, can an "online” workshop be as effective? This was a key question in the Astronomical Society of the Pacific (ASP) NSF-funded project "Astronomy from the Ground Up,” designed to increase astronomy education capacity at small and medium-sized science and nature centers and museums around the U.S. Together with its institutional partners, the Association of Science and Technology Centers (ASTC) and the Institute for Learning Innovation (ILI), and a cadre of individual partners, the ASP conducted both on-site and online workshops and created an online community of practice to increase informal educator capacity to present astronomy to their audiences, and to evaluate the relative effectiveness of the on-site and online delivery schemes. The presenter(s) will share some initial results and findings of the project.

  20. Orthorectification of KOMPSAT Optical Images Using Various Ground Reference Data and Accuracy Assessment

    Directory of Open Access Journals (Sweden)

    Kwangjae Lee

    2017-01-01

    Full Text Available Along with the appearance of high resolution satellite images, image correction using Rational Polynomial Coefficients (RPCs has become common. Location accuracy of Korea Multipurpose Satellite (KOMPSAT standard images is still not adequate, so, in order to leverage the KOMPSAT images for applications such as mapping and change detection, it is necessary to orthorectify the images. In this study, using updated RPCs, we performed orthorectification of KOMPSAT-2, KOMPSAT-3, and KOMPSAT-3A images using various data. Through this study, we discovered that the orthorectification result using precise Ground Control Points (GCPs and Digital Elevation Model (DEM is the best, but it was found that the correction results through image matching are also excellent. In particular, it was confirmed that orthoimages with a planimetric accuracy around 3 m (Root Mean Square Error (RMSE can be generated by using well-known matching algorithms with open data such as OpenStreetMap (OSM and Shuttle Radar Topography Mission (SRTM DEM, which can be acquired by anyone. Although the accuracy was low in some mountainous terrain, it was confirmed that it could be used for generating KOMPSAT orthoimages using open data. This paper describes the results for orthorectifying high resolution KOMPSAT optical images using various reference data.

  1. Development of Earthquake Ground Motion Input for Preclosure Seismic Design and Postclosure Performance Assessment of a Geologic Repository at Yucca Mountain, NV

    Energy Technology Data Exchange (ETDEWEB)

    I. Wong

    2004-11-05

    This report describes a site-response model and its implementation for developing earthquake ground motion input for preclosure seismic design and postclosure assessment of the proposed geologic repository at Yucca Mountain, Nevada. The model implements a random-vibration theory (RVT), one-dimensional (1D) equivalent-linear approach to calculate site response effects on ground motions. The model provides results in terms of spectral acceleration including peak ground acceleration, peak ground velocity, and dynamically-induced strains as a function of depth. In addition to documenting and validating this model for use in the Yucca Mountain Project, this report also describes the development of model inputs, implementation of the model, its results, and the development of earthquake time history inputs based on the model results. The purpose of the site-response ground motion model is to incorporate the effects on earthquake ground motions of (1) the approximately 300 m of rock above the emplacement levels beneath Yucca Mountain and (2) soil and rock beneath the site of the Surface Facilities Area. A previously performed probabilistic seismic hazard analysis (PSHA) (CRWMS M&O 1998a [DIRS 103731]) estimated ground motions at a reference rock outcrop for the Yucca Mountain site (Point A), but those results do not include these site response effects. Thus, the additional step of applying the site-response ground motion model is required to develop ground motion inputs that are used for preclosure and postclosure purposes.

  2. Development of Earthquake Ground Motion Input for Preclosure Seismic Design and Postclosure Performance Assessment of a Geologic Repository at Yucca Mountain, NV

    International Nuclear Information System (INIS)

    I. Wong

    2004-01-01

    This report describes a site-response model and its implementation for developing earthquake ground motion input for preclosure seismic design and postclosure assessment of the proposed geologic repository at Yucca Mountain, Nevada. The model implements a random-vibration theory (RVT), one-dimensional (1D) equivalent-linear approach to calculate site response effects on ground motions. The model provides results in terms of spectral acceleration including peak ground acceleration, peak ground velocity, and dynamically-induced strains as a function of depth. In addition to documenting and validating this model for use in the Yucca Mountain Project, this report also describes the development of model inputs, implementation of the model, its results, and the development of earthquake time history inputs based on the model results. The purpose of the site-response ground motion model is to incorporate the effects on earthquake ground motions of (1) the approximately 300 m of rock above the emplacement levels beneath Yucca Mountain and (2) soil and rock beneath the site of the Surface Facilities Area. A previously performed probabilistic seismic hazard analysis (PSHA) (CRWMS M and O 1998a [DIRS 103731]) estimated ground motions at a reference rock outcrop for the Yucca Mountain site (Point A), but those results do not include these site response effects. Thus, the additional step of applying the site-response ground motion model is required to develop ground motion inputs that are used for preclosure and postclosure purposes

  3. 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)

  4. Robotic hepatectomies: advances and perspectives.

    Science.gov (United States)

    Dehlawi, Ammar; Memeo, Riccardo; DE Blasi, Vito; Mercoli, Henry A; Mutter, Didier; Marescaux, Jacques; Pessaux, Patrick

    2016-12-01

    Over recent years, minimally invasive hepatic resections have increasingly been reported in the literature. Even though hepatic surgery is still considered a challenge for surgeons due to its technical difficulties and high morbidity, the development and spread of robotic surgery has highlighted a new interest, which has induced a rapid dissemination of robotic approaches for hepatic pathologies. This article presents a systematic review of the literature regarding robotic hepatectomy in order to assess the safety and feasibility of robotic hepatic surgery. All eligible studies in robotic liver surgery which were published between January 2001 and January 2016 were reviewed systematically. Only series of ten patients and more were chosen in order to consider the experience of high-volume centers. In case of multiple articles on the same centers, the study including the largest number of patients was considered for the study. Overall, 18 studies, involving a total of 572 robotic liver resection (RLR) were finally analyzed. All articles in this review demonstrate that robotic liver surgery must be performed by surgeons trained in open liver surgery and skilled in minimally invasive techniques. RLR and laparoscopic liver resection (LLR) were comparable in terms of safety, feasibility, and outcome for hepatectomies. However, RLR is more expensive than LLR. Further studies are required before any final conclusion can be drawn.

  5. Towards a Theoretical Grounding of Climate Resilience Assessments for Smallholder Farming Systems in Sub-Saharan Africa

    Directory of Open Access Journals (Sweden)

    Jami L. Dixon

    2015-03-01

    Full Text Available Resilience assessments are increasingly used to inform management decisions and development interventions across sub-Saharan Africa (SSA. In light of current and future climate change and variability, there is growing interest in applying such tools and frameworks to assess and strengthen the climate resilience of smallholder farming systems. However, these assessments are often undertaken without explicit consideration of the resilience thinking in which they are grounded. This makes it difficult to understand how the conceptual aspects of resilience are translating into resilience assessment practice. This paper provides an important first step in tackling this gap, by identifying and using key characteristics of resilience thinking to evaluate existing resilience assessment tools and frameworks and drawing insights for assessing the climate resilience of smallholder farming systems. We find that power, politics, and agency, identified as important in the resilience literature, are not fully incorporated within current tools and frameworks. This leads to inadequate consideration of spatial and temporal trade-offs. We propose six recommendations for assessing the climate resilience of smallholder farming systems in SSA in order to enhance the linkages between resilience theory and practice. These are: (1 better integrate vulnerability and resilience; (2 recognize that resilience does not equal development or poverty reduction; (3 recognize the benefits and limitations of adopting flexible, participatory approaches; (4 integrate issues of power into assessment tools; (5 target specific systems; and (6 encourage knowledge sharing, empirical studies, and critical evaluation. Our findings contribute to improved understanding of applications of resilience thinking to enhance natural resource management.

  6. The importance of shared mental models and shared situation awareness for transforming robots from tools to teammates

    Science.gov (United States)

    Ososky, Scott; Schuster, David; Jentsch, Florian; Fiore, Stephen; Shumaker, Randall; Lebiere, Christian; Kurup, Unmesh; Oh, Jean; Stentz, Anthony

    2012-06-01

    Current ground robots are largely employed via tele-operation and provide their operators with useful tools to extend reach, improve sensing, and avoid dangers. To move from robots that are useful as tools to truly synergistic human-robot teaming, however, will require not only greater technical capabilities among robots, but also a better understanding of the ways in which the principles of teamwork can be applied from exclusively human teams to mixed teams of humans and robots. In this respect, a core characteristic that enables successful human teams to coordinate shared tasks is their ability to create, maintain, and act on a shared understanding of the world and the roles of the team and its members in it. The team performance literature clearly points towards two important cornerstones for shared understanding of team members: mental models and situation awareness. These constructs have been investigated as products of teams as well; amongst teams, they are shared mental models and shared situation awareness. Consequently, we are studying how these two constructs can be measured and instantiated in human-robot teams. In this paper, we report results from three related efforts that are investigating process and performance outcomes for human robot teams. Our investigations include: (a) how human mental models of tasks and teams change whether a teammate is human, a service animal, or an advanced automated system; (b) how computer modeling can lead to mental models being instantiated and used in robots; (c) how we can simulate the interactions between human and future robotic teammates on the basis of changes in shared mental models and situation assessment.

  7. Assessing spatial occurrence of ground level ozone around coal mining areas of Chandrapur District, Maharashtra, India.

    Science.gov (United States)

    Salve, Pradeep R; Satapathy, Deepty Ranjan; Katpatal, Yashwant B; Wate, Satish R

    2007-10-01

    Stratospheric input and photochemical ozone formation in the troposphere are the two main sources determining the ozone levels in the surface layer of the atmosphere. Because of the importance of ozone in controlling the atmospheric chemistry and its decisive role in the heat balance of atmosphere, leading to climate change, the examination of its formation and destruction are of great interest. This study characterized the distribution of Ground level Ozone (GLO) in Chandrapur district is lying between 19 degrees 25'N to 20 degrees 45'N and 78 degrees 50'E to 80 degrees 10'E. Continuous ozone analyzer was used to quantify GLO at thirteen locations fixed by Global Positioning System (GPS) during the winter of 2005-2006. The daily GLO at all the locations ranged between 6.4 and 24.8 ppbv with an average and standard deviation of 14.9 +/- 6.5 ppbv. The maximum and minimum concentration occurs during 1300-1600 h and 0300-0500 h may be due to high solar radiation facilitating photochemical production of O(3) and downward mixing from the overlying air mass and in situ destruction of ozone by deposition and/or the reaction between O(3) and NO. GIS based spatial distribution of GLO in Chandrapur district is indicates that the central core of the district and southern sites experienced elevated levels of GLO relative to the northern and western areas. The sites near by Chandrapur city are particularly affected by elevated GLO. The average variation of GLO with temperature shows a significant correlation of r = 0.55 indicating a direct relationship between GLO and temperature. Similarly an attempt has been made to compare the GLO monitored data in Chandrapur district with the reported values for other locations in Indian cities. This generated database helps regulatory agencies to identify locations where the natural resources and human health could be at risk.

  8. Adapting Ground Penetrating Radar for Non-Destructive In-Situ Root and Tuber Assessment

    Science.gov (United States)

    Teare, B. L.; Hays, D. B.; Delgado, A.; Dobreva, I. D.; Bishop, M. P.; Lacey, R.; Huo, D.; Wang, X.

    2017-12-01

    Ground penetrating radar (GPR) is a rapidly evolving technology extensively used in geoscience, civil science, archeology, and military, and has become a novel application in agricultural systems. One promising application of GPR is for root and tuber detection and measurement. Current commercial GPR systems have been used for detection of large roots, but few studies have attempted to detect agronomic roots, and even fewer have attempted to measure and quantify the total root mass. The ability to monitor and measure root and tuber mass and architecture in an agricultural setting would have far-reaching effects. A few of these include the potential for breeding higher yielding root and tuber crops, rapid bulking roots, discovery of crops with greater carbon sequestration, discovery of plant varieties which have greater ability to stabilize slopes against erosion and slope failure, and drought tolerant varieties. Despite the possible benefits and the current maturity of GPR technology, several challenges remain in the attempt to optimize its use for root and tuber detection. These challenges center on three categories: spatial resolution, data processing, and field-deployable hardware configuration. This study is centered around tuber measurement and its objectives are to i) identify ideal antenna array configurations, frequency, and pulse density; ii) develop novel processing techniques which leverage powerful computer technologies to provide highly accurate measurements of detected features; and iii) develop a cart system which is appropriate for agricultural fields and non-destructive sampling. Already, a 2 GHz multiarray antenna has been identified as an optimal system for tuber detection. Software and processing algorithm development is ongoing, but has already shown improvement over current software offerings. Recent field activity suggest that carts should be width adjustable and sport independent suspension systems to maintain antenna orientation.

  9. 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...

  10. Health risk assessment of dichloromethane (methylene chloride) in California ground water

    International Nuclear Information System (INIS)

    Bogen, K.T.; Hall, L.C.; Wright, K.; McKone, T.E.

    1992-01-01

    This document presents an assessment of potential health risks associated with exposure to dichloromethane (DCM) dissolved in California drinking water, focusing primarily on information relevant to a determination of potential cancer risk that may be associated with such exposures to DCM. This assessment is being provided to the California Environmental Protection Agency for the development of drinking-water standards to manage the health risks of DCM exposures. Other assessments required in the risk-management process include analyses of the technical and economic feasibilities of treating water supplies contaminated with DCM. The primary goal of this health-risk assessment is to evaluate scientifically plausible dose-response relationships for observed and potential DCM-induced cancer in order to define dose rates that can be used to establish standards that win protect members of the general public from this chronic toxicity endpoint resulting solely from groundwater-based exposures to DCM, based on information obtained from the scientific literature. The document consists of seven sections, plus one supporting appendix. Each section provides information that can be used to develop DCM drinking-water standards that will safeguard human health. Evaluation of this information in support of specific groundwater safety standards for DCM was not conducted in this report; rather, the basis for selection of alternative standards, along with a narrative description of certain key sources of underlying uncertainty, are presented for evaluation through the regulatory risk-management process

  11. Meeting on Common Ground: Assessing Parent-Child Relationships through the Joint Painting Procedure

    Science.gov (United States)

    Gavron, Tami

    2013-01-01

    A basic assumption in psychotherapy with children is that the parent-child relationship is central to the child's development. This article describes the Joint Painting Procedure, an art-based assessment for evaluating relationships with respect to the two main developmental tasks of middle childhood: (a) the parent's ability to monitor and…

  12. Robotic Tool Changer For Automated Welding

    Science.gov (United States)

    Gilbert, Jeffrey L.; Spencer, Carl N.

    1994-01-01

    Prototype robotic tool changer for automated welding system eliminates need for most manual tool setups and attendant problems: operates rapidly, always chooses designated tool, maneuvers tip of welding torch or other tool in correct position, and reliably connects water, gas, welding wire, high-voltage electrical signals, and ground. Also loads tools other than those for welding. Intended for use in robotic work cell producing all good parts, no rejects. In production, robot welds part, tests for flaws, and reworks as necessary before releasing it.

  13. 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

  14. Radiation Beamline Testbeds for the Simulation of Planetary and Spacecraft Environments for Human and Robotic Mission Risk Assessment

    Science.gov (United States)

    Wilkins, Richard

    2010-01-01

    The Center for Radiation Engineering and Science for Space Exploration (CRESSE) at Prairie View A&M University, Prairie View, Texas, USA, is establishing an integrated, multi-disciplinary research program on the scientific and engineering challenges faced by NASA and the international space community caused by space radiation. CRESSE focuses on space radiation research directly applicable to astronaut health and safety during future long term, deep space missions, including Martian, lunar, and other planetary body missions beyond low earth orbit. The research approach will consist of experimental and theoretical radiation modeling studies utilizing particle accelerator facilities including: 1. NASA Space Radiation Laboratory (NSRL) at Brookhaven National Laboratory; 2. Proton Synchrotron at Loma Linda University Medical Center; and 3. Los Alamos Neutron Science Center (LANSCE) at Los Alamos National Laboratory. Specifically, CRESSE investigators are designing, developing, and building experimental test beds that simulate the lunar and Martian radiation environments for experiments focused on risk assessment for astronauts and instrumentation. The testbeds have been designated the Bioastronautics Experimental Research Testbeds for Environmental Radiation Nostrum Investigations and Education (BERT and ERNIE). The designs of BERT and ERNIE will allow for a high degree of flexibility and adaptability to modify experimental configurations to simulate planetary surface environments, planetary habitats, and spacecraft interiors. In the nominal configuration, BERT and ERIE will consist of a set of experimental zones that will simulate the planetary atmosphere (Solid CO2 in the case of the Martian surface.), the planetary surface, and sub-surface regions. These experimental zones can be used for dosimetry, shielding, biological, and electronic effects radiation studies in support of space exploration missions. BERT and ERNIE are designed to be compatible with the

  15. Radiation beamline testbeds for the simulation of planetary and spacecraft environments for human and robotic mission risk assessment

    Science.gov (United States)

    Wilkins, Richard

    The Center for Radiation Engineering and Science for Space Exploration (CRESSE) at Prairie View A&M University, Prairie View, Texas, USA, is establishing an integrated, multi-disciplinary research program on the scientific and engineering challenges faced by NASA and the inter-national space community caused by space radiation. CRESSE focuses on space radiation research directly applicable to astronaut health and safety during future long term, deep space missions, including Martian, lunar, and other planetary body missions beyond low earth orbit. The research approach will consist of experimental and theoretical radiation modeling studies utilizing particle accelerator facilities including: 1. NASA Space Radiation Laboratory (NSRL) at Brookhaven National Laboratory; 2. Proton Synchrotron at Loma Linda University Med-ical Center; and 3. Los Alamos Neutron Science Center (LANSCE) at Los Alamos National Laboratory. Specifically, CRESSE investigators are designing, developing, and building experimental test beds that simulate the lunar and Martian radiation environments for experiments focused on risk assessment for astronauts and instrumentation. The testbeds have been designated the Bioastronautics Experimental Research Testbeds for Environmental Radiation Nostrum Investigations and Education (BERT and ERNIE). The designs of BERT and ERNIE will allow for a high degree of flexibility and adaptability to modify experimental configurations to simulate planetary surface environments, planetary habitats, and spacecraft interiors. In the nominal configuration, BERT and ERIE will consist of a set of experimental zones that will simulate the planetary atmosphere (Solid CO2 in the case of the Martian surface.), the planetary surface, and sub-surface regions. These experimental zones can be used for dosimetry, shielding, biological, and electronic effects radiation studies in support of space exploration missions. BERT and ERNIE are designed to be compatible with the

  16. The Apache Longbow-Hellfire Missile Test at Yuma Proving Ground: Ecological Risk Assessment for Helicopter Overflight

    Energy Technology Data Exchange (ETDEWEB)

    Efroymson, Rebecca Ann [ORNL; Hargrove, William Walter [ORNL; Suter, Glenn [U.S. Environmental Protection Agency

    2008-01-01

    A multi-stressor risk assessment was conducted at Yuma Proving Ground, Arizona, as a demonstration of the Military Ecological Risk Assessment Framework. The focus of the assessment was a testing program at Cibola Range, which involved an Apache Longbow helicopter firing Hellfire missiles at moving targets, M60-A1 tanks. This paper focuses on the wildlife risk assessment for the helicopter overflight. The primary stressors were sound and the view of the aircraft. Exposure to desert mule deer (Odocoileus hemionus crooki) was quantified using Air Force sound contour programs NOISEMAP and MR_NMAP, which gave very different results. Slant distance from helicopters to deer was also used as a measure of exposure that integrated risk from sound and view of the aircraft. Exposure-response models for the characterization of effects consisted of behavioral thresholds in sound exposure level or maximum sound level units or slant distance. Available sound thresholds were limited for desert mule deer, but a distribution of slant-distance thresholds was available for ungulates. The risk characterization used a weight-of-evidence approach and concluded that risk to mule deer behavior from the Apache overflight is uncertain, but that no risk to mule deer abundance and reproduction is expected.

  17. The Prospect of using Three-Dimensional Earth Models To Improve Nuclear Explosion Monitoring and Ground Motion Hazard Assessment

    Energy Technology Data Exchange (ETDEWEB)

    Antoun, T; Harris, D; Lay, T; Myers, S C; Pasyanos, M E; Richards, P; Rodgers, A J; Walter, W R; Zucca, J J

    2008-02-11

    The last ten years have brought rapid growth in the development and use of three-dimensional (3D) seismic models of earth structure at crustal, regional and global scales. In order to explore the potential for 3D seismic models to contribute to important societal applications, Lawrence Livermore National Laboratory (LLNL) hosted a 'Workshop on Multi-Resolution 3D Earth Models to Predict Key Observables in Seismic Monitoring and Related Fields' on June 6 and 7, 2007 in Berkeley, California. The workshop brought together academic, government and industry leaders in the research programs developing 3D seismic models and methods for the nuclear explosion monitoring and seismic ground motion hazard communities. The workshop was designed to assess the current state of work in 3D seismology and to discuss a path forward for determining if and how 3D earth models and techniques can be used to achieve measurable increases in our capabilities for monitoring underground nuclear explosions and characterizing seismic ground motion hazards. This paper highlights some of the presentations, issues, and discussions at the workshop and proposes a path by which to begin quantifying the potential contribution of progressively refined 3D seismic models in critical applied arenas.

  18. Reinforced Concrete Bridge Deck Condition Assessment Methods Using Ground Penetrating Radar and Infrared Thermography

    OpenAIRE

    Nicole M. Martino

    2017-01-01

    Reinforced concrete bridge deck condition assessments primarily use visual inspection methods, where an inspector looks for and records locations of cracks, potholes, efflorescence and other signs of probable deterioration. Sounding is another technique used to diagnose the condition of a bridge deck, however this method listens for damage within the subsurface as the surface is struck with a hammer or chain. Even though extensive procedures are in place for using these inspection techniques,...

  19. Beyond Assessment: Conducting Theoretically Grounded Research on Service-Learning in Gerontology Courses.

    Science.gov (United States)

    Kruger, Tina M; Pearl, Andrew J

    2016-01-01

    Service-learning is a useful pedagogical tool and high-impact practice, providing multiple benefits. Gerontology (and other) courses frequently include service-learning activities but lack theory-based, intentional research on outcomes. Here, the authors define service-learning and contextualize it in higher education, provide an overview of research and assessment in service-learning and gerontology courses, demonstrate the shortcomings of program evaluations, and offer suggestions for future research to advance and generate theory.

  20. Assessing anti-rabies baiting--what happens on the ground?

    Science.gov (United States)

    Thulke, Hans-Hermann; Selhorst, Thomas; Müller, Thomas; Wyszomirski, Tomasz; Müller, Uli; Breitenmoser, Urs

    2004-03-09

    Rabies is one of the most hazardous zoonoses in the world. Oral mass vaccination has developed into the most effective management method to control fox rabies. The future need to control the disease in large countries (i.e. Eastern Europe and the Americas) forces cost-benefit discussions. The 'Increase bait density' option refers to the usual management assumption that more baits per km2 could compensate for high fox abundance and override the imperfect supply of bait pieces to the individual fox. We use a spatial simulation, which combines explicitly fox space use (tessellation polygons) and aeroplane flight lines (straight lines). The number of baits actually falling into each polygon is measured. The manager's strategic options are converted into changes of the resulting bait distribution on the ground. The comparison enables the rating of the options with respect to the management aim (i.e. accessibility of baits). Above 5% (approx. 10%) of all fox groups without any bait (at most 5 baits) relate to the baiting strategy applied in the field (1 km spaced parallel flight lines, 20 baits per km2 distributed) under habitat conditions comparable to middle and western Europe (fox group home-range 1 km2, 2.5 adults; reference strategy). Increasing the bait density on the same flight-line pattern neither reduces the number of under-baited fox group home-ranges, nor improves the management outcome and hence wastes resources. However, reducing the flight line distance provides a more even bait distribution and thus compensates for missed fox groups or extra high fox density.The reference strategy's bait density can be reduced when accounting for the missed fox groups. The management result with the proper strategy is likely the same but with reduced costs. There is no overall optimal strategy for the bait distribution in large areas. For major parts of the landscape, the reference strategy will be more competitive. In situations where set backs are attributed to non

  1. Assessing anti-rabies baiting – what happens on the ground?

    Directory of Open Access Journals (Sweden)

    Wyszomirski Tomasz

    2004-03-01

    Full Text Available Abstract Background Rabies is one of the most hazardous zoonoses in the world. Oral mass vaccination has developed into the most effective management method to control fox rabies. The future need to control the disease in large countries (i.e. Eastern Europe and the Americas forces cost-benefit discussions. The 'Increase bait density' option refers to the usual management assumption that more baits per km2 could compensate for high fox abundance and override the imperfect supply of bait pieces to the individual fox. Methods We use a spatial simulation, which combines explicitly fox space use (tessellation polygons and aeroplane flight lines (straight lines. The number of baits actually falling into each polygon is measured. The manager's strategic options are converted into changes of the resulting bait distribution on the ground. The comparison enables the rating of the options with respect to the management aim (i.e. accessibility of baits. Results Above 5% (approx. 10% of all fox groups without any bait (at most 5 baits relate to the baiting strategy applied in the field (1 km spaced parallel flight lines, 20 baits per km2 distributed under habitat conditions comparable to middle and western Europe (fox group home-range 1 km2, 2.5 adults; reference strategy. Increasing the bait density on the same flight-line pattern neither reduces the number of under-baited fox group home-ranges, nor improves the management outcome and hence wastes resources. However, reducing the flight line distance provides a more even bait distribution and thus compensates for missed fox groups or extra high fox density. The reference strategy's bait density can be reduced when accounting for the missed fox groups. The management result with the proper strategy is likely the same but with reduced costs. Conclusion There is no overall optimal strategy for the bait distribution in large areas. For major parts of the landscape, the reference strategy will be more

  2. Ground robotic measurement of aeolian processes

    Science.gov (United States)

    Models of aeolian processes rely on accurate measurements of the rates of sediment transport by wind, and careful evaluation of the environmental controls of these processes. Existing field approaches typically require intensive, event-based experiments involving dense arrays of instruments. These d...

  3. Ground Robotics Capabilities Conference and Exhibition

    Science.gov (United States)

    2008-03-06

    advance of maneuver, wearable interface, evaluate performance measures, improved ergonomics , common interface Carry equipment for dismounted solider...from search, inspection, .... Careful analysis took 3+ iterations The problem is highly interdisciplinary! Anthropology , CS, Human factors, .... The...and FCS ORDs) – How should the services decide what will be interoperable? • Need for Physical standards? – Or is that too deep/too complex to address

  4. Feedback Control Design for a Walking Athlete Robot

    Directory of Open Access Journals (Sweden)

    Xuan Vu Trien Nguyen

    2017-06-01

    Full Text Available In the paper, authors generalized the dynamic model of an athlete robot with elastic legs through Lagrange method. Then, a feed-back controller was designed to control the robot through a step-walking. The research just focused on stance phase – the period that robot just touched one leg on the ground. The simulation results showed that system worked well with the designed controller.

  5. Test Methods for Robot Agility in Manufacturing.

    Science.gov (United States)

    Downs, Anthony; Harrison, William; Schlenoff, Craig

    2016-01-01

    The paper aims to define and describe test methods and metrics to assess industrial robot system agility in both simulation and in reality. The paper describes test methods and associated quantitative and qualitative metrics for assessing robot system efficiency and effectiveness which can then be used for the assessment of system agility. The paper describes how the test methods were implemented in a simulation environment and real world environment. It also shows how the metrics are measured and assessed as they would be in a future competition. The test methods described in this paper will push forward the state of the art in software agility for manufacturing robots, allowing small and medium manufacturers to better utilize robotic systems. The paper fulfills the identified need for standard test methods to measure and allow for improvement in software agility for manufacturing robots.

  6. Compilation, assessment and expansion of the strong earthquake ground motion data base. Seismic Safety Margins Research Program (SSMRP)

    International Nuclear Information System (INIS)

    Crouse, C.B.; Hileman, J.A.; Turner, B.E.; Martin, G.R.

    1980-09-01

    A catalog has been prepared which contains information for: (1) world-wide, ground-motion accelerograms (2) the accelerograph sites where these records were obtained, and (3) the seismological parameters of the causative earthquakes. The catalog is limited to data for those accelerograms which have been digitized and published. In addition, the quality and completeness of these data are assessed. This catalog is unique because it is the only publication which contains comprehensive information on the recording conditions of all known digitized accelerograms. However, information for many accelerograms is missing. Although some literature may have been overlooked, most of the missing data has not been published. Nevertheless, the catalog provides a convenient reference and useful tool for earthquake engineering research and applications. (author)

  7. Performance assessment for the disposal of low-level waste in the 200 West Area Burial Grounds

    International Nuclear Information System (INIS)

    Wood, M.I.; Khaleel, R.; Rittmann, P.D.; Lu, A.H.; Finfrock, S.H.; DeLorenzo, T.H.; Serne, R.J.; Cantrell, K.J.

    1995-06-01

    This document reports the findings of a performance assessment (PA) analysis for the disposal of solid low-level radioactive waste (LLW) in the 200 West Area Low-Level Waste Burial Grounds (LLBG) in the northwest corner of the 200 West Area of the Hanford Site. This PA analysis is required by US Department of Energy (DOE) Order 5820.2A (DOE 1988a) to demonstrate that a given disposal practice is in compliance with a set of performance objectives quantified in the order. These performance objectives are applicable to the disposal of DOE-generated LLW at any DOE-operated site after the finalization of the order in September 1988. At the Hanford Site, DOE, Richland Operations Office (RL) has issued a site-specific supplement to DOE Order 5820.2A, DOE-RL 5820.2A (DOE 1993), which provides additiona I ce objectives that must be satisfied

  8. Performance assessment for the disposal of low-level waste in the 200 West Area Burial Grounds

    Energy Technology Data Exchange (ETDEWEB)

    Wood, M.I.; Khaleel, R.; Rittmann, P.D.; Lu, A.H.; Finfrock, S.H.; DeLorenzo, T.H. [Westinghouse Hanford Co., Richland, WA (United States); Serne, R.J.; Cantrell, K.J. [Pacific Northwest Lab., Richland, WA (United States)

    1995-06-01

    This document reports the findings of a performance assessment (PA) analysis for the disposal of solid low-level radioactive waste (LLW) in the 200 West Area Low-Level Waste Burial Grounds (LLBG) in the northwest corner of the 200 West Area of the Hanford Site. This PA analysis is required by US Department of Energy (DOE) Order 5820.2A (DOE 1988a) to demonstrate that a given disposal practice is in compliance with a set of performance objectives quantified in the order. These performance objectives are applicable to the disposal of DOE-generated LLW at any DOE-operated site after the finalization of the order in September 1988. At the Hanford Site, DOE, Richland Operations Office (RL) has issued a site-specific supplement to DOE Order 5820.2A, DOE-RL 5820.2A (DOE 1993), which provides additiona I ce objectives that must be satisfied.

  9. Assessment of impacts on ground water resources in Libya and vulnerability to climate change

    Directory of Open Access Journals (Sweden)

    S. P. Bindra

    2014-12-01

    Full Text Available This paper is designed to present the likely impact of climate change on groundwater resources in general and Libya in particular. State of the art reviews on recent research studies, and methodology to assess the impact of climate change on groundwater resources shows that climate change poses uncertainties to the supply and management of water resources. It outlines to demonstrate that how climate change impact assessment plays a vital role in forming the sensitive water balance rarely achieved in most area owing to precipitation variability’s and seasonality. It demonstrates that how large increases in water demand with very little recharge from precipitation have strained Libya’s groundwater resources resulting in declines of groundwater levels and its quality, especially on Libyan coastal areas where most of the agriculture, domestic and industrial activities are concentrated. Based on several research studies it demonstrates that how policy and decision making process using best practices for monitoring, analyzing and forecasting variation of climate is a way forward to cope with the impact of sea level rise, and combat some water supplies in vulnerable areas that are becoming unusable due to the penetration of salt water into coastal aquifers (Jifara Plain, Sirt, Jebal El-Akhdar.Finally, a number of Global Climate Models (GCM are reviewed to demonstrate that how better understanding of climate and climate change forecasting helps in devising appropriate adaptation strategies due to the impact of climate change.

  10. Long-term fate of depleted uranium at Aberdeen and Yuma Proving Grounds: Human health and ecological risk assessments

    International Nuclear Information System (INIS)

    Ebinger, M.H.; Beckman, R.J.; Myers, O.B.; Kennedy, P.L.; Clements, W.; Bestgen, H.T.

    1996-09-01

    The purpose of this study was to evaluate the immediate and long-term consequences of depleted uranium (DU) in the environment at Aberdeen Proving Ground (APG) and Yuma Proving Ground (YPG) for the Test and Evaluation Command (TECOM) of the US Army. Specifically, we examined the potential for adverse radiological and toxicological effects to humans and ecosystems caused by exposure to DU at both installations. We developed contaminant transport models of aquatic and terrestrial ecosystems at APG and terrestrial ecosystems at YPG to assess potential adverse effects from DU exposure. Sensitivity and uncertainty analyses of the initial models showed the portions of the models that most influenced predicted DU concentrations, and the results of the sensitivity analyses were fundamental tools in designing field sampling campaigns at both installations. Results of uranium (U) isotope analyses of field samples provided data to evaluate the source of U in the environment and the toxicological and radiological doses to different ecosystem components and to humans. Probabilistic doses were estimated from the field data, and DU was identified in several components of the food chain at APG and YPG. Dose estimates from APG data indicated that U or DU uptake was insufficient to cause adverse toxicological or radiological effects. Dose estimates from YPG data indicated that U or DU uptake is insufficient to cause radiological effects in ecosystem components or in humans, but toxicological effects in small mammals (e.g., kangaroo rats and pocket mice) may occur from U or DU ingestion. The results of this study were used to modify environmental radiation monitoring plans at APG and YPG to ensure collection of adequate data for ongoing ecological and human health risk assessments

  11. Long-term fate of depleted uranium at Aberdeen and Yuma Proving Grounds: Human health and ecological risk assessments

    Energy Technology Data Exchange (ETDEWEB)

    Ebinger, M.H.; Beckman, R.J.; Myers, O.B. [Los Alamos National Lab., NM (United States); Kennedy, P.L.; Clements, W.; Bestgen, H.T. [Colorado State Univ., Ft. Collins, CO (United States). Dept. of Fishery and Wildlife Biology

    1996-09-01

    The purpose of this study was to evaluate the immediate and long-term consequences of depleted uranium (DU) in the environment at Aberdeen Proving Ground (APG) and Yuma Proving Ground (YPG) for the Test and Evaluation Command (TECOM) of the US Army. Specifically, we examined the potential for adverse radiological and toxicological effects to humans and ecosystems caused by exposure to DU at both installations. We developed contaminant transport models of aquatic and terrestrial ecosystems at APG and terrestrial ecosystems at YPG to assess potential adverse effects from DU exposure. Sensitivity and uncertainty analyses of the initial models showed the portions of the models that most influenced predicted DU concentrations, and the results of the sensitivity analyses were fundamental tools in designing field sampling campaigns at both installations. Results of uranium (U) isotope analyses of field samples provided data to evaluate the source of U in the environment and the toxicological and radiological doses to different ecosystem components and to humans. Probabilistic doses were estimated from the field data, and DU was identified in several components of the food chain at APG and YPG. Dose estimates from APG data indicated that U or DU uptake was insufficient to cause adverse toxicological or radiological effects. Dose estimates from YPG data indicated that U or DU uptake is insufficient to cause radiological effects in ecosystem components or in humans, but toxicological effects in small mammals (e.g., kangaroo rats and pocket mice) may occur from U or DU ingestion. The results of this study were used to modify environmental radiation monitoring plans at APG and YPG to ensure collection of adequate data for ongoing ecological and human health risk assessments.

  12. 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...

  13. 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

  14. 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...

  15. To delegate or not to delegate : Care robots, moral agency and moral responsibility

    NARCIS (Netherlands)

    van Wynsberghe, Aimee

    2014-01-01

    The use of robots in healthcare is on the rise, from robots to assist with lifting, bathing and feeding, to robots used for social companionship. Given that the tradition and professionalization of medicine and nursing has been grounded on the fact that care providers can assume moral responsibility

  16. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  17. Use of operating windows in the assessment of integrated robotic systems for the measurement of bioprocess kinetics.

    Science.gov (United States)

    Nealon, Anthony J; Willson, Karen E; Pickering, Samuel C R; Clayton, Tim M; O'Kennedy, Ronan D; Titchener-Hooker, Nigel J; Lye, Gary J

    2005-01-01

    This study examines the utility of an automated liquid handling robot integrated with a microwell plate reader to enable the rapid acquisition of bioprocess kinetic data. The relationship between the key parameters for liquid handling accuracy and precision and the sample detection period has been characterized for typical low-viscosity (systems typical of those encountered in bioprocessing is analyzed via a series of case studies. Application to alkaline cell lysis, where disruption is complete within 120 s, showed that the range of available dispense volumes and the number of wells that can be utilized is limited. In contrast, analysis of a system exhibiting slow process kinetics, the fermentation of Escherichia coli TOP10 pQR239 in microwell plates, demonstrated that, for a typical sample detection period of 30 min, the only restrictions on the degree of well utilization are the liquid handling accuracy and precision and the volume capacity of the liquid handling robot. Finally, liquid-liquid extraction, an example of a kinetically independent operation, was also examined. In this case, only a single equilibrium measurement is required, which means that the only restrictions to the utilization of the integrated devices are the liquid handling accuracy and precision. Integrated automation platforms represent a powerful process development tool over traditional experimental methods used for bioprocess development. Smaller volumes of reagent and sample can be used to achieve greater throughput, while high levels of reproducibility and sensitivity are maintained.

  18. da Vinci skills simulator for assessing learning curve and criterion-based training of robotic basic skills.

    Science.gov (United States)

    Brinkman, Willem M; Luursema, Jan-Maarten; Kengen, Bas; Schout, Barbara M A; Witjes, J Alfred; Bekkers, Ruud L

    2013-03-01

    To answer 2 research questions: what are the learning curve patterns of novices on the da Vinci skills simulator parameters and what parameters are appropriate for criterion-based robotic training. A total of 17 novices completed 2 simulator sessions within 3 days. Each training session consisted of a warming-up exercise, followed by 5 repetitions of the "ring and rail II" task. Expert participants (n = 3) performed a warming-up exercise and 3 repetitions of the "ring and rail II" task on 1 day. We analyzed all 9 parameters of the simulator. Significant learning occurred on 5 parameters: overall score, time to complete, instrument collision, instruments out of view, and critical errors within 1-10 repetitions (P motion and excessive instrument force only showed improvement within the first 5 repetitions. No significant learning on the parameter drops and master workspace range was found. Using the expert overall performance score (n = 3) as a criterion (overall score 90%), 9 of 17 novice participants met the criterion within 10 repetitions. Most parameters showed that basic robotic skills are learned relatively quickly using the da Vinci skills simulator, but that 10 repetitions were not sufficient for most novices to reach an expert level. Some parameters seemed inappropriate for expert-based criterion training because either no learning occurred or the novice performance was equal to expert performance. Copyright © 2013 Elsevier Inc. All rights reserved.

  19. Attitudinal change in elderly citizens towards social robots: the role of personality traits and beliefs about robot functionality.

    Directory of Open Access Journals (Sweden)

    Malene Flensborg Damholdt

    2015-11-01

    Full Text Available Attitudes towards robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes towards robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i the information provided about robot functionality, (ii the number of encounters, (iii personality type. Fourteen elderly residents at a rehabilitation centre participated. Pre-encounter attitudes towards robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid during their lunch (c. 30 min. for up to three days. Half of the participants were informed that the robot was tele-operated (IC whilst the other half were naïve to its functioning (UC. Post-encounter assessments of attitudes towards robots and anthropomorphic thinking were undertaken to assess change. Attitudes towards robots were assessed with a new generic 35-item questionnaire (Attitudes towards social robots scale: ASOR-5, offering a differentiated conceptualization of the conditions for social interaction.There was no significant difference between the IC and UC groups in attitude change towards robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r=.619 and to psychological relatedness (r=.581 whilst Neuroticism correlated negatively (r=-.582 with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes towards robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance

  20. Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality.

    Science.gov (United States)

    Damholdt, Malene F; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

    2015-01-01

    Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions

  1. Safety assessment for the above ground storage of Cadmium Safety and Control Rods at the Solid Waste Management Facility

    International Nuclear Information System (INIS)

    Shaw, K.W.

    1993-11-01

    The mission of the Savannah River Site is changing from radioisotope production to waste management and environmental restoration. As such, Reactor Engineering has recently developed a plan to transfer the safety and control rods from the C, K, L, and P reactor disassembly basin areas to the Transuranic (TRU) Waste Storage Pads for long-term, retrievable storage. The TRU pads are located within the Solid Waste Management Facilities at the Savannah River Site. An Unreviewed Safety Question (USQ) Safety Evaluation has been performed for the proposed disassembly basin operations phase of the Cadmium Safety and Control Rod Project. The USQ screening identified a required change to the authorization basis; however, the Proposed Activity does not involve a positive USQ Safety Evaluation. A Hazard Assessment for the Cadmium Safety and Control Rod Project determined that the above-ground storage of the cadmium rods results in no change in hazard level at the TRU pads. A Safety Assessment that specifically addresses the storage (at the TRU pads) phase of the Cadmium Safety and Control Rod Project has been performed. Results of the Safety Assessment support the conclusion that a positive USQ is not involved as a result of the Proposed Activity

  2. A hierarchical approach to ecological assessment of contaminated soils at Aberdeen Proving Ground, USA

    Energy Technology Data Exchange (ETDEWEB)

    Kuperman, R.G.

    1995-12-31

    Despite the expansion of environmental toxicology studies over the past decade, soil ecosystems have largely been ignored in ecotoxicological studies in the United States. The objective of this project was to develop and test the efficacy of a comprehensive methodology for assessing ecological impacts of soil contamination. A hierarchical approach that integrates biotic parameters and ecosystem processes was used to give insight into the mechanisms that lead to alterations in the structure and function of soil ecosystems in contaminated areas. This approach involved (1) a thorough survey of the soil biota to determine community structure, (2) laboratory and field tests on critical ecosystem processes, (3) toxicity trials, and (4) the use of spatial analyses to provide input to the decision-making, process. This methodology appears to, offer an efficient and potentially cost-saving tool for remedial investigations of contaminated sites.

  3. An Autonomous Robotic System for Mapping Weeds in Fields

    DEFF Research Database (Denmark)

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

    2013-01-01

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

  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. Integrated Human-Robotic Missions to the Moon and Mars: Mission Operations Design Implications

    Science.gov (United States)

    Mishkin, Andrew; Lee, Young; Korth, David; LeBlanc, Troy

    2007-01-01

    For most of the history of space exploration, human and robotic programs have been independent, and have responded to distinct requirements. The NASA Vision for Space Exploration calls for the return of humans to the Moon, and the eventual human exploration of Mars; the complexity of this range of missions will require an unprecedented use of automation and robotics in support of human crews. The challenges of human Mars missions, including roundtrip communications time delays of 6 to 40 minutes, interplanetary transit times of many months, and the need to manage lifecycle costs, will require the evolution of a new mission operations paradigm far less dependent on real-time monitoring and response by an Earthbound operations team. Robotic systems and automation will augment human capability, increase human safety by providing means to perform many tasks without requiring immediate human presence, and enable the transfer of traditional mission control tasks from the ground to crews. Developing and validating the new paradigm and its associated infrastructure may place requirements on operations design for nearer-term lunar missions. The authors, representing both the human and robotic mission operations communities, assess human lunar and Mars mission challenges, and consider how human-robot operations may be integrated to enable efficient joint operations, with the eventual emergence of a unified exploration operations culture.

  6. Japan's robotics research for the next generation

    Science.gov (United States)

    Umetani, Y.; Yonemoto, K.

    1983-10-01

    The results of a survey of Japanese research institutes concerning the direction of Japanese robotics development over the next twenty years are presented. Attention is given to an assessment of the goals of robotics R & D in the public and private sectors based on the total research budgets of R & D institutes, the number of research laboratories studying robotics, and the various classifications of the topics of study. The study topics include work, control, measurement and recognition functions. A time table is presented which lists the specific applications of robotic research, the year of their expected actualization, and the degree of importance assigned by the respondents. Some of the more important applications are: robots able to work in hostile environments; robots for unmanned mining operations; and the rationalization of such tasks as afforestation, felling and transport activities in steep forested land through the use of advanced locomotive technology.

  7. Biofeedback for robotic gait rehabilitation

    Directory of Open Access Journals (Sweden)

    Colombo Gery

    2007-01-01

    Full Text Available Abstract Background Development and increasing acceptance of rehabilitation robots as well as advances in technology allow new forms of therapy for patients with neurological disorders. Robot-assisted gait therapy can increase the training duration and the intensity for the patients while reducing the physical strain for the therapist. Optimal training effects during gait therapy generally depend on appropriate feedback about performance. Compared to manual treadmill therapy, there is a loss of physical interaction between therapist and patient with robotic gait retraining. Thus, it is difficult for the therapist to assess the necessary feedback and instructions. The aim of this study was to define a biofeedback system for a gait training robot and test its usability in subjects without neurological disorders. Methods To provide an overview of biofeedback and motivation methods applied in gait rehabilitation, previous publications and results from our own research are reviewed. A biofeedback method is presented showing how a rehabilitation robot can assess the patients' performance and deliver augmented feedback. For validation, three subjects without neurological disorders walked in a rehabilitation robot for treadmill training. Several training parameters, such as body weight support and treadmill speed, were varied to assess the robustness of the biofeedback calculation to confounding factors. Results The biofeedback values correlated well with the different activity levels of the subjects. Changes in body weight support and treadmill velocity had a minor effect on the biofeedback values. The synchronization of the robot and the treadmill affected the biofeedback values describing the stance phase. Conclusion Robot-aided assessment and feedback can extend and improve robot-aided training devices. The presented method estimates the patients' gait performance with the use of the robot's existing sensors, and displays the resulting biofeedback

  8. 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.

  9. 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

  10. Methods Used to Assess the Susceptibility to Contamination of Transient, Non-Community Public Ground-Water Supplies in Indiana

    Science.gov (United States)

    Arihood, Leslie D.; Cohen, David A.

    2006-01-01

    The Safe Water Drinking Act of 1974 as amended in 1996 gave each State the responsibility of developing a Source-Water Assessment Plan (SWAP) that is designed to protect public-water supplies from contamination. Each SWAP must include three elements: (1) a delineation of the source-water protection area, (2) an inventory of potential sources of contaminants within the area, and (3) a determination of the susceptibility of the public-water supply to contamination from the inventoried sources. The Indiana Department of Environmental Management (IDEM) was responsible for preparing a SWAP for all public-water supplies in Indiana, including about 2,400 small public ground-water supplies that are designated transient, non-community (TNC) supplies. In cooperation with IDEM, the U.S. Geological Survey compiled information on conditions near the TNC supplies and helped IDEM complete source-water assessments for each TNC supply. The delineation of a source-water protection area (called the assessment area) for each TNC ground-water supply was defined by IDEM as a circular area enclosed by a 300-foot radius centered at the TNC supply well. Contaminants of concern (COCs) were defined by IDEM as any of the 90 contaminants for which the U.S. Environmental Protection Agency has established primary drinking-water standards. Two of these, nitrate as nitrogen and total coliform bacteria, are Indiana State-regulated contaminants for TNC water supplies. IDEM representatives identified potential point and nonpoint sources of COCs within the assessment area, and computer database retrievals were used to identify potential point sources of COCs in the area outside the assessment area. Two types of methods-subjective and subjective hybrid-were used in the SWAP to determine susceptibility to contamination. Subjective methods involve decisions based upon professional judgment, prior experience, and (or) the application of a fundamental understanding of processes without the collection and

  11. Assessing Convective Influence by Utilizing Cloud to Ground Lightning Data and High Resolution Kinematic Trajectories

    Science.gov (United States)

    Porter, M. J.; Fuelberg, H.; Pickering, K.; Crawford, J.; Brune, W.; Cohen, R.; Heikes, B.; Sachse, G.; Singh, H.; Wennberg, P.

    2005-12-01

    One must understand the generation of NOx by lightning (LNOx) and its vertical redistribution by convection to quantify the atmospheric processing of reactive nitrogen species. This study addresses these themes by revisiting Jeker's concept of "lightning tracing" (Jeker et al., JGR, 2000) using INTEX-A data gathered from June to August 2004. Kinematic trajectories calculated with output from the National Weather Service's Rapid Update Cycle (RUC) model are initialized along several convectively influenced flights and then followed back to their most recent intersection with lightning flashes observed by the National Lightning Detection Network. Since the RUC data are hourly at a 20 km spacing, their resolution is much greater than usually available with global data. This procedure allows a meteorological assessment of the sample's age since convection, which then is compared to its observed chemistry. In addition, the influence of the most recent lightning encounter on the chemical data is contrasted to the influence of lightning accumulated along the entire back trajectory. Finally, an analysis of the number of flashes encountered along the trajectory provides a means to quantify LNOx production. Performing this "lightning tracing" over multiple flights spanning the entire troposphere allows the construction of a post-convective LNOx vertical profile for INTEX-A.

  12. KASPAR – A Minimally Expressive Humanoid Robot for Human–Robot Interaction Research

    Directory of Open Access Journals (Sweden)

    Kerstin Dautenhahn

    2009-01-01

    Full Text Available This paper provides a comprehensive introduction to the design of the minimally expressive robot KASPAR, which is particularly suitable for human–robot interaction studies. A low-cost design with off-the-shelf components has been used in a novel design inspired from a multi-disciplinary viewpoint, including comics design and Japanese Noh theatre. The design rationale of the robot and its technical features are described in detail. Three research studies will be presented that have been using KASPAR extensively. Firstly, we present its application in robot-assisted play and therapy for children with autism. Secondly, we illustrate its use in human–robot interaction studies investigating the role of interaction kinesics and gestures. Lastly, we describe a study in the field of developmental robotics into computational architectures based on interaction histories for robot ontogeny. The three areas differ in the way as to how the robot is being operated and its role in social interaction scenarios. Each will be introduced briefly and examples of the results will be presented. Reflections on the specific design features of KASPAR that were important in these studies and lessons learnt from these studies concerning the design of humanoid robots for social interaction will also be discussed. An assessment of the robot in terms of utility of the design for human–robot interaction experiments concludes the paper.

  13. 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.

  14. Towards development and validation of an intraoperative assessment tool for robot-assisted radical prostatectomy training: results of a Delphi study.

    Science.gov (United States)

    Morris, Christopher; Hoogenes, Jen; Shayegan, Bobby; Matsumoto, Edward D

    2017-01-01

    As urology training shifts toward competency-based frameworks, the need for tools for high stakes assessment of trainees is crucial. Validated assessment metrics are lacking for many robot-assisted radical prostatectomy (RARP). As it is quickly becoming the gold standard for treatment of localized prostate cancer, the development and validation of a RARP assessment tool for training is timely. We recruited 13 expert RARP surgeons from the United States and Canada to serve as our Delphi panel. Using an initial inventory developed via a modified Delphi process with urology residents, fellows, and staff at our institution, panelists iteratively rated each step and sub-step on a 5-point Likert scale of agreement for inclusion in the final assessment tool. Qualitative feedback was elicited for each item to determine proper step placement, wording, and suggestions. Panelist's responses were compiled and the inventory was edited through three iterations, after which 100% consensus was achieved. The initial inventory steps were decreased by 13% and a skip pattern was incorporated. The final RARP stepwise inventory was comprised of 13 critical steps with 52 sub-steps. There was no attrition throughout the Delphi process. Our Delphi study resulted in a comprehensive inventory of intraoperative RARP steps with excellent consensus. This final inventory will be used to develop a valid and psychometrically sound intraoperative assessment tool for use during RARP training and evaluation, with the aim of increasing competency of all trainees. Copyright® by the International Brazilian Journal of Urology.

  15. Towards development and validation of an intraoperative assessment tool for robot-assisted radical prostatectomy training: results of a Delphi study

    Directory of Open Access Journals (Sweden)

    Christopher Morris

    Full Text Available ABSTRACT Introduction As urology training shifts toward competency-based frameworks, the need for tools for high stakes assessment of trainees is crucial. Validated assessment metrics are lacking for many robot-assisted radical prostatectomy (RARP. As it is quickly becoming the gold standard for treatment of localized prostate cancer, the development and validation of a RARP assessment tool for training is timely. Materials and methods We recruited 13 expert RARP surgeons from the United States and Canada to serve as our Delphi panel. Using an initial inventory developed via a modified Delphi process with urology residents, fellows, and staff at our institution, panelists iteratively rated each step and sub-step on a 5-point Likert scale of agreement for inclusion in the final assessment tool. Qualitative feedback was elicited for each item to determine proper step placement, wording, and suggestions. Results Panelist’s responses were compiled and the inventory was edited through three iterations, after which 100% consensus was achieved. The initial inventory steps were decreased by 13% and a skip pattern was incorporated. The final RARP stepwise inventory was comprised of 13 critical steps with 52 sub-steps. There was no attrition throughout the Delphi process. Conclusions Our Delphi study resulted in a comprehensive inventory of intraoperative RARP steps with excellent consensus. This final inventory will be used to develop a valid and psychometrically sound intraoperative assessment tool for use during RARP training and evaluation, with the aim of increasing competency of all trainees.

  16. Combined fluorescence, reflectance, and ground measurements of a stressed Norway spruce forest for forest damage assessment

    Science.gov (United States)

    Banninger, C.

    1991-01-01

    The detection and monitoring of stress and damage in forested areas is of utmost importance to forest managers for planning purposes. Remote sensing are the most suitable means to obtain this information. This requires that remote sensing data employed in a forest survey be properly chosen and utilized for their ability to measure canopy spectral features directly related to key tree and canopy properties that are indicators of forest health and vitality. Plant reflectance in the visible to short wave IR regions (400 to 2500 nm) provides information on its biochemical, biophysical, and morphological make up, whereas plant fluorescence in the 400 to 750 nm region is more indicative of the capacity and functioning of its photosynthetic apparatus. A measure of both these spectral properties can be used to provide an accurate assessment of stress and damage within the forest canopy. Foliar chlorophyll and nitrogen are essential biochemical constituents required for the proper functioning and maintenance of a plant's biological processes. Chlorophyll-a is the prime reactive center for photosynthesis, by which a plant converts CO2 and H2O into necessary plant products. Nitrogen forms an important component of the amino-acids, enzymes, proteins, alkaloids, and cyanogenic compounds that make up a plant, including its pigments. Both chlorophyll and nitrogen have characteristic absorption features in the visible to short wave IR region. By measuring the wavelength position and depth of these features and the fluorescence response of the foliage, the health and vitality of a canopy can be ascertained. Examples for a stressed Norway spruce forest in south-eastern Austria are presented.

  17. SAFARI 2000 AERONET Ground-based Aerosol Data, Dry Season 2000

    Data.gov (United States)

    National Aeronautics and Space Administration — ABSTRACT: AERONET (AErosol RObotic NETwork) is an optical ground-based aerosol monitoring network and data archive system. AERONET measurements of the...

  18. Design and Optimization of Intelligent Service Robot Suspension System Using Dynamic Model

    International Nuclear Information System (INIS)

    Choi, Seong Hoon; Park, Tae Won; Lee, Soo Ho; Jung, Sung Pil; Jun, Kab Jin; Yoon, J. W.

    2010-01-01

    Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components

  19. Investigating the Effect of Social Robot Embodiment.

    Science.gov (United States)

    Whelan, Sally; Kouroupetroglou, Christos; Santorelli, Adam; Raciti, Massimiliano; Barrett, Eva; Casey, Dympna

    2017-01-01

    The experiment described in this paper is an early assessment to identify if the embodiment of a verbal and visual user interaction system in a robot is more effective in people with dementia than when using the same system in a simple laptop. This study provides input for the robot's design.

  20. 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...