WorldWideScience

Sample records for high profile robots

  1. A design of speed reducer with trapezoidal tooth profile for robot manipulator

    Nam, Won Ki; Oh, Se Hoon [Chung-Ang University, Seoul (Korea, Republic of)

    2011-01-15

    Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study.

  2. A design of speed reducer with trapezoidal tooth profile for robot manipulator

    Nam, Won Ki; Oh, Se Hoon

    2011-01-01

    Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study

  3. High precision detector robot arm system

    Shu, Deming; Chu, Yong

    2017-01-31

    A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

  4. High precision redundant robotic manipulator

    Young, K.K.D.

    1998-01-01

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs

  5. Novel high resolution tactile robotic fingertips

    Drimus, Alin; Jankovics, Vince; Gorsic, Matija

    2014-01-01

    This paper describes a novel robotic fingertip based on piezoresistive rubber that can sense pressure tactile stimuli with a high spatial resolution over curved surfaces. The working principle is based on a three-layer sandwich structure (conductive electrodes on top and bottom and piezoresistive...... with specialized data acquisition electronics that acquire 500 frames per second provides rich information regarding contact force, shape and angle for bio- inspired robotic fingertips. Furthermore, a model of estimating the force of contact based on values of the cells is proposed....

  6. Development of a remote inspection robot for high pressure structures

    Lee, Jae C.; Kim, Jae H.; Choi, Yu R.; Moon, Soon S

    1999-10-01

    The high pressure structures in industrial plants must be periodically inspected for ensure their safety. Currently, the examination of them is manually performed by human inspectors, and there are many restrictions to examine the large containers which enclose dangerous chemicals or radioactive materials. We developed a remotely operated robot to examine these structures using recent mobile robot and computer technologies. Our robot has two magnetic caterpillars that make the robot can adhere to the structures made of steel like materials. The robot moves to the position for examination, and scans that position using ultrasonic probes equipped on it's arm, and transmits the result to the inspector according to his/her commands. Without building any auxiliary structures the robot can inspect the places where manual inspection can't reach. Therefore the robot can make shortening the inspection time as well as preventing the inspector from an accident. (author)

  7. Development of a remote inspection robot for high pressure structures

    Lee, Jae C.; Kim, Jae H.; Choi, Yu R.; Moon, Soon S.

    1999-10-01

    The high pressure structures in industrial plants must be periodically inspected for ensure their safety. Currently, the examination of them is manually performed by human inspectors, and there are many restrictions to examine the large containers which enclose dangerous chemicals or radioactive materials. We developed a remotely operated robot to examine these structures using recent mobile robot and computer technologies. Our robot has two magnetic caterpillars that make the robot can adhere to the structures made of steel like materials. The robot moves to the position for examination, and scans that position using ultrasonic probes equipped on it's arm, and transmits the result to the inspector according to his/her commands. Without building any auxiliary structures the robot can inspect the places where manual inspection can't reach. Therefore the robot can make shortening the inspection time as well as preventing the inspector from an accident. (author)

  8. Robotics

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  9. The Computer Industry. High Technology Industries: Profiles and Outlooks.

    International Trade Administration (DOC), Washington, DC.

    A series of meetings was held to assess future problems in United States high technology, particularly in the fields of robotics, computers, semiconductors, and telecommunications. This report, which focuses on the computer industry, includes a profile of this industry and the papers presented by industry speakers during the meetings. The profile…

  10. Human-robot interaction assessment using dynamic engagement profiles

    Drimus, Alin; Poltorak, Nicole

    2017-01-01

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

  11. High-throughput mouse genotyping using robotics automation.

    Linask, Kaari L; Lo, Cecilia W

    2005-02-01

    The use of mouse models is rapidly expanding in biomedical research. This has dictated the need for the rapid genotyping of mutant mouse colonies for more efficient utilization of animal holding space. We have established a high-throughput protocol for mouse genotyping using two robotics workstations: a liquid-handling robot to assemble PCR and a microfluidics electrophoresis robot for PCR product analysis. This dual-robotics setup incurs lower start-up costs than a fully automated system while still minimizing human intervention. Essential to this automation scheme is the construction of a database containing customized scripts for programming the robotics workstations. Using these scripts and the robotics systems, multiple combinations of genotyping reactions can be assembled simultaneously, allowing even complex genotyping data to be generated rapidly with consistency and accuracy. A detailed protocol, database, scripts, and additional background information are available at http://dir.nhlbi.nih.gov/labs/ldb-chd/autogene/.

  12. Modeling of welded bead profile for rapid prototyping by robotic MAG welding

    CAO Yong; ZHU Sheng; WANG Tao; WANG Wanglong

    2009-01-01

    As a deposition technology, robotic metal active gas(MAG) welding has shown new promise for rapid prototyping (RP) of metallic parts. During the process of metal forming using robotic MAG welding, sectional profile of single-pass welded bead is critical to formed accuracy and quality of metal pans. In this paper, the experiments of single-pass welded bead for rapid prototyping using robotic MAG welding were carried out. The effect of some edge detectors on the cross-sectional edge of welded bead was discussed and curve fitting was applied using leat square fitting. Consequently, the mathematical model of welded bead profile was developed. The experimental results show that good shape could be obtained under suitable welding parameters. Canny operawr is suitable to edge detection of welded bead profile, and the mathematical model of welded bead profile developed is approximately parabola.

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

    Li, Hailing; Wu, Haiyan; Lou, Lei

    2012-01-01

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

  14. Safety assessment of high consequence robotics system

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

    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 for weight and leakage of nuclear materials at the DOE Pantex facility. Failure modes and effects analyses were completed for the robotics process to ensure that safety goals for the systems have been met. Due to the flexible nature of the robot configuration, traditional failure modes and effects analysis (FMEA) were not applicable. In addition, the primary focus of safety assessments of robotics systems has been the protection of personnel in the immediate area. In this application, the safety analysis must account for the sensitivities of the payload as well as traditional issues. A unique variation on the classical FMEA was developed that permits an organized and quite effective tool to be used to assure that safety was adequately considered during the development of the robotic system. The fundamental aspects of the approach are outlined in the paper

  15. Development of Industrial High-Speed Transfer Parallel Robot

    Kim, Byung In; Kyung, Jin Ho; Do, Hyun Min; Jo, Sang Hyun

    2013-01-01

    Parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced

  16. Robotics

    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

  17. The development of advanced robotics technology in high radiation environment

    Lee, Yong Bum; Cho, Jaiwan; Lee, Nam Ho; Choi, Young Soo; Park, Soon Yong; Lee, Jong Min; Park, Jin Suk; Kim, Seung Ho; Kim, Byung Soo; Moon, Byung Soo

    1997-07-01

    In the tele-operation technology using tele-presence in high radiation environment, stereo vision target tracking by centroid method, vergence control of stereo camera by moving vector method, stereo observing system by correlation method, horizontal moving axis stereo camera, and 3 dimensional information acquisition by stereo image is developed. Also, gesture image acquisition by computer vision and construction of virtual environment for remote work in nuclear power plant. In the development of intelligent control and monitoring technology for tele-robot in hazardous environment, the characteristics and principle of robot operation. And, robot end-effector tracking algorithm by centroid method and neural network method are developed for the observation and survey in hazardous environment. 3-dimensional information acquisition algorithm by structured light is developed. In the development of radiation hardened sensor technology, radiation-hardened camera module is designed and tested. And radiation characteristics of electric components is robot system is evaluated. Also 2-dimensional radiation monitoring system is developed. These advanced critical robot technology and telepresence techniques developed in this project can be applied to nozzle-dam installation /removal robot system, can be used to realize unmanned remotelization of nozzle-dam installation / removal task in steam generator of nuclear power plant, which can be contributed for people involved in extremely hazardous high radioactivity area to eliminate their exposure to radiation, enhance their task safety, and raise their working efficiency. (author). 75 refs., 21 tabs., 15 figs.

  18. The development of advanced robotics technology in high radiation environment

    Lee, Yong Bum; Cho, Jaiwan; Lee, Nam Ho; Choi, Young Soo; Park, Soon Yong; Lee, Jong Min; Park, Jin Suk; Kim, Seung Ho; Kim, Byung Soo; Moon, Byung Soo.

    1997-07-01

    In the tele-operation technology using tele-presence in high radiation environment, stereo vision target tracking by centroid method, vergence control of stereo camera by moving vector method, stereo observing system by correlation method, horizontal moving axis stereo camera, and 3 dimensional information acquisition by stereo image is developed. Also, gesture image acquisition by computer vision and construction of virtual environment for remote work in nuclear power plant. In the development of intelligent control and monitoring technology for tele-robot in hazardous environment, the characteristics and principle of robot operation. And, robot end-effector tracking algorithm by centroid method and neural network method are developed for the observation and survey in hazardous environment. 3-dimensional information acquisition algorithm by structured light is developed. In the development of radiation hardened sensor technology, radiation-hardened camera module is designed and tested. And radiation characteristics of electric components is robot system is evaluated. Also 2-dimensional radiation monitoring system is developed. These advanced critical robot technology and telepresence techniques developed in this project can be applied to nozzle-dam installation /removal robot system, can be used to realize unmanned remotelization of nozzle-dam installation / removal task in steam generator of nuclear power plant, which can be contributed for people involved in extremely hazardous high radioactivity area to eliminate their exposure to radiation, enhance their task safety, and raise their working efficiency. (author). 75 refs., 21 tabs., 15 figs

  19. Human-Robot Interaction in High Vulnerability Domains

    Gore, Brian F.

    2016-01-01

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

  20. Robotics

    Lorino, P; Altwegg, J M

    1985-05-01

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

  1. A predictive model to evaluate the impact of the cooling profile on growth of psychrotrophic bacteria in raw milk from conventional and robotic milking.

    Christiansson, Anders

    2017-08-01

    This Research Communication explores the usefulness of predictive modelling to explain bacterial behaviour during cooling. A simple dynamic lag phase model was developed and validated. The model takes into account the effect of the cooling profile on the lag phase and growth in bulk tank milk. The time before the start of cooling was the most critical and should not exceed 1 h. The cooling rate between 30 and approximately 10 °C was the second most critical period. Cooling from 30 to 10 °C within 2 h ensured minimal growth of psychrotrophic bacteria in the milk. The cooling rate between 10 and 4 °C (the slowest phase of cooling) was of surprisingly little importance. Given a normal cooling profile to 10 °C, several hours of prolonged cooling time made practically no difference in psychrotrophic counts. This behaviour can be explained by the time/temperature dependence of the work needed by the bacteria to complete the lag phase at low temperature. For milk quality advisors, it is important to know that slow cooling below 10 °C does not result in high total counts of bacteria. In practice, slow cooling is occasionally found at farms with robotic milking. However, when comparing psychrotrophic growth in bulk milk tanks designed for robotic milking or conventional milking, the model predicted less growth for robotic milking for identical cooling profiles. It is proposed that due to the different rates of milk entering the tank, fewer bacteria will exit the lag phase during robotic milking and they will be more diluted than in conventional milking systems. At present, there is no international standard that specifies the cooling profile in robotic systems. The information on the insignificant effect of the cooling rate below 10 °C may be useful in the development of a standard.

  2. Robotics

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

  3. Harvesting Robots for High-value Crops: State-of-the-art Review and Challenges Ahead

    Bac, C.W.; Henten, van E.; Hemming, J.; Edan, Y.

    2014-01-01

    This review article analyzes state-of-the-art and future perspectives for harvesting robots in high-value crops. The objectives were to characterize the crop environment relevant for robotic harvesting, to perform a literature review on the state-of-the-art of harvesting robots using quantitative

  4. Modeling and identification for high-performance robot control : an RRR-robotic arm case study

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Hensen, R.H.A.

    2004-01-01

    We explain a procedure for getting models of robot kinematics and dynamics that are appropriate for robot control design. The procedure consists of the following steps: (i) derivation of robot kinematic and dynamic models and establishing correctness of their structures; (ii) experimental estimation

  5. The Development of light-weight 2-link robot arm for high radiation area

    Shin, Ho Cheol; Seo, Yong Chil; Jung, Kyung Min; Choi, Young Soo

    2009-10-15

    A light-weight 2-link robot arm which weight is less than 8kg was developed for treating the small radio-active material in the high radiation area such as nuclear power plants and NDT area. The light-weight 2-link robot arm can be attached on a small mobile robot and carry out tasks. It is a 5 DOF robot arm including a gripper

  6. WARRIOR II, a high performance modular electric robot system

    Downton, G.C.

    1996-01-01

    A high performance electric robot, WARRIOR, was built for in-reactor welding at the Oldbury nuclear power plant in the United Kingdom in the mid 1980s. WARRIOR II has been developed as a lighter, smaller diameter articulated welding robot which can be deployed on its umbilical down a stand pipe for remote docking with the manipulator system which delivers it to its work site. A key feature of WARRIOR II has been the development of a prototype spherical modular joint. The module provides the drive torque necessary to motivate the robot arm, acts as the joint bearing, has standard mechanical interfaces for the limb sections, accurately measures the joint angle and has cable services running through the centre. It can act either as a bend or rotate joint and the interconnecting limb sections need only to be simple tubular sections. A wide range of manipulator configurations to suit the access constraints of particular problems can be achieved with a set of joint modules and limb sections. A general purpose motion controller has also been developed which is capable of kinematically controlling any configuration of WARRIOR II thus contributing to the realisation of the concept of a general purpose tool which can be used over and over again, at short notice, in any situation where a high precision, light weight, versatile manipulator is required. (UK)

  7. High productivity mould robotic milling in Al-5083

    Urresti, Iker; Arrazola, Pedro Jose; Ørskov, Klaus Bonde; Pelegay, Jose Angel

    2018-05-01

    Industrial serial robots were usually limited to welding, handling or spray painting operations until very recent years. However, some industries have already realized about their important capabilities in terms of flexibility, working space, adaptability and cost. Hence, currently they are seriously being considered to carry out certain metal machining tasks. Therefore, robot based machining is presented as a cost-saving and flexible manufacturing alternative compared to conventional CNC machines especially for roughing or even pre-roughing of large parts. Nevertheless, there are still some drawbacks usually referred as low rigidity, accuracy and repeatability. Thus, the process productivity is usually sacrificed getting low Material Removal Rates (MRR), and consequently not being competitive. Nevertheless, in this paper different techniques to obtain increased productivity are presented, though an appropriate selection of cutting strategies and parameters that are essential for it. During this research some rough milling tests in Al-5083 are presented where High Feed Milling (HFM) is implemented as productive cutting strategy and the experimental modal analysis named Tap-testing is used for the suitable choice of cutting conditions. Competitive productivity rates are experienced while process stability is checked through the cutting forces measurements in order to prove the effectiveness of the experimental modal analysis for robotic machining.

  8. High Altitude Platforms Mobile Robotic Telesurgery (HAPsMRT)

    Broderick, Timothy J

    2006-01-01

    .... This demonstrated that a surgical robot could be deployed in an extreme environment and controlled by a surgeon who was remotely located from the robot using a wireless communication system (UAV...

  9. WARRIOR II, a high performance modular electric robot system

    Downton, G.C.

    1996-01-01

    Initially designed for in-reactor welding by the Central Electricity Generating Board, WARRIOR has been developed using the concept of modular technology to become a light-weight, high performance robotic system. Research work on existing machines for in-reactor inspection and repair and heavy duty hydraulic manipulators was progressed in order to develop WARRIOR II, a versatile in-reactor welding system usable at any nuclear power station light enough to be deployed by existing remote handling equipment. WARRIOR II can be significantly reconfigured quickly to pursue different ends. (UK)

  10. The Robots Are Coming! Training Tomorrow's High-Tech Workers.

    Zemke, Ron

    1983-01-01

    The United States, running second to Japan in the robot race, is employing 19 percent of the world's robots. This article presents six classes of robots that were defined by the Japanese trade association. All are multifunctional, equipped with a memory device, capable of rotation, and able to replace human workers. (SSH)

  11. Evolutionary robotics

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

  12. NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

    Anthony L. Crawford

    2012-07-01

    MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the

  13. Gains in the Education of Mathematics and Science GEMS: Teaching Robotics to High School Students

    2013-01-01

    find amusing but that we find of less educational value, like having the robots say comical things. Those who have more teaching time would doubtless...Gains in the Education of Mathematics and Science GEMS: Teaching Robotics to High School Students by Edward M. Measure and Edward Creegan...TR-6220 January 2013 Gains in the Education of Mathematics and Science (GEMS): Teaching Robotics to High School Students Edward M

  14. An investigation of highly accurate and precise robotic hole measurements using non-contact devices

    Usman Zahid

    2016-01-01

    Full Text Available Industrial robots arms are widely used in manufacturing industry because of their support for automation. However, in metrology, robots have had limited application due to their insufficient accuracy. Even using error compensation and calibration methods, robots are not effective for micrometre (μm level metrology. Non-contact measurement devices can potentially enable the use of robots for highly accurate metrology. However, the use of such devices on robots has not been investigated. The research work reported in this paper explores the use of different non-contact measurement devices on an industrial robot. The aim is to experimentally investigate the effects of robot movements on the accuracy and precision of measurements. The focus has been on assessing the ability to accurately measure various geometric and surface parameters of holes despite the inherent inaccuracies of industrial robot. This involves the measurement of diameter, roundness and surface roughness. The study also includes scanning of holes for measuring internal features such as start and end point of a taper. Two different non-contact measurement devices based on different technologies are investigated. Furthermore, effects of eccentricity, vibrations and thermal variations are also assessed. The research contributes towards the use of robots for highly accurate and precise robotic metrology.

  15. A highly articulated robotic surgical system for minimally invasive surgery.

    Ota, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; McGarvey, Jeremy; Choset, Howie; Zenati, Marco A

    2009-04-01

    We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation. CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field. In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional ("linear") left atrial ablation was successfully achieved without complications. Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.

  16. Detection of Subtle Context-Dependent Model Inaccuracies in High-Dimensional Robot Domains.

    Mendoza, Juan Pablo; Simmons, Reid; Veloso, Manuela

    2016-12-01

    Autonomous robots often rely on models of their sensing and actions for intelligent decision making. However, when operating in unconstrained environments, the complexity of the world makes it infeasible to create models that are accurate in every situation. This article addresses the problem of using potentially large and high-dimensional sets of robot execution data to detect situations in which a robot model is inaccurate-that is, detecting context-dependent model inaccuracies in a high-dimensional context space. To find inaccuracies tractably, the robot conducts an informed search through low-dimensional projections of execution data to find parametric Regions of Inaccurate Modeling (RIMs). Empirical evidence from two robot domains shows that this approach significantly enhances the detection power of existing RIM-detection algorithms in high-dimensional spaces.

  17. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs.

  18. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok.

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs

  19. Evaluation of the power consumption of a high-speed parallel robot

    Han, Gang; Xie, Fugui; Liu, Xin-Jun

    2018-06-01

    An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. Afterward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low-power-consumption workspace is selected for the robot.

  20. High Precision GNSS Guidance for Field Mobile Robots

    Ladislav Jurišica

    2012-11-01

    Full Text Available In this paper, we discuss GNSS (Global Navigation Satellite System guidance for field mobile robots. Several GNSS systems and receivers, as well as multiple measurement methods and principles of GNSS systems are examined. We focus mainly on sources of errors and investigate diverse approaches for precise measuring and effective use of GNSS systems for real-time robot localization. The main body of the article compares two GNSS receivers and their measurement methods. We design, implement and evaluate several mathematical methods for precise robot localization.

  1. INDUSTRIAL ROBOT REPEATABILITY TESTING WITH HIGH SPEED CAMERA PHANTOM V2511

    Jerzy Józwik

    2016-12-01

    Full Text Available Apart from accuracy, one of the parameters describing industrial robots is positioning accuracy. The parameter in question, which is the subject of this paper, is often the decisive factor determining whether to apply a given robot to perform certain tasks or not. Articulated robots are predominantly used in such processes as: spot weld-ing, transport of materials and other welding applications, where high positioning repeatability is required. It is therefore essential to recognise the parameter in question and to control it throughout the operation of the robot. This paper presents methodology for robot positioning accuracy measurements based on vision technique. The measurements were conducted with Phantom v2511 high-speed camera and TEMA Motion software, for motion analysis. The object of the measurements was a 6-axis Yaskawa Motoman HP20F industrial robot. The results of measurements obtained in tests provided data for the calculation of positioning accuracy of the robot, which was then juxtaposed against robot specifications. Also analysed was the impact of the direction of displacement on the value of attained pose errors. Test results are given in a graphic form.

  2. A Filtering Approach for Image-Guided Surgery With a Highly Articulated Surgical Snake Robot.

    Tully, Stephen; Choset, Howie

    2016-02-01

    The objective of this paper is to introduce a probabilistic filtering approach to estimate the pose and internal shape of a highly flexible surgical snake robot during minimally invasive surgery. Our approach renders a depiction of the robot that is registered to preoperatively reconstructed organ models to produce a 3-D visualization that can be used for surgical feedback. Our filtering method estimates the robot shape using an extended Kalman filter that fuses magnetic tracker data with kinematic models that define the motion of the robot. Using Lie derivative analysis, we show that this estimation problem is observable, and thus, the shape and configuration of the robot can be successfully recovered with a sufficient number of magnetic tracker measurements. We validate this study with benchtop and in-vivo image-guidance experiments in which the surgical robot was driven along the epicardial surface of a porcine heart. This paper introduces a filtering approach for shape estimation that can be used for image guidance during minimally invasive surgery. The methods being introduced in this paper enable informative image guidance for highly articulated surgical robots, which benefits the advancement of robotic surgery.

  3. Manipulator motion planning for high-speed robotic laser cutting

    Dolgui , Alexandre; Pashkevich , Anatol

    2009-01-01

    Abstract Recent advances in laser technology, and especially the essential increase of the cutting speed, motivate amending the existing robot path methods, which do not allow the complete utilisation of the actuator capabilities as well as neglect some particularities in the mechanical design of the wrist of the manipulator arm. This research addresses the optimisation of the 6-axes robot motions for continuous contour tracking while considering the redundancy caused by the tool a...

  4. A robust robotic high-throughput antibody purification platform.

    Schmidt, Peter M; Abdo, Michael; Butcher, Rebecca E; Yap, Min-Yin; Scotney, Pierre D; Ramunno, Melanie L; Martin-Roussety, Genevieve; Owczarek, Catherine; Hardy, Matthew P; Chen, Chao-Guang; Fabri, Louis J

    2016-07-15

    Monoclonal antibodies (mAbs) have become the fastest growing segment in the drug market with annual sales of more than 40 billion US$ in 2013. The selection of lead candidate molecules involves the generation of large repertoires of antibodies from which to choose a final therapeutic candidate. Improvements in the ability to rapidly produce and purify many antibodies in sufficient quantities reduces the lead time for selection which ultimately impacts on the speed with which an antibody may transition through the research stage and into product development. Miniaturization and automation of chromatography using micro columns (RoboColumns(®) from Atoll GmbH) coupled to an automated liquid handling instrument (ALH; Freedom EVO(®) from Tecan) has been a successful approach to establish high throughput process development platforms. Recent advances in transient gene expression (TGE) using the high-titre Expi293F™ system have enabled recombinant mAb titres of greater than 500mg/L. These relatively high protein titres reduce the volume required to generate several milligrams of individual antibodies for initial biochemical and biological downstream assays, making TGE in the Expi293F™ system ideally suited to high throughput chromatography on an ALH. The present publication describes a novel platform for purifying Expi293F™-expressed recombinant mAbs directly from cell-free culture supernatant on a Perkin Elmer JANUS-VariSpan ALH equipped with a plate shuttle device. The purification platform allows automated 2-step purification (Protein A-desalting/size exclusion chromatography) of several hundred mAbs per week. The new robotic method can purify mAbs with high recovery (>90%) at sub-milligram level with yields of up to 2mg from 4mL of cell-free culture supernatant. Copyright © 2016 Elsevier B.V. All rights reserved.

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

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

    2013-11-01

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

  6. Robotic Assisted Laparoscopic Prostatectomy after High Intensity Focused Ultrasound Failure

    Leon Telis

    2017-01-01

    Full Text Available Background. Prostate cancer is the most common cancer diagnosed in men. As new focal therapies become more popular in treatment of prostate cancer, failure cases requiring salvage therapy with either surgical or other techniques are being reported. Objective. To report the options in treatment of prostate cancer after recurrence or failure of the primary treatment modality. Methods. We report a salvage robotic assisted laparoscopic radical prostatectomy (RALP for prostate cancer recurrence following high intensity focused ultrasound treatment (HIFU in the United States. Results. A 67-year-old man who underwent HIFU treatment for prostate adenocarcinoma 2 years prior was presented with a rising prostate specific antigen of 6.1 ng/mL to our clinic. A biopsy proven recurrent disease in the area of previous treatment documented the failure of treatment. The patient elected to undergo a salvage RALP. The operation time was 159 minutes. The patient was discharged from the hospital on postoperative day 1 with no complications. The catheter was removed on post-op day 10. The patient reserved sexual function and urinary continence. The PSA levels on 6 months’ follow-up are undetectable. Conclusions. Salvage RALP is an effective and safe treatment choice for recurrent prostate adenocarcinoma following failed HIFU treatment if operated by an experienced surgeon.

  7. Modified Ionic Liquid-Based High-Performance Lubricants for Robotic Operations, Phase I

    National Aeronautics and Space Administration — NASA requires a highly efficient lubrication system for robotic operations, which will withstand very low temperatures (20 K) and other rigors of outer space and...

  8. Urology residents experience comparable workload profiles when performing live porcine nephrectomies and robotic surgery virtual reality training modules.

    Mouraviev, Vladimir; Klein, Martina; Schommer, Eric; Thiel, David D; Samavedi, Srinivas; Kumar, Anup; Leveillee, Raymond J; Thomas, Raju; Pow-Sang, Julio M; Su, Li-Ming; Mui, Engy; Smith, Roger; Patel, Vipul

    2016-03-01

    substantial mental workload while performing tasks on both the simulator and the live animal model during the robotics course. The NASA-TLX profiles demonstrated that the live animal model and the MdVT were similar in difficulty, as indicated by their comparable workload profiles.

  9. Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery.

    Abidi, Haider; Gerboni, Giada; Brancadoro, Margherita; Fras, Jan; Diodato, Alessandro; Cianchetti, Matteo; Wurdemann, Helge; Althoefer, Kaspar; Menciassi, Arianna

    2018-02-01

    For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack the flexibility to safely maneuver and reach difficult surgical targets. This paper answers this need through designing, fabricating and modelling a highly dexterous 2-module soft robot for minimally invasive surgery (MIS). A soft robotic approach is proposed that uses flexible fluidic actuators (FFAs) allowing highly dexterous and inherently safe navigation. Dexterity is provided by an optimized design of fluid chambers within the robot modules. Safe physical interaction is ensured by fabricating the entire structure by soft and compliant elastomers, resulting in a squeezable 2-module robot. An inner free lumen/chamber along the central axis serves as a guide of flexible endoscopic tools. A constant curvature based inverse kinematics model is also proposed, providing insight into the robot capabilities. Experimental tests in a surgical scenario using a cadaver model are reported, demonstrating the robot advantages over standard systems in a realistic MIS environment. Simulations and experiments show the efficacy of the proposed soft robot. Copyright © 2017 John Wiley & Sons, Ltd.

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

    Fels, Meike; Bauer, Robert; Gharabaghi, Alireza

    2015-08-01

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

  11. Microsurgery robots: addressing the needs of high-precision surgical interventions.

    Mattos, Leonardo S; Caldwell, Darwin G; Peretti, Giorgio; Mora, Francesco; Guastini, Luca; Cingolani, Roberto

    2016-01-01

    Robotics has a significant potential to enhance the overall capacity and efficiency of healthcare systems. Robots can help surgeons perform better quality operations, leading to reductions in the hospitalisation time of patients and in the impact of surgery on their postoperative quality of life. In particular, robotics can have a significant impact on microsurgery, which presents stringent requirements for superhuman precision and control of the surgical tools. Microsurgery is, in fact, expected to gain importance in a growing range of surgical specialties as novel technologies progressively enable the detection, diagnosis and treatment of diseases at earlier stages. Within such scenarios, robotic microsurgery emerges as one of the key components of future surgical interventions, and will be a vital technology for addressing major surgical challenges. Nonetheless, several issues have yet to be overcome in terms of mechatronics, perception and surgeon-robot interfaces before microsurgical robots can achieve their full potential in operating rooms. Research in this direction is progressing quickly and microsurgery robot prototypes are gradually demonstrating significant clinical benefits in challenging applications such as reconstructive plastic surgery, ophthalmology, otology and laryngology. These are reassuring results offering confidence in a brighter future for high-precision surgical interventions.

  12. Laser safety at high profile projects

    Barat, K.

    2011-03-01

    Laser Safety at high profile laser facilities tends to be more controlled than in the standard laser lab found at a research institution. The reason for this is the potential consequences for such facilities from incidents. This ranges from construction accidents, to equipment damage to personnel injuries. No laser user wants to sustain a laser eye injury. Unfortunately, many laser users, most commonly experienced researchers and inexperienced graduate students, do receive laser eye injuries during their careers. . More unforgiveable is the general acceptance of this scenario, as part of the research & development experience. How do senior researchers, safety personnel and management stop this trend? The answer lies in a cultural change that involves institutional training, user mentoring, hazard awareness by users and administrative controls. None of these would inhibit research activities. As a matter of fact, proper implementation of these controls would increase research productivity. This presentation will review and explain the steps needed to steer an institution, research division, group or individual lab towards a culture that should nearly eliminate laser accidents. As well as how high profile facilities try to avoid laser injuries. Using the definition of high profile facility as one who's funding in the million to billions of dollars or Euros and derives form government funding.

  13. Robotic systems for the high level waste tank farm replacement project at INEL

    Berger, A.; White, D.; Thompson, B.; Christensen, M.

    1993-01-01

    Westinghouse Idaho Nuclear Company (WINCO) is specifying and designing a new high level waste tank farm at the Idaho National Engineering Laboratory (INEL). The farm consists of four underground storage tanks, which replace the existing tanks. The new facility includes provisions for remote operations. One of the planned remote operations is robotic inspection of the tank from the interior and exterior. This paper describes the process used to design the robotic system for the inspection tasks

  14. Dexterous robotic manipulation of alert adult Drosophila for high-content experimentation.

    Savall, Joan; Ho, Eric Tatt Wei; Huang, Cheng; Maxey, Jessica R; Schnitzer, Mark J

    2015-07-01

    We present a robot that enables high-content studies of alert adult Drosophila by combining operations including gentle picking; translations and rotations; characterizations of fly phenotypes and behaviors; microdissection; or release. To illustrate, we assessed fly morphology, tracked odor-evoked locomotion, sorted flies by sex, and dissected the cuticle to image neural activity. The robot's tireless capacity for precise manipulations enables a scalable platform for screening flies' complex attributes and behavioral patterns.

  15. Project based, Collaborative, Algorithmic Robotics for High School Students: Programming Self Driving Race Cars at MIT

    2017-02-19

    new high-school STEM program in robotics. The program utilizes state -of-the- art sensors and embedded computers for mobile robotics. These...software. Students do not engage in hardware design or development. They are given a hardware kit that includes state -of-the- art sensors and... Engineering and Computer Science (under course number 6.141) and the Department of Aeronautics and Astronautics (under course number 16.405). Let us

  16. Robot-assisted gait training versus treadmill training in patients with Parkinson's disease: a kinematic evaluation with gait profile score.

    Galli, M; Cimolin, V; De Pandis, M F; Le Pera, D; Sova, I; Albertini, G; Stocchi, F; Franceschini, M

    2016-01-01

    The purpose of this study was to quantitatively compare the effects, on walking performance, of end-effector robotic rehabilitation locomotor training versus intensive training with a treadmill in Parkinson's disease (PD). Fifty patients with PD were randomly divided into two groups: 25 were assigned to the robot-assisted therapy group (RG) and 25 to the intensive treadmill therapy group (IG). They were evaluated with clinical examination and 3D quantitative gait analysis [gait profile score (GPS) and its constituent gait variable scores (GVSs) were calculated from gait analysis data] at the beginning (T0) and at the end (T1) of the treatment. In the RG no differences were found in the GPS, but there were significant improvements in some GVSs (Pelvic Obl and Hip Ab-Add). The IG showed no statistically significant changes in either GPS or GVSs. The end-effector robotic rehabilitation locomotor training improved gait kinematics and seems to be effective for rehabilitation in patients with mild PD.

  17. High-Performance 3D Articulated Robot Display

    Powell, Mark W.; Torres, Recaredo J.; Mittman, David S.; Kurien, James A.; Abramyan, Lucy

    2011-01-01

    In the domain of telerobotic operations, the primary challenge facing the operator is to understand the state of the robotic platform. One key aspect of understanding the state is to visualize the physical location and configuration of the platform. As there is a wide variety of mobile robots, the requirements for visualizing their configurations vary diversely across different platforms. There can also be diversity in the mechanical mobility, such as wheeled, tracked, or legged mobility over surfaces. Adaptable 3D articulated robot visualization software can accommodate a wide variety of robotic platforms and environments. The visualization has been used for surface, aerial, space, and water robotic vehicle visualization during field testing. It has been used to enable operations of wheeled and legged surface vehicles, and can be readily adapted to facilitate other mechanical mobility solutions. The 3D visualization can render an articulated 3D model of a robotic platform for any environment. Given the model, the software receives real-time telemetry from the avionics system onboard the vehicle and animates the robot visualization to reflect the telemetered physical state. This is used to track the position and attitude in real time to monitor the progress of the vehicle as it traverses its environment. It is also used to monitor the state of any or all articulated elements of the vehicle, such as arms, legs, or control surfaces. The visualization can also render other sorts of telemetered states visually, such as stress or strains that are measured by the avionics. Such data can be used to color or annotate the virtual vehicle to indicate nominal or off-nominal states during operation. The visualization is also able to render the simulated environment where the vehicle is operating. For surface and aerial vehicles, it can render the terrain under the vehicle as the avionics sends it location information (GPS, odometry, or star tracking), and locate the vehicle

  18. Design and Performance Evaluation of Real-time Endovascular Interventional Surgical Robotic System with High Accuracy.

    Wang, Kundong; Chen, Bing; Lu, Qingsheng; Li, Hongbing; Liu, Manhua; Shen, Yu; Xu, Zhuoyan

    2018-05-15

    Endovascular interventional surgery (EIS) is performed under a high radiation environment at the sacrifice of surgeons' health. This paper introduces a novel endovascular interventional surgical robot that aims to reduce radiation to surgeons and physical stress imposed by lead aprons during fluoroscopic X-ray guided catheter intervention. The unique mechanical structure allowed the surgeon to manipulate the axial and radial motion of the catheter and guide wire. Four catheter manipulators (to manipulate the catheter and guide wire), and a control console which consists of four joysticks, several buttons and two twist switches (to control the catheter manipulators) were presented. The entire robotic system was established on a master-slave control structure through CAN (Controller Area Network) bus communication, meanwhile, the slave side of this robotic system showed highly accurate control over velocity and displacement with PID controlling method. The robotic system was tested and passed in vitro and animal experiments. Through functionality evaluation, the manipulators were able to complete interventional surgical motion both independently and cooperatively. The robotic surgery was performed successfully in an adult female pig and demonstrated the feasibility of superior mesenteric and common iliac artery stent implantation. The entire robotic system met the clinical requirements of EIS. The results show that the system has the ability to imitate the movements of surgeons and to accomplish the axial and radial motions with consistency and high-accuracy. Copyright © 2018 John Wiley & Sons, Ltd.

  19. High effective inverse dynamics modelling for dual-arm robot

    Shen, Haoyu; Liu, Yanli; Wu, Hongtao

    2018-05-01

    To deal with the problem of inverse dynamics modelling for dual arm robot, a recursive inverse dynamics modelling method based on decoupled natural orthogonal complement is presented. In this model, the concepts and methods of Decoupled Natural Orthogonal Complement matrices are used to eliminate the constraint forces in the Newton-Euler kinematic equations, and the screws is used to express the kinematic and dynamics variables. On this basis, the paper has developed a special simulation program with symbol software of Mathematica and conducted a simulation research on the a dual-arm robot. Simulation results show that the proposed method based on decoupled natural orthogonal complement can save an enormous amount of CPU time that was spent in computing compared with the recursive Newton-Euler kinematic equations and the results is correct and reasonable, which can verify the reliability and efficiency of the method.

  20. Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

    Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo

    2016-01-01

    An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted

  1. Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

    Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2016-10-15

    An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted.

  2. Feasibility of optical sensing for robotics in highly radioactive environments

    Coenen, S.; Decreton, M.

    1993-01-01

    The application of robotics for repair, refurbishing or dismantling of nuclear installations implies eventually severe radiation resistance requirements on embarked components and subsystems. This is particularly critical when optical sensing is considered. Optoelectronic components and optical fibers are indeed quite sensitive to radiation, and without special design are rapidly out-of-operation in such an environment. This paper reports the results of a series of γ irradiation experiments on such devices, and identify their behavior under radiation. Test results show that carefully selected optical fibers can keep their radiation induced attenuation lower than 0.3 dB/m even up to a total dose of 10 MGy. Temperature annealing can even lower this attenuation down to 0.1 dB/m. On the other hand, commercially available light emitting diodes and photodiodes present attenuations figures up to 15 dB, even after a gamma irradiation as low as 250 kGy. However, properly chosen bias procedures are shown to greatly enhance this figure. The paper concludes by showing the feasibility of optical sensing for proximity measurement and data transmission for nuclear robots used under severe radiation conditions

  3. Robust high-performance control for robotic manipulators

    Seraji, Homayoun (Inventor)

    1991-01-01

    Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

  4. High-resolution phylogenetic microbial community profiling

    Singer, Esther; Coleman-Derr, Devin; Bowman, Brett; Schwientek, Patrick; Clum, Alicia; Copeland, Alex; Ciobanu, Doina; Cheng, Jan-Fang; Gies, Esther; Hallam, Steve; Tringe, Susannah; Woyke, Tanja

    2014-03-17

    The representation of bacterial and archaeal genome sequences is strongly biased towards cultivated organisms, which belong to merely four phylogenetic groups. Functional information and inter-phylum level relationships are still largely underexplored for candidate phyla, which are often referred to as microbial dark matter. Furthermore, a large portion of the 16S rRNA gene records in the GenBank database are labeled as environmental samples and unclassified, which is in part due to low read accuracy, potential chimeric sequences produced during PCR amplifications and the low resolution of short amplicons. In order to improve the phylogenetic classification of novel species and advance our knowledge of the ecosystem function of uncultivated microorganisms, high-throughput full length 16S rRNA gene sequencing methodologies with reduced biases are needed. We evaluated the performance of PacBio single-molecule real-time (SMRT) sequencing in high-resolution phylogenetic microbial community profiling. For this purpose, we compared PacBio and Illumina metagenomic shotgun and 16S rRNA gene sequencing of a mock community as well as of an environmental sample from Sakinaw Lake, British Columbia. Sakinaw Lake is known to contain a large age of microbial species from candidate phyla. Sequencing results show that community structure based on PacBio shotgun and 16S rRNA gene sequences is highly similar in both the mock and the environmental communities. Resolution power and community representation accuracy from SMRT sequencing data appeared to be independent of GC content of microbial genomes and was higher when compared to Illumina-based metagenome shotgun and 16S rRNA gene (iTag) sequences, e.g. full-length sequencing resolved all 23 OTUs in the mock community, while iTags did not resolve closely related species. SMRT sequencing hence offers various potential benefits when characterizing uncharted microbial communities.

  5. An autonomous robot for de-leafing cucumber plants in a high-wire cultivation system

    Henten, van E.J.; Tuijl, van B.A.J.; Hoogakker, G.J.; Weerd, van der M.J.; Hemming, J.; Kornet, J.G.; Bontsema, J.

    2005-01-01

    The paper presents an autonomous robot for removing the leaves from cucumber plants grown in a high-wire cultivation system. Leaves at the lower end of the plants are removed because of their reduced vitality, their negligible contribution to canopy photosynthesis and their increased sensitivity for

  6. Soft Robotics.

    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.

  7. Concept of modular flexure-based mechanisms for ultra-high precision robot design

    M. Richard

    2011-05-01

    Full Text Available This paper introduces a new concept of modular flexure-based mechanisms to design industrial ultra-high precision robots, which aims at significantly reducing both the complexity of their design and their development time. This modular concept can be considered as a robotic Lego, where a finite number of building bricks is used to quickly build a high-precision robot. The core of the concept is the transformation of a 3-D design problem into several 2-D ones, which are simpler and well-mastered. This paper will first briefly present the theoretical bases of this methodology and the requirements of both types of building bricks: the active and the passive bricks. The section dedicated to the design of the active bricks will detail the current research directions, mainly the maximisation of the strokes and the development of an actuation sub-brick. As for the passive bricks, some examples will be presented, and a discussion regarding the establishment of a mechanical solution catalogue will conclude the section. Last, this modular concept will be illustrated with a practical example, consisting in the design of a 5-degree of freedom ultra-high precision robot.

  8. An Evaluation of Ultra-High Pressure Regulator for Robotic Lunar Landing Spacecraft

    Burnside, Christopher; Trinh, Huu; Pedersen, Kevin

    2011-01-01

    The Robotic Lunar Lander Development (RLLD) Project Office at NASA Marshall Space Flight Center (MSFC) has studied several lunar surface science mission concepts. These missions focus on spacecraft carrying multiple science instruments and power systems that will allow extended operations on the lunar surface. Initial trade studies of launch vehicle options for these mission concepts indicate that the spacecraft design will be significantly mass-constrained. To minimize mass and facilitate efficient packaging, the notional propulsion system for these landers has a baseline of an ultra-high pressure (10,000 psig) helium pressurization system that has been used on Defense missiles. The qualified regulator is capable of short duration use; however, the hardware has not been previously tested at NASA spacecraft requirements with longer duration. Hence, technical risks exist in using this missile-based propulsion component for spacecraft applications. A 10,000-psig helium pressure regulator test activity is being carried out as part of risk reduction testing for MSFC RLLD project. The goal of the test activity is to assess the feasibility of commercial off-the-shelf ultra-high pressure regulator by testing with a representative flight mission profile. Slam-start, gas blowdown, water expulsion, lock-up, and leak tests are also performed on the regulator to assess performance under various operating conditions. The preliminary test results indicated that the regulator can regulate helium to a stable outlet pressure of 740 psig within the +/- 5% tolerance band and maintain a lock-up pressure less than +5% for all tests conducted. Numerous leak tests demonstrated leakage less than 10-3 standard cubic centimeters per second (SCCS) for internal seat leakage at lock-up and less than10-5 SCCS for external leakage through the regulator ambient reference cavity. The successful tests have shown the potential for 10,000 psig helium systems in NASA spacecraft and have reduced risk

  9. Controlling Flexible Robot Arms Using High Speed Dynamics Process

    Jain, Abhinandan (Inventor)

    1996-01-01

    A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

  10. Controlling flexible robot arms using a high speed dynamics process

    Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

    1992-01-01

    Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

  11. Robotics and remote handling concepts for disposal of high-level nuclear waste

    McAffee, Douglas; Raczka, Norman; Schwartztrauber, Keith

    1997-01-01

    This paper summarizes preliminary remote handling and robotic concepts being developed as part of the US Department of Energy's (DOE) Yucca Mountain Project. The DOE is currently evaluating the Yucca Mountain Nevada site for suitability as a possible underground geologic repository for the disposal of high level nuclear waste. The current advanced conceptual design calls for the disposal of more than 12,000 high level nuclear waste packages within a 225 km underground network of tunnels and emplacement drifts. Many of the waste packages may weigh as much as 66 tonnes and measure 1.8 m in diameter and 5.6 m long. The waste packages will emit significant levels of radiation and heat. Therefore, remote handling is a cornerstone of the repository design and operating concepts. This paper discusses potential applications areas for robotics and remote handling technologies within the subsurface repository. It also summarizes the findings of a preliminary technology survey which reviewed available robotic and remote handling technologies developed within the nuclear, mining, rail and industrial robotics and automation industries, and at national laboratories, universities, and related research institutions and government agencies

  12. System Design of a Cheetah Robot Toward Ultra-high Speed

    Mantian Li

    2014-05-01

    Full Text Available High-speed legged locomotion pushes the limits of the most challenging problems of design and development of the mechanism, also the control and the perception method. The cheetah is an existence proof of concept of what we imitate for high-speed running, and provides us lots of inspiration on design. In this paper, a new model of a cheetah-like robot is developed using anatomical analysis and design. Inspired by a biological neural mechanism, we propose a novel control method for controlling the muscles' flexion and extension, and simulations demonstrate good biological properties and leg's trajectory. Next, a cheetah robot prototype is designed and assembled with pneumatic muscles, a musculoskeletal structure, an antagonistic muscle arrangement and a J-type cushioning foot. Finally, experiments of the robot legs swing and kick ground tests demonstrate its natural manner and validate the design of the robot. In the future, we will test the bounding behaviour of a real legged system.

  13. Laser safety at high profile laser facilities

    Barat, K.

    2010-01-01

    Complete text of publication follows. Laser safety has been an active concern of laser users since the invention of the laser. Formal standards were developed in the early 1970's and still continue to be developed and refined. The goal of these standards is to give users guidance on the use of laser and consistent safety guidance and requirements for laser manufacturers. Laser safety in the typical research setting (government laboratory or university) is the greatest challenge to the laser user and laser safety officer. This is due to two factors. First, the very nature of research can put the user at risk; consider active manipulation of laser optics and beam paths, and user work with energized systems. Second, a laser safety culture that seems to accept laser injuries as part of the graduate student educational process. The fact is, laser safety at research settings, laboratories and universities still has long way to go. Major laser facilities have taken a more rigid and serious view of laser safety, its controls and procedures. Part of the rationale for this is that these facilities draw users from all around the world presenting the facility with a work force of users coming from a wide mix of laser safety cultures. Another factor is funding sources do not like bad publicity which can come from laser accidents and a poor safety record. The fact is that injuries, equipment damage and lost staff time slow down progress. Hence high profile/large laser projects need to adapt a higher safety regimen both from an engineering and administrative point of view. This presentation will discuss all these points and present examples. Acknowledgement. This work has been supported by the University of California, Director, Office of Science.

  14. Integrated High-Speed Torque Control System for a Robotic Joint

    Davis, Donald R. (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Valvo, Michael C. (Inventor); Askew, R. Scott (Inventor)

    2013-01-01

    A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).

  15. Cleanup and Dismantling of Highly Contaminated Ventilation Systems Using Robotic Tools - 13162

    Chambon, Frederic; CIZEL, Jean-Pierre; Blanchard, Samuel

    2013-01-01

    The UP1 plant reprocessed nearly 20,000 tons of used natural uranium gas cooled reactor fuel coming from the first generation of civil nuclear reactors in France. Following operating incidents in the eighties, the ventilation system of the continuous dissolution line facility was shut down and replaced. Two types of remote controlled tool carriers were developed to perform the decontamination and dismantling operations of the highly contaminated ventilation duct network. The first one, a dedicated small robot, was designed from scratch to retrieve a thick powder deposit within a duct. The robot, managed and confined by two dedicated glove boxes, was equipped for intervention inside the ventilation duct and used for carrying various cleanup and inspection tools. The second type, consisting of robotic tools developed on the base of an industrial platform, was used for the clean-up and dismantling of the ventilation duct system. Depending on the type of work to be performed, on the shape constraints of the rooms and any equipment to be dismantled, different kinds of robotic tools were developed and installed on a Brokk 40 carrier. After more than ten years of ventilation duct D and D operations at the UP1 plant, a lot of experience was acquired about remote operations. The three main important lessons learned in terms of remote controlled operation are: characterizing the initial conditions as much as reasonably possible, performing non-radioactive full scale testing and making it as simple and modular as possible. (authors)

  16. Cleanup and Dismantling of Highly Contaminated Ventilation Systems Using Robotic Tools - 13162

    Chambon, Frederic [AREVA FEDERAL SERVICES, Columbia MD (United States); CIZEL, Jean-Pierre [AREVA BE/NV, Marcoule (France); Blanchard, Samuel [CEA DEN/DPAD, Marcoule (France)

    2013-07-01

    The UP1 plant reprocessed nearly 20,000 tons of used natural uranium gas cooled reactor fuel coming from the first generation of civil nuclear reactors in France. Following operating incidents in the eighties, the ventilation system of the continuous dissolution line facility was shut down and replaced. Two types of remote controlled tool carriers were developed to perform the decontamination and dismantling operations of the highly contaminated ventilation duct network. The first one, a dedicated small robot, was designed from scratch to retrieve a thick powder deposit within a duct. The robot, managed and confined by two dedicated glove boxes, was equipped for intervention inside the ventilation duct and used for carrying various cleanup and inspection tools. The second type, consisting of robotic tools developed on the base of an industrial platform, was used for the clean-up and dismantling of the ventilation duct system. Depending on the type of work to be performed, on the shape constraints of the rooms and any equipment to be dismantled, different kinds of robotic tools were developed and installed on a Brokk 40 carrier. After more than ten years of ventilation duct D and D operations at the UP1 plant, a lot of experience was acquired about remote operations. The three main important lessons learned in terms of remote controlled operation are: characterizing the initial conditions as much as reasonably possible, performing non-radioactive full scale testing and making it as simple and modular as possible. (authors)

  17. Representation and Integration: Combining Robot Control, High-Level Planning, and Action Learning

    Petrick, Ronald; Kraft, Dirk; Mourao, Kira

    We describe an approach to integrated robot control, high-level planning, and action effect learning that attempts to overcome the representational difficulties that exist between these diverse areas. Our approach combines ideas from robot vision, knowledgelevel planning, and connectionist machine......-level action specifications, suitable for planning, from a robot’s interactions with the world. We present a detailed overview of our approach and show how it supports the learning of certain aspects of a high-level lepresentation from low-level world state information....... learning, and focuses on the representational needs of these components.We also make use of a simple representational unit called an instantiated state transition fragment (ISTF) and a related structure called an object-action complex (OAC). The goal of this work is a general approach for inducing high...

  18. Shuttlecock detection system for fully-autonomous badminton robot with two high-speed video cameras

    Masunari, T.; Yamagami, K.; Mizuno, M.; Une, S.; Uotani, M.; Kanematsu, T.; Demachi, K.; Sano, S.; Nakamura, Y.; Suzuki, S.

    2017-02-01

    Two high-speed video cameras are successfully used to detect the motion of a flying shuttlecock of badminton. The shuttlecock detection system is applied to badminton robots that play badminton fully autonomously. The detection system measures the three dimensional position and velocity of a flying shuttlecock, and predicts the position where the shuttlecock falls to the ground. The badminton robot moves quickly to the position where the shuttle-cock falls to, and hits the shuttlecock back into the opponent's side of the court. In the game of badminton, there is a large audience, and some of them move behind a flying shuttlecock, which are a kind of background noise and makes it difficult to detect the motion of the shuttlecock. The present study demonstrates that such noises can be eliminated by the method of stereo imaging with two high-speed cameras.

  19. Automated robotic workcell for waste characterization

    Dougan, A.D.; Gustaveson, D.K.; Alvarez, R.A.; Holliday, M.

    1993-01-01

    The authors have successfully demonstrated an automated multisensor-based robotic workcell for hazardous waste characterization. The robot within this workcell uses feedback from radiation sensors, a metal detector, object profile scanners, and a 2D vision system to automatically segregate objects based on their measured properties. The multisensor information is used to make segregation decisions of waste items and to facilitate the grasping of objects with a robotic arm. The authors used both sodium iodide and high purity germanium detectors as a two-step process to maximize throughput. For metal identification and discrimination, the authors are investigating the use of neutron interrogation techniques

  20. Generating high-speed dynamic running gaits in a quadruped robot using an evolutionary search.

    Krasny, Darren P; Orin, David E

    2004-08-01

    Over the past several decades, there has been a considerable interest in investigating high-speed dynamic gaits for legged robots. While much research has been published, both in the biomechanics and engineering fields regarding the analysis of these gaits, no single study has adequately characterized the dynamics of high-speed running as can be achieved in a realistic, yet simple, robotic system. The goal of this paper is to find the most energy-efficient, natural, and unconstrained gallop that can be achieved using a simulated quadrupedal robot with articulated legs, asymmetric mass distribution, and compliant legs. For comparison purposes, we also implement the bound and canter. The model used here is planar, although we will show that it captures much of the predominant dynamic characteristics observed in animals. While it is not our goal to prove anything about biological locomotion, the dynamic similarities between the gaits we produce and those found in animals does indicate a similar underlying dynamic mechanism. Thus, we will show that achieving natural, efficient high-speed locomotion is possible even with a fairly simple robotic system. To generate the high-speed gaits, we use an efficient evolutionary algorithm called set-based stochastic optimization. This algorithm finds open-loop control parameters to generate periodic trajectories for the body. Several alternative methods are tested to generate periodic trajectories for the legs. The combined solutions found by the evolutionary search and the periodic-leg methods, over a range of speeds up to 10.0 m/s, reveal "biological" characteristics that are emergent properties of the underlying gaits.

  1. A high resolution atlas of Mg II profiles

    Ewald, R.; Nichols-Bohlin, Joy Y.; Kondo, Yoji

    1990-01-01

    An atlas of high dispersion Mg II profiles for standard stars of spectral types B0 through G9 is presented. The atlas contains plots of the Mg II profiles for approximately 65 stars and associated equivalent width measurements for both absorption and emission components, and the subordinate lines. The atlas is used to investigate systematic behavior of the Mg II profiles and correlation of the behavior with spectral classification.

  2. Friendly network robotics; Friendly network robotics

    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.

  3. Exploratorium: Robots.

    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…

  4. Prospective, randomized, and controlled trial on ketamine infusion during bilateral axillo-breast approach (BABA) robotic or endoscopic thyroidectomy: Effects on postoperative pain and recovery profiles

    Kim, Dong-Ho; Choi, June Young; Kim, Byoung-Gook; Hwang, Jin-Young; Park, Seong-Joo; Oh, Ah-Young; Jeon, Young-Tae; Ryu, Jung-Hee

    2016-01-01

    Abstract Background: Robotic or endoscopic thyroidectomy using bilateral axillo-breast approach (BABA) is frequently performed for excellent cosmesis. However, postoperative pain is remained as concerns due to the extent tissue dissection and tension during the operation. Ketamine is a noncompetitive N-methyl-d-aspartate (NMDA) receptor antagonist that reduces acute postoperative pain. We evaluated the effects of intraoperative ketamine infusion on postoperative pain control and recovery profiles following BABA robotic or endoscopic thyroidectomy. Methods: Fifty-eight adult patients scheduled for BABA robotic or endoscopic thyroidectomy were randomized into a control group (n = 29) and ketamine group (n = 29). Following induction of anesthesia, patients in each group were infused with the same volume of saline or ketamine solution (1 mg/kg bolus, 60 μg/kg/h continuous infusion). Total intravenous anesthesia with propofol and remifentanil was used to induce and maintain anesthesia. Pain scores (101-point numerical rating scale, 0 = no pain, 100 = the worst imaginable pain), the consumption of rescue analgesics, and other postoperative adverse effects were assessed at 1, 6, 24, and 48 hours postoperatively. Results: Patients in the ketamine group reported lower pain scores than those in the control group at 6 hours (30 [30] vs 50 [30]; P = 0.017), 24 hours (20 [10] vs 30 [20]; P ketamine infusion during anesthesia resulted in lower postoperative pain scores following BABA robotic or endoscopic thyroidectomy, with no increase in adverse events. PMID:27930531

  5. Virginia Rethinks High School in Its Profile of a Graduate

    Atkinson, Diane

    2017-01-01

    Over the past 15 months, the Virginia Board of Education has been redesigning its public school students' high school educational experience to better prepare them to participate in the global economy. To lay the groundwork for this redesign, the Profile of a Graduate was developed. The profile in turn grew out of a broader review of Virginia's…

  6. A pilot study for robot appearance preferences among high-functioning individuals with autism spectrum disorder: Implications for therapeutic use.

    Hirokazu Kumazaki

    Full Text Available Recent rapid technological advances have enabled robots to fulfill a variety of human-like functions, leading researchers to propose the use of such technology for the development and subsequent validation of interventions for individuals with autism spectrum disorder (ASD. Although a variety of robots have been proposed as possible therapeutic tools, the physical appearances of humanoid robots currently used in therapy with these patients are highly varied. Very little is known about how these varied designs are experienced by individuals with ASD. In this study, we systematically evaluated preferences regarding robot appearance in a group of 16 individuals with ASD (ages 10-17. Our data suggest that there may be important differences in preference for different types of robots that vary according to interaction type for individuals with ASD. Specifically, within our pilot sample, children with higher-levels of reported ASD symptomatology reported a preference for specific humanoid robots to those perceived as more mechanical or mascot-like. The findings of this pilot study suggest that preferences and reactions to robotic interactions may vary tremendously across individuals with ASD. Future work should evaluate how such differences may be systematically measured and potentially harnessed to facilitate meaningful interactive and intervention paradigms.

  7. High-accuracy drilling with an image guided light weight robot: autonomous versus intuitive feed control.

    Tauscher, Sebastian; Fuchs, Alexander; Baier, Fabian; Kahrs, Lüder A; Ortmaier, Tobias

    2017-10-01

    Assistance of robotic systems in the operating room promises higher accuracy and, hence, demanding surgical interventions become realisable (e.g. the direct cochlear access). Additionally, an intuitive user interface is crucial for the use of robots in surgery. Torque sensors in the joints can be employed for intuitive interaction concepts. Regarding the accuracy, they lead to a lower structural stiffness and, thus, to an additional error source. The aim of this contribution is to examine, if an accuracy needed for demanding interventions can be achieved by such a system or not. Feasible accuracy results of the robot-assisted process depend on each work-flow step. This work focuses on the determination of the tool coordinate frame. A method for drill axis definition is implemented and analysed. Furthermore, a concept of admittance feed control is developed. This allows the user to control feeding along the planned path by applying a force to the robots structure. The accuracy is researched by drilling experiments with a PMMA phantom and artificial bone blocks. The described drill axis estimation process results in a high angular repeatability ([Formula: see text]). In the first set of drilling results, an accuracy of [Formula: see text] at entrance and [Formula: see text] at target point excluding imaging was achieved. With admittance feed control an accuracy of [Formula: see text] at target point was realised. In a third set twelve holes were drilled in artificial temporal bone phantoms including imaging. In this set-up an error of [Formula: see text] and [Formula: see text] was achieved. The results of conducted experiments show that accuracy requirements for demanding procedures such as the direct cochlear access can be fulfilled with compliant systems. Furthermore, it was shown that with the presented admittance feed control an accuracy of less then [Formula: see text] is achievable.

  8. System Design of a Cheetah Robot Toward Ultra-high Speed

    Mantian Li; Xin Wang; Wei Guo; Pengfei Wang; Lining Sun

    2014-01-01

    High-speed legged locomotion pushes the limits of the most challenging problems of design and development of the mechanism, also the control and the perception method. The cheetah is an existence proof of concept of what we imitate for high-speed running, and provides us lots of inspiration on design. In this paper, a new model of a cheetah-like robot is developed using anatomical analysis and design. Inspired by a biological neural mechanism, we propose a novel control method for controlling...

  9. Designing Emotionally Expressive Robots

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

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

  10. Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

    Meng, Qizhi; Xie, Fugui; Liu, Xin-Jun

    2018-06-01

    This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot's DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

  11. High Output LED-Based Profile Lighting Fixture

    Török, Lajos; Beczkowski, Szymon; Munk-Nielsen, Stig

    2011-01-01

    Recent developments in power light emitting diode (LED) industry have made LEDs suitable for being efficiently used in high intensity lighting fixtures instead of the commonly used high intensity discharge (HID) lamps. A high output LEDbased profile-light fixture is presented in this paper...

  12. Sparse Representation Denoising for Radar High Resolution Range Profiling

    Min Li

    2014-01-01

    Full Text Available Radar high resolution range profile has attracted considerable attention in radar automatic target recognition. In practice, radar return is usually contaminated by noise, which results in profile distortion and recognition performance degradation. To deal with this problem, in this paper, a novel denoising method based on sparse representation is proposed to remove the Gaussian white additive noise. The return is sparsely described in the Fourier redundant dictionary and the denoising problem is described as a sparse representation model. Noise level of the return, which is crucial to the denoising performance but often unknown, is estimated by performing subspace method on the sliding subsequence correlation matrix. Sliding window process enables noise level estimation using only one observation sequence, not only guaranteeing estimation efficiency but also avoiding the influence of profile time-shift sensitivity. Experimental results show that the proposed method can effectively improve the signal-to-noise ratio of the return, leading to a high-quality profile.

  13. Path Planning for Non-Circular, Non-Holonomic Robots in Highly Cluttered Environments.

    Samaniego, Ricardo; Lopez, Joaquin; Vazquez, Fernando

    2017-08-15

    This paper presents an algorithm for finding a solution to the problem of planning a feasible path for a slender autonomous mobile robot in a large and cluttered environment. The presented approach is based on performing a graph search on a kinodynamic-feasible lattice state space of high resolution; however, the technique is applicable to many search algorithms. With the purpose of allowing the algorithm to consider paths that take the robot through narrow passes and close to obstacles, high resolutions are used for the lattice space and the control set. This introduces new challenges because one of the most computationally expensive parts of path search based planning algorithms is calculating the cost of each one of the actions or steps that could potentially be part of the trajectory. The reason for this is that the evaluation of each one of these actions involves convolving the robot's footprint with a portion of a local map to evaluate the possibility of a collision, an operation that grows exponentially as the resolution is increased. The novel approach presented here reduces the need for these convolutions by using a set of offline precomputed maps that are updated, by means of a partial convolution, as new information arrives from sensors or other sources. Not only does this improve run-time performance, but it also provides support for dynamic search in changing environments. A set of alternative fast convolution methods are also proposed, depending on whether the environment is cluttered with obstacles or not. Finally, we provide both theoretical and experimental results from different experiments and applications.

  14. Vision-based Nano Robotic System for High-throughput Non-embedded Cell Cutting.

    Shang, Wanfeng; Lu, Haojian; Wan, Wenfeng; Fukuda, Toshio; Shen, Yajing

    2016-03-04

    Cell cutting is a significant task in biology study, but the highly productive non-embedded cell cutting is still a big challenge for current techniques. This paper proposes a vision-based nano robotic system and then realizes automatic non-embedded cell cutting with this system. First, the nano robotic system is developed and integrated with a nanoknife inside an environmental scanning electron microscopy (ESEM). Then, the positions of the nanoknife and the single cell are recognized, and the distance between them is calculated dynamically based on image processing. To guarantee the positioning accuracy and the working efficiency, we propose a distance-regulated speed adapting strategy, in which the moving speed is adjusted intelligently based on the distance between the nanoknife and the target cell. The results indicate that the automatic non-embedded cutting is able to be achieved within 1-2 mins with low invasion benefiting from the high precise nanorobot system and the sharp edge of nanoknife. This research paves a way for the high-throughput cell cutting at cell's natural condition, which is expected to make significant impact on the biology studies, especially for the in-situ analysis at cellular and subcellular scale, such as cell interaction investigation, neural signal transduction and low invasive cell surgery.

  15. Vision-based Nano Robotic System for High-throughput Non-embedded Cell Cutting

    Shang, Wanfeng; Lu, Haojian; Wan, Wenfeng; Fukuda, Toshio; Shen, Yajing

    2016-03-01

    Cell cutting is a significant task in biology study, but the highly productive non-embedded cell cutting is still a big challenge for current techniques. This paper proposes a vision-based nano robotic system and then realizes automatic non-embedded cell cutting with this system. First, the nano robotic system is developed and integrated with a nanoknife inside an environmental scanning electron microscopy (ESEM). Then, the positions of the nanoknife and the single cell are recognized, and the distance between them is calculated dynamically based on image processing. To guarantee the positioning accuracy and the working efficiency, we propose a distance-regulated speed adapting strategy, in which the moving speed is adjusted intelligently based on the distance between the nanoknife and the target cell. The results indicate that the automatic non-embedded cutting is able to be achieved within 1-2 mins with low invasion benefiting from the high precise nanorobot system and the sharp edge of nanoknife. This research paves a way for the high-throughput cell cutting at cell’s natural condition, which is expected to make significant impact on the biology studies, especially for the in-situ analysis at cellular and subcellular scale, such as cell interaction investigation, neural signal transduction and low invasive cell surgery.

  16. Robot Actors, Robot Dramaturgies

    Jochum, Elizabeth

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

  17. Robot-assisted gait training versus treadmill training in patients with Parkinson’s disease: a kinematic evaluation with gait profile score

    Galli, Manuela; Cimolin, Veronica; De Pandis, Maria Francesca; Le Pera, Domenica; Sova, Ivan; Albertini, Giorgio; Stocchi, Fabrizio; Franceschini, Marco

    2016-01-01

    Summary The purpose of this study was to quantitatively compare the effects, on walking performance, of end-effector robotic rehabilitation locomotor training versus intensive training with a treadmill in Parkinson’s disease (PD). Fifty patients with PD were randomly divided into two groups: 25 were assigned to the robot-assisted therapy group (RG) and 25 to the intensive treadmill therapy group (IG). They were evaluated with clinical examination and 3D quantitative gait analysis [gait profile score (GPS) and its constituent gait variable scores (GVSs) were calculated from gait analysis data] at the beginning (T0) and at the end (T1) of the treatment. In the RG no differences were found in the GPS, but there were significant improvements in some GVSs (Pelvic Obl and Hip Ab-Add). The IG showed no statistically significant changes in either GPS or GVSs. The end-effector robotic rehabilitation locomotor training improved gait kinematics and seems to be effective for rehabilitation in patients with mild PD. PMID:27678210

  18. Quantitative high dynamic range beam profiling for fluorescence microscopy

    Mitchell, T. J.; Saunter, C. D.; O’Nions, W.; Girkin, J. M.; Love, G. D.

    2014-01-01

    Modern developmental biology relies on optically sectioning fluorescence microscope techniques to produce non-destructive in vivo images of developing specimens at high resolution in three dimensions. As optimal performance of these techniques is reliant on the three-dimensional (3D) intensity profile of the illumination employed, the ability to directly record and analyze these profiles is of great use to the fluorescence microscopist or instrument builder. Though excitation beam profiles can be measured indirectly using a sample of fluorescent beads and recording the emission along the microscope detection path, we demonstrate an alternative approach where a miniature camera sensor is used directly within the illumination beam. Measurements taken using our approach are solely concerned with the illumination optics as the detection optics are not involved. We present a miniature beam profiling device and high dynamic range flux reconstruction algorithm that together are capable of accurately reproducing quantitative 3D flux maps over a large focal volume. Performance of this beam profiling system is verified within an optical test bench and demonstrated for fluorescence microscopy by profiling the low NA illumination beam of a single plane illumination microscope. The generality and success of this approach showcases a widely flexible beam amplitude diagnostic tool for use within the life sciences

  19. Robotic architectures

    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...

  20. Family and academic performance: identifying high school student profiles

    Alicia Aleli Chaparro Caso López

    2016-01-01

    Full Text Available The objective of this study was to identify profiles of high school students, based on variables related to academic performance, socioeconomic status, cultural capital and family organization. A total of 21,724 high school students, from the five municipalities of the state of Baja California, took part. A K-means cluster analysis was performed to identify the profiles. The analyses identified two clearly-defined clusters: Cluster 1 grouped together students with high academic performance and who achieved higher scores for socioeconomic status, cultural capital and family involvement, whereas Cluster 2 brought together students with low academic achievement, and who also obtained lower scores for socioeconomic status and cultural capital, and had less family involvement. It is concluded that the family variables analyzed form student profiles that can be related to academic achievement.

  1. High level programming for the control of a tele operating mobile robot and with line following

    Bernal U, E.

    2006-01-01

    The TRASMAR automated vehicle was built with the purpose of transporting radioactive materials, it has a similar kinematic structure to that of a tricycle, in where the front wheel is the one in charge of offering the traction and direction, both rear wheels rotate freely and they are subject to a common axle. The electronic design was carried out being based on a MC68HC811 micro controller of the Motorola company. Of the characteristics that the robot possesses it stands out that it counts with an obstacle perception system through three ultrasonic sensors located in the front part of the vehicle to avoid collisions. The robot has two operation modes, the main mode is the manual, manipulated through a control by infrareds, although it can also move in autonomous way by means of the line pursuit technique using two reflective infrared sensors. As any other electronic system, the mobile robot required of improvements and upgrades. The modifications to be carried out were focused to the control stage. Its were intended as elements of upgrade the incorporation of the MC68HC912B32 micro controller and to replace the assembler language characteristic of this type of systems, by a high level language for micro controllers of this type, in this case the FORTH. In a same way it was implemented inside the program the function of the robot's displacement in an autonomous way by means of the line pursuit technique using control with fuzzy logic. The carried out work is distributed in the following way: In the chapter 1 the robot's characteristics are mentioned, as well as the objectives that thought about to the beginning of the project and the justifications that motivated the realization of this upgrade. In the chapters 2 at 5 are presented in a theoretical way the supports used for the the robot's upgrade, as the used modules of the micro controller, those main characteristics of the FORTH language, the theory of the fuzzy logic and the design of the stage of power that

  2. AN IMPLEMENTATION OF PACMAN GAME USING ROBOTS

    Madhav. Rao

    2011-01-01

    As the field of robotics are advancing, robotics education needs to consider technological advances and societal level of interest. Realizing computer games in robotic platforms is one such technological advance for educating students in robotics science. Realizing computer games in robotics environment is still a challenge due to high investment factor in developing robot models. However the effort can lead to the enhanced interest in robotics education and further involvement in science and...

  3. Edge density profiles in high-performance JET plasmas

    Summers, D.D.R.; Viaccoz, B.; Vince, J.

    1997-01-01

    Detailed electron density profiles of the scrape-off layer in high-performance JET plasmas (plasma current, I p nbi ∝17 MW) have been measured by means of a lithium beam diagnostic system featuring high spatial resolution [Kadota (1978)[. Measurements were taken over a period of several seconds, allowing examination of the evolution of the edge profile at a location upstream from the divertor target. The data clearly show the effects of the H-mode transition - an increase in density near the plasma separatrix and a reduction in density scrape-off length. The profiles obtained under various plasma conditions are compared firstly with data from other diagnostics, located elsewhere in the vessel, and also with the predictions of an 'onion-skin' model (DIVIMP), which used, as initial parameters, data from an array of probes located in the divertor target. (orig.)

  4. Medical robotics.

    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.

  5. Two Profiles of the Dutch High Performing Employee

    de Waal, A. A.; Oudshoorn, Michella

    2015-01-01

    Purpose: The purpose of this study is to explore the profile of an ideal employee, to be more precise the behavioral characteristics of the Dutch high-performing employee (HPE). Organizational performance depends for a large part on the commitment of employees. Employees provide their knowledge, skills, experiences and creativity to the…

  6. Dating Violence in High School: A Profile of the Victims.

    Reuterman, Nicholas A.; Burcky, William D.

    1989-01-01

    Attempted to develop profile of victims of dating violence based on individual characteristics of female high school students (N=123). Found significant differences between subjects who had and had not experienced dating violence on urban/rural residency, suspension or expulsion from schools; type of academic program; family discipline techniques;…

  7. 'Filigree Robotics'

    2016-01-01

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

  8. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

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

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

    2013-06-01

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

  10. Modified Ionic Liquid-Based High-Performance Lubricants for Robotic Operations, Phase II

    National Aeronautics and Space Administration — NASA needs an advanced lubrication solution for its future robotic systems and planetary surface assets. The required lubrication technology must offer...

  11. PROFIL-360 high resolution steam generator tube profilometry system

    Glass, S.W.

    1985-01-01

    A high-resolution profilometry system, PROFIL 360, has been developed to assess the condition of steam generator tubes and rapidly produce the data to evaluate the potential for developing in-service leaks. The probe has an electromechanical sensor in a rotating head. This technique has been demonstrated in the field, saving tubes that would have been plugged with the go-gauge criterion and indicating plugging other high-risk candidates that might otherwise not have been removed from service

  12. Profil-360 high resolution steam generator tube profilometry system

    Glass, S.W.

    1985-01-01

    A high-resolution profilometry system, PROFIL 360, has been developed to assess the condition of steam generator tubes and rapidly produce the data to evaluate the potential for developing in-service leaks. The probe has an electromechanical sensor in a rotating head. This technique has been demonstrated in the field, saving tubes that would have been plugged with the go-gauge criterion and indicating plugging other high-risk candidates that might otherwise not have been removed from service

  13. Robot engineering

    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.

  14. Robot engineering

    Jung, Seul

    2006-02-15

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

  15. Robotic high-throughput purification of affinity-tagged recombinant proteins.

    Wiesler, Simone C; Weinzierl, Robert O J

    2015-01-01

    Affinity purification of recombinant proteins has become the method of choice to obtain good quantities and qualities of proteins for a variety of downstream biochemical applications. While manual or FPLC-assisted purification techniques are generally time-consuming and labor-intensive, the advent of high-throughput technologies and liquid handling robotics has simplified and accelerated this process significantly. Additionally, without the human factor as a potential source of error, automated purification protocols allow for the generation of large numbers of proteins simultaneously and under directly comparable conditions. The delivered material is ideal for activity comparisons of different variants of the same protein. Here, we present our strategy for the simultaneous purification of up to 24 affinity-tagged proteins for activity measurements in biochemical assays. The protocol described is suitable for the scale typically required in individual research laboratories.

  16. The Use of Industrial Robot Arms for High Precision Patient Positioning

    Katuin, J.E.; Schreuder, A.N.; Starks, W.M.; Doskow, J.

    2003-01-01

    The Indiana University Cyclotron Facility (IUCF) is in the process of designing and building the Midwest Proton Radiation Institute (MPRI) [1]. The design process includes the development of several patient treatment systems. This paper discusses the use of two such systems that provide for the high precision positioning of a patient. They are the Patient Positioner System and the X-ray system. The Patient Positioner System positions an immobilized patient on a support device to a treatment position based on a prescribed Treatment Plan. The X-ray system uses an industrial robot arm to position a Digital Radiography Panel to acquire an X-ray image to verify the location of the prescribed treatment volume in a patient by comparing the acquired images with reference images obtained from the patient's Treatment plan

  17. Wireless transmission of power and information through one high frequency resonant AC link inverter for robot manipulator applications

    Kawamura, Atsuo; Ishioka, Kazuaki; Hirai, Junji.

    1995-01-01

    A contact-less decentralized power supply is proposed with communication capability through only one transformer. A prototype of wireless transmission system of power and information (WTPI system) was built, and the two axis position control for servo motors was achieved by transferring the power and signal through one rotatable high frequency transformer. The proposed concept can be applied for robotics and NC machines

  18. Current developments of high-tech robotic and mechatronic systems in horticulture and challenges for the future

    Pekkeriet, E.J.; Henten, van E.J.

    2011-01-01

    This paper reviews the current developments of high-tech robotic and mechatronic systems in horticulture and future perspectives. Driving forces for mechanization are identified. Dutch greenhouse crop production is used as an example. In greenhouse horticulture the production steps and control that

  19. An Autonomous Robot for De-leafing Cumcumber Plants grown in a High-wire Cultivation System

    Henten, van E.J.; Tuijl, van B.A.J.; Hoogakker, G.J.; Weerd, van der M.J.; Hemming, J.; Kornet, J.G.; Bontsema, J.

    2006-01-01

    The paper presents an autonomous robot for removing the leaves from cucumber plants grown in a high-wire cultivation system. Leaves at the lower end of the plants are removed because of their reduced vitality, their negligible contribution to canopy photosynthesis and their increased sensitivity to

  20. Student profile with high adversity quotient in math learning

    Hastuti, T. D.; Sari S, D. R.; Riyadi

    2018-03-01

    Lately a lot of research conducted to determine the effect of Adversity Quotient students on learning achievement. This is done because many students with excellent IQ and EQ, but often have problems when they are in the workforce. This study will analyze the profile of High School students with high Adversity Quotient (AQ) in learning mathematics. The test is done using a questionnaire to know the AQ level of the students, and the interview is done to get the data about the student profile. Based on the results of tests and interviews obtained data that students with high AQ able to face the learning of mathematics in various materials and with different models of learning.

  1. Performance of high-level and low-level control for coordination of mobile robots

    Adinandra, S.; Caarls, J.; Kostic, D.; Nijmeijer, H.

    2010-01-01

    We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two

  2. Pardon the rude robot: social cues diminish reactance to high controlling language

    Ghazali, A.S.; Ham, J.R.C.; Barakova, E.I.; Markopoulos, P.

    2017-01-01

    In many future social interactions between robots and humans, robots may need to convince people to change their behavior. People may dislike and resist such persuasive attempts, a phenomenon known as psychological reactance. This paper examines how reactance, measured in terms of negative

  3. A Pre-Engineering Program Using Robots to Attract Underrepresented High School and Community College Students

    Mosley, Pauline Helen; Liu, Yun; Hargrove, S. Keith; Doswell, Jayfus T.

    2010-01-01

    This paper gives an overview of a new pre-engineering program--Robotics Technician Curriculum--that uses robots to solicit underrepresented students pursuing careers in science, technology, engineering, and mathematics (STEM). The curriculum uses a project-based learning environment, which consists of part lecture and part laboratory. This program…

  4. The clinical profile of high-risk mentally disordered offenders.

    Yiend, Jenny; Freestone, Mark; Vazquez-Montes, Maria; Holland, Josephine; Burns, Tom

    2013-07-01

    High-risk mentally disordered offenders present a diverse array of clinical characteristics. To contain and effectively treat this heterogeneous population requires a full understanding of the group's clinical profile. This study aimed to identify and validate clusters of clinically coherent profiles within one high-risk mentally disordered population in the UK. Latent class analysis (a statistical technique to identify clustering of variance from a set of categorical variables) was applied to 174 cases using clinical diagnostic information to identify the most parsimonious model of best fit. Validity analyses were performed. Three identified classes were a 'delinquent' group (n = 119) characterised by poor educational history, strong criminal careers and high recidivism risk; a 'primary psychopathy' group (n = 38) characterised by good educational profiles and homicide offences and an 'expressive psychopathy' group (n = 17) presenting the lowest risk and characterised by more special educational needs and sexual offences. Individuals classed as high-risk mentally disordered offenders can be loosely segregated into three discrete subtypes: 'delinquent', 'psychopathic' or 'expressive psychopathic', respectively. These groups represent different levels of risk to society and reflect differing treatment needs.

  5. Profile parameters of wheelset detection for high speed freight train

    Yang, Kai; Ma, Li; Gao, Xiaorong; Wang, Li

    2012-04-01

    Because of freight train, in China, transports goods on railway freight line throughout the country, it does not depart from or return to engine shed during a long phase, thus we cannot monitor the quality of wheel set effectively. This paper provides a system which uses leaser and high speed camera, applies no-contact light section technology to get precise wheel set profile parameters. The paper employs clamping-track method to avoid complex railway ballast modification project. And detailed descript an improved image-tracking algorithm to extract central line from profile curve. For getting one pixel width and continuous line of the profile curve, uses local gray maximum points as direction control points to direct tracking direction. The results based on practical experiment show the system adapted to detection environment of high speed and high vibration, and it can effectively detect the wheelset geometric parameters with high accuracy. The system fills the gaps in wheel set detection for freight train in main line and has an enlightening function on monitoring the quality of wheel set.

  6. Mode profiling of optical fibers at high laser powers

    Nielsen, Peter Carøe; Pedersen, David Bue; Simonsen, R.B.

    2008-01-01

    of the focused spot can be determined. The analyser is based on the principle of a rotating wire being swept though the laser beam, while the reflected signal is recorded [1]. By changing the incident angle of the rotating rod from 0° to 360° in relation to the fiber, the full profile of the laser beam...... is obtained. Choosing a highly reflective rod material and a sufficiently high rotation speed, these measurements can be done with high laser powers, without any additional optical elements between the fiber and analyzer. The performance of the analyzer was evaluated by coupling laser light into different...

  7. Peranan Biaya Sosial dalam Meningkatkan Kinerja Sosial dan Kinerja Keuangan Perusahaan High Profile dan Low Profile

    Henny Hendarti

    2006-09-01

    Full Text Available Corporate social report had been done on company annual report in Indonesia. Workers theme was the most interesting theme amongs others. The condition happened consistently on high-profile dan low-profile industrial groups. But, corporate social report in Indonesia was still low. It was assumed because the company did not taking advantage to the annual report as a communication media between company and stakeholders. Possibly, it was because the company only used annual report as a report for the stakeholders and debt holders or as information for future investors. Another factor causing the low number was because the company was only done small social activities.

  8. Profiling high frequency accident locations using associations rules

    GEURTS, Karolien; WETS, Geert; BRIJS, Tom; VANHOOF, Koen

    2002-01-01

    In Belgium, traffic safety is currently one of the government’s highest priorities. Identifying and profiling black spots and black zones in terms of accident related data and location characteristics must provide new insights into the complexity and causes of road accidents which, in turn, provide valuable input for government actions. In this paper, association rules are used to identify accident circumstances that frequently occur together at high frequency accident locations. Furthermore,...

  9. Profiling high-frequency accident locations using association rules

    GEURTS, Karolien; WETS, Geert; BRIJS, Tom; VANHOOF, Koen

    2003-01-01

    In Belgium, traffic safety is currently one of the government's highest priorities. Identifying and profiling black spots and black zones in terms of accident related data and location characteristics must provide new insights into the complexity and causes of road accidents, which, in ram, provide valuable input for government actions. In this paper, association rules are used to identify accident circumstances that frequently occur together at high frequency accident locations. Furthermore...

  10. High-throughput transformation of Saccharomyces cerevisiae using liquid handling robots.

    Guangbo Liu

    Full Text Available Saccharomyces cerevisiae (budding yeast is a powerful eukaryotic model organism ideally suited to high-throughput genetic analyses, which time and again has yielded insights that further our understanding of cell biology processes conserved in humans. Lithium Acetate (LiAc transformation of yeast with DNA for the purposes of exogenous protein expression (e.g., plasmids or genome mutation (e.g., gene mutation, deletion, epitope tagging is a useful and long established method. However, a reliable and optimized high throughput transformation protocol that runs almost no risk of human error has not been described in the literature. Here, we describe such a method that is broadly transferable to most liquid handling high-throughput robotic platforms, which are now commonplace in academic and industry settings. Using our optimized method, we are able to comfortably transform approximately 1200 individual strains per day, allowing complete transformation of typical genomic yeast libraries within 6 days. In addition, use of our protocol for gene knockout purposes also provides a potentially quicker, easier and more cost-effective approach to generating collections of double mutants than the popular and elegant synthetic genetic array methodology. In summary, our methodology will be of significant use to anyone interested in high throughput molecular and/or genetic analysis of yeast.

  11. Relative safety profiles of high dose statin regimens

    Carlos Escobar

    2008-06-01

    Full Text Available Carlos Escobar, Rocio Echarri, Vivencio BarriosDepartment of Cardiology, Hospital Ramón y Cajal, Madrid, SpainAbstract: Recent clinical trials recommend achieving a low-density lipoprotein cholesterol level of <100 mg/dl in high-risk and <70 mg/dl in very high risk patients. To attain these goals, however, many patients will need statins at high doses. The most frequent side effects related to the use of statins, myopathy, rhabdomyolysis, and increased levels of transaminases, are unusual. Although low and moderate doses show a favourable profile, there is concern about the tolerability of higher doses. During recent years, numerous trials to analyze the efficacy and tolerability of high doses of statins have been published. This paper updates the published data on the safety of statins at high doses.Keywords: statins, high doses, tolerability, liver, muscle

  12. Control of a high precision macro-micro robotic manipulator system

    Cho, Whang

    1997-01-01

    A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joint associated with micro-robot. (author)

  13. Protein Correlation Profiles Identify Lipid Droplet Proteins with High Confidence*

    Krahmer, Natalie; Hilger, Maximiliane; Kory, Nora; Wilfling, Florian; Stoehr, Gabriele; Mann, Matthias; Farese, Robert V.; Walther, Tobias C.

    2013-01-01

    Lipid droplets (LDs) are important organelles in energy metabolism and lipid storage. Their cores are composed of neutral lipids that form a hydrophobic phase and are surrounded by a phospholipid monolayer that harbors specific proteins. Most well-established LD proteins perform important functions, particularly in cellular lipid metabolism. Morphological studies show LDs in close proximity to and interacting with membrane-bound cellular organelles, including the endoplasmic reticulum, mitochondria, peroxisomes, and endosomes. Because of these close associations, it is difficult to purify LDs to homogeneity. Consequently, the confident identification of bona fide LD proteins via proteomics has been challenging. Here, we report a methodology for LD protein identification based on mass spectrometry and protein correlation profiles. Using LD purification and quantitative, high-resolution mass spectrometry, we identified LD proteins by correlating their purification profiles to those of known LD proteins. Application of the protein correlation profile strategy to LDs isolated from Drosophila S2 cells led to the identification of 111 LD proteins in a cellular LD fraction in which 1481 proteins were detected. LD localization was confirmed in a subset of identified proteins via microscopy of the expressed proteins, thereby validating the approach. Among the identified LD proteins were both well-characterized LD proteins and proteins not previously known to be localized to LDs. Our method provides a high-confidence LD proteome of Drosophila cells and a novel approach that can be applied to identify LD proteins of other cell types and tissues. PMID:23319140

  14. 1D profiling using highly dispersive guided waves

    Volker, Arno; Zon, Tim van; Enthoven, Daniel; Verburg, Wesley

    2015-01-01

    Corrosion is one of the industries major issues regarding the integrity of assets. Currently inspections are conducted at regular intervals to ensure a sufficient integrity level of these assets. Cost reduction while maintaining a high level of reliability and safety of installations is a major challenge. There are many situations where the actual defect location is not accessible, e.g., a pipe support or a partially buried pipe. Guided wave tomography has been developed to reconstruct the wall thickness. In case of bottom of the line corrosion, i.e., a single corrosion pit, a simpler approach may be followed. Data is collected in a pit-catch configuration at the 12 o'clock position using highly dispersive guided waves. The phase spectrum is used to invert for a wall thickness profile in the circumferential direction, assuming a Gaussian defect profile. An EMAT sensor design has been made to measure at the 12 o'clock position of a pipe. The concept is evaluated on measured data, showing good sizing capabilities on a variety simple defect profiles

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

    Mckee, James W.

    1989-01-01

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

  16. Enabling closed-loop control of high degree-of-freedom soft robotic structures

    National Aeronautics and Space Administration — To expand the nation’s capabilities for space exploration, a new approach to robotic manipulation is proposed. The approach utilizes soft materials to create an...

  17. DESIGN OF LOW EPI AND HIGH THROUGHPUT CORDIC CELL TO IMPROVE THE PERFORMANCE OF MOBILE ROBOT

    P. VELRAJKUMAR

    2014-04-01

    Full Text Available This paper mainly focuses on pass logic based design, which gives an low Energy Per Instruction (EPI and high throughput COrdinate Rotation Digital Computer (CORDIC cell for application of robotic exploration. The basic components of CORDIC cell namely register, multiplexer and proposed adder is designed using pass transistor logic (PTL design. The proposed adder is implemented in bit-parallel iterative CORDIC circuit whereas designed using DSCH2 VLSI CAD tool and their layouts are generated by Microwind 3 VLSI CAD tool. The propagation delay, area and power dissipation are calculated from the simulated results for proposed adder based CORDIC cell. The EPI, throughput and effect of temperature are calculated from generated layout. The output parameter of generated layout is analysed using BSIM4 advanced analyzer. The simulated result of the proposed adder based CORDIC circuit is compared with other adder based CORDIC circuits. From the analysis of these simulated results, it was found that the proposed adder based CORDIC circuit dissipates low power, gives faster response, low EPI and high throughput.

  18. Ukpik: testbed for a miniaturized robotic astronomical observatory on a high Arctic mountain

    Steinbring, Eric; Leckie, Brian; Hardy, Tim; Caputa, Kris; Fletcher, Murray

    2012-09-01

    Mountains along the northwestern coast of Ellesmere Island, Canada, possess the highest peaks nearest the Pole. This geography, combined with an atmospheric thermal inversion restricted to below ~1000 m during much of the long arctic night, provides excellent opportunities for uninterrupted cloud-free astronomy - provided the challenges of these incredibly remote locations can be overcome. We present a miniaturized robotic observatory for deployment on a High Arctic mountaintop. This system tested the operability of precise optical instruments during winter, and the logistics of installation and maintenance during summer. It is called Ukpik after the Inuktitut name for the snowy owl, and was deployed at two sites accessible only by helicopter, each north of 82 degrees latitude; one on rock at 1100 m elevation and another on a glacier at 1600 m. The instrument suite included at first an all-sky-viewing camera, with the later addition of a small telescope to monitor Polaris, both protected by a retractable weather-proof enclosure. Expanding this to include a narrow-field drift-scanning camera for studying extra-solar planet transits was also investigated, but not implemented. An unique restriction was that all had to be run on batteries recharged primarily by a wind turbine. Supplementary power came from a methanol fuel-cell electrical generator. Communications were via the Iridium satellite network. The system design, and lessons learned from three years of operation are discussed, along with prospects for time-domain astronomy from isolated, high-elevation polar mountaintops.

  19. Development of a high speed three-dimensional radiation detecting system for the emergency response robot

    Lee, Nam Ho; Lee, Yong Duk; Choi, Chang Whan; Jung, Kyung Min; Moon, Myung Kook; Kim, Hee Moon

    2007-02-15

    Technologies for managing the emergency leak accident of radioactive materials have been developed actively in USA, Japan, and Russia, since the Chernobyl nuclear disaster in Russia and nuclear fuel accident in Japan Nuclear fuel Conversion cooperation had occurred. A robot (Pioneer) for managing radioactive materials have been developed in co-operation of USA(CMU), Japan, and Russia. The pioneer is recently examined its performance through exploring test in the Chernobyl nuclear reactor. The exploring function of these system is quite different with a dosimeter for a worker in operation, installation, and radiation measurement. So, it is inevitable to develop a new system. The developed system from now is so expensive and slow in operation. So this problem is pending and must be improved. In this research, instead of an existing expensive system, a CCD(or CMOS) sensor, which has high resolution (640 X 480) and high signal process (30 frame/sec), is used for exploring radioactive materials as economical view and image consideration. The connection with image processing, 3D imaging technology, and radioactive exploring can visualize imaginary radiation source and can improve exploring and managing radioactive materials.

  20. Creation and Staging of Android Theatre “Sayonara”towards Developing Highly Human-Like Robots

    Takenobu Chikaraishi

    2017-11-01

    Full Text Available Even after long-term exposures, androids with a strikingly human-like appearance evoke unnatural feelings. The behavior that would induce human-like feelings after long exposures is difficult to determine, and it often depends on the cultural background of the observers. Therefore, in this study, we generate an acting performance system for the android, in which an android and a human interact in a stage play in the real world. We adopt the theatrical theory called Contemporary Colloquial Theatre Theory to give the android natural behaviors so that audiences can comfortably observe it even after long-minute exposure. A stage play is created and shown in various locations, and the audiences are requested to report their impressions of the stage and their cultural and psychological backgrounds in a self-evaluating questionnaire. Overall analysis indicates that the audience had positive feelings, in terms of attractiveness, towards the android on the stage even after 20 min of exposure. The singularly high acceptance of the android by Japanese audiences seems to be correlated with a high animism tendency, rather than to empathy. We also discuss how the stage play approach is limited and could be extended to contribute to realization of human–robot interaction in the real world.

  1. Role of robot-assisted radical prostatectomy in the management of high-risk prostate cancer

    Akshay Sood

    2014-01-01

    Full Text Available We aimed to evaluate the role of robot-assisted radical prostatectomy (RARP in the management of high-risk prostate cancer (PCa, with a focus on oncological, functional and perioperative outcomes. Further, we also aimed to briefly describe our novel modification to conventional RARP that allows immediate organ retrieval and examination for intra-operative surgical margin assessment. A literature search of PubMed was performed for articles on the management of high-risk PCa. Papers written in English and concerning clinical outcomes following RARP for locally advanced and high-risk PCa were selected. Outcomes data from our own center were also included. A total of 10 contemporary series were evaluated. Biopsy Gleason score ≥ 8 was the most common cause for classification of patients into the high-risk PCa group. Biochemical failure rate, in the few series that looked at long-term follow-up, varied from 9% to 26% at 1 year. The positive surgical margin rate varied from 12% to 53.3%. Urinary continence rates varied from 78% to 92% at 1 year. The overall complication rates varied from 2.4% to 30%, with anastomotic leak and lymphocele being the most common complications. Long-term data on oncological control following RARP in high-risk patients is lacking. Short-term oncological outcomes and functional outcomes are equivalent to open radical prostatectomy (RP. Safety outcomes are better in patients undergoing RARP when compared with open RP. Improved tools for predicting the presence of organ-confined disease (OCD are available. High-risk patients with OCD would be ideal candidates for RARP and would benefit most from surgery alone.

  2. Design of Piano -playing Robotic Hand

    Lin Jen-Chang; Hsin-Cheng Li; Kuo-Cheng Huang; Shu-Wei Lin

    2013-01-01

    Unlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics reseach and market research agencies. In this study we developed a music playing robot (which can also work as a service robot) for public performance. The research is mainly focused on the mechanical and electrical control of piano-playing robot, the exploration of correlations among music theory, rhythm and piano keys, and eventually the research on playing skill of...

  3. Effects of Interruptibility-Aware Robot Behavior

    Banerjee, Siddhartha; Silva, Andrew; Feigh, Karen; Chernova, Sonia

    2018-01-01

    As robots become increasingly prevalent in human environments, there will inevitably be times when a robot needs to interrupt a human to initiate an interaction. Our work introduces the first interruptibility-aware mobile robot system, and evaluates the effects of interruptibility-awareness on human task performance, robot task performance, and on human interpretation of the robot's social aptitude. Our results show that our robot is effective at predicting interruptibility at high accuracy, ...

  4. Robot Tracer with Visual Camera

    Jabbar Lubis, Abdul; Dwi Lestari, Yuyun; Dafitri, Haida; Azanuddin

    2017-12-01

    Robot is a versatile tool that can function replace human work function. The robot is a device that can be reprogrammed according to user needs. The use of wireless networks for remote monitoring needs can be utilized to build a robot that can be monitored movement and can be monitored using blueprints and he can track the path chosen robot. This process is sent using a wireless network. For visual robot using high resolution cameras to facilitate the operator to control the robot and see the surrounding circumstances.

  5. Training in urological robotic surgery. Future perspectives.

    El Sherbiny, Ahmed; Eissa, Ahmed; Ghaith, Ahmed; Morini, Elena; Marzotta, Lucilla; Sighinolfi, Maria Chiara; Micali, Salvatore; Bianchi, Giampaolo; Rocco, Bernardo

    2018-01-01

    As robotics are becoming more integrated into the medical field, robotic training is becoming more crucial in order to overcome the lack of experienced robotic surgeons. However, there are several obstacles facing the development of robotic training programs like the high cost of training and the increased operative time during the initial period of the learning curve, which, in turn increase the operative cost. Robotic-assisted laparoscopic prostatectomy is the most commonly performed robotic surgery. Moreover, robotic surgery is becoming more popular among urologic oncologists and pediatric urologists. The need for a standardized and validated robotic training curriculum was growing along with the increased number of urologic centers and institutes adopting the robotic technology. Robotic training includes proctorship, mentorship or fellowship, telementoring, simulators and video training. In this chapter, we are going to discuss the different training methods, how to evaluate robotic skills, the available robotic training curriculum, and the future perspectives.

  6. Low profile conformal antenna arrays on high impedance substrate

    Singh, Hema; Jha, Rakesh Mohan

    2016-01-01

    This book presents electromagnetic (EM) design and analysis of dipole antenna array over high impedance substrate (HIS). HIS is a preferred substrate for low-profile antenna design, owing to its unique boundary conditions. Such substrates permit radiating elements to be printed on them without any disturbance in the radiation characteristics. Moreover HIS provides improved impedance matching, enhanced bandwidth, and increased broadside directivity owing to total reflection from the reactive surface and high input impedance. This book considers different configurations of HIS for array design on planar and non-planar high-impedance surfaces. Results are presented for cylindrical dipole, printed dipole, and folded dipole over single- and double-layered square-patch-based HIS and dogbone-based HIS. The performance of antenna arrays is analyzed in terms of performance parameters such as return loss and radiation pattern. The design presented shows acceptable return loss and mainlobe gain of radiation pattern. Thi...

  7. Mathematical Modelling to Solve Tasks of Profiled Cross of Robot Systems with a Wheel-Legged Propulsion

    A. S. Diakov

    2014-01-01

    Full Text Available One of the main trends for development of promising military equipment is to create transport robot systems (TRS.To conduct a theoretical study of the potential properties of TRS mobility was used a software package for invariant simulation of multibody dynamics system "Euler", which allows us to solve problems regarding the "large displacements", typical for TRS.The modelling results of TRS motion dynamics when overcoming the single-stage and two stages, which are higher than the roller diameter of propeller are obtained.Analysis of modelling results of the TRS motion dynamics to overcome obstacles commensurate with its dimensions allows us to conclude that the use of wheel-legged three-roller propulsion can provide the required level of permeability and, as a result, increasing TRS mobility.

  8. Autonomous military robotics

    Nath, Vishnu

    2014-01-01

    This SpringerBrief reveals the latest techniques in computer vision and machine learning on robots that are designed as accurate and efficient military snipers. Militaries around the world are investigating this technology to simplify the time, cost and safety measures necessary for training human snipers. These robots are developed by combining crucial aspects of computer science research areas including image processing, robotic kinematics and learning algorithms. The authors explain how a new humanoid robot, the iCub, uses high-speed cameras and computer vision algorithms to track the objec

  9. Robotics for nuclear facilities

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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

  10. Robot Aesthetics

    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....

  11. Filigree Robotics

    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....

  12. Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

    Guanghua Zong

    2008-11-01

    Full Text Available A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.

  13. Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

    Houxiang Zhang

    2006-06-01

    Full Text Available A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.

  14. 1-D profiling using highly dispersive guided waves

    Volker, Arno; Zon, Tim van

    2014-01-01

    Corrosion is one of the industries major issues regarding the integrity of assets. Currently, inspections are conducted at regular intervals to ensure a sufficient integrity level of these assets. Cost reduction while maintaining a high level of reliability and safety of installations is a major challenge. There are many situations where the actual defect location is not accessible, e.g., a pipe support or a partially buried pipe. Guided wave tomography has been developed to reconstruct the wall thickness of steel pipes. In case of bottom of the line corrosion, i.e., a single corrosion pit, a simpler approach may be followed. Data is collected in a pitch-catch configuration at the 12 o'clock position using highly dispersive guided waves. After dispersion correction the data collapses to a short pulse, any residual dispersion indicates wall loss. The phase spectrum is used to invert for the wall thickness profile in the circumferential direction, assuming a Gaussian defect profile. The approach is evaluated on numerically simulated and on measured data. The method is intended for rapid, semi-quantitative screening of pipes

  15. 1-D profiling using highly dispersive guided waves

    Volker, Arno; van Zon, Tim

    2014-02-01

    Corrosion is one of the industries major issues regarding the integrity of assets. Currently, inspections are conducted at regular intervals to ensure a sufficient integrity level of these assets. Cost reduction while maintaining a high level of reliability and safety of installations is a major challenge. There are many situations where the actual defect location is not accessible, e.g., a pipe support or a partially buried pipe. Guided wave tomography has been developed to reconstruct the wall thickness of steel pipes. In case of bottom of the line corrosion, i.e., a single corrosion pit, a simpler approach may be followed. Data is collected in a pitch-catch configuration at the 12 o'clock position using highly dispersive guided waves. After dispersion correction the data collapses to a short pulse, any residual dispersion indicates wall loss. The phase spectrum is used to invert for the wall thickness profile in the circumferential direction, assuming a Gaussian defect profile. The approach is evaluated on numerically simulated and on measured data. The method is intended for rapid, semi-quantitative screening of pipes.

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

    1991-01-01

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

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

    1991-06-01

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

  18. A high resolution beam profile monitor using Bremsstrahlung

    Norem, J.

    1988-01-01

    The development of efficient high energy linear colliders in the 1 TeV range requires final focus systems capable of producing beam spot sizes on the order of 1--20 nm, about three orders of magnitude smaller than those produced at the SLC. Although beam line designs exist which can, in principle, produce the required optics, the construction of quadrupoles with the size and precision required will be challenging. Field errors in these quads must be small and should be verified experimentally, which is difficult with existing technology. This paper describes a proposal to use bremsstrahlung from heavy targets to measure high energy beam profiles and positions with a resolution approaching a few nm. The method is also applicable to tests of other final focus systems (flat beams, plasma lenses) at lower energies. 6 refs., 3 figs., 1 tab

  19. Circulating Metabolic Profile of High Producing Holstein Dairy Cows

    Aliasghar CHALMEH

    2015-07-01

    Full Text Available Assessing the metabolic profile based on the concept that the laboratory measurement of certain circulating components is a tool to evaluate metabolic status of dairy cows. Veterinarian also can evaluate the energy input-output relationships by assessing the metabolic profile to prevent and control of negative energy balance, metabolic disorders and nutritional insufficiencies. In the present study, 25 multiparous Holstein dairy cows were divided to 5 equal groups containing early, mid and late lactation, and far-off and close-up dry. Blood samples were collected from all cows through jugular venipuncture and sera were evaluated for glucose, insulin, β-hydroxybutyric acid (BHBA, non-esterified fatty acid (NEFA, cholesterol, triglyceride (TG, high, low and very low density lipoproteins (HDL, LDL and VLDL. Insulin levels in mid lactation and close-up dry cows were significantly higher than other groups (P<0.05 and the lowest insulin concentration was detected in far-off dry group. Serum concentrations of NEFA and BHBA in early and mid-lactation and close-up dry cows were significantly higher than late lactation and far-off dry animals (P<0.05. Baseline levels of cholesterol in mid and late lactation were significantly higher than other groups. The level of LDL in mid lactation cows was higher than others significantly, and its value in far-off dry cows was significantly lower than other group (P<0.05. It may be concluded that the detected changes among different groups induce commonly by negative energy balance, lactogenesis and fetal growth in each state. The presented metabolic profile can be considered as a tool to assess the energy balance in dairy cows at different physiologic states. It can be used to evaluate the metabolic situations of herd and manage the metabolic and production disorders.

  20. Japan's ARTRA robot moves forward

    Takehara, Ken

    1992-01-01

    Work on the Japanese ARTRA robot has progressed to the point where a demonstration robot has been built. However, much work remains before ARTRA can realize its goal of developing a highly sophisticated remotely-controlled robot to replace the human maintenance worker in a radioactive environment. (author)

  1. Robotics and Industrial Arts.

    Edmison, Glenn A.; And Others

    Robots are becoming increasingly common in American industry. By l990, they will revolutionize the way industry functions, replacing hundreds of workers and doing hot, dirty jobs better and more quickly than the workers could have done them. Robotics should be taught in high school industrial arts programs as a major curriculum component. The…

  2. High performance thin layer chromatography profile of Cassytha filiformis

    Mythili Sathiavelu; Sathiavelu Arunachalam

    2012-01-01

    Objective: To study the phenols, flavonoids, saponin profile of the medicinal plant Cassytha filiformis (C. filiformis) using high performance thin layer chromatography (HPTLC). Methods:The extracts were tested to determine the presence of various phytochmeicals like alkaloids, phenolic compounds, flavonoids, carbohydrates, glycosides, saponins, terpenoids, tannins, fixed oils, fats and protein and aminoacids (Harborne and Harborne, 1998). HPTLC studies were carried out by Harborne and Wagner et al method. Different compositions of the mobile phase for HPTLC analysis were tested in order to obtain high resolution and reproducible peaks. Results: The results of the preliminary phytochemical studies confirm the presence of phenols, alkaloids, carbohydrates, saponins, flavanoids, terpenoids and tannins in the methanolic extracts of C. filiformis. The methanolic extracts of C. filiformis displayed the presence of 13 types of phenolic substances with 13 different Rf values ranging from 0.01 to 0.96. The results illustrated the presence of 9 different types of flavonoides with 9 different Rf values ranging from 0.01 to 0.97. The results of HPTLC analysis of saponins demonstrated the presence of 11 different types of saponins with 11 different Rf values ranging from 0.04 to 0.92. Conclusions: In the present study we observed the phenols, flavonoids, saponin profile of the medicinal plant C. filiformis using high performance thin layer chromatography (HPTLC). Hence it was concluded that the phenolic compounds present in the methonolic extract could be responsible for antioxidant activities. Plant derived antioxidants, especially phenols and flavonoids, have been described to have various properties like anticancer, antiaging and prevention of cardiovascular diseases. Furthur, separation and characterization of the bioactive compound from the plant is to be evaluated and reported in near future.

  3. SU-G-BRB-10: New Generation of High Frame-Rate and High Spatial-Resolution EPID QA System for Full-Body MLC-Based Robotic Radiosurgery

    Han, B; Xing, L; Wang, L

    2016-01-01

    Purpose: To systematically investigate an ultra-high spatial-resolution amorphous silicon flat-panel electronic portal imaging device (EPID) for MLC-based full-body robotic radiosurgery geometric and dosimetric quality assurance (QA). Methods: The high frame-rate and ultra-high spatial resolution EPID is an outstanding detector for measuring profiles, MLC-shaped radiosurgery field aperture verification, and small field dosimetry. A Monte Carlo based technique with a robotic linac specific response and calibration is developed to convert a raw EPID-measured image of a radiosurgery field into water-based dose distribution. The technique is applied to measure output factors and profiles for 6MV MLC-defined radiosurgery fields with various sizes ranging from 7.6mm×7.7mm to 100mm×100.1mm and the results are compared with the radiosurgery diode scan measurements in water tank. The EPID measured field sizes and the penumbra regions are analyzed to evaluate the MLC positioning accuracy. Results: For all MLC fields, the EPID measured output factors of MLC-shaped fields are in good agreement with the diode measurements. The mean output difference between the EPID and diode measurement is 0.05±0.87%. The max difference is −1.33% for 7.6mm×7.7mm field. The MLC field size derived from the EPID measurements are in good agreement comparing to the diode scan result. For crossline field sizes, the mean difference is −0.17mm±0.14mm with a maximum of −0.35mm for the 30.8mm×30.8mm field. For inline field sizes, the mean difference is +0.08mm±0.18mm with a maximum of +0.45mm for the 100mm×100.1mm field. The high resolution EPID is able to measure the whole radiation field, without the need to align the detector center perfectly at field center as diode or ion chamber measurement. The setup time is greatly reduced so that the whole process is possible for machine and patient-specific QA. Conclusion: The high spatial-resolution EPID is proved to be an accurate and efficient

  4. On the atomic line profiles in high pressure plasmas

    Janssen, J. F. J.; Gnybida, M.; Rijke, A. J.; Dijk, J. van [Department of Applied Physics, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven (Netherlands); Suijker, J. L. G. [Philips Lighting R and D Category Professional Lamps, P.O. Box 80020, 5600 JM Eindhoven (Netherlands)

    2013-11-14

    In a previous contribution to this journal [H. P. Stormberg, J. Appl. Phys. 51(4), 1963 (1980)], Stormberg presented an analytical expression for the convolution of Lorentz and Levy line profiles, which models atomic radiative transitions in high pressure plasmas. Unfortunately, the derivations are flawed with errors and the final expression, while correct, is accompanied by misguiding comments about the meaning of the symbols used therein, in particular the “complex error function.” In this paper, we discuss the broadening mechanisms that give rise to Stormberg's model and present a correct derivation of his final result. We will also provide an alternative expression, based on the Faddeeva function, which has decisive computational advantages and emphasizes the real-valuedness of the result. The MATLAB/Octave scripts of our implementation have been made available on the publisher's website for future reference.

  5. Construction of a high resolution electron beam profile monitor

    Norem, J.; Dawson, J.; Haberichter, W.; Novak, W.; Reed, L.; Yang, X.F.

    1993-01-01

    Bremsstrahlung from an electron beam on a heavy target can be used to image the beam profile using collimators and slits. The limiting resolution using this system is determined by Fresnel diffraction, and is ∼ √(λd/2), where λ is the photon wavelength and d is determined by the linear dimensions of the system. For linear colliders this resolution could be a few nm. The highest resolution requires detectors which see only high energy, (small λ), photons, and this is accomplished by converting photons to pairs, and detecting Cherenkov light in a nearly forward angle with a CCD detector or streak camera. Tests are planned at the Argonne APS and SLAC FFTB

  6. Lessons of nuclear robot history

    Oomichi, Takeo

    2014-01-01

    Severe accidents occurred at Fukushima Daiichi Nuclear Power Station stirred up people's great expectation of nuclear robot's deployment. However unexpected nuclear disaster, especially rupture of reactor building caused by core meltdown and hydrogen explosion, made it quite difficult to introduce nuclear robot under high radiation environment to cease accidents and dispose damaged reactor. Robotics Society of Japan (RSJ) set up committee to look back upon lessons learned from 50 year's past experience of nuclear robot development and summarized 'Lessons of nuclear robot history', which was shown on the home page website of RSJ. This article outlined it with personal comment. History of nuclear robot developed for inspection and maintenance at normal operation and for specific required response at nuclear accidents was reviewed with many examples at home and abroad for TMI, Chernobyl and JCO accidents. Present state of Fukushima accident response robot's introduction and development was also described with some comments on nuclear robot development from academia based on lessons. (T. Tanaka)

  7. An Evaluation of a High Pressure Regulator for NASA's Robotic Lunar Lander Spacecraft

    Burnside, Christopher G.; Trinh, Huu P.; Pedersen, Kevin W.

    2013-01-01

    The Robotic Lunar Lander (RLL) development project office at NASA Marshall Space Flight Center is currently studying several lunar surface science mission concepts. The focus is on spacecraft carrying multiple science instruments and power systems that will allow extended operations on the lunar surface or other air-less bodies in the solar system. Initial trade studies of launch vehicle options indicate the spacecraft will be significantly mass and volume constrained. Because of the investment by the DOD in low mass, highly volume efficient components, NASA has investigated the potential integration of some of these technologies in space science applications. A 10,000 psig helium pressure regulator test activity has been conducted as part of the overall risk reduction testing for the RLL spacecraft. The regulator was subjected to typical NASA acceptance testing to assess the regulator response to the expected RLL mission requirements. The test results show the regulator can supply helium at a stable outlet pressure of 740 psig within a +/- 5% tolerance band and maintain a lock-up pressure less than the +5% above nominal outlet pressure for all tests conducted. Numerous leak tests demonstrated leakage less than 10-3 standard cubic centimeters per second (SCCS) for the internal seat leakage at lock-up and less than 10-5 SCCS for external leakage through the regulator body. The successful test has shown the potential for 10,000 psig helium systems in NASA spacecraft and has reduced risk associated with hardware availability and hardware ability to meet RLL mission requirements.

  8. FPGA-based High-Performance Collision Detection: An Enabling Technique for Image-Guided Robotic Surgery

    Zhaorui Zhang

    2016-08-01

    Full Text Available Collision detection, which refers to the computational problem of finding the relative placement or con-figuration of two or more objects, is an essential component of many applications in computer graphics and robotics. In image-guided robotic surgery, real-time collision detection is critical for preserving healthy anatomical structures during the surgical procedure. However, the computational complexity of the problem usually results in algorithms that operate at low speed. In this paper, we present a fast and accurate algorithm for collision detection between Oriented-Bounding-Boxes (OBBs that is suitable for real-time implementation. Our proposed Sweep and Prune algorithm can perform a preliminary filtering to reduce the number of objects that need to be tested by the classical Separating Axis Test algorithm, while the OBB pairs of interest are preserved. These OBB pairs are re-checked by the Separating Axis Test algorithm to obtain accurate overlapping status between them. To accelerate the execution, our Sweep and Prune algorithm is tailor-made for the proposed method. Meanwhile, a high performance scalable hardware architecture is proposed by analyzing the intrinsic parallelism of our algorithm, and is implemented on FPGA platform. Results show that our hardware design on the FPGA platform can achieve around 8X higher running speed than the software design on a CPU platform. As a result, the proposed algorithm can achieve a collision frame rate of 1 KHz, and fulfill the requirement for the medical surgery scenario of Robot Assisted Laparoscopy.

  9. Profiles

    2004-01-01

    Profiles is a synthetic overview of more than 100 national energy markets in the world, providing insightful facts and key energy statistics. A Profile is structured around 6 main items and completed by key statistics: Ministries, public agencies, energy policy are concerned; main companies in the oil, gas, electricity and coal sectors, status, shareholders; reserve, production, imports and exports, electricity and refining capacities; deregulation of prices, subsidies, taxes; consumption trends by sector, energy market shares; main energy projects, production and consumption prospects. Statistical Profiles are present in about 3 pages the main data and indicators on oil, gas, coal and electricity. (A.L.B.)

  10. Low-profile high-voltage compact gas switch

    Goerz, D.A.; Wilson, M.J.; Speer, R.D.

    1997-01-01

    This paper discusses the development and testing of a low-profile, high-voltage, spark-gap switch designed to be closely coupled with other components into an integrated high-energy pulsed-power source. The switch is designed to operate at 100 kV using SF6 gas pressurized to less than 0.7 MPa. The volume of the switch cavity region is less than 1.5 cm3, and the field stress along the gas-dielectric interface is as high as 130 kV/cm. The dielectric switch body has a low profile that is only I -cm tall at its greatest extent and nominally 2-mm thick over most of its area. This design achieves a very low inductance of less than 5 nH, but results in field stresses exceeding 500 kV/cm in the dielectric material. Field modeling was done to determine the appropriate shape for the highly stressed insulator and electrodes, and special manufacturing techniques were employed to mitigate the usual mechanisms that induce breakdown and failure in solid dielectrics. Static breakdown tests verified that the switch operates satisfactorily at 100 kV levels. The unit has been characterized with different shaped electrodes having nominal gap spacings of 2.0, 2.5, and 3.0 mm. The relationship between self-break voltage and operating pressure agrees well with published data on gas properties, accounting for the field enhancements of the electrode shapes being used. Capacitor discharge tests in a low inductance test fixture exhibited peak currents up to 25 kA with characteristic frequencies of the ringdown circuit ranging from 10 to 20 MHz. The ringdown waveforms and scaling of measured parameters agree well with circuit modeling of the switch and test fixture. Repetitive operation has been demonstrated at moderate rep-rates up to 15 Hz, limited by the power supply being used. Preliminary tests to evaluate lifetime of the compact switch assembly have been encouraging. In one case, after more than 7,000 high-current ringdown tests with approximately 30 C of total charge transferred, the

  11. Robotics: The next step?

    Broeders, Ivo A M J

    2014-02-01

    Robotic systems were introduced 15 years ago to support complex endoscopic procedures. The technology is increasingly used in gastro-intestinal surgery. In this article, literature on experimental- and clinical research is reviewed and ergonomic issues are discussed. literature review was based on Medline search using a large variety of search terms, including e.g. robot(ic), randomized, rectal, oesophageal, ergonomics. Review articles on relevant topics are discussed with preference. There is abundant evidence of supremacy in performing complex endoscopic surgery tasks when using the robot in an experimental setting. There is little high-level evidence so far on translation of these merits to clinical practice. Robotic systems may appear helpful in complex gastro-intestinal surgery. Moreover, dedicated computer based technology integrated in telepresence systems opens the way to integration of planning, diagnostics and therapy. The first high tech add-ons such as near infrared technology are under clinical evaluation. Copyright © 2014 Elsevier Ltd. All rights reserved.

  12. A high resolution, single bunch, beam profile monitor

    Norem, J.

    1992-01-01

    Efficient linear colliders require very small beam spots to produce high luminosities with reasonable input power, which limits the number of electrons which can be accelerated to high energies. The small beams, in turn, require high precision and stability in all accelerator components. Producing, monitoring and maintaining beams of the required quality has been, and will continue to be, difficult. A beam monitoring system which could be used to measure beam profile, size and stability at the final focus of a beamline or collider has been developed and is described here. The system uses nonimaging bremsstrahlung optics. The immediate use for this system would be examining the final focus spot at the SLAC/FFTB. The primary alternatives to this technique are those proposed by P. Chen / J. Buon, which analyses the energy and angular distributions of ion recoils to determine the aspect ratio of the electron bunch, and a method proposed by Shintake, which measures intensity variation of compton backscattered photons as the beam is moved across a pattern of standing waves produced by a laser

  13. High power beam profile monitor with optical transition radiation

    Denard, J.C.; Piot, P.; Capek, K.; Feldl, E.

    1997-01-01

    A simple monitor has been built to measure the profile of the high power beam (800 kW) delivered by the CEBAF accelerator at Jefferson Lab. The monitor uses the optical part of the forward transition radiation emitted from a thin carbon foil. The small beam size to be measured, about 100 μm, is challenging not only for the power density involved but also for the resolution the instrument must achieve. An important part of the beam instrumentation community believes the radiation being emitted into a cone of characteristic angle 1/γ is originated from a region of transverse dimension roughly λγ; thus the apparent size of the source of transition radiation would become very large for highly relativistic particles. This monitor measures 100 μm beam sizes that are much smaller than the 3.2 mm λγ limit; it confirms the statement of Rule and Fiorito that optical transition radiation can be used to image small beams at high energy. The present paper describes the instrument and its performance. The authors tested the foil in, up to 180 μA of CW beam without causing noticeable beam loss, even at 800 MeV, the lowest CEBAF energy

  14. High-resolution humidity profiles retrieved from wind profiler radar measurements

    Saïd, Frédérique; Campistron, Bernard; Di Girolamo, Paolo

    2018-03-01

    The retrieval of humidity profiles from wind profiler radars has already been documented in the past 30 years and is known to be neither as straightforward and nor as robust as the retrieval of the wind velocity. The main constraint to retrieve the humidity profile is the necessity to combine measurements from the wind profiler and additional measurements (such as observations from radiosoundings at a coarser time resolution). Furthermore, the method relies on some assumptions and simplifications that restrict the scope of its application. The first objective of this paper is to identify the obstacles and limitations and solve them, or at least define the field of applicability. To improve the method, we propose using the radar capacity to detect transition levels, such as the top level of the boundary layer, marked by a maximum in the radar reflectivity. This forces the humidity profile from the free troposphere and from the boundary layer to coincide at this level, after an optimization of the calibration coefficients, and reduces the error. The resulting mean bias affecting the specific humidity profile never exceeds 0.25 g kg-1. The second objective is to explore the capability of the algorithm to retrieve the humidity vertical profiles for an operational purpose by comparing the results with observations from a Raman lidar.

  15. PROFILE OF ALCOHOL CONSUMPTION IN HIGH SCHOOL ADOLESCENTS

    Karla Ferraz dos Anjos

    2012-08-01

    Full Text Available Alcohol, psychoactive substance, harmful to health, has been widely accepted and consumed by society in a premature manner. The Brazilian contemporaneous reality has demonstrated a high number of adolescents who consume alcohol on regularly basis, and nowadays, its damages start to be evident, hence the importance of contextualizing this issue in relation to adolescents. This study aims to determine the profile of alcohol consumption in adolescent students of a public high school in a city of the inland of Bahia, Brazil. It is a descriptive study with quantitative approach, conducted with 98 male and female students, and a structured questionnaire used to collect data, which was analyzed with aid of descriptive statistics. The survey was approved by the Ethics in Research Committee Involving Human Beings, of the State Perfil do consumo de bebidas alcoólicas por adolescentes University of Southwest Bahia – campus of Jequié-Bahia, Brazil under Protocol 179/2009. It was perceived that most of the teenagers had already consumed alcohol prematurely, with minimaldifference between male and female gender. Several of these adolescents continue consuming too much and too often, influenced by friends, family and media. It can be concluded that it is imperative to insert educational methodological proposals at schools which should instruct about premature and indiscriminate alcohol consumption, addressing principally risk factors and possible biopsychosocial complications

  16. Profile of alcohol consumption in high school adolescents.

    Karla Ferraz dos Anjos

    2012-01-01

    Full Text Available Alcohol, psychoactive substance, harmful to health, has been widely accepted and consumed by society in a premature manner. The Brazilian contemporaneous reality has demonstrated a high number of adolescents who consume alcohol on regularly basis, and nowadays, its damages start to be evident, hence the importance of contextualizing this issue in relation to adolescents. This study aims to determine the profile of alcohol consumption in adolescent students of a public high school in a city of the inland of Bahia, Brazil. It is a descriptive study with quantitative approach, conducted with 98 male and female students, and a structured questionnaire used to collect data, which was analyzed with aid of descriptive statistics. The survey was approved by the Ethics inResearch Committee Involving Human Beings, of the State University of Southwest Bahia –campus of Jequié-Bahia, Brazil under Protocol 179/2009. It was perceived that most of the teenagers had already consumed alcohol prematurely, with minimal difference between male and female gender. Several of these adolescents continue consuming too much and too often, influenced by friends, family and media. It can be concluded that it is imperative to insert educational methodological proposals at schools which shouldinstruct about premature and indiscriminate alcohol consumption, addressing principally risk factors and possible biopsychosocial complications.

  17. High Speed Running and Sprinting Profiles of Elite Soccer Players

    Miñano-Espin Javier

    2017-08-01

    Full Text Available Real Madrid was named as the best club of the 20th century by the International Federation of Football History and Statistics. The aim of this study was to compare if players from Real Madrid covered shorter distances than players from the opposing team. One hundred and forty-nine matches including league, cup and UEFA Champions League matches played by the Real Madrid were monitored during the 2001-2002 to the 2006-2007 seasons. Data from both teams (Real Madrid and the opponent were recorded. Altogether, 2082 physical performance profiles were examined, 1052 from the Real Madrid and 1031 from the opposing team (Central Defenders (CD = 536, External Defenders (ED = 491, Central Midfielders (CM = 544, External Midfielders (EM = 233, and Forwards (F = 278. Match performance data were collected using a computerized multiple-camera tracking system (Amisco Pro®, Nice, France. A repeated measures analysis of variance (ANOVA was performed for distances covered at different intensities (sprinting (>24.0 km/h and high-speed running (21.1-24.0 km/h and the number of sprints (21.1-24.0 km/h and >24.0 km/h during games for each player sectioned under their positional roles. Players from Real Madrid covered shorter distances in high-speed running and sprint than players from the opposing team (p 0.01 from Real Madrid covered shorter distances in high-intensity running and sprint and performed less sprints than their counterparts. Finally, no differences were found in the high-intensity running and sprint distances performed by players from Real Madrid depending on the quality of the opposition.

  18. Robotic environments

    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

  19. Healthcare Robotics

    Riek, Laurel D.

    2017-01-01

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

  20. Robot Control Overview: An Industrial Perspective

    T. Brogårdh

    2009-07-01

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

  1. Multilayer controller for field robots - High portability and modularity to ease implementation

    Griepentrog, H. W.; Jæger-Hansen, Claes Lund; Ravn, Ole

    Various autonomous machines and robots exist in agriculture today as research prototypes. In many prototypes software and hardware are designed and developed from scratch. The MobotWare software framework has been used to create an overall system called multilayer controller. MobotWare is a softw......Various autonomous machines and robots exist in agriculture today as research prototypes. In many prototypes software and hardware are designed and developed from scratch. The MobotWare software framework has been used to create an overall system called multilayer controller. Mobot...... to advanced sensors and handles tasks like mapping and localization. Along with the MobotWare, machine dedicated firmware controlling specific platforms without internal CAN system has been updated. On the hardware side there has been added various new sensors and a safety circuit. The Multilayer controller...

  2. Evidence of Self-Directed Learning on a High School Robotics Team

    Nathan R. Dolenc

    2014-12-01

    Full Text Available Self-directed learning is described as an individual taking the initiative to engage in a learning experience while assuming responsibility to follow through to its conclusion. Robotics competitions are examples of informal environments that can facilitate self-directed learning. This study examined how mentor involvement, student behavior, and physical workspace contributed to self-directed learning on one robotics competition team. How did mentors transfer responsibility to students? How did students respond to managing a team? Are the physical attributes of a workspace important? The mentor, student, and workplace factors captured in the research showed mentors wanting students to do the work, students assuming leadership roles, and the limited workspace having a positive effect on student productivity.

  3. Vocational High School Students’ Profile and their English Achievement

    Liando, N. V. F.; Ratu, D. M.; Sahentombage, V.

    2018-02-01

    Vocational education has been given more attention in Indonesian education in the recent years. There have been many projects for vocational education since Jokowi Widodo took his presidential office in October 2014. In supporting government actions, vocational high school students need to improve their profile. Living in the global worlds requires the ability to interact with people from all over the world. The ability to communicate using English as the lingua franca is important. The purpose of the research reported here is, to prove whether the direct method is effective in improving vocational high school students’ English pronunciation or not. This research design is a true experimental using post-test only. The population is students from one vocational high school in North Sulawesi. Sample of this research was year 11 students consisting of two classes class A (27 students) and class B (27 students). The instrument used in collecting data is tests. The results showed that the mean of the experimental group (36.99) statistically describes the students’ improvement in pronouncing English words in which have been compared by result of the tobserved (2.897) exceed tcritical (1.943) at the level of significance 0.05. It means that there is a significant difference between the mean score of experimental group and control group regarding students’ English pronunciation. This then supports the claim that ‘rejects’ Ho and ‘accept’ Ha. Based on the result, it could be concluded that the direct method is considered effective in improving students’ English pronunciation.

  4. Industrial Robots.

    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…

  5. High-Field MRI-Compatible Needle Placement Robot for Prostate Interventions

    SU, Hao; CAMILO, Alex; COLE, Gregory A.; HATA, Nobuhiko; TEMPANY, Clare M.; FISCHER, Gregory S.

    2011-01-01

    This paper presents the design of a magnetic resonance imaging (MRI) compatible needle placement system actuated by piezoelectric actuators for prostate brachytherapy and biopsy. An MRI-compatible modular 3 degree-of-freedom (DOF) needle driver module coupled with a 3-DOF x-y-z stage is proposed as a slave robot to precisely deliver radioactive brachytherapy seeds under interactive MRI guidance. The needle driver module provides for needle cannula rotation, needle insertion and cannula retrac...

  6. Solid groundwork underlies a high-profile year

    2013-01-01

    Many at CERN will remember 2013 as a year of major high-profile events, ranging from the Open Days to the Nobel Prize for François Englert and Peter Higgs. For me, it’s a year that’s shown how decades of diligent groundwork, a hallmark of CERN and particle physics, along with a deep-seated sense of the values of the Organization, lay the foundations for success.   François Englert and Peter Higgs had a long wait for their trip to Stockholm last week, and it’s telling that Higgs was recently quoted as saying that by today’s standards, he’d be deemed unproductive. There’s a message there for modern society – not everything can be a quick fix, some things take time, and certainly in science, there may be a long road to travel, with many twists and turns before you reach your destination. When Brout, Englert and Higgs published their papers in 1964, they did so at a time of great flux in particle theory. ...

  7. Prospective, randomized, and controlled trial on ketamine infusion during bilateral axillo-breast approach (BABA) robotic or endoscopic thyroidectomy: Effects on postoperative pain and recovery profiles: A consort compliant article.

    Kim, Dong-Ho; Choi, June Young; Kim, Byoung-Gook; Hwang, Jin-Young; Park, Seong-Joo; Oh, Ah-Young; Jeon, Young-Tae; Ryu, Jung-Hee

    2016-12-01

    Robotic or endoscopic thyroidectomy using bilateral axillo-breast approach (BABA) is frequently performed for excellent cosmesis. However, postoperative pain is remained as concerns due to the extent tissue dissection and tension during the operation. Ketamine is a noncompetitive N-methyl-D-aspartate (NMDA) receptor antagonist that reduces acute postoperative pain. We evaluated the effects of intraoperative ketamine infusion on postoperative pain control and recovery profiles following BABA robotic or endoscopic thyroidectomy. Fifty-eight adult patients scheduled for BABA robotic or endoscopic thyroidectomy were randomized into a control group (n = 29) and ketamine group (n = 29). Following induction of anesthesia, patients in each group were infused with the same volume of saline or ketamine solution (1 mg/kg bolus, 60 μg/kg/h continuous infusion). Total intravenous anesthesia with propofol and remifentanil was used to induce and maintain anesthesia. Pain scores (101-point numerical rating scale, 0 = no pain, 100 = the worst imaginable pain), the consumption of rescue analgesics, and other postoperative adverse effects were assessed at 1, 6, 24, and 48 hours postoperatively. Patients in the ketamine group reported lower pain scores than those in the control group at 6 hours (30 [30] vs 50 [30]; P = 0.017), 24 hours (20 [10] vs 30 [20]; P ketamine infusion during anesthesia resulted in lower postoperative pain scores following BABA robotic or endoscopic thyroidectomy, with no increase in adverse events.

  8. Burnout, work engagement and workaholism among highly educated employees: Profiles, antecedents and outcomes

    Hely Innanen

    2014-06-01

    Full Text Available The present study examined the longitudinal profiles of burnout, engagement and workaholism among highly educated employees. First, the latent profile modeling indicated two latent classes: Engaged and Exhausted-Workaholic. Second, the results revealed that employees with the Engaged profile experienced high levels of energy and dedication, whereas employees with the Exhausted-Workaholic profile experienced exhaustion, cynicism and workaholism. Social pessimism in the transition from high education to work predicted poor subjective well-being at work. Further, workaholism decreased during the career among members of the Exhausted-Workaholic profile suggesting positive direction during career. Finally, Engaged employees experienced detachment and relaxation, life satisfaction and rewards.

  9. Expression profiling on high-density DNA grids to detect novel targets in dendritic cells

    Weissmann, M.

    2000-10-01

    Gene expression analyzes on a large scale using DNA microarrays is a novel approach to study transcription of thousands of genes in parallel. By comparing gene expression profiles of different cell-types and of cells in different activation, novel regulatory networks will be identified that are unique to a cell-type and hence, important in its biological function. Among the differentially expressed genes many novel drug targets will be found. The Genetic department of the Novartis Research Institute was following this approach to identify novel genes, which are critical in the antigen presenting function of DCs and could become promising drug targets. Drugs that modulate effector functions of DCs towards induction of energy or tolerance in T-cells could be useful in the treatment of chronic inflammatory or autoimmune diseases. By using specific robotics equipment high-density cDNA grids on nylon membranes have been produced for hybridizations with various radioactive labeled DNA probes. By our format, based on 384 well plates and limited by the resolution power of our current image analysis software, 27.648 cDNA clones, bacterial colonies or pure DNA, were spotted on one filter. For RNA profiling, we generated filters containing a collection of genes expressed in peripheral blood DCs or monocytes and characterized by oligonucleotide fingerprinting (ONF) as being differentially expressed. The gene collection contained many unknown genes. Sequence analysis of to date 18.000 cDNA clones led to an estimate of 5.000 non-redundant genes being represented in the collection. 10 % of them are either completely unknown or homologous to rare ESTs (expressed sequence tags) in the public EST database. These clones occurred predominantly in small fingerprint clusters and were therefore assumed to be rarely expressed in DCs or monocytes. Some of those genes may become novel drug targets if their expression is DC specific or induced by external stimuli driving DCs into

  10. Robot Mechanisms

    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.

  11. Present and Future of Nuclear Robotics

    Bielza Ciaz-Caneja, M.; Carmena Servet, P.; Gomez Santamaria, J.; Gonzalez Fernandez, J.; Izquierdo Mendoza, J.A.; Linares Pintos, F.; Martinez Gonzalez; Muntion Ruesgas, A.; Serna Oliveira, M.A.

    1997-01-01

    New technologies have increased the use of robotic systems in fields other than Industry. As a result, research and developers are focusing their interest in concepts like Intelligent Robotics and Robotics in Services. This paper describes the use of Robotics in Nuclear facilities, where robots can be used to protect workers in high radiation areas, to reduce total worker exposure and to minimise downtime. First, the structure of robot systems is introduced and the benefits of nuclear robots is presented. Next, the paper describes some specific nuclear applications and the families of nuclear robots present in the market. After that, a section is devoted to Nuclear Robotics in Spain, with emphasis in some of the developments being carried out at present. Finally, some reflections about the future of robots in Nuclear Industry are offered. (Author) 18 refs

  12. Robot Futures

    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....

  13. Robotics education

    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

  14. Probabilistic approaches to robotic perception

    Ferreira, João Filipe

    2014-01-01

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

  15. Design and construction of a first-generation high-throughput integrated robotic molecular biology platform for bioenergy applications.

    Hughes, Stephen R; Butt, Tauseef R; Bartolett, Scott; Riedmuller, Steven B; Farrelly, Philip

    2011-08-01

    The molecular biological techniques for plasmid-based assembly and cloning of gene open reading frames are essential for elucidating the function of the proteins encoded by the genes. High-throughput integrated robotic molecular biology platforms that have the capacity to rapidly clone and express heterologous gene open reading frames in bacteria and yeast and to screen large numbers of expressed proteins for optimized function are an important technology for improving microbial strains for biofuel production. The process involves the production of full-length complementary DNA libraries as a source of plasmid-based clones to express the desired proteins in active form for determination of their functions. Proteins that were identified by high-throughput screening as having desired characteristics are overexpressed in microbes to enable them to perform functions that will allow more cost-effective and sustainable production of biofuels. Because the plasmid libraries are composed of several thousand unique genes, automation of the process is essential. This review describes the design and implementation of an automated integrated programmable robotic workcell capable of producing complementary DNA libraries, colony picking, isolating plasmid DNA, transforming yeast and bacteria, expressing protein, and performing appropriate functional assays. These operations will allow tailoring microbial strains to use renewable feedstocks for production of biofuels, bioderived chemicals, fertilizers, and other coproducts for profitable and sustainable biorefineries. Published by Elsevier Inc.

  16. Laser-Driven Very High Energy Electron/Photon Beam Radiation Therapy in Conjunction with a Robotic System

    Kazuhisa Nakajima

    2014-12-01

    Full Text Available We present a new external-beam radiation therapy system using very-high-energy (VHE electron/photon beams generated by a centimeter-scale laser plasma accelerator built in a robotic system. Most types of external-beam radiation therapy are delivered using a machine called a medical linear accelerator driven by radio frequency (RF power amplifiers, producing electron beams with an energy range of 6–20 MeV, in conjunction with modern radiation therapy technologies for effective shaping of three-dimensional dose distributions and spatially accurate dose delivery with imaging verification. However, the limited penetration depth and low quality of the transverse penumbra at such electron beams delivered from the present RF linear accelerators prevent the implementation of advanced modalities in current cancer treatments. These drawbacks can be overcome if the electron energy is increased to above 50 MeV. To overcome the disadvantages of the present RF-based medical accelerators, harnessing recent advancement of laser-driven plasma accelerators capable of producing 1-GeV electron beams in a 1-cm gas cell, we propose a new embodiment of the external-beam radiation therapy robotic system delivering very high-energy electron/photon beams with an energy of 50–250 MeV; it is more compact, less expensive, and has a simpler operation and higher performance in comparison with the current radiation therapy system.

  17. Optimal Cable Tension Distribution of the High-Speed Redundant Driven Camera Robots Considering Cable Sag and Inertia Effects

    Yu Su

    2014-03-01

    Full Text Available Camera robots are high-speed redundantly cable-driven parallel manipulators that realize the aerial panoramic photographing. When long-span cables and high maneuverability are involved, the effects of cable sags and inertias on the dynamics must be carefully dealt with. This paper is devoted to the optimal cable tension distribution (OCTD for short of the camera robots. Firstly, each fast varying-length cable is discretized into some nodes for computing the cable inertias. Secondly, the dynamic equation integrated with the cable inertias is set up regarding the large-span cables as catenaries. Thirdly, an iterative optimization algorithm is introduced for the cable tension distribution by using the dynamic equation and sag-to-span ratios as constraint conditions. Finally, numerical examples are presented to demonstrate the effects of cable sags and inertias on determining tensions. The results justify the convergence and effectiveness of the algorithm. In addition, the results show that it is necessary to take the cable sags and inertias into consideration for the large-span manipulators.

  18. Developing a successful robotics program.

    Luthringer, Tyler; Aleksic, Ilija; Caire, Arthur; Albala, David M

    2012-01-01

    Advancements in the robotic surgical technology have revolutionized the standard of care for many surgical procedures. The purpose of this review is to evaluate the important considerations in developing a new robotics program at a given healthcare institution. Patients' interest in robotic-assisted surgery has and continues to grow because of improved outcomes and decreased periods of hospitalization. Resulting market forces have created a solid foundation for the implementation of robotic surgery into surgical practice. Given proper surgeon experience and an efficient system, robotic-assisted procedures have been cost comparable to open surgical alternatives. Surgeon training and experience is closely linked to the efficiency of a new robotics program. Formally trained robotic surgeons have better patient outcomes and shorter operative times. Training in robotics has shown no negative impact on patient outcomes or mentor learning curves. Individual economic factors of local healthcare settings must be evaluated when planning for a new robotics program. The high cost of the robotic surgical platform is best offset with a large surgical volume. A mature, experienced surgeon is integral to the success of a new robotics program.

  19. Transferring human impedance regulation skills to robots

    Ajoudani, Arash

    2016-01-01

    This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.

  20. Robotic telescopes for high energy astrophysics in Ondřejov

    Nekola, Martin; Hudec, René; Jelínek, M.; Kocka, Matúš; Münz, F.; Kubánek, P.; Polášek, Cyril; Šimon, Vojtěch; Štrobl, Jan

    2010-01-01

    Roč. 28, č. 1 (2010), s. 79-85 ISSN 0922-6435. [400 Years of Astronomical Telescopes: A Review of History, Science and Technology. Noordwijk, 29.09.2008-02.10.2008] R&D Projects: GA ČR GA205/08/1207 Grant - others:ESA(XE) ESA-PECS project No. 98023 Institutional research plan: CEZ:AV0Z10030501 Keywords : robotic telescopes * BART * D50 Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics Impact factor: 2.140, year: 2010

  1. Future of robotic surgery.

    Lendvay, Thomas Sean; Hannaford, Blake; Satava, Richard M

    2013-01-01

    In just over a decade, robotic surgery has penetrated almost every surgical subspecialty and has even replaced some of the most commonly performed open oncologic procedures. The initial reports on patient outcomes yielded mixed results, but as more medical centers develop high-volume robotics programs, outcomes appear comparable if not improved for some applications. There are limitations to the current commercially available system, and new robotic platforms, some designed to compete in the current market and some to address niche surgical considerations, are being developed that will change the robotic landscape in the next decade. Adoption of these new systems will be dependent on overcoming barriers to true telesurgery that range from legal to logistical. As additional surgical disciplines embrace robotics and open surgery continues to be replaced by robotic approaches, it will be imperative that adequate education and training keep pace with technology. Methods to enhance surgical performance in robotics through the use of simulation and telementoring promise to accelerate learning curves and perhaps even improve surgical readiness through brief virtual-reality warm-ups and presurgical rehearsal. All these advances will need to be carefully and rigorously validated through not only patient outcomes, but also cost efficiency.

  2. High resolution three-dimensional robotic synthetic tracked aperture ultrasound imaging: feasibility study

    Zhang, Haichong K.; Fang, Ting Yun; Finocchi, Rodolfo; Boctor, Emad M.

    2017-03-01

    Three dimensional (3D) ultrasound imaging is becoming a standard mode for medical ultrasound diagnoses. Conventional 3D ultrasound imaging is mostly scanned either by using a two dimensional matrix array or by motorizing a one dimensional array in the elevation direction. However, the former system is not widely assessable due to its cost, and the latter one has limited resolution and field-of-view in the elevation axis. Here, we propose a 3D ultrasound imaging system based on the synthetic tracked aperture approach, in which a robotic arm is used to provide accurate tracking and motion. While the ultrasound probe is moved by a robotic arm, each probe position is tracked and can be used to reconstruct a wider field-of-view as there are no physical barriers that restrict the elevational scanning. At the same time, synthetic aperture beamforming provides a better resolution in the elevation axis. To synthesize the elevational information, the single focal point is regarded as the virtual element, and forward and backward delay-andsum are applied to the radio-frequency (RF) data collected through the volume. The concept is experimentally validated using a general ultrasound phantom, and the elevational resolution improvement of 2.54 and 2.13 times was measured at the target depths of 20 mm and 110 mm, respectively.

  3. A MR-conditional High-torque Pneumatic Stepper Motor for MRI-guided and Robot-assisted Intervention

    Chen, Yue; Kwok, Ka-Wai; Tse, Zion Tsz Ho

    2015-01-01

    Magnetic Resonance Imaging allows for visualizing detailed pathological and morphological changes of soft tissue. This increasingly attracts attention on MRI-guided intervention; hence, MR-conditional actuations have been widely investigated for development of image-guided and robot-assisted surgical devices under the MRI. This paper presents a simple design of MR-conditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox. Experimental studies were conducted to validate its dynamics performance. Maximum 800mNm output torque can be achieved. The motor accuracy independently varied by two factors: motor operating speed and step size, was also investigated. The motor was tested within a Siemens 3T MRI scanner. The image artifact and the signal-to-noise ratio (SNR) were evaluated in order to study its MRI compliancy. The results show that the presented pneumatic stepper motor generated 2.35% SNR reduction in MR images and no observable artifact was presented besides the motor body itself. The proposed motor test also demonstrates a standard to evaluate the motor capability for later incorporation with motorized devices used in robot-assisted surgery under MRI. PMID:24957635

  4. Robotic buildings(s)

    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

  5. High Temperature- and High Pressure-Processed Garlic Improves Lipid Profiles in Rats Fed High Cholesterol Diets

    Sohn, Chan Wok; Kim, Hyunae; You, Bo Ram; Kim, Min Jee; Kim, Hyo Jin; Lee, Ji Yeon; Sok, Dai-Eun; Kim, Jin Hee; Lee, Kun Jong

    2012-01-01

    Abstract Garlic protects against degenerative diseases such as hyperlipidemia and cardiovascular diseases. However, raw garlic has a strong pungency, which is unpleasant. In this study, we examined the effect of high temperature/high pressure-processed garlic on plasma lipid profiles in rats. Sprague–Dawley rats were fed a normal control diet, a high cholesterol (0.5% cholesterol) diet (HCD) only, or a high cholesterol diet supplemented with 0.5% high temperature/high pressure-processed garlic (HCP) or raw garlic (HCR) for 10 weeks. The body weights of the rats fed the garlic-supplemented diets decreased, mostly because of reduced fat pad weights. Plasma levels of total cholesterol (TC), low-density lipoprotein cholesterol, and triglyceride (TG) in the HCP and HCR groups decreased significantly compared with those in the HCD group. Additionally, fecal TC and TG increased significantly in the HCP and HCR groups. It is notable that no significant differences in plasma or fecal lipid profiles were observed between the HCP and HCR groups. High temperature/high pressure-processed garlic contained a higher amount of S-allyl cysteine than raw garlic (Pgarlic may be useful as a functional food to improve lipid profiles. PMID:22404600

  6. A high resolution, single bunch, beam profile monitor

    Norem, J.

    1992-01-01

    We developed a beam monitoring system which could be used to measure beam profile, size and stability at the final forms of a beamline or collider. The system uses nonimaging bremsstrahlung optics. The immediate use for this system would be examining the final focus spot at the SLAC/FFTR

  7. Low-Friction, Low-Profile, High-Moment Two-Axis Joint

    Lewis, James L.; Le, Thang; Carroll, Monty B.

    2010-01-01

    The two-axis joint is a mechanical device that provides two-degrees-of-freedom motion between connected components. A compact, moment-resistant, two-axis joint is used to connect an electromechanical actuator to its driven structural members. Due to the requirements of the overall mechanism, the joint has a low profile to fit within the allowable space, low friction, and high moment-reacting capability. The mechanical arrangement of this joint can withstand high moments when loads are applied. These features allow the joint to be used in tight spaces where a high load capability is required, as well as in applications where penetrating the mounting surface is not an option or where surface mounting is required. The joint consists of one base, one clevis, one cap, two needle bearings, and a circular shim. The base of the joint is the housing (the base and the cap together), and is connected to the grounding structure via fasteners and a bolt pattern. Captive within the housing, between the base and the cap, are the rotating clevis and the needle bearings. The clevis is attached to the mechanical system (linear actuator) via a pin. This pin, and the rotational movement of the clevis with respect to the housing, provides two rotational degrees of freedom. The larger diameter flange of the clevis is sandwiched between a pair of needle bearings, one on each side of the flange. During the assembly of the two-axis joint, the circular shims are used to adjust the amount of preload that is applied to the needle bearings. The above arrangement enables the joint to handle high moments with minimal friction. To achieve the high-moment capability within a low-profile joint, the use of depth of engagement (like that of a conventional rotating shaft) to react moment is replaced with planar engagement parallel to the mounting surface. The needle bearings with the clevis flange provide the surface area to react the clevis loads/moments into the joint housing while providing minimal

  8. Fast Track Characterization of Highly Radioactive Waste Pits Combining Off-the-Shelf Robotics with Innovative Investigation Protocols

    Chabeuf, Jean-Michel; Boya, Didier

    2008-01-01

    The investigation and characterization of radioactive waste pits and effluent storage tanks represents a substantial and challenging step in the overall decommissioning programme launched by AREVA NC in 1998 on the site of Marcoule on behalf of the French Atomic Energy commission. Physical ,radiological and regulatory constraints, combined with a tight schedule, have lead our teams to use proven conventional instrumentation and robotics in innovative configurations . One such investigation, conducted on a particularly challenging radioactive effluent storage pit, is described below. The 'H' pit is a stainless steel clad concrete cavity, located in the second basement of the de-cladding building of Marcoule site. It was used for forty years as buffer storage for high activity effluents and has a length of 5 meters, a width of 3 meters , a height of 2.5 meters, and is topped by lead plates over 5 cm thick and The bottom of the cavity is covered with a layer of mud containing mainly graphite, diatoms and resins. The mud level ranges from about 20 centimeters to over 50 centimeters. The overall mud volume is around 2.4 cubic meters. Ambient dose rates above the lead plates exceed 10 mSv/h. The main purpose of our investigation was to characterize the muds for future recovery and conditioning prior to decontaminating the pit. The history of the pit together with the varying mud altimetry lead us to believe that sedimentation had probably occurred throughout the years. We thus decided to combine dose rate measurements using IF104 probes, gamma spectroscopy with CdTe probes and sample collections at different depths to ensure the representativeness and full characterization of the muds. Poor access, ambient dose rates have lead us to conceive a robotic arm, mounted on an shaft which can be modified to fit a wide range of pits and tanks. Custom built robotic tools with maximum manoeuvrability generally involve costs and delays far exceeding our purposes. SIT, a French

  9. High-Field MRI-Compatible Needle Placement Robot for Prostate Interventions

    SU, Hao; CAMILO, Alex; COLE, Gregory A.; HATA, Nobuhiko; TEMPANY, Clare M.; FISCHER, Gregory S.

    2014-01-01

    This paper presents the design of a magnetic resonance imaging (MRI) compatible needle placement system actuated by piezoelectric actuators for prostate brachytherapy and biopsy. An MRI-compatible modular 3 degree-of-freedom (DOF) needle driver module coupled with a 3-DOF x-y-z stage is proposed as a slave robot to precisely deliver radioactive brachytherapy seeds under interactive MRI guidance. The needle driver module provides for needle cannula rotation, needle insertion and cannula retraction to enable the brachytherapy procedure with the preloaded needles. The device mimics the manual physician gesture by two point grasping (hub and base) and provides direct force measurement of needle insertion force by fiber optic force sensors. The fabricated prototype is presented and an experiment with phantom trials in 3T MRI is analyzed to demonstrate the system compatibility. PMID:21335868

  10. Raw ODEC Bathy2000 CHIRP subbottom profiler - CHIRP high-resolution Seismic Profile data for the U.S. Arctic Continental Margin.

    National Oceanic and Atmospheric Administration, Department of Commerce — ODEC Bathy2000 CHIRP subbottom profiler - CHIRP high-resolution Seismic Profile data were collected in Raw ODEC Bathy2000 CHIRP dat Datagram Format.

  11. Raw ODEC Bathy2000 CHIRP subbottom profiler - CHIRP high-resolution Seismic Profile data for the Chukchi Cap and Arctic Ocean.

    National Oceanic and Atmospheric Administration, Department of Commerce — ODEC Bathy2000 CHIRP subbottom profiler - CHIRP high-resolution Seismic Profile data were collected in Raw ODEC Bathy2000 CHIRP dat Datagram Format.

  12. Robotics in Colorectal Surgery

    Weaver, Allison; Steele, Scott

    2016-01-01

    Over the past few decades, robotic surgery has developed from a futuristic dream to a real, widely used technology. Today, robotic platforms are used for a range of procedures and have added a new facet to the development and implementation of minimally invasive surgeries. The potential advantages are enormous, but the current progress is impeded by high costs and limited technology. However, recent advances in haptic feedback systems and single-port surgical techniques demonstrate a clear role for robotics and are likely to improve surgical outcomes. Although robotic surgeries have become the gold standard for a number of procedures, the research in colorectal surgery is not definitive and more work needs to be done to prove its safety and efficacy to both surgeons and patients. PMID:27746895

  13. Robotic assisted minimally invasive surgery

    Palep Jaydeep

    2009-01-01

    Full Text Available The term "robot" was coined by the Czech playright Karel Capek in 1921 in his play Rossom′s Universal Robots. The word "robot" is from the check word robota which means forced labor.The era of robots in surgery commenced in 1994 when the first AESOP (voice controlled camera holder prototype robot was used clinically in 1993 and then marketed as the first surgical robot ever in 1994 by the US FDA. Since then many robot prototypes like the Endoassist (Armstrong Healthcare Ltd., High Wycombe, Buck, UK, FIPS endoarm (Karlsruhe Research Center, Karlsruhe, Germany have been developed to add to the functions of the robot and try and increase its utility. Integrated Surgical Systems (now Intuitive Surgery, Inc. redesigned the SRI Green Telepresence Surgery system and created the daVinci Surgical System ® classified as a master-slave surgical system. It uses true 3-D visualization and EndoWrist ® . It was approved by FDA in July 2000 for general laparoscopic surgery, in November 2002 for mitral valve repair surgery. The da Vinci robot is currently being used in various fields such as urology, general surgery, gynecology, cardio-thoracic, pediatric and ENT surgery. It provides several advantages to conventional laparoscopy such as 3D vision, motion scaling, intuitive movements, visual immersion and tremor filtration. The advent of robotics has increased the use of minimally invasive surgery among laparoscopically naοve surgeons and expanded the repertoire of experienced surgeons to include more advanced and complex reconstructions.

  14. Multibody system dynamics, robotics and control

    Gerstmayr, Johannes

    2013-01-01

    The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

  15. Hand-Assisted Robotic Surgery for Staging of Ovarian Cancer and Uterine Cancers With High Risk of Peritoneal Spread: A Retrospective Cohort Study.

    Fornalik, Hubert; Brooks, Hannah; Moore, Elizabeth S; Flanders, Nicole L; Callahan, Michael J; Sutton, Gregory P

    2015-10-01

    This study aimed to determine surgical outcomes related to hand-assisted robotic surgery (HARS) for staging of ovarian cancer and uterine cancers with high risk of peritoneal spread and compare them to laparotomy and standard robotic-assisted surgery. A retrospective cohort study of women undergoing staging for uterine and ovarian cancer between January 2011 and July 2013 at a major metropolitan teaching hospital was reviewed. Patients undergoing HARS were matched with patients undergoing staging laparotomy [exploratory laparotomy (XLAP)] for the same indications and with patients undergoing traditional robotic surgery (RS) for staging of endometrioid endometrial cancer. In HARS, a longer incision is used to allow palpation of the peritoneal surfaces, to exteriorize the small bowel, to examine the mesentery, and to perform omentectomy. One hundred five patients were analyzed (15 HARS, 45 RS, 45 XLAP). Compared with XLAP, HARS was associated with decreased blood loss (200 vs 400 mL, P = 0.011) and shorter hospital stay (1 vs 4 days, P < 0.001). Patients who had undergone HARS had fewer major complications, but those results did not reach statistical significance (0% vs 27%, P = 0.063). Hand-assisted robotic surgery was associated with higher blood loss and length of stay as compared to robotic staging of endometrioid endometrial cancer (RS). Minor wound complications were also more common (27% vs 2%, P = 0.012). Hand-assisted robotic surgery allows for thorough visual and tactile assessment of peritoneal surfaces. It represents a safe alternative to laparotomy for staging of ovarian and uterine cancers with high risk of peritoneal spread. Long-term follow-up study is needed to determine oncologic adequacy of HARS.

  16. High Resolution Shear Profile Measurements in Entangled Polymers

    Hayes, Keesha A.

    2008-11-17

    We use confocal microscopy and particle image velocimetry to visualize motion of 250-300 nm. fluorescent tracer particles in entangled polymers subject to a rectilinear shear flow. Our results show linear velocity profiles in polymer solutions spanning a wide range of molecular weights and number of entanglements (8≤Z≤56), but reveal large differences between the imposed and measured shear rates. These findings disagree with recent reports that shear banding is a characteristic flow response of entangled polymers, and instead point to interfacial slip as an important source of strain loss. © 2008 The American Physical Society.

  17. Robotics 101

    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…

  18. Vitruvian Robot

    Hasse, Cathrine

    2017-01-01

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

  19. A novel semi-robotized device for high-precision 18F-FDG-guided breast cancer biopsy.

    Hellingman, D; Teixeira, S C; Donswijk, M L; Rijkhorst, E J; Moliner, L; Alamo, J; Loo, C E; Valdés Olmos, R A; Stokkel, M P M

    To assess the 3D geometric sampling accuracy of a new PET-guided system for breast cancer biopsy (BCB) from areas within the tumour with high 18 F-FDG uptake. In the context of the European Union project MammoCare, a prototype semi-robotic stereotactic prototype BCB-device was incorporated into a dedicated high resolution PET-detector for breast imaging. The system consists of 2 stacked rings, each containing 12 plane detectors, forming a dodecagon with a 186mm aperture for 3D reconstruction (1mm 3 voxel). A vacuum-assisted biopsy needle attached to a robot-controlled arm was used. To test the accuracy of needle placement, the needle tip was labelled with 18 F-FDG and positioned at 78 target coordinates distributed over a 35mm×24mm×28mm volume within the PET-detector field-of-view. At each position images were acquired from which the needle positioning accuracy was calculated. Additionally, phantom-based biopsy proofs, as well as MammoCare images of 5 breast cancer patients, were evaluated for the 3D automated locating of 18 F-FDG uptake areas within the tumour. Needle positioning tests revealed an average accuracy of 0.5mm (range 0-1mm), 0.6mm (range 0-2mm), and 0.4mm (range 0-2mm) for the x/y/z-axes, respectively. Furthermore, the MammoCare system was able to visualize and locate small (cancer core needle biopsy. Its clinical feasibility evaluation in breast cancer patients scheduled for neo-adjuvant chemotherapy will follow. Copyright © 2016 Elsevier España, S.L.U. y SEMNIM. All rights reserved.

  20. Robot Teachers

    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...

  1. Robot vision

    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

  2. Social Robots

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

  3. Robotic seeding

    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....

  4. Micro intelligence robot

    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.

  5. An Intelligent Robot Programing

    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.

  6. An Intelligent Robot Programing

    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.

  7. Image registration algorithm for high-voltage electric power live line working robot based on binocular vision

    Li, Chengqi; Ren, Zhigang; Yang, Bo; An, Qinghao; Yu, Xiangru; Li, Jinping

    2017-12-01

    In the process of dismounting and assembling the drop switch for the high-voltage electric power live line working (EPL2W) robot, one of the key problems is the precision of positioning for manipulators, gripper and the bolts used to fix drop switch. To solve it, we study the binocular vision system theory of the robot and the characteristic of dismounting and assembling drop switch. We propose a coarse-to-fine image registration algorithm based on image correlation, which can improve the positioning precision of manipulators and bolt significantly. The algorithm performs the following three steps: firstly, the target points are marked respectively in the right and left visions, and then the system judges whether the target point in right vision can satisfy the lowest registration accuracy by using the similarity of target points' backgrounds in right and left visions, this is a typical coarse-to-fine strategy; secondly, the system calculates the epipolar line, and then the regional sequence existing matching points is generated according to neighborhood of epipolar line, the optimal matching image is confirmed by calculating the similarity between template image in left vision and the region in regional sequence according to correlation matching; finally, the precise coordinates of target points in right and left visions are calculated according to the optimal matching image. The experiment results indicate that the positioning accuracy of image coordinate is within 2 pixels, the positioning accuracy in the world coordinate system is within 3 mm, the positioning accuracy of binocular vision satisfies the requirement dismounting and assembling the drop switch.

  8. Serum Protein Profile Study of Clinical Samples Using High Performance Liquid Chromatography-Laser Induced Fluorescence

    Karemore, Gopal Raghunath; Ukendt, Sujatha; Rai, Lavanya

    2009-01-01

    The serum protein profiles of normal subjects, patients diagnosed with cervical cancer, and oral cancer were recorded using High Performance Liquid Chromatography combined with Laser Induced Fluorescence detection (HPLC-LIF). Serum protein profiles of the above three classes were tested for estab...

  9. Hierarchical coordination control of mobile robots

    Adinandra, S.

    2012-01-01

    In the last decade, robotic systems have penetrated human life more than human can imagine. In particular, the multi-mobile robotic systems have faced a fast growing due to the fact that by deploying a large collection of mobile robots the overall system has a high redundancy and offers the

  10. 1D profiling using highly dispersive guided waves

    Volker, Arno; Brandenburg, Martijn

    2017-02-01

    Corrosion is one of the industries major issues regarding the integrity of assets. Currently inspections are conducted at regular intervals to ensure a sufficient integrity level of these assets. There are many situations where the actual defect location is not accessible, e.g., a pipe support or a partially buried pipe. Last year an approach was presented using a phase inversion of guided waves that propagated around the circumference of a pipe. This approach works well for larger corrosion spots, but shows significant under-sizing of small spots due to lack of sufficient phase rotation. In this paper the use of arrival time and amplitude loss of higher order circumferential passes is evaluated. Using higher order passes increases sensitivity for sizing smaller defects. Different defect profiles are assumed and the change in arrival time and amplitude loss are calculated using a wave equation based approach for different defect widths and depths. This produces a differential travel time and amplitude change map as function of defect depth and defect width. The actually measured travel time change and amplitude change produces two contours in these maps. Calculating the intersection point gives the defect dimensions. The contours for amplitude loss and travel time change are quite orthogonal, this yields a good discrimination between deep and shallow defects. The approach is evaluated using experimental data from different pipes contain artificial and real defects.

  11. FIRST robots compete

    2000-01-01

    FIRST teams and their robots work to go through the right motions at the FIRST competition. Students from all over the country are at the KSC Visitor Complex for the FIRST (For Inspiration and Recognition of Science and Technology) Southeast Regional competition March 9-11 in the Rocket Garden. Teams of high school students are testing the limits of their imagination using robots they have designed, with the support of business and engineering professionals and corporate sponsors, to compete in a technological battle against other schools' robots. Of the 30 high school teams competing, 16 are Florida teams co-sponsored by NASA and KSC contractors. Local high schools participating are Astronaut, Bayside, Cocoa Beach, Eau Gallie, Melbourne, Melbourne Central Catholic, Palm Bay, Rockledge, Satellite, and Titusville.

  12. Measurement of high-beta tokamak pressure profiles with multipoint Thomson scattering

    Levinton, F.M.

    1983-01-01

    A multipoint Thomson-scattering system has been developed to obtain pressure profiles along the major radius of Torus II, a high-beta tokamak. The profiles obtained during the 20 to 25 μs lifetime of the discharge indicates that the plasma has a peak temperature of 80 eV and density of 1.0 x 10 15 cm - 3 . The profiles remain fairly constant during this time until the equilibrium is lost, after which the temperature and density decays to 10 eV and 10 14 cm - 3 very quickly (approx. 1 μs). Experimental results show Torus II has a high-beta ( approx. 10%) equilibrium, with a strong shift of the peak of the pressure profile towards the outside. Numerical results from a 2-D free boundary MHD equilibrium code have obtained equilibria which closely approximate the experimentally measured profiles

  13. Profiles of Change: Lessons for Improving High School Physical Education

    Doolittle, Sarah

    2014-01-01

    This feature has told stories of high school physical educators who have refused to accept the status quo of high school physical education programs. They have identified problems, initiated innovations in their own classes, implemented changes beyond their classes, and moved toward institutionalizing improvements throughout their programs and…

  14. Temperature profile evolution in quenching high-Tc ...

    Abstract. Irreversible normal zones leading to quench is an important aspect of high-temperature superconductors (HTS) in all practical applications. As a consequence of quench, transport current gets diverted to the matrix stabilizer material of the high-Tc composite and causes Joule heating till the original conditions are ...

  15. Design Analysis and Dynamic Modeling of a High-Speed 3T1R Pick-and-Place Parallel Robot

    Wu, Guanglei; Bai, Shaoping; Hjørnet, Preben

    2015-01-01

    This paper introduces a four degree-of-freedom parallel robot producing three translation and one rotation (Schönflies motion). This robot can generate a rectangular workspace that is close to the applicable work envelope and suitable for pick-and-place operations. The kinematics of the robot...... is studied to analyze the workspace and the isocontours of the local dexterity over the representative regular workspace are visualized. The simplified dynamics is modeled and compared with Adams model to show its effectiveness....

  16. International perspectives on the profile of highly talented international business professionals

    van Heugten, Petronella; Heijne-Penninga, Marjolein; Robbe, Patricia; Jaarsma, Debbie

    2017-01-01

    There is a global demand for talented managers and leaders. To meet this demand, higher education institutions are developing talent programs. However, international perception of talent is diffuse. In this study, our profile of highly talented international business professionals was

  17. Robotics Competitions: An Overview of First© Events and VEX© Competitions

    Habib, Maria A.

    2012-01-01

    Robotics competitions generate excitement and raise the profile of a robotics program. This article provides an overview of robotics competitions, concentrating on those sponsored by FIRST (For Inspiration and Recognition of Science and Technology) and RECF (Robotics Education and Competition Foundation). FIRST® LEGO® League and VEX® robotics…

  18. Interpersonal relationship of high schools' teachers and teachers profile

    Telli, Sibel; Cakiroglu, Jale; den Brok, Perry

    2009-01-01

    The purpose of the study was to examine associations between Turkish high school students' perceptions of their teachers' interpersonal behavior and drawn attention to the relationship between students' affective outcomes and teachers' interpersonal behavior. The Questionnaire on Teacher Interaction

  19. Interpersonal relationships of high schools' teachers and teachers' profiles

    Telli, S.; Cakiroglu, J.; Brok, den P.J.

    2009-01-01

    The purpose of the study was to examnine associations between Turkish high school students'perceptions of their teacher's interpersonal behavior and drawn attention to the relationship between students'affective outcomes and teachers' interpersonal behavior. The Questionnaire on Teacher

  20. Space Robotics Challenge

    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 arm

    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

  2. Robotic surgery

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

  3. Robotic parathyroidectomy.

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

    2015-09-01

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

  4. Light Robotics

    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...

  5. Robotic arm

    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.

  6. Thoughts turned into high-level commands: Proof-of-concept study of a vision-guided robot arm driven by functional MRI (fMRI) signals.

    Minati, Ludovico; Nigri, Anna; Rosazza, Cristina; Bruzzone, Maria Grazia

    2012-06-01

    Previous studies have demonstrated the possibility of using functional MRI to control a robot arm through a brain-machine interface by directly coupling haemodynamic activity in the sensory-motor cortex to the position of two axes. Here, we extend this work by implementing interaction at a more abstract level, whereby imagined actions deliver structured commands to a robot arm guided by a machine vision system. Rather than extracting signals from a small number of pre-selected regions, the proposed system adaptively determines at individual level how to map representative brain areas to the input nodes of a classifier network. In this initial study, a median action recognition accuracy of 90% was attained on five volunteers performing a game consisting of collecting randomly positioned coloured pawns and placing them into cups. The "pawn" and "cup" instructions were imparted through four mental imaginery tasks, linked to robot arm actions by a state machine. With the current implementation in MatLab language the median action recognition time was 24.3s and the robot execution time was 17.7s. We demonstrate the notion of combining haemodynamic brain-machine interfacing with computer vision to implement interaction at the level of high-level commands rather than individual movements, which may find application in future fMRI approaches relevant to brain-lesioned patients, and provide source code supporting further work on larger command sets and real-time processing. Copyright © 2012 IPEM. Published by Elsevier Ltd. All rights reserved.

  7. A high-throughput robotic sample preparation system and HPLC-MS/MS for measuring urinary anatabine, anabasine, nicotine and major nicotine metabolites.

    Wei, Binnian; Feng, June; Rehmani, Imran J; Miller, Sharyn; McGuffey, James E; Blount, Benjamin C; Wang, Lanqing

    2014-09-25

    Most sample preparation methods characteristically involve intensive and repetitive labor, which is inefficient when preparing large numbers of samples from population-scale studies. This study presents a robotic system designed to meet the sampling requirements for large population-scale studies. Using this robotic system, we developed and validated a method to simultaneously measure urinary anatabine, anabasine, nicotine and seven major nicotine metabolites: 4-Hydroxy-4-(3-pyridyl)butanoic acid, cotinine-N-oxide, nicotine-N-oxide, trans-3'-hydroxycotinine, norcotinine, cotinine and nornicotine. We analyzed robotically prepared samples using high-performance liquid chromatography (HPLC) coupled with triple quadrupole mass spectrometry in positive electrospray ionization mode using scheduled multiple reaction monitoring (sMRM) with a total runtime of 8.5 min. The optimized procedure was able to deliver linear analyte responses over a broad range of concentrations. Responses of urine-based calibrators delivered coefficients of determination (R(2)) of >0.995. Sample preparation recovery was generally higher than 80%. The robotic system was able to prepare four 96-well plate (384 urine samples) per day, and the overall method afforded an accuracy range of 92-115%, and an imprecision of labor-saving for sample preparation, making it efficient and practical for routine measurements in large population-scale studies such as the National Health and Nutrition Examination Survey (NHANES) and the Population Assessment of Tobacco and Health (PATH) study. Published by Elsevier B.V.

  8. 3D vision system for intelligent milking robot automation

    Akhloufi, M. A.

    2013-12-01

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

  9. Fiber-Reinforced Origamic Robotic Actuator.

    Yi, Juan; Chen, Xiaojiao; Song, Chaoyang; Wang, Zheng

    2018-02-01

    A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed with significant improvements on the popular McKibben-type actuators, offering nearly doubled motion range, substantially improved force profile, and significantly lower actuation pressure. The desirable feature set is made possible by a novel soft origamic chamber that expands radially while contracts axially when pressurized. Combining this new origamic chamber with a reinforcing fiber mesh, FORA generates very high traction force (over 150N) and very large contractile motion (over 50%) at very low input pressure (100 kPa). We developed quasi-static analytical models both to characterize the motion and forces and as guidelines for actuator design. Fabrication of FORA mostly involves consumer-grade three-dimensional (3D) printing. We provide a detailed list of materials and dimensions. Fabricated FORAs were tested on a dedicated platform against commercially available pneumatic artificial muscles from Shadow and Festo to showcase its superior performances and validate the analytical models with very good agreements. Finally, a robotic joint was developed driven by two antagonistic FORAs, to showcase the benefits of the performance improvements. With its simple structure, fully characterized mechanism, easy fabrication procedure, and highly desirable performance, FORA could be easily customized to application requirements and fabricated by anyone with access to a 3D printer. This will pave the way to the wider adaptation and application of soft robotic systems.

  10. Lightweight High Efficiency Electric Motors and Actuators for Low Temperature Mobility and Robotics Applications, Phase I

    National Aeronautics and Space Administration — Space Exploration Vehicles and Lunar Surface Systems require electromechanical systems that are varied and include long life capability, high reliability, high...

  11. Assessment Profile of Malaysia: High-Stakes External Examinations Dominate

    Ong, Saw Lan

    2010-01-01

    Malaysia is a federation of 13 states located in South-east Asia. The country consists of two geographical regions; Peninsular Malaysia (also known as West Malaysia) and Malaysian Borneo (also known as East Malaysia) separated by the South China Sea. The educational administration in Malaysia is highly centralised with four hierarchical levels;…

  12. Isoamylase profile of mung bean seedlings treated with high ...

    Simeen

    2013-03-27

    Mar 27, 2013 ... delamellation of endoplasmic reticulum in heat stressed barley aleurone cells. Plant Physiol. 92:1133-41. Cavusoglu K, Kudret K (2007). Comparative effects of some plant growth regulators on the germination of barley and radish seeds under high temperature stress. Eur. Asia. J. Bio. Sci. 1:1-10. Chen YM ...

  13. Construction of a Fish-like Robot Based on High Performance Graphene/PVDF Bimorph Actuation Materials.

    Xiao, Peishuang; Yi, Ningbo; Zhang, Tengfei; Huang, Yi; Chang, Huicong; Yang, Yang; Zhou, Ying; Chen, Yongsheng

    2016-06-01

    Smart actuators have many potential applications in various areas, so the development of novel actuation materials, with facile fabricating methods and excellent performances, are still urgent needs. In this work, a novel electromechanical bimorph actuator constituted by a graphene layer and a PVDF layer, is fabricated through a simple yet versatile solution approach. The bimorph actuator can deflect toward the graphene side under electrical stimulus, due to the differences in coefficient of thermal expansion between the two layers and the converse piezoelectric effect and electrostrictive property of the PVDF layer. Under low voltage stimulus, the actuator (length: 20 mm, width: 3 mm) can generate large actuation motion with a maximum deflection of about 14.0 mm within 0.262 s and produce high actuation stress (more than 312.7 MPa/g). The bimorph actuator also can display reversible swing behavior with long cycle life under high frequencies. on this basis, a fish-like robot that can swim at the speed of 5.02 mm/s is designed and demonstrated. The designed graphene-PVDF bimorph actuator exhibits the overall novel performance compared with many other electromechanical avtuators, and may contribute to the practical actuation applications of graphene-based materials at a macro scale.

  14. Construction of a Fish‐like Robot Based on High Performance Graphene/PVDF Bimorph Actuation Materials

    Xiao, Peishuang; Yi, Ningbo; Zhang, Tengfei; Chang, Huicong; Yang, Yang; Zhou, Ying

    2016-01-01

    Smart actuators have many potential applications in various areas, so the development of novel actuation materials, with facile fabricating methods and excellent performances, are still urgent needs. In this work, a novel electromechanical bimorph actuator constituted by a graphene layer and a PVDF layer, is fabricated through a simple yet versatile solution approach. The bimorph actuator can deflect toward the graphene side under electrical stimulus, due to the differences in coefficient of thermal expansion between the two layers and the converse piezoelectric effect and electrostrictive property of the PVDF layer. Under low voltage stimulus, the actuator (length: 20 mm, width: 3 mm) can generate large actuation motion with a maximum deflection of about 14.0 mm within 0.262 s and produce high actuation stress (more than 312.7 MPa/g). The bimorph actuator also can display reversible swing behavior with long cycle life under high frequencies. on this basis, a fish‐like robot that can swim at the speed of 5.02 mm/s is designed and demonstrated. The designed graphene‐PVDF bimorph actuator exhibits the overall novel performance compared with many other electromechanical avtuators, and may contribute to the practical actuation applications of graphene‐based materials at a macro scale. PMID:27818900

  15. Comparison of primary radiation versus robotic surgery plus adjuvant radiation in high-risk prostate cancer: A single center experience

    Prabhsimranjot Singh

    2015-01-01

    Full Text Available Objective: The objective of this study was to compare robotic-prostatectomy plus adjuvant radiation therapy (RPRAT versus primary RT for high-risk prostate cancer (HRPCa. Materials and Methods: A retrospective chart review was performed for the HRPCa patients treated in our institution between 2000 and 2010. One hundred and twenty-three patients with high-risk disease were identified. The Chi-square test and Fisher′s exact test were used to compare local control and distant failure rates between the two treatment modalities. For prostate-specific antigen comparisons between groups, Wilcoxon rank-sum test was used. Results: The median follow-up was 49 months (range: 3-138 months. Local control, biochemical recurrence rate, distant metastasis, toxicity, and disease-free survival were similar in the two groups. Conclusions: Primary RT is an excellent treatment option in patients with HRPCa, is equally effective and less expensive treatment compared with RPRAT. A prospective randomized study is required to guide treatment for patients with HRPCa.

  16. The Application of Virtex-II Pro FPGA in High-Speed Image Processing Technology of Robot Vision Sensor

    Ren, Y J; Zhu, J G; Yang, X Y; Ye, S H

    2006-01-01

    The Virtex-II Pro FPGA is applied to the vision sensor tracking system of IRB2400 robot. The hardware platform, which undertakes the task of improving SNR and compressing data, is constructed by using the high-speed image processing of FPGA. The lower level image-processing algorithm is realized by combining the FPGA frame and the embedded CPU. The velocity of image processing is accelerated due to the introduction of FPGA and CPU. The usage of the embedded CPU makes it easily to realize the logic design of interface. Some key techniques are presented in the text, such as read-write process, template matching, convolution, and some modules are simulated too. In the end, the compare among the modules using this design, using the PC computer and using the DSP, is carried out. Because the high-speed image processing system core is a chip of FPGA, the function of which can renew conveniently, therefore, to a degree, the measure system is intelligent

  17. The Application of Virtex-II Pro FPGA in High-Speed Image Processing Technology of Robot Vision Sensor

    Ren, Y. J.; Zhu, J. G.; Yang, X. Y.; Ye, S. H.

    2006-10-01

    The Virtex-II Pro FPGA is applied to the vision sensor tracking system of IRB2400 robot. The hardware platform, which undertakes the task of improving SNR and compressing data, is constructed by using the high-speed image processing of FPGA. The lower level image-processing algorithm is realized by combining the FPGA frame and the embedded CPU. The velocity of image processing is accelerated due to the introduction of FPGA and CPU. The usage of the embedded CPU makes it easily to realize the logic design of interface. Some key techniques are presented in the text, such as read-write process, template matching, convolution, and some modules are simulated too. In the end, the compare among the modules using this design, using the PC computer and using the DSP, is carried out. Because the high-speed image processing system core is a chip of FPGA, the function of which can renew conveniently, therefore, to a degree, the measure system is intelligent.

  18. Recent advances in robotics

    Beni, G.; Hackwood, S.

    1984-01-01

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

  19. SU-F-T-576: Characterization of Two Dimensional Liquid Filled Detector Array(SRS 1000) in High Precision Cyberknife Robotic Radiosurgery System

    Muthukumaran, M [Apollo Speciality Hospitals, Chennai, Tamil Nadu (India); Manigandan, D [Fortis Cancer Institute, Mohali, Punjab (India); Murali, V; Chitra, S; Ganapathy, K [Apollo Speciality Hospital, Chennai, Tamil Nadu (India); Vikraman, S [Jaypee Hospital – Radiation Onology, Noida, UTTAR PRADESH (India)

    2016-06-15

    Purpose: The aim of the study is to characterize a two dimensional liquid filled detector array SRS 1000 for routine QA in Cyberknife Robotic Radiosurgery system. Methods: SRS 1000 consists of 977 liquid filled ionization chambers and is designed to be used in small field SRS/SBRT techniques. The detector array has got two different spacial resolutions. Till field size of 5.5×5.5 cm the spacial resolution is 2.5mm (center to center) and after that till field size of 11 × 11 cm the spacial resolution is 5mm. The size of the detector is 2.3 × 2.3 0.5 mm with a volume of .003 cc. The CyberKnife Robotic Radiosurgery System is a frameless stereotactic radiosurgery system in which a LINAC is mounted on a robotic manipulator to deliver beams with a high sub millimeter accuracy. The SRS 1000’s MU linearity, stability, reproducibility in Cyberknife Robotic Radiosurgery system was measured and investigated. The output factors for fixed and IRIS collimators for all available collimators (5mm till 60 mm) was measured and compared with the measurement done with PTW pin-point ionization chamber. Results: The MU linearity was measured from 2 MU till 1000 MU for doserates in the range of 700cGy/min – 780 cGy/min and compared with the measurement done with pin point chamber The MU linearity was with in 3%. The detector arrays stability and reproducibility was excellent and was withinin 0.5% The measured output factors showed an agreement of better than 2% when compared with the measurements with pinpoint chamber for both fixed and IRIS collimators with all available field sizes. Conclusion: We have characterised PTW 1000 SRS as a precise and accurate measurement tool for routine QA of Cyberknife Robotic radiosurgery system.

  20. SU-F-T-576: Characterization of Two Dimensional Liquid Filled Detector Array(SRS 1000) in High Precision Cyberknife Robotic Radiosurgery System

    Muthukumaran, M; Manigandan, D; Murali, V; Chitra, S; Ganapathy, K; Vikraman, S

    2016-01-01

    Purpose: The aim of the study is to characterize a two dimensional liquid filled detector array SRS 1000 for routine QA in Cyberknife Robotic Radiosurgery system. Methods: SRS 1000 consists of 977 liquid filled ionization chambers and is designed to be used in small field SRS/SBRT techniques. The detector array has got two different spacial resolutions. Till field size of 5.5×5.5 cm the spacial resolution is 2.5mm (center to center) and after that till field size of 11 × 11 cm the spacial resolution is 5mm. The size of the detector is 2.3 × 2.3 0.5 mm with a volume of .003 cc. The CyberKnife Robotic Radiosurgery System is a frameless stereotactic radiosurgery system in which a LINAC is mounted on a robotic manipulator to deliver beams with a high sub millimeter accuracy. The SRS 1000’s MU linearity, stability, reproducibility in Cyberknife Robotic Radiosurgery system was measured and investigated. The output factors for fixed and IRIS collimators for all available collimators (5mm till 60 mm) was measured and compared with the measurement done with PTW pin-point ionization chamber. Results: The MU linearity was measured from 2 MU till 1000 MU for doserates in the range of 700cGy/min – 780 cGy/min and compared with the measurement done with pin point chamber The MU linearity was with in 3%. The detector arrays stability and reproducibility was excellent and was withinin 0.5% The measured output factors showed an agreement of better than 2% when compared with the measurements with pinpoint chamber for both fixed and IRIS collimators with all available field sizes. Conclusion: We have characterised PTW 1000 SRS as a precise and accurate measurement tool for routine QA of Cyberknife Robotic radiosurgery system.

  1. The Profile of Intrapreneurship Leadership of Vocational High School Principals

    Husaini Usman

    2016-02-01

    Full Text Available The implementation of the School Integrated Development (SID in the Vocational High School (VHS is quite ideal, but much of its succes depends on the activity in the VHS itself. The implementation of the SID in the VHS Bandung demonstrates the leadership style that tends to be authoritarian does not represent the intrapreneurship leadership characteristics. This conclusion shows 21 characteristics of intrapreneurship leadership with an acronym of Teknik. The training materials for candidates of VHS principals should include intrapreneurship leadership concept based on belief and piety, and science, technology, and art as one of its main subject matters

  2. A profile of effective leadership in some South African high-poverty schools

    Gerrit Kamper

    2008-02-01

    Full Text Available The struggle of high-poverty schools for survival is well documented. Some have overcome poverty-related odds and performed exceptionally well, prompting the following research question: What elements constitute a profile of effective leadership in high-poverty schools? Investigations conducted at six successful high-poverty schools revealed the contribution of invitational leadership to this success. I look at the personal traits and capabilities of effective leaders in high-poverty schools, as presented in a leadership profile.

  3. Production of high energy, uniform focal profiles with the Nike laser

    Lehecka, T.; Lehmberg, R. H.; Deniz, A. V.; Gerber, K. A.; Obenschain, S. P.; Pawley, C. J.; Pronko, M. S.; Sullivan, C. A.

    1995-02-01

    Nike, a KrF laser facility at the Naval Research Laboratory, is designed to produce high intensity, ultra-uniform focal profiles for experiments relating to direct drive inertial confinement fusion. We present measurements of focal profiles through the next-to-last amplifier, a 20 × 20 cm 2 aperture electron beam pumped amplifier capable of producing more than 120 J of output in a 120 ns pulse. Using echelon free induced spatial incoherence beam smoothing this system has produced focal profiles with less than 2% tilt and curvature and less than 2% rms variation from a flat top distribution.

  4. Design of Piano -playing Robotic Hand

    Lin Jen-Chang

    2013-09-01

    Full Text Available Unlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics reseach and market research agencies. In this study we developed a music playing robot (which can also work as a service robot for public performance. The research is mainly focused on the mechanical and electrical control of piano-playing robot, the exploration of correlations among music theory, rhythm and piano keys, and eventually the research on playing skill of keyboard instrument. The piano-playing robot is capable of control linear motor, servo-motor and pneumatic devices in accordance with the notes and rhythm in order to drive the mechanical structure to proper positions for pressing the keys and generating music. The devices used for this robot are mainly crucial components produced by HIWIN Technology Corp. The design of robotic hand is based on the direction of anthropomorphic hand such that five fingers will be used for playing piano. The finger actuations include actions of finger rotation, finger pressing, and finger lifting; time required for these 3 stages must meet the requirement of rhythm. The purpose of entertainment robot can be achieved by playing electric piano with robotic hand, and we hope this research can contribute to the development of domestic entertainment music playing robots.

  5. [Robot-assisted pancreatic resection].

    Müssle, B; Distler, M; Weitz, J; Welsch, T

    2017-06-01

    Although robot-assisted pancreatic surgery has been considered critically in the past, it is nowadays an established standard technique in some centers, for distal pancreatectomy and pancreatic head resection. Compared with the laparoscopic approach, the use of robot-assisted surgery seems to be advantageous for acquiring the skills for pancreatic, bile duct and vascular anastomoses during pancreatic head resection and total pancreatectomy. On the other hand, the use of the robot is associated with increased costs and only highly effective and professional robotic programs in centers for pancreatic surgery will achieve top surgical and oncological quality, acceptable operation times and a reduction in duration of hospital stay. Moreover, new technologies, such as intraoperative fluorescence guidance and augmented reality will define additional indications for robot-assisted pancreatic surgery.

  6. Artificial heart for humanoid robot

    Potnuru, Akshay; Wu, Lianjun; Tadesse, Yonas

    2014-03-01

    A soft robotic device inspired by the pumping action of a biological heart is presented in this study. Developing artificial heart to a humanoid robot enables us to make a better biomedical device for ultimate use in humans. As technology continues to become more advanced, the methods in which we implement high performance and biomimetic artificial organs is getting nearer each day. In this paper, we present the design and development of a soft artificial heart that can be used in a humanoid robot and simulate the functions of a human heart using shape memory alloy technology. The robotic heart is designed to pump a blood-like fluid to parts of the robot such as the face to simulate someone blushing or when someone is angry by the use of elastomeric substrates and certain features for the transport of fluids.

  7. Using High-Level RTOS Models for HW/SW Embedded Architecture Exploration: Case Study on Mobile Robotic Vision

    Verdier François

    2008-01-01

    Full Text Available Abstract We are interested in the design of a system-on-chip implementing the vision system of a mobile robot. Following a biologically inspired approach, this vision architecture belongs to a larger sensorimotor loop. This regulation loop both creates and exploits dynamics properties to achieve a wide variety of target tracking and navigation objectives. Such a system is representative of numerous flexible and dynamic applications which are more and more encountered in embedded systems. In order to deal with all of the dynamic aspects of these applications, it appears necessary to embed a dedicated real-time operating system on the chip. The presence of this on-chip custom executive layer constitutes a major scientific obstacle in the traditional hardware and software design flows. Classical exploration and simulation tools are particularly inappropriate in this case. We detail in this paper the specific mechanisms necessary to build a high-level model of an embedded custom operating system able to manage such a real-time but flexible application. We also describe our executable RTOS model written in SystemC allowing an early simulation of our application on top of its specific scheduling layer. Based on this model, a methodology is discussed and results are given on the exploration and validation of a distributed platform adapted to this vision system.

  8. High resolution measurement of the velocity profiles of channel flows using the particle image velocimetry technique

    Nor Azizi Mohamed

    2000-01-01

    The high resolution velocity profiles of a uniform steady channel flow and a flow beneath waves were obtained using the particle image velocimetry (PIV) technique. The velocity profiles for each flow were calculated for both components. It is shown that the profiles obtained are very precise, displaying the point velocities from a few millimeters from the bottom of the channel up to the water surface across the water depth. In the case of the wave-induced flow, the profiles are shown under the respective wave phases and given in a plane representation. High resolution measurement of point velocities in a flow is achievable using PIV and invaluable when applied to a complex flow. (Author)

  9. ISS Robotic Student Programming

    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.

  10. Soft Robotics Week

    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.

  11. High level programming for the control of a tele operating mobile robot and with line following; Programacion de alto nivel para el control de un robot movil teleoperado y con seguimiento de linea

    Bernal U, E. [Instituto Tecnologico de Toluca, Metepec, Estado de Mexico (Mexico)

    2006-07-01

    The TRASMAR automated vehicle was built with the purpose of transporting radioactive materials, it has a similar kinematic structure to that of a tricycle, in where the front wheel is the one in charge of offering the traction and direction, both rear wheels rotate freely and they are subject to a common axle. The electronic design was carried out being based on a MC68HC811 micro controller of the Motorola company. Of the characteristics that the robot possesses it stands out that it counts with an obstacle perception system through three ultrasonic sensors located in the front part of the vehicle to avoid collisions. The robot has two operation modes, the main mode is the manual, manipulated through a control by infrareds, although it can also move in autonomous way by means of the line pursuit technique using two reflective infrared sensors. As any other electronic system, the mobile robot required of improvements and upgrades. The modifications to be carried out were focused to the control stage. Its were intended as elements of upgrade the incorporation of the MC68HC912B32 micro controller and to replace the assembler language characteristic of this type of systems, by a high level language for micro controllers of this type, in this case the FORTH. In a same way it was implemented inside the program the function of the robot's displacement in an autonomous way by means of the line pursuit technique using control with fuzzy logic. The carried out work is distributed in the following way: In the chapter 1 the robot's characteristics are mentioned, as well as the objectives that thought about to the beginning of the project and the justifications that motivated the realization of this upgrade. In the chapters 2 at 5 are presented in a theoretical way the supports used for the the robot's upgrade, as the used modules of the micro controller, those main characteristics of the FORTH language, the theory of the fuzzy logic and the design of the stage

  12. High level programming for the control of a tele operating mobile robot and with line following; Programacion de alto nivel para el control de un robot movil teleoperado y con seguimiento de linea

    Bernal U, E [Instituto Tecnologico de Toluca, Metepec, Estado de Mexico (Mexico)

    2006-07-01

    The TRASMAR automated vehicle was built with the purpose of transporting radioactive materials, it has a similar kinematic structure to that of a tricycle, in where the front wheel is the one in charge of offering the traction and direction, both rear wheels rotate freely and they are subject to a common axle. The electronic design was carried out being based on a MC68HC811 micro controller of the Motorola company. Of the characteristics that the robot possesses it stands out that it counts with an obstacle perception system through three ultrasonic sensors located in the front part of the vehicle to avoid collisions. The robot has two operation modes, the main mode is the manual, manipulated through a control by infrareds, although it can also move in autonomous way by means of the line pursuit technique using two reflective infrared sensors. As any other electronic system, the mobile robot required of improvements and upgrades. The modifications to be carried out were focused to the control stage. Its were intended as elements of upgrade the incorporation of the MC68HC912B32 micro controller and to replace the assembler language characteristic of this type of systems, by a high level language for micro controllers of this type, in this case the FORTH. In a same way it was implemented inside the program the function of the robot's displacement in an autonomous way by means of the line pursuit technique using control with fuzzy logic. The carried out work is distributed in the following way: In the chapter 1 the robot's characteristics are mentioned, as well as the objectives that thought about to the beginning of the project and the justifications that motivated the realization of this upgrade. In the chapters 2 at 5 are presented in a theoretical way the supports used for the the robot's upgrade, as the used modules of the micro controller, those main characteristics of the FORTH language, the theory of the fuzzy logic and the design of the stage of power that

  13. Rehabilitation robotics.

    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.

  14. Robotic nurse duties in the urology operative room: 11 years of experience

    Ali Abdel Raheem

    2017-04-01

    Full Text Available The robotic nurse plays an essential role in a successful robotic surgery. As part of the robotic surgical team, the robotic nurse must demonstrate a high level of professional knowledge, and be an expert in robotic technology and dealing with robotic malfunctions. Each one of the robotic nursing team “nurse coordinator, scrub-nurse and circulating-nurse” has a certain job description to ensure maximum patient's safety and robotic surgical efficiency. Well-structured training programs should be offered to the robotic nurse to be well prepared, feel confident, and maintain high-quality of care.

  15. The application of manipulator robot for nuclear power plant maintenance

    Fujita, Jun; Onishi, Ken

    2009-01-01

    In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. In light of manufacture period, cost and reliability, various maintenance works are requested to be done by one robot. As one of the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. The manipulator technologies in this study are able to apply to robotization needed under radiation environment. (author)

  16. Mission Reliability Estimation for Repairable Robot Teams

    Trebi-Ollennu, Ashitey; Dolan, John; Stancliff, Stephen

    2010-01-01

    A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the

  17. Generic robot architecture

    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.

  18. Electricity demand profile with high penetration of heat pumps in Nordic area

    Liu, Zhaoxi; Wu, Qiuwei; Nielsen, Arne Hejde

    2013-01-01

    This paper presents the heat pump (HP) demand profile with high HP penetration in the Nordic area in order to achieve the carbon neutrality power system. The calculation method in the European Standard EN14825 was used to estimate the HP electricity demand profile. The study results show...... there will be high power demand from HPs and the selection of supplemental heating for heat pumps has a big impact on the peak electrical power load of heating. The study in this paper gives an estimate of the scale of the electricity demand with high penetration of heat pumps in the Nordic area....

  19. Cloud Robotics Platforms

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  20. Children with High-Functioning Autism and Asperger's Syndrome: Can We Differentiate Their Cognitive Profiles?

    Planche, Pascale; Lemonnier, Eric

    2012-01-01

    The aim of this study was to investigate whether children with high-functioning autism (HFA) and Asperger's syndrome (AS) can be differentiated from each other and from typically developing children on their cognitive profiles. The present study included a total of 45 participants: children with autism (high-functioning autism or Asperger's…

  1. A profile of effective leadership in some South African high-poverty ...

    The struggle of high-poverty schools for survival is well documented. Some have overcome poverty-related odds and performed exceptionally well, prompting the following research question: What elements constitute a profile of effective leadership in high-poverty schools? Investigations conducted at six successful

  2. Medical robotics

    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

  3. Service Robots

    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...

  4. Robot Choreography

    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...

  5. In situ profiling of eastern Arabian Sea coastal waters using a new autonomous vertical profiler

    Desa, E.S.; Madhan, R.; Dabholkar, N.A.; Prabhudesai, S.P.; Navelkar, G.S.; Mascarenhas, A.A.M.Q.; Afzulpurkar, S.; Phaldesai, M.; Maurya, P.

    The autonomous vertical profiler (AVP) presented here offers a fast, cost-effective, optimized approach to profiling in coastal waters. It consists of a hands-free, slightly buoyant, motor-driven in situ robot profiler that requires no operator...

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

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

    2011-09-01

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

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

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

    2011-09-01

    Microfluidics flow-patterning has been utilized for the construction of chip-scale miniaturized DNA and protein barcode arrays. Such arrays have been used for specific clinical and fundamental investigations in which many proteins are assayed from single cells or other small sample sizes. However, flow-patterned arrays are hand-prepared, and so are impractical for broad applications. We describe an integrated robotics/microfluidics platform for the automated preparation of such arrays, and we apply it to the batch fabrication of up to eighteen chips of flow-patterned DNA barcodes. The resulting substrates are comparable in quality with hand-made arrays and exhibit excellent substrate-to-substrate consistency. We demonstrate the utility and reproducibility of robotics-patterned barcodes by utilizing two flow-patterned chips for highly parallel assays of a panel of secreted proteins from single macrophage cells. © 2011 American Institute of Physics

  8. Automated gravimetric sample pretreatment using an industrial robot for the high-precision determination of plutonium by isotope dilution mass spectrometry

    Surugaya, Naoki; Hiyama, Toshiaki; Watahiki, Masaru

    2008-01-01

    A robotized sample-preparation method for the determination of Pu, which is recovered by extraction reprocessing of spent nuclear fuel, by isotope dilution mass spectrometry (IDMS) is described. The automated system uses a six-axis industrial robot, whose motility is very fast, accurate, and flexible, installed in a glove box. The automation of the weighing and dilution steps enables operator-unattended sample pretreatment for the high-precision analysis of Pu in aqueous solutions. Using the developed system, the Pu concentration in a HNO 3 medium was successfully determined using a set of subsequent mass spectrometric measurements. The relative uncertainty in determining the Pu concentration by IDMS using this system was estimated to be less than 0.1% (k=2), which is equal to that expected of a talented analysis. The operation time required was the same as that for a skilled operator. (author)

  9. Actively Perceiving and Responsive Soft Robots Enabled by Self-Powered, Highly Extensible, and Highly Sensitive Triboelectric Proximity- and Pressure-Sensing Skins.

    Lai, Ying-Chih; Deng, Jianan; Liu, Ruiyuan; Hsiao, Yung-Chi; Zhang, Steven L; Peng, Wenbo; Wu, Hsing-Mei; Wang, Xingfu; Wang, Zhong Lin

    2018-06-04

    Robots that can move, feel, and respond like organisms will bring revolutionary impact to today's technologies. Soft robots with organism-like adaptive bodies have shown great potential in vast robot-human and robot-environment applications. Developing skin-like sensory devices allows them to naturally sense and interact with environment. Also, it would be better if the capabilities to feel can be active, like real skin. However, challenges in the complicated structures, incompatible moduli, poor stretchability and sensitivity, large driving voltage, and power dissipation hinder applicability of conventional technologies. Here, various actively perceivable and responsive soft robots are enabled by self-powered active triboelectric robotic skins (tribo-skins) that simultaneously possess excellent stretchability and excellent sensitivity in the low-pressure regime. The tribo-skins can actively sense proximity, contact, and pressure to external stimuli via self-generating electricity. The driving energy comes from a natural triboelectrification effect involving the cooperation of contact electrification and electrostatic induction. The perfect integration of the tribo-skins and soft actuators enables soft robots to perform various actively sensing and interactive tasks including actively perceiving their muscle motions, working states, textile's dampness, and even subtle human physiological signals. Moreover, the self-generating signals can drive optoelectronic devices for visual communication and be processed for diverse sophisticated uses. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  10. Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

    Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

    2017-08-01

    This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

  11. Nanometer-scale displacement measurement with high resolution using dual cavity Fabry-Pérot interferometer for biomimetic robots.

    Lee, Jin-Hyuk; Kim, Dae-Hyun

    2014-10-01

    A sensor of a biomimetic robot has to measure very small environmental changes such as, nanometer scale strains or displacements. Fiber optic sensor can be also one of candidates for the biomimetic sensor because the sensor is like thread and the shape of the sensor is similar to muscle fiber. A fiber optic interferometer, which is an optical-based sensor, can measure displacement precisely, so such device has been widely studied for the measurement of displacement on a nanometer-scale. Especially, a Quadrature Phase-Shifted Fiber Fabry-Pérot interferometer (QPS-FFPI) uses phase-information for this measurement, allowing it to provide a precision result with high resolution. In theory, the QPS-FFPI generates two sinusoidal signals of which the phase difference should be 90 degrees for the exact measurement of the displacement. In order to guarantee the condition of the phase difference, the relative adjustment of the cavities of the optical fibers is required. However, with such precise adjustment it is very hard to fix the proper difference of the two cavities for quadrature-phase-shifting. In this paper, a dual-cavity FFPI is newly proposed to measure the displacement on a nanometer-scale with a specific type of signal processing. In the signal processing, a novel phase-compensation algorithm is applied to force the phase difference to be exactly 90 degrees without any physical adjustment. As a result, the paper shows that the phase-compensated dual-cavity FFPI can effectively measure nanometer-scale displacement with high resolution under dynamic conditions.

  12. Analysis of motivational profiles of satisfaction and importance of physical education in high school adolescents.

    Granero-Gallegos, Antonio; Baena-Extremera, Antonio; Pérez-Quero, Francisco J; Ortiz-Camacho, Maria M; Bracho-Amador, Clara

    2012-01-01

    The purpose of this study was to analyze the motivational profiles of satisfaction with and importance of physical education in high school students and its relation with gender and the practice of sport. The sample comprised 2002 students aged from 12 to 19 who completed the Sport Motivation Scale (Núñez et al., 2006), the Sport Satisfaction Instrument (Baena-Extremera et al., 2012) and the Importance of Physical Education Scale (Moreno et al., 2009). Descriptive analyzes, correlations between the scales, a cluster analysis for profiles, and a MANOVA were conducted to examine differences by gender. Three clusters (profiles) were identified. The first profile identified was "moderate" motivation (n = 463) and was associated with boys who practice physical activity for less than 3 hours per week. The second profile identified was "low" motivation (n = 545) and was associated mainly with girls who practice physical activity for less than 3 hours per week. And lastly the third profile identified was "high" motivation (n = 910), which was found to be greater in boys who practiced physical exercise for more than 3 hours a week.

  13. High resolution measurements and modeling of auroral hydrogen emission line profiles

    B. S. Lanchester

    Full Text Available Measurements in the visible wavelength range at high spectral resolution (1.3 Å have been made at Longyearbyen, Svalbard (15.8 E,78.2 N during an interval of intense proton precipitation. The shape and Doppler shift of hydrogen Balmer beta line profiles have been compared with model line profiles, using as input ion energy spectra from almost coincident passes of the FAST and DMSP spacecraft. The comparison shows that the simulation contains the important physical processes that produce the profiles, and confirms that measured changes in the shape and peak wave-length of the hydrogen profiles are the result of changing energy input. This combination of high resolution measurements with modeling provides a method of estimating the incoming energy and changes in flux of precipitating protons over Svalbard, for given energy and pitch-angle distributions. Whereas for electron precipitation, information on the incident particles is derived from brightness and brightness ratios which require at least two spectral windows, for proton precipitation the Doppler profile of resulting hydrogen emission is directly related to the energy and energy flux of the incident energetic protons and can be used to gather information about the source region. As well as the expected Doppler shift to shorter wavelengths, the measured profiles have a significant red-shifted component, the result of upward flowing emitting hydrogen atoms.

    Key words. Ionosphere (auroral ionosphere; particle precipitation – Magnetospheric physics (auroral phenomena

  14. High resolution measurements and modeling of auroral hydrogen emission line profiles

    B. S. Lanchester

    2003-07-01

    Full Text Available Measurements in the visible wavelength range at high spectral resolution (1.3 Å have been made at Longyearbyen, Svalbard (15.8 E,78.2 N during an interval of intense proton precipitation. The shape and Doppler shift of hydrogen Balmer beta line profiles have been compared with model line profiles, using as input ion energy spectra from almost coincident passes of the FAST and DMSP spacecraft. The comparison shows that the simulation contains the important physical processes that produce the profiles, and confirms that measured changes in the shape and peak wave-length of the hydrogen profiles are the result of changing energy input. This combination of high resolution measurements with modeling provides a method of estimating the incoming energy and changes in flux of precipitating protons over Svalbard, for given energy and pitch-angle distributions. Whereas for electron precipitation, information on the incident particles is derived from brightness and brightness ratios which require at least two spectral windows, for proton precipitation the Doppler profile of resulting hydrogen emission is directly related to the energy and energy flux of the incident energetic protons and can be used to gather information about the source region. As well as the expected Doppler shift to shorter wavelengths, the measured profiles have a significant red-shifted component, the result of upward flowing emitting hydrogen atoms.Key words. Ionosphere (auroral ionosphere; particle precipitation – Magnetospheric physics (auroral phenomena

  15. ANALYSIS OF MOTIVATIONAL PROFILES OF SATISFACTION AND IMPORTANCE OF PHYSICAL EDUCATION IN HIGH SCHOOL ADOLESCENTS

    Antonio Granero-Gallegos

    2012-12-01

    Full Text Available he purpose of this study was to analyze the motivational profiles of satisfaction with and importance of physical education in high school students and its relation with gender and the practice of sport. The sample comprised 2002 students aged from 12 to 19 who completed the Sport Motivation Scale (Núñez et al., 2006, the Perception of Success Scale (Martínez et al., 2006, the Sport Satisfaction Instrument (Baena-Extremera et al., 2012 and the Importance of Physical Education Scale (Moreno et al., 2009. Descriptive analyzes, correlations between the scales, a cluster analysis for profiles, and a MANOVA were conducted to examine differences by gender. Three clusters (profiles were identified. The first profile identified was "moderate" motivation (n = 463 and was associated with boys who practice physical activity for less than 3 hours per week. The second profile identified was "low" motivation (n = 545 and was associated mainly with girls who practice physical activity for less than 3 hours per week. And lastly the third profile identified was "high" motivation (n = 910, which was found to be greater in boys who practiced physical exercise for more than 3 hours a week

  16. High throughtput comparisons and profiling of metagenomes for industrially relevant enzymes

    Alam, Intikhab

    2016-01-26

    More and more genomes and metagenomes are being sequenced since the advent of Next Generation Sequencing Technologies (NGS). Many metagenomic samples are collected from a variety of environments, each exhibiting a different environmental profile, e.g. temperature, environmental chemistry, etc… These metagenomes can be profiled to unearth enzymes relevant to several industries based on specific enzyme properties such as ability to work on extreme conditions, such as extreme temperatures, salinity, anaerobically, etc.. In this work, we present the DMAP platform comprising of a high-throughput metagenomic annotation pipeline and a data-warehouse for comparisons and profiling across large number of metagenomes. We developed two reference databases for profiling of important genes, one containing enzymes related to different industries and the other containing genes with potential bioactivity roles. In this presentation we describe an example analysis of a large number of publicly available metagenomic sample from TARA oceans study (Science 2015) that covers significant part of world oceans.

  17. Collision-free motion coordination of heterogeneous robots

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

    2008-01-01

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

  18. Collision-free motion coordination of heterogeneous robots

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

    2008-11-15

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

  19. Determination of boundaries between ranges of high and low gradient of beam profile.

    Wendykier, Jacek; Bieniasiewicz, Marcin; Grządziel, Aleksandra; Jedynak, Tadeusz; Kośniewski, Wiktor; Reudelsdorf, Marta; Wendykier, Piotr

    2016-01-01

    This work addresses the problem of treatment planning system commissioning by introducing a new method of determination of boundaries between high and low gradient in beam profile. The commissioning of a treatment planning system is a very important task in the radiation therapy. One of the main goals of this task is to compare two field profiles: measured and calculated. Applying points of 80% and 120% of nominal field size can lead to the incorrect determination of boundaries, especially for small field sizes. The method that is based on the beam profile gradient allows for proper assignment of boundaries between high and low gradient regions even for small fields. TRS 430 recommendations for commissioning were used. The described method allows a separation between high and low gradient, because it directly uses the value of the gradient of a profile. For small fields, the boundaries determined by the new method allow a commissioning of a treatment planning system according to the TRS 430, while the point of 80% of nominal field size is already in the high gradient region. The method of determining the boundaries by using the beam profile gradient can be extremely helpful during the commissioning of the treatment planning system for Intensity Modulated Radiation Therapy or for other techniques which require very small field sizes.

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

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  1. Robot vision for nuclear advanced robot

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

    1991-01-01

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

  2. Experiments on co-operating robot arms

    Arthaya, B.; De Schutter, J.

    1994-01-01

    When two robots manipulate a common object or perform a single task together, a closed-kinematic chain is formed. If both robots are controlled under position control only, at a certain phase during the manipulation, the interaction forces may become unacceptably high. The interaction forces are caused by the kinematic as well as the dynamic errors in the robot position controller. In order to avoid this problem, a synchronized motion between both robots has to be generated, not only by controlling the position (velocity) of the two end-effectors, but also by controlling the interaction forces between them. In order to generate a synchronized motion, the first robot controller continuously modifies the task frame velocity corresponding to the velocity of the other robot. This implies that the velocity of the other robot is used as feed-forward information in order to anticipate its motion. This approach results in a better tracking behaviour

  3. Experientally guided robots. [for planet exploration

    Merriam, E. W.; Becker, J. D.

    1974-01-01

    This paper argues that an experientally guided robot is necessary to successfully explore far-away planets. Such a robot is characterized as having sense organs which receive sensory information from its environment and motor systems which allow it to interact with that environment. The sensori-motor information which it receives is organized into an experiential knowledge structure and this knowledge in turn is used to guide the robot's future actions. A summary is presented of a problem solving system which is being used as a test bed for developing such a robot. The robot currently engages in the behaviors of visual tracking, focusing down, and looking around in a simulated Martian landscape. Finally, some unsolved problems are outlined whose solutions are necessary before an experientally guided robot can be produced. These problems center around organizing the motivational and memory structure of the robot and understanding its high-level control mechanisms.

  4. Robotic Prostate Biopsy in Closed MRI Scanner

    Fischer, Gregory

    2008-01-01

    .... This work enables prostate brachytherapy and biopsy procedures in standard high-field diagnostic MRI scanners through the development of a robotic needle placement device specifically designed...

  5. The personality profile of police recruits who are high on anxiety

    Burgert van Jaarsveld

    2007-02-01

    Full Text Available The principal objective of the study was to determine the personality profile of police recruits who are high on anxiety. A secondary objective was to determine whether there are gender and ethnic differences in the levels of anxiety of those police recruits. To investigate the stated objectives the NEO Personality Inventory, Locus of Control Inventory and the IPAT Anxiety Scale were applied to 487 police recruits. Complete records were obtained for 259 participants. In comparing the personality profiles of participants who are high on anxiety and those who are low, it turned out that the biggest differences were in respect of Neuroticism, External Locus of Control and Agreeableness.

  6. Microstructure, microbial profile and quality characteristics of high-pressure-treated chicken nuggets.

    Devatkal, Suresh; Anurag, Rahul; Jaganath, Bindu; Rao, Srinivasa

    2015-10-01

    High-pressure processing (300 MPa for 5 min) as a non-thermal post-processing intervention was employed to improve the shelf life and qualities of cooked refrigerated chicken nuggets. Pomegranate peel extract (1%) was also used as a source of natural antioxidant and antimicrobial in chicken nuggets. Microstructure, microbial profile, instrumental colour, texture profile and lipid oxidation were evaluated. High-pressure treatment and pomegranate peel extract did not influence significantly the colour and textural properties of cooked chicken nuggets. Thiobarbituric acid reactive substance values significantly (p chicken nuggets were the major spoilage bacteria. © The Author(s) 2014.

  7. Robotic Surgery

    Childress, Vincent W.

    2007-01-01

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

  8. Robot-assisted biopsies in a high-field MRI system. First clinical results

    Schell, B.; Eichler, K.; Mack, M.G.; Mueller, C.; Kerl, J.M.; Beeres, M.; Thalhammer, A.; Vogl, T.J.; Zangos, S.; Czerny, C.

    2012-01-01

    Purpose: The purpose of this study was to examine the clinical use of MR-guided biopsies in patients with suspicious lesions using a new MR-compatible assistance system in a high-field MR system. Materials and Methods: Six patients with suspicious focal lesions in various anatomic regions underwent percutanous biopsy in a high-field MR system (1.5 T, Magnetom Espree, Siemens) using a new MR-compatible assistance system (Innomotion). The procedures were planned and guided using T1-weighted FLASH and TrueFISP sequences. A servopneumatic drive then moved the guiding arm automatically to the insertion point. An MRI compatible 15G biopsy system (Somatex) was introduced by a physician guided by the needle holder and multiple biopsies were performed using the coaxial technique. The feasibility, duration of the intervention and biopsy findings were analyzed. Results: The proposed new system allows accurate punctures in a high-field MR system. The assistance device did not interfere with the image quality, and guided the needle virtually exactly as planned. Histological examination could be conducted on every patient. The lesion was malignant in four cases, and an infectious etiology was diagnosed for the two remaining lesions. Regarding the differentiation of anatomical and pathological structures and position monitoring of the insertion needle, TrueFISP images are to be given preference. The average intervention time was 41 minutes. Lesions up to 15.4 cm beneath the skin surface were punctured. Conclusion: The proposed MR-guided assistance system can be successfully utilized in a high-field MR system for accurate punctures of even deep lesions in various anatomic regions. (orig.)

  9. Line profiles of hydrogenic ions from high-temperature and high-density plasmas

    Hou Qing; Li Jianming

    1991-01-01

    Applying the Hooper's first-order theory, the authors calculate the static micro-electric field distributions in plasmas containing various multiply-charged ions. The influences of the impurity concentrations on the micro electric field distributions and on the Lyman profiles (n→1) from hydrogenic ions are analysed. Based on the optical-thin line profiles, the radiation transfer equation in sphere plasmas with various optical depths is solved. The results confirm that the opacity-broadening of the line profiles has almost no effect on the separation of Lyman β splitted peaks. Such separation is determined by electric field at which the static micro-electric field distribution has a maximum. The separation can be utilized for spatially resolved and temporally resolved density diagnostic of fusion plasmas

  10. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    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

  11. Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

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

    1999-05-15

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

  12. High triglycerides and low high-density lipoprotein cholesterol lipid profile in rheumatoid arthritis: A potential link among inflammation, oxidative status, and dysfunctional high-density lipoprotein.

    Rodríguez-Carrio, Javier; Alperi-López, Mercedes; López, Patricia; López-Mejías, Raquel; Alonso-Castro, Sara; Abal, Francisco; Ballina-García, Francisco J; González-Gay, Miguel Á; Suárez, Ana

    The interactions between inflammation and lipid profile in rheumatoid arthritis (RA) are poorly understood. The lipid profile study in RA has been biased toward lipoprotein levels, whereas those of triglycerides (TGs) and lipoprotein functionality have been underestimated. Since recent findings suggest a role for TG and TG-rich lipoproteins (TRL) on inflammation, we aimed to evaluate a combined lipid profile characterized by high TG and low high-density lipoprotein cholesterol levels (TG high HDL low ) in RA. Lipid profiles were analyzed in 113 RA patients, 113 healthy controls, and 27 dyslipemic subjects. Levels of inflammatory mediators, paraoxonase-1 (PON1) activity, and total antioxidant capacity were quantified in serum. PON1-rs662 status was evaluated by real-time polymerase chain reaction. The TG high HDL low profile was detected in 29/113 RA patients. Although no differences in prevalence compared with healthy controls or dyslipemic subjects were observed, this profile was associated with increased tumor necrosis factor α (P = .004), monocyte chemotactic protein (P = .004), interferon-gamma-inducible protein-10 (P = .018), and leptin (P < .001) serum levels in RA, where decreased PON1 activity and total antioxidant capacity were found. TG high HDL low prevalence was lower among anti-TNFα-treated patients (P = .004). When RA patients were stratified by PON1-rs662 status, these associations remained in the low-activity genotype (QQ). Finally, a poor clinical response on TNFα blockade was related to an increasing prevalence of the TG high HDL low profile over treatment (P = .021) and higher TRL levels at baseline (P = .042). The TG high HDL low profile is associated with systemic inflammation, decreased PON1 activity, and poor clinical outcome on TNFα blockade in RA, suggesting a role of TRL and HDL dysfunction as the missing link between inflammation and lipid profile. Copyright © 2017 National Lipid Association. Published by Elsevier Inc

  13. ARIES: A mobile robot inspector

    Byrd, J.S.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a mobile robot inspection system being developed for the Department of Energy (DOE) to survey and inspect drums containing mixed and low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an autonomous inspection operation, typically performed by a human operator. It will make real-time decisions about the condition of the drums, maintain a database of pertinent information about each drum, and generate reports

  14. NASA, Engineering, and Swarming Robots

    Leucht, Kurt

    2015-01-01

    This presentation is an introduction to NASA, to science and engineering, to biologically inspired robotics, and to the Swarmie ant-inspired robot project at KSC. This presentation is geared towards elementary school students, middle school students, and also high school students. This presentation is suitable for use in STEM (science, technology, engineering, and math) outreach events. The first use of this presentation will be on Oct 28, 2015 at Madison Middle School in Titusville, Florida where the author has been asked by the NASA-KSC Speakers Bureau to speak to the students about the Swarmie robots.

  15. A High Precision Approach to Calibrate a Structured Light Vision Sensor in a Robot-Based Three-Dimensional Measurement System

    Defeng Wu

    2016-08-01

    Full Text Available A robot-based three-dimensional (3D measurement system is presented. In the presented system, a structured light vision sensor is mounted on the arm of an industrial robot. Measurement accuracy is one of the most important aspects of any 3D measurement system. To improve the measuring accuracy of the structured light vision sensor, a novel sensor calibration approach is proposed to improve the calibration accuracy. The approach is based on a number of fixed concentric circles manufactured in a calibration target. The concentric circle is employed to determine the real projected centres of the circles. Then, a calibration point generation procedure is used with the help of the calibrated robot. When enough calibration points are ready, the radial alignment constraint (RAC method is adopted to calibrate the camera model. A multilayer perceptron neural network (MLPNN is then employed to identify the calibration residuals after the application of the RAC method. Therefore, the hybrid pinhole model and the MLPNN are used to represent the real camera model. Using a standard ball to validate the effectiveness of the presented technique, the experimental results demonstrate that the proposed novel calibration approach can achieve a highly accurate model of the structured light vision sensor.

  16. System and method for seamless task-directed autonomy for robots

    Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles

    2012-09-18

    Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

  17. Determination of the High Frequency Inductance Profile of Surface Mounted Permanent Magnet Synchronous Motors

    Lu, Kaiyuan; Rasmussen, Peter Omand; Ritchie, Ewen

    2008-01-01

    ) synchronous motors. This paper presents an AC+DC measurement method for determination of the d-axis and q-axis high frequency inductance profiles of SMPM synchronous motors. This method uses DC currents to set a desired magnetic working point on the motor laminations, and then superimpose balanced small AC......Accurate knowledge of the high frequency inductance profile plays an important role in many designs of sensorless controllers for Surface inductance. A special algorithm is used to decouple the cross-coupling effects between the d-axis and the q-axis, which allows Mounted Permanent Magnet (SMPM...... signals to measure the incremental a separate determination of the d, q inductance profiles as functions of the d, q currents. Experimental results on a commercial SMPM motor using the proposed method are presented in this paper....

  18. Development of a high-resolution electron-beam profile monitor using Fresnel zone plates

    Nakamura, Norio; Sakai, Hiroshi; Muto, Toshiya; Hayano, Hitoshi

    2004-01-01

    We present a high-resolution and real-time beam profile monitor using Fresnel zone plates (FZPs) developed in the KEK-ATF damping ring. The monitor system has an X-ray imaging optics with two FZPs. In this monitor, the synchrotron radiation from the electron beam at the bending magnet is monochromatized by a crystal monochromator and the transverse electron beam image is twenty-times magnified by the two FZPs and detected on an X-ray CCD camera. The expected spatial resolution for the selected photon energy of 3.235 keV is less than 1 μm. With the beam profile monitor, we succeeded in obtaining a clear electron-beam image and measuring the extremely small beam size less than 10 μm. It is greatly expected that the beam profile monitor will be used in high-brilliance light sources and low-emittance accelerators. (author)

  19. High resolution humidity, temperature and aerosol profiling with MeteoSwiss Raman lidar

    Dinoev, Todor; Arshinov, Yuri; Bobrovnikov, Sergei; Serikov, Ilya; Calpini, Bertrand; van den Bergh, Hubert; Parlange, Marc B.; Simeonov, Valentin

    2010-05-01

    Meteorological services rely, in part, on numerical weather prediction (NWP). Twice a day radiosonde observations of water vapor provide the required data for assimilation but this time resolution is insufficient to resolve certain meteorological phenomena. High time resolution temperature profiles from microwave radiometers are available as well but have rather low vertical resolution. The Raman LIDARs are able to provide temperature and humidity profiles with high time and range resolution, suitable for NWP model assimilation and validation. They are as well indispensible tools for continuous aerosol profiling for high resolution atmospheric boundary layer studies. To improve the database available for direct meteorological applications the Swiss meteo-service (MeteoSwiss), the Swiss Federal Institute of Technology in Lausanne (EPFL) and the Swiss National Science Foundation (SNSF) initiated a project to design and build an automated Raman lidar for day and night vertical profiling of tropospheric water vapor with the possibility to further upgrade it with an aerosol and temperature channels. The project was initiated in 2004 and RALMO (Raman Lidar for meteorological observations) was inaugurated in August 2008 at MeteoSwiss aerological station at Payerne. RALMO is currently operational and continuously profiles water vapor mixing ratio, aerosol backscatter ratio and aerosol extinction. The instrument is a fully automated, self-contained, eye-safe Raman lidar operated at 355 nm. Narrow field-of-view multi-telescope receiver and narrow band detection allow day and night-time vertical profiling of the atmospheric humidity. The rotational-vibrational Raman lidar responses from water vapor and nitrogen are spectrally separated by a high-throughput fiber coupled diffraction grating polychromator. The elastic backscatter and pure-rotational Raman lidar responses (PRR) from oxygen and nitrogen are spectrally isolated by a double grating polychromator and are used to

  20. Sonographic biophysical profile in detection of foetal hypoxia in 100 cases of suspected high risk pregnancy

    Ullah, N.; Khan, A.R.; Usman, M.

    2010-01-01

    Background: The foetus has become increasingly accessible and visible as a patient over the last two decades. Ultrasound imaging has broadened the scope of foetal assessment. Dynamic real time B-Mode ultrasound is used to monitor cluster of biophysical variables, both dynamic and static collectively termed as biophysical profile. The purpose of this study was to determine the effect of sonographic biophysical profile score on perinatal outcome in terms of mortality and morbidity. Methods: This descriptive study was carried on 100 randomly select ed high risk pregnant patients in Radiology Department PGMI, Government Lady Reading Hospital, Peshawar from December 2007 to June 2008. Manning biophysical profile including non-stress was employed for foetal screening, using Toshiba ultrasound machine model Nemio SSA-550A and 7.5 MHZ probe. Results: Out of 100 cases 79 (79%) had a normal biophysical profile in the last scan of 10/10 and had a normal perinatal outcome with 5 minutes Apgar score >7/10. In 13 (13%) cases Apgar score at 5 minute was < 7/10 and babies were shifted to nursery. There were 2 (2%) false positive cases that showed abnormal biophysical profile scores of 6/10 but babies were born with an Apgar score of 8/10 at 5 minutes. There were 2 (2%) neonatal deaths in this study group. The sensitivity of biophysical profile was 79.1%, specificity 92.9%. Predictive value for a positive test was 98.55%; predictive value for a negative test was 41.93%. Conclusion: Biophysical profile is highly accurate and reliable test of diagnosing foetal hypoxia. (author)

  1. Hand-held medical robots.

    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.

  2. A comparative study of erectile function and use of erectile aids in high-risk prostate cancer patients after robot-assisted laparoscopic prostatectomy

    Østby-Deglum, Marie; Brennhovd, B.; Axcrona, K.

    2015-01-01

    Objective. Erectile function with and without use of erectile aids was compared in high-, intermediate- and low-risk prostate cancer patients at a mean of 3 years after robot-assisted laparoscopic prostatectomy (RALP). Materials and methods. A sample of 982 men who underwent RALP at Oslo University...... according to the preoperative D'Amico classification. Based on questionnaire data, two primary outcomes were defined: ability to have intercourse (sufficient erection), and use and effect of erectile aids. Results. Sufficient erection with or without erectile aids was reported by 19% of the high-, 30...

  3. Large Aircraft Robotic Paint Stripping (LARPS) system and the high pressure water process

    See, David W.; Hofacker, Scott A.; Stone, M. Anthony; Harbaugh, Darcy

    1993-03-01

    The aircraft maintenance industry is beset by new Environmental Protection Agency (EPA) guidelines on air emissions, Occupational Safety and Health Administration (OSHA) standards, dwindling labor markets, Federal Aviation Administration (FAA) safety guidelines, and increased operating costs. In light of these factors, the USAF's Wright Laboratory Manufacturing Technology Directorate and the Aircraft Division of the Oklahoma City Air Logistics Center initiated a MANTECH/REPTECH effort to automate an alternate paint removal method and eliminate the current manual methylene chloride chemical stripping methods. This paper presents some of the background and history of the LARPS program, describes the LARPS system, documents the projected operational flow, quantifies some of the projected system benefits and describes the High Pressure Water Stripping Process. Certification of an alternative paint removal method to replace the current chemical process is being performed in two phases: Process Optimization and Process Validation. This paper also presents the results of the Process Optimization for metal substrates. Data on the coating removal rate, residual stresses, surface roughness, preliminary process envelopes, and technical plans for process Validation Testing will be discussed.

  4. Human and Robotic Space Mission Use Cases for High-Performance Spaceflight Computing

    Some, Raphael; Doyle, Richard; Bergman, Larry; Whitaker, William; Powell, Wesley; Johnson, Michael; Goforth, Montgomery; Lowry, Michael

    2013-01-01

    Spaceflight computing is a key resource in NASA space missions and a core determining factor of spacecraft capability, with ripple effects throughout the spacecraft, end-to-end system, and mission. Onboard computing can be aptly viewed as a "technology multiplier" in that advances provide direct dramatic improvements in flight functions and capabilities across the NASA mission classes, and enable new flight capabilities and mission scenarios, increasing science and exploration return. Space-qualified computing technology, however, has not advanced significantly in well over ten years and the current state of the practice fails to meet the near- to mid-term needs of NASA missions. Recognizing this gap, the NASA Game Changing Development Program (GCDP), under the auspices of the NASA Space Technology Mission Directorate, commissioned a study on space-based computing needs, looking out 15-20 years. The study resulted in a recommendation to pursue high-performance spaceflight computing (HPSC) for next-generation missions, and a decision to partner with the Air Force Research Lab (AFRL) in this development.

  5. Workspace Analysis for Parallel Robot

    Ying Sun

    2013-05-01

    Full Text Available As a completely new-type of robot, the parallel robot possesses a lot of advantages that the serial robot does not, such as high rigidity, great load-carrying capacity, small error, high precision, small self-weight/load ratio, good dynamic behavior and easy control, hence its range is extended in using domain. In order to find workspace of parallel mechanism, the numerical boundary-searching algorithm based on the reverse solution of kinematics and limitation of link length has been introduced. This paper analyses position workspace, orientation workspace of parallel robot of the six degrees of freedom. The result shows: It is a main means to increase and decrease its workspace to change the length of branch of parallel mechanism; The radius of the movement platform has no effect on the size of workspace, but will change position of workspace.

  6. Development of a procedure to model high-resolution wind profiles from smoothed or low-frequency data

    Camp, D. W.

    1977-01-01

    The derivation of simulated Jimsphere wind profiles from low-frequency rawinsonde data and a generated set of white noise data are presented. A computer program is developed to model high-resolution wind profiles based on the statistical properties of data from the Kennedy Space Center, Florida. Comparison of the measured Jimsphere data, rawinsonde data, and the simulated profiles shows excellent agreement.

  7. Students' Acceptance of Tablet PCs in Italian High Schools: Profiles and Differences

    Villani, Daniela; Morganti, Laura; Carissoli, Claudia; Gatti, Elena; Bonanomi, Andrea; Cacciamani, Stefano; Confalonieri, Emanuela; Riva, Giuseppe

    2018-01-01

    The tablet PC represents a very popular mobile computing device, and together with other technologies it is changing the world of education. This study aimed to explore the acceptance of tablet PC of Italian high school students in order to outline the typical students' profiles and to compare the acceptance conveyed in two types of use (learning…

  8. Just Images. Television News Coverage of High-Profile Criminal Trials.

    Trossman, Mindy S.

    This guide describes "Just Images" a series of television programs and exhibitions that offers a public forum for analyzing television's influential portrayals of trials, lawyers, and the legal system. Contending that television portrayals of high-profile trials has altered the public's perception of law and the role of lawyers in the legal…

  9. Profile of Secondary School Students with High Mathematics Ability in Solving Shape and Space Problem

    Putra, Mulia; Novita, Rita

    2015-01-01

    This study aimed to describe the profile of secondary school students with high mathematics ability in solving shape and space problem in PISA (Program for International Student Assessment). It is a descriptive research with a qualitative approach, in which the subjects in this study were students of class VIII SMP N 1 Banda Aceh. The results show…

  10. Direct measurements of air layer profiles under impacting droplets using high-speed color interferometry

    van der Veen, Roeland; Tran, Tuan; Lohse, Detlef; Sun, Chao

    2012-01-01

    A drop impacting on a solid surface deforms before the liquid makes contact with the surface. We directly measure the time evolution of the air layer profile under the droplet using high-speed color interferometry, obtaining the air layer thickness before and during the wetting process. Based on the

  11. OTR profile measurement of a LINAC electron beam with portable ultra high-speed camera

    Mogi, T.; Nisiyama, S.; Tomioka, S.; Enoto, T.

    2004-01-01

    We have studied on and developed a portable ultra high-speed camera, and so applied to measurement of a LINAC electron beam. We measured spatial OTR profiles of a LINAC electron beam using this camera with temporal resolution 80ns. (author)

  12. Profiling Student Use of Calculators in the Learning of High School Mathematics

    Crowe, Cheryll E.; Ma, Xin

    2010-01-01

    Using data from the 2005 National Assessment of Educational Progress, students' use of calculators in the learning of high school mathematics was profiled based on their family background, curriculum background, and advanced mathematics coursework. A statistical method new to educational research--classification and regression trees--was applied…

  13. Profiling high performance dense linear algebra algorithms on multicore architectures for power and energy efficiency

    Ltaief, Hatem; Luszczek, Piotr R.; Dongarra, Jack

    2011-01-01

    This paper presents the power profile of two high performance dense linear algebra libraries i.e., LAPACK and PLASMA. The former is based on block algorithms that use the fork-join paradigm to achieve parallel performance. The latter uses fine

  14. International Perspectives on the Profile of Highly Talented International Business Professionals

    van Heugten, Petra; Heijne-Penninga, Marjolein; Robbe, Patricia; Jaarsma, Debbie; Wolfensberger, Marca

    2017-01-01

    There is a global demand for talented managers and leaders. To meet this demand, higher education institutions are developing talent programs. However, international perception of talent is diffuse. In this study, our profile of highly talented international business professionals was internationally validated by 172 participants, representing…

  15. The ISOLDE target robots

    Maximilein Brice

    2002-01-01

    ISOLDE targets need to be changed frequently, around 80 times per year. The high radiation levels do not permit this to be done by human hands and the target changes are effected by 2 industrial robots (picture _01). On the left, in the distance, the front-end of the GPS (General Purpose Separator) is seen, while the HRS (High Resolution Separator) is at the right. Also seen are the doors to the irradiated-target storage.

  16. Micro Robotics Lab

    Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

  17. Robots of the Future

    two main types of robots: industrial robots, and autonomous robots. .... position); it also has a virtual CPU with two stacks and three registers that hold 32-bit strings. Each item ..... just like we can aggregate images, text, and information from.

  18. Presentation robot Advee

    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

  19. Towards Sociable Robots

    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...

  20. The application of manipulator robot for nuclear plant maintenance

    Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

    2010-01-01

    In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

  1. High-Latitude Topside Ionospheric Vertical Electron Density Profile Changes in Response to Large Magnetic Storms

    Benson, Robert F.; Fainberg, Joseph; Osherovich, Vladimir A.; Truhlik, Vladimir; Wang, Yongli; Bilitza, Dieter; Fung, Shing F.

    2016-01-01

    Large magnetic-storm-induced changes were detected in high-latitude topside vertical electron density profiles Ne(h) in a database of profiles and digital topside ionograms, from the International Satellites for Ionospheric Studies (ISIS) program, that enabled Ne(h) profiles to be obtained in nearly the same region of space before, during, and after a major magnetic storm (Dst -100nT). Storms where Ne(h) profiles were available in the high-latitude Northern Hemisphere had better coverage of solar wind parameters than storms with available Ne(h) profiles in the high-latitude Southern Hemisphere. Large Ne(h) changes were observed during all storms, with enhancements and depletions sometimes near a factor of 10 and 0.1, respectively, but with substantial differences in the responses in the two hemispheres. Large spatial andor temporal Ne(h) changes were often observed during Dst minimum and during the storm recovery phase. The storm-induced Ne(h) changes were the most pronounced and consistent in the Northern Hemisphere in that large enhancements were observed during winter nighttime and large depletions during winter and spring daytime. The limited available cases suggested that these Northern Hemisphere enhancements increased with increases of the time-shifted solar wind velocity v, magnetic field B, and with more negative values of the B components except for the highest common altitude (1100km) of the profiles. There was also some evidence suggesting that the Northern Hemisphere depletions were related to changes in the solar wind parameters. Southern Hemisphere storm-induced enhancements and depletions were typically considerably less with depletions observed during summer nighttime conditions and enhancements during summer daytime and fall nighttime conditions.

  2. Suggested guidelines for the management of high-profile fatality cases.

    Perper, Joshua A; Juste, Gertrude M; Schueler, Harold E; Motte, Reinhard W; Cina, Stephen J

    2008-10-01

    The investigation of high-profile fatalities poses special challenges to medical examiners and coroners. Most high-profile cases can be readily recognized early in the course of the investigation. Commonly encountered examples include police-related fatalities or deaths in custody, deaths of celebrities, and mass fatalities or clustered deaths (eg, serial killers). Medical examiner and coroner offices should have policies and procedures in place for adequately handling such cases. A rational approach to these high-profile cases includes activating medical examiner or coroner investigative teams, preplanning before the autopsy, using special autopsy techniques and toxicology procedures, skillful questioning of key witnesses, preparing detailed and comprehensive reports, and planning effective communication with the media. The investigation of the sudden and unexpected death of Anna Nicole Smith, an entertainment personality, is presented as an example of how to address the challenging issues inherent in high-profile fatalities and how to adequately prepare for the forensic investigation of high-profile cases. This article presents a methodical approach to the investigation of high-profile deaths. A comprehensive, preplanned forensic investigation and autopsy (including use of adjunctive studies) following the death of Anna Nicole Smith resulted in the accurate determination of the cause and manner of her death while adequately convincing the public of the objectivity and reliability of the Medical Examiners Office with respect to its conclusions. The forensic investigation of death in high-profile cases can be much more tedious and demanding than the investigation of routine cases. It requires more stringent safekeeping of the body and its evidence, more extensive and sophisticated dissection techniques on occasion, and exhaustive toxicologic analysis to exclude low-probability allegations. Procedures for honest, unbiased, and judicious communication with outside

  3. ROMO - The Robotic Electric Vehicle

    Brembeck, Jonathan; Ho, Lok Man; Schaub, Alexander; Satzger, Clemens; Tobolar, Jakub; Bals, Johann; Hirzinger, Gerhard

    2011-01-01

    This paper outlines the development of the ROboMObil, an innovative electro-mobility concept based on intelligent central control of four Wheel Robots, which integrate the drivetrain, brakes, steering and dampers. The motivation behind the Wheel Robot concept, the implementation details together with the suspension design are described. The electric power system, consisting of a Li-Ion battery cluster to provide high-voltage power for propulsion and a low-voltage supply for vehicle control, i...

  4. Manned spacecraft automation and robotics

    Erickson, Jon D.

    1987-01-01

    The Space Station holds promise of being a showcase user and driver of advanced automation and robotics technology. The author addresses the advances in automation and robotics from the Space Shuttle - with its high-reliability redundancy management and fault tolerance design and its remote manipulator system - to the projected knowledge-based systems for monitoring, control, fault diagnosis, planning, and scheduling, and the telerobotic systems of the future Space Station.

  5. Cloud Robotics Model

    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...

  6. The profile of high school students’ scientific literacy on fluid dynamics

    Parno; Yuliati, L.; Munfaridah, N.

    2018-05-01

    This study aims to describe the profile of scientific literacy of high school students on Fluid Dynamics materials. Scientific literacy is one of the ability to solve daily problems in accordance with the context of materials related to science and technology. The study was conducted on 90 high school students in Sumbawa using survey design. Data were collected using an instrument of scientific literacy for high school students on dynamic fluid materials. Data analysis was conducted descriptively to determine the students’ profile of scientific literacy. The results showed that high school students’ scientific literacy on Fluid Dynamics materials was in the low category. The highest average is obtained on indicators of scientific literacy i.e. the ability to interpret data and scientific evidence. The ability of scientific literacy is related to the mastery of concepts and learning experienced by students, therefore it is necessary to use learning that can trace this ability such as Science, Technology, Engineering, and Mathematics (STEM).

  7. Compensation of Wave-Induced Motion and Force Phenomena for Ship-Based High Performance Robotic and Human Amplifying Systems

    Love, LJL

    2003-09-24

    The decrease in manpower and increase in material handling needs on many Naval vessels provides the motivation to explore the modeling and control of Naval robotic and robotic assistive devices. This report addresses the design, modeling, control and analysis of position and force controlled robotic systems operating on the deck of a moving ship. First we provide background information that quantifies the motion of the ship, both in terms of frequency and amplitude. We then formulate the motion of the ship in terms of homogeneous transforms. This transformation provides a link between the motion of the ship and the base of a manipulator. We model the kinematics of a manipulator as a serial extension of the ship motion. We then show how to use these transforms to formulate the kinetic and potential energy of a general, multi-degree of freedom manipulator moving on a ship. As a demonstration, we consider two examples: a one degree-of-freedom system experiencing three sea states operating in a plane to verify the methodology and a 3 degree of freedom system experiencing all six degrees of ship motion to illustrate the ease of computation and complexity of the solution. The first series of simulations explore the impact wave motion has on tracking performance of a position controlled robot. We provide a preliminary comparison between conventional linear control and Repetitive Learning Control (RLC) and show how fixed time delay RLC breaks down due to the varying nature wave disturbance frequency. Next, we explore the impact wave motion disturbances have on Human Amplification Technology (HAT). We begin with a description of the traditional HAT control methodology. Simulations show that the motion of the base of the robot, due to ship motion, generates disturbances forces reflected to the operator that significantly degrade the positioning accuracy and resolution at higher sea states. As with position-controlled manipulators, augmenting the control with a Repetitive

  8. High Temporal Resolution Tropospheric Wind Profile Observations at NASA Kennedy Space Center During Hurricane Irma

    Decker, Ryan K.; Barbre, Robert E., Jr.; Huddleston, Lisa; Brauer, Thomas; Wilfong, Timothy

    2018-01-01

    The NASA Kennedy Space Center (KSC) operates a 48-MHz Tropospheric/Stratospheric Doppler Radar Wind Profiler (TDRWP) on a continual basis generating wind profiles between 2-19 km in the support of space launch vehicle operations. A benefit of the continual operability of the system is the ability to provide unique observations of severe weather events such as hurricanes. Over the past two Atlantic Hurricane seasons the TDRWP has made high temporal resolution wind profile observations of Hurricane Irma in 2017 and Hurricane Matthew in 2016. Hurricane Irma was responsible for power outages to approximately 2/3 of Florida's population during its movement over the state(Stein,2017). An overview of the TDRWP system configuration, brief summary of Hurricanes Irma and Matthew storm track in proximity to KSC, characteristics of the tropospheric wind observations from the TDRWP during both events, and discussion of the dissemination of TDRWP data during the event will be presented.

  9. Reduced fatalism and increased prevention behavior after two high-profile lung cancer events.

    Portnoy, David B; Leach, Corinne R; Kaufman, Annette R; Moser, Richard P; Alfano, Catherine M

    2014-01-01

    The positive impact of media coverage of high-profile cancer events on cancer prevention behaviors is well-established. However, less work has focused on potential adverse psychological reactions to such events, such as fatalism. Conducting 3 studies, the authors explored how the lung cancer death of Peter Jennings and diagnosis of Dana Reeve in 2005 related to fatalism. Analysis of a national media sample in Study 1 found that media coverage of these events often focused on reiterating the typical profile of those diagnosed with lung cancer; 38% of the media mentioned at least 1 known risk factor for lung cancer, most often smoking. Data from a nationally representative survey in Study 2 found that respondents reported lower lung cancer fatalism, after, compared with before, the events (OR = 0.16, 95% CI [0.03, 0.93]). A sustained increase in call volume to the national tobacco Quitline after these events was found in Study 3. These results suggest that there is a temporal association between high-profile cancer events, the subsequent media coverage, psychological outcomes, and cancer prevention behaviors. These results suggest that high-profile cancer events could be leveraged as an opportunity for large-scale public heath communication campaigns through the dissemination of cancer prevention messages and services.

  10. Robot Programming.

    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

  11. Rapid formation of electric field profiles in repetitively pulsed high-voltage high-pressure nanosecond discharges

    Ito, Tsuyohito; Kobayashi, Kazunobu; Hamaguchi, Satoshi; Czarnetzki, Uwe

    2010-01-01

    Rapid formation of electric field profiles has been observed directly for the first time in nanosecond narrow-gap parallel-plate discharges at near-atmospheric pressure. The plasmas examined here are of hydrogen, and the field measurement is based on coherent Raman scattering (CRS) by hydrogen molecules. Combined with the observation of spatio-temporal light emission profiles by a high speed camera, it has been found that the rapid formation of a high-voltage thin cathode sheath is accompanied by fast propagation of an ionization front from a region near the anode. Unlike well-known parallel-plate discharges at low pressure, the discharge formation process at high pressure is almost entirely driven by electron dynamics as ions and neutral species are nearly immobile during the rapid process. (fast track communication)

  12. Semi-robotic 6 degree of freedom positioning for intracranial high precision radiotherapy; first phantom and clinical results

    Wilbert, Jürgen; Guckenberger, Matthias; Polat, Bülent; Sauer, Otto; Vogele, Michael; Flentje, Michael; Sweeney, Reinhart A

    2010-01-01

    To introduce a novel method of patient positioning for high precision intracranial radiotherapy. An infrared(IR)-array, reproducibly attached to the patient via a vacuum-mouthpiece(vMP) and connected to the table via a 6 degree-of-freedom(DoF) mechanical arm serves as positioning and fixation system. After IR-based manual prepositioning to rough treatment position and fixation of the mechanical arm, a cone-beam CT(CBCT) is performed. A robotic 6 DoF treatment couch (HexaPOD™) then automatically corrects all remaining translations and rotations. This absolute position of infrared markers at the first fraction acts as reference for the following fractions where patients are manually prepositioned to within ± 2 mm and ± 2° of this IR reference position prior to final HexaPOD-based correction; consequently CBCT imaging is only required once at the first treatment fraction. The preclinical feasibility and attainable repositioning accuracy of this method was evaluated on a phantom and human volunteers as was the clinical efficacy on 7 pilot study patients. Phantom and volunteer manual IR-based prepositioning to within ± 2 mm and ± 2° in 6DoF was possible within a mean(± SD) of 90 ± 31 and 56 ± 22 seconds respectively. Mean phantom translational and rotational precision after 6 DoF corrections by the HexaPOD was 0.2 ± 0.2 mm and 0.7 ± 0.8° respectively. For the actual patient collective, the mean 3D vector for inter-treatment repositioning accuracy (n = 102) was 1.6 ± 0.8 mm while intra-fraction movement (n = 110) was 0.6 ± 0.4 mm. This novel semi-automatic 6DoF IR-based system has been shown to compare favourably with existing non-invasive intracranial repeat fixation systems with respect to handling, reproducibility and, more importantly, intra-fraction rigidity. Some advantages are full cranial positioning flexibility for single and fractionated IGRT treatments and possibly increased patient comfort

  13. Semi-robotic 6 degree of freedom positioning for intracranial high precision radiotherapy; first phantom and clinical results

    Flentje Michael

    2010-05-01

    Full Text Available Abstract Background To introduce a novel method of patient positioning for high precision intracranial radiotherapy. Methods An infrared(IR-array, reproducibly attached to the patient via a vacuum-mouthpiece(vMP and connected to the table via a 6 degree-of-freedom(DoF mechanical arm serves as positioning and fixation system. After IR-based manual prepositioning to rough treatment position and fixation of the mechanical arm, a cone-beam CT(CBCT is performed. A robotic 6 DoF treatment couch (HexaPOD™ then automatically corrects all remaining translations and rotations. This absolute position of infrared markers at the first fraction acts as reference for the following fractions where patients are manually prepositioned to within ± 2 mm and ± 2° of this IR reference position prior to final HexaPOD-based correction; consequently CBCT imaging is only required once at the first treatment fraction. The preclinical feasibility and attainable repositioning accuracy of this method was evaluated on a phantom and human volunteers as was the clinical efficacy on 7 pilot study patients. Results Phantom and volunteer manual IR-based prepositioning to within ± 2 mm and ± 2° in 6DoF was possible within a mean(± SD of 90 ± 31 and 56 ± 22 seconds respectively. Mean phantom translational and rotational precision after 6 DoF corrections by the HexaPOD was 0.2 ± 0.2 mm and 0.7 ± 0.8° respectively. For the actual patient collective, the mean 3D vector for inter-treatment repositioning accuracy (n = 102 was 1.6 ± 0.8 mm while intra-fraction movement (n = 110 was 0.6 ± 0.4 mm. Conclusions This novel semi-automatic 6DoF IR-based system has been shown to compare favourably with existing non-invasive intracranial repeat fixation systems with respect to handling, reproducibility and, more importantly, intra-fraction rigidity. Some advantages are full cranial positioning flexibility for single and fractionated IGRT treatments and possibly increased patient

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

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

    2013-01-01

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

  15. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

    2005-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

  16. Robotic fabrication in architecture, art, and design

    Braumann, Johannes

    2013-01-01

    Architects, artists, and designers have been fascinated by robots for many decades, from Villemard’s utopian vision of an architect building a house with robotic labor in 1910, to the design of buildings that are robots themselves, such as Archigram’s Walking City. Today, they are again approaching the topic of robotic fabrication but this time employing a different strategy: instead of utopian proposals like Archigram’s or the highly specialized robots that were used by Japan’s construction industry in the 1990s, the current focus of architectural robotics is on industrial robots. These robotic arms have six degrees of freedom and are widely used in industry, especially for automotive production lines. What makes robotic arms so interesting for the creative industry is their multi-functionality: instead of having to develop specialized machines, a multifunctional robot arm can be equipped with a wide range of end-effectors, similar to a human hand using various tools. Therefore, architectural researc...

  17. ELRA: The exposure limiting robotic apparatus

    Knighton, G.C.; Rosenberg, K.E.; Henslee, S.P.; Michelbacher, J.A.; Wilkes, C.W.

    1992-09-01

    A problem situation involving the handling of radioactive material at Argonne National Laboratory -- West (ANL-W) was solved through the use of remote handling techniques, providing significant exposure reduction to personnel. Robotic devices can be useful, but the cost of a robot is often prohibitive for many jobs. A low cost, disposable robot was built which successfully removed a highly radioactive and potentially explosive system from a hot cell at ANL-W

  18. CellProfiler Tracer: exploring and validating high-throughput, time-lapse microscopy image data.

    Bray, Mark-Anthony; Carpenter, Anne E

    2015-11-04

    Time-lapse analysis of cellular images is an important and growing need in biology. Algorithms for cell tracking are widely available; what researchers have been missing is a single open-source software package to visualize standard tracking output (from software like CellProfiler) in a way that allows convenient assessment of track quality, especially for researchers tuning tracking parameters for high-content time-lapse experiments. This makes quality assessment and algorithm adjustment a substantial challenge, particularly when dealing with hundreds of time-lapse movies collected in a high-throughput manner. We present CellProfiler Tracer, a free and open-source tool that complements the object tracking functionality of the CellProfiler biological image analysis package. Tracer allows multi-parametric morphological data to be visualized on object tracks, providing visualizations that have already been validated within the scientific community for time-lapse experiments, and combining them with simple graph-based measures for highlighting possible tracking artifacts. CellProfiler Tracer is a useful, free tool for inspection and quality control of object tracking data, available from http://www.cellprofiler.org/tracer/.

  19. A Quantitative Analysis of Dressing Dynamics for Robotic Dressing Assistance

    Greg Chance

    2017-05-01

    Full Text Available Assistive robots have a great potential to address issues related to an aging population and an increased demand for caregiving. Successful deployment of robots working in close proximity with people requires consideration of both safety and human–robot interaction (HRI. One of the established activities of daily living where robots could play an assistive role is dressing. Using the correct force profile for robot control will be essential in this application of HRI requiring careful exploration of factors related to the user’s pose and the type of garments involved. In this paper, a Baxter robot was used to dress a jacket onto a mannequin and human participants considering several combinations of user pose and clothing type (base layers, while recording dynamic data from the robot, a load cell, and an IMU. We also report on suitability of these sensors for identifying dressing errors, e.g., fabric snagging. Data were analyzed by comparing the overlap of confidence intervals to determine sensitivity to dressing. We expand the analysis to include classification techniques such as decision tree and support vector machines using k-fold cross-validation. The 6-axis load cell successfully discriminated between clothing types with predictive model accuracies between 72 and 97%. Used independently, the IMU and Baxter sensors were insufficient to discriminate garment types with the IMU showing 40–72% accuracy, but when used in combination this pair of sensors achieved an accuracy similar to the more expensive load cell (98%. When observing dressing errors (snagging, Baxter’s sensors and the IMU data demonstrated poor sensitivity but applying machine learning methods resulted in model with high predicative accuracy and low false negative rates (≤5%. The results show that the load cell could be used independently for this application with good accuracy but a combination of the lower cost sensors could also be used without a significant loss in

  20. Dynamic photogrammetric calibration of industrial robots

    Maas, Hans-Gerd

    1997-07-01

    Today's developments in industrial robots focus on aims like gain of flexibility, improvement of the interaction between robots and reduction of down-times. A very important method to achieve these goals are off-line programming techniques. In contrast to conventional teach-in-robot programming techniques, where sequences of actions are defined step-by- step via remote control on the real object, off-line programming techniques design complete robot (inter-)action programs in a CAD/CAM environment. This poses high requirements to the geometric accuracy of a robot. While the repeatability of robot poses in the teach-in mode is often better than 0.1 mm, the absolute pose accuracy potential of industrial robots is usually much worse due to tolerances, eccentricities, elasticities, play, wear-out, load, temperature and insufficient knowledge of model parameters for the transformation from poses into robot axis angles. This fact necessitates robot calibration techniques, including the formulation of a robot model describing kinematics and dynamics of the robot, and a measurement technique to provide reference data. Digital photogrammetry as an accurate, economic technique with realtime potential offers itself for this purpose. The paper analyzes the requirements posed to a measurement technique by industrial robot calibration tasks. After an overview on measurement techniques used for robot calibration purposes in the past, a photogrammetric robot calibration system based on off-the- shelf lowcost hardware components will be shown and results of pilot studies will be discussed. Besides aspects of accuracy, reliability and self-calibration in a fully automatic dynamic photogrammetric system, realtime capabilities are discussed. In the pilot studies, standard deviations of 0.05 - 0.25 mm in the three coordinate directions could be achieved over a robot work range of 1.7 X 1.5 X 1.0 m3. The realtime capabilities of the technique allow to go beyond kinematic robot

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

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

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

  2. Rehabilitation Robots: Concepts and Applications in Stroke Rehabilitation

    Mohammad Ali Ahmadi-Pajouh

    2017-01-01

    Robotics is a tool to assist human in different applications from industry to medicine. There are many reasons that human tends to use these machines. They are very reliable in repetitive, high precision, preprogrammed and high risk jobs in which human is not too good enough. In medicine, robotic applications are evolving so fast that in near future nobody can imagine a surgery without a robot involved. In Rehabilitation we have the same scenario; there are commercialized robots to assist dis...

  3. Integrated mobile robot control

    Amidi, Omead; Thorpe, Chuck E.

    1991-03-01

    This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

  4. 2000 FIRST Robotics Competition

    Purman, Richard

    2000-01-01

    The New Horizons Regional Education Center (NHREC) in Hampton, VA sought and received NASA funding to support its participation in the 2000 FIRST Robotics competition. FIRST, Inc. (For Inspiration and Recognition of Science and Technology) is an organization which encourages the application of creative science, math, and computer science principles to solve real-world engineering problems. The FIRST competition is an international engineering contest featuring high school, government, and business partnerships.

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

    Cheng, Frank Shaopeng

    2008-01-01

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

  6. Highly sensitive and specific derivatization strategy to profile and quantitate eicosanoids by UPLC-MS/MS

    Hu, Ting; Tie, Cai; Wang, Zhe; Zhang, Jin-Lan, E-mail: zhjl@imm.ac.cn

    2017-01-15

    Eicosanoids are signaling molecules mainly oxidized from arachidonic acid (ARA) and eicosapentaenoic acid (EPA) or docosahexaenoic acid (DHA). They have attracted increasing attention from the scientists attributing to their essential physiological functions. However, their quantification have long been challenged by the low abundance, high structure similarity, poor stability and limited ionization efficiency. In this paper, an ultra-high performance liquid chromatograph coupled with tandem mass spectrometry (UPLC-MS/MS) strategy was developed for the comprehensive profiling of more than 60 eicosanoids based on an efficient derivatization reagent 2,4-bis(diethylamino)-6-hydrazino-1,3,5-triazine (T3) and general multiple reaction monitoring (MRM) parameters. Carboxylic acid of eicosanoid was converted to amide in 30 min at 4 °C with derivatization yield larger than 99%. Limits of quantitation (LOQs) for derivatized eicosanoids varied from 0.05 to 50 pg depending on their structures. The sensitivities of derivatized eicosanoids were enhanced by 10- to 5000-folds compared to free eicosanoids. Stabilities of T3 modified eicosanoids were also highly improved compared to free eicosanoids. This new method can also be used to quantify eicosanoids in bio-samples using isotopic internal standards with high efficiency and reliability within 19 min. 46 and 50 eicosanoids in rat plasma and heart tissue from control and acute myocardial ischemia (AMI) model rats were respectively profiled and quantitated using this new method. And 24 of 46 and 25 of 50 eicosanoids were found to be significantly changed between control and model groups. The changed eicosanoids related to AMI modeling were further statistically analyzed and interpreted based on eicosanoid metabolism pathway. - Highlights: • Eicosanoids are important signaling molecules. • A highly sensitive and specific derivatization strategy was developed for eicosanoid profiling. • The strategy was employed for

  7. Highly sensitive and specific derivatization strategy to profile and quantitate eicosanoids by UPLC-MS/MS

    Hu, Ting; Tie, Cai; Wang, Zhe; Zhang, Jin-Lan

    2017-01-01

    Eicosanoids are signaling molecules mainly oxidized from arachidonic acid (ARA) and eicosapentaenoic acid (EPA) or docosahexaenoic acid (DHA). They have attracted increasing attention from the scientists attributing to their essential physiological functions. However, their quantification have long been challenged by the low abundance, high structure similarity, poor stability and limited ionization efficiency. In this paper, an ultra-high performance liquid chromatograph coupled with tandem mass spectrometry (UPLC-MS/MS) strategy was developed for the comprehensive profiling of more than 60 eicosanoids based on an efficient derivatization reagent 2,4-bis(diethylamino)-6-hydrazino-1,3,5-triazine (T3) and general multiple reaction monitoring (MRM) parameters. Carboxylic acid of eicosanoid was converted to amide in 30 min at 4 °C with derivatization yield larger than 99%. Limits of quantitation (LOQs) for derivatized eicosanoids varied from 0.05 to 50 pg depending on their structures. The sensitivities of derivatized eicosanoids were enhanced by 10- to 5000-folds compared to free eicosanoids. Stabilities of T3 modified eicosanoids were also highly improved compared to free eicosanoids. This new method can also be used to quantify eicosanoids in bio-samples using isotopic internal standards with high efficiency and reliability within 19 min. 46 and 50 eicosanoids in rat plasma and heart tissue from control and acute myocardial ischemia (AMI) model rats were respectively profiled and quantitated using this new method. And 24 of 46 and 25 of 50 eicosanoids were found to be significantly changed between control and model groups. The changed eicosanoids related to AMI modeling were further statistically analyzed and interpreted based on eicosanoid metabolism pathway. - Highlights: • Eicosanoids are important signaling molecules. • A highly sensitive and specific derivatization strategy was developed for eicosanoid profiling. • The strategy was employed for

  8. Development of a soft untethered robot using artificial muscle actuators

    Cao, Jiawei; Qin, Lei; Lee, Heow Pueh; Zhu, Jian

    2017-04-01

    Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots' functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot's locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

  9. Towards the Verification of Human-Robot Teams

    Fisher, Michael; Pearce, Edward; Wooldridge, Mike; Sierhuis, Maarten; Visser, Willem; Bordini, Rafael H.

    2005-01-01

    Human-Agent collaboration is increasingly important. Not only do high-profile activities such as NASA missions to Mars intend to employ such teams, but our everyday activities involving interaction with computational devices falls into this category. In many of these scenarios, we are expected to trust that the agents will do what we expect and that the agents and humans will work together as expected. But how can we be sure? In this paper, we bring together previous work on the verification of multi-agent systems with work on the modelling of human-agent teamwork. Specifically, we target human-robot teamwork. This paper provides an outline of the way we are using formal verification techniques in order to analyse such collaborative activities. A particular application is the analysis of human-robot teams intended for use in future space exploration.

  10. Robot and mechatronics equipment for daily life support in high-elderly and small number of child society; Chokorei/shosika shakai seikatsu ni shien shitekureru robot/mekatoro kiki

    Fujie, M. [Hitachi Ltd., Tokyo (Japan)

    1997-07-05

    As for high-elderly society, Japan is going to face in near future, self dependency without depending on others as far as possible of bed ridden people or people using wheel chair and also including the probable elderly ones is going to be necessary. In Japan, there is so far accumulation of high level mechatronics technology and it is thought that there is possible to develop a system to fulfill such needs. In this system, equipment has deep connection with human being and natural coexistence between the equipment and human being is most necessary. Accordingly, development and practical use of walking practicing machine used for elderly people, walking support system, daily life work support system and so forth are expected by making successful in practice the coexistence functions of high level robot/mechatronics technology and machine/man. However, the study regarding the technology that are common to man and machine, particularly, research of mental characteristics and physical characteristics of human being is still insufficient and further results are expected. 9 refs., 12 figs.

  11. ANDROID BASED TELEOPERATION FOR THE FINCH ROBOT

    Oliver Faust

    2016-09-01

    Full Text Available The act of creating a robot involves systems engineering and creative problem solutions. It is about using established components to create a system that works in the natural or at least in the human environment. The current project is no exception, we have used the Robot Operating System (ROS to create an android based teleoperator application for the Finch robot. A Raspberry Pi processing platform establishes the link between the android device and the Finch robot. The most creative task, during the system design, was to translate the commands from the teleoperator application into wheel movements of the Finch robot. The translation must take into account the physical setup of the robot, including unintended negative influences, such as drag. The command translation involved a nonlinear coordinate transformation. The ROS framework enabled us to focus on that nonstandard coordinate translation task by offering a high level of abstraction and the ability to create component functionalities independently.

  12. Development of temperature profile sensor at high temporal and spatial resolution

    Takiguchi, Hiroki; Furuya, Masahiro; Arai, Takahiro

    2017-01-01

    In order to quantify thermo-physical flow field for the industrial applications such as nuclear and chemical reactors, high temporal and spatial measurements for temperature, pressure, phase velocity, viscosity and so on are required to validate computational fluid dynamics (CFD) and subchannel analyses. The paper proposes a novel temperature profile sensor, which can acquire temperature distribution in water at high temporal (a millisecond) and spatial (millimeter) resolutions. The devised sensor acquires electric conductance between transmitter and receiver wires, which is a function of temperature. The sensor comprise wire mesh structure for multipoint and simultaneous temperature measurement in water, which indicated that three-dimensional temperature distribution can be detected in flexible resolutions. For the demonstration of the principle, temperature profile in water was estimated according to pre-determined temperature calibration line against time-averaged impedance. The 16×16 grid sensor visualized fast and multi-dimensional mixing process of a hot water jet into a cold water pool. (author)

  13. High-resolution velocimetry in energetic tidal currents using a convergent-beam acoustic Doppler profiler

    Sellar, Brian; Harding, Samuel; Richmond, Marshall

    2015-08-01

    An array of single-beam acoustic Doppler profilers has been developed for the high resolution measurement of three-dimensional tidal flow velocities and subsequently tested in an energetic tidal site. This configuration has been developed to increase spatial resolution of velocity measurements in comparison to conventional acoustic Doppler profilers (ADPs) which characteristically use divergent acoustic beams emanating from a single instrument. This is achieved using geometrically convergent acoustic beams creating a sample volume at the focal point of 0.03 m3. Away from the focal point, the array is also able to simultaneously reconstruct three-dimensional velocity components in a profile throughout the water column, and is referred to herein as a convergent-beam acoustic Doppler profiler (C-ADP). Mid-depth profiling is achieved through integration of the sensor platform with the operational commercial-scale Alstom 1 MW DeepGen-IV Tidal Turbine deployed at the European Marine Energy Center, Orkney Isles, UK. This proof-of-concept paper outlines the C-ADP system configuration and comparison to measurements provided by co-installed reference instrumentation. Comparison of C-ADP to standard divergent ADP (D-ADP) velocity measurements reveals a mean difference of 8 mm s-1, standard deviation of 18 mm s-1, and an order of magnitude reduction in realisable length scale. C-ADP focal point measurements compared to a proximal single-beam reference show peak cross-correlation coefficient of 0.96 over 4.0 s averaging period and a 47% reduction in Doppler noise. The dual functionality of the C-ADP as a profiling instrument with a high resolution focal point make this configuration a unique and valuable advancement in underwater velocimetry enabling improved quantification of flow turbulence. Since waves are simultaneously measured via profiled velocities, pressure measurements and surface detection, it is expected that derivatives of this system will be a powerful tool in

  14. Profiling of high-frequency accident locations by use of association rules

    GEURTS, Karolien; WETS, Geert; BRIJS, Tom; VANHOOF, Koen

    2003-01-01

    In Belgium, traffic safety is one of the government's highest priorities. The identification and profiling of black spots and black zones (geographical locations with high concentrations of traffic accidents) in terms of accident-related data and location characteristics must provide new insights into the complexity and causes of road accidents, which, in turn, provide valuable input for governmental actions. Association rules were used to identify accident-related circumstances that frequent...

  15. Depth profiling by Raman spectroscopy of high-energy ion irradiated silicon carbide

    Wang, Xu; Zhang, Yanwen; Liu, Shiyi; Zhao, Ziqiang, E-mail: zqzhao@pku.edu.cn

    2014-01-15

    Single crystals of 6H–SiC were irradiated at room temperature with 20 MeV carbon ions at fluences of 1.5 × 10{sup 15} and 6.0 × 10{sup 15} cm{sup −2}. Raman measurements were performed to study irradiation induced damage and the in-depth damage profile of SiC. A clear change of damage from the surface down to the stopping region of carbon ions as simulated by SRIM is exhibited. The affected area as detected by Raman is in good agreement with SRIM predictions while a little shallower dpa profile is observed. The partial disorder defined in the present work as a function of depth is demonstrated. A shift of the position of the TO peak towards lower wavenumbers with in-depth damage and then to higher wavenumbers beyond the most damaged region indicates that tensile strain due to defects has a backward V-curve distribution. The damaged layer is subjected to a compressive in-plane stress associated with the out-of-plane strain and the magnitude of this stress also has a backward V-curve depth profile. The evolution of line width of the TO peak with depth clearly shows the density of defects reaches the higher level at the most damaged region. The Raman spectroscopy scanning technique is proved to be a powerful tool for profiling of crystal damage induced by high-energy ion implantation.

  16. Experimental profile evolution of a high-density field-reversed configuration

    Ruden, E. L.; Zhang, Shouyin; Intrator, T. P.; Wurden, G. A.

    2006-01-01

    A field-reversed configuration (FRC) gains angular momentum over time, eventually resulting in an n=2 rotational instability (invariant under rotation by π) terminating confinement. To study this, a laser interferometer probes the time history of line integrated plasma density along eight chords of the high-density (∼10 17 cm -3 ) field-reversed configuration experiment with a liner. Abel and tomographic inversions provide density profiles during the FRC's azimuthally symmetric phase, and over a period when the rotational mode has saturated and rotates with a roughly fixed profile, respectively. During the latter part of the symmetric phase, the FRC approximates a magnetohydrodynamic (MHD) equilibrium, allowing the axial magnetic-field profile to be calculated from pressure balance. Basic FRC properties such as temperature and poloidal flux are then inferred. The subsequent two-dimensional n=2 density profiles provide angular momentum information needed to set bounds on prior values of the stability relevant parameter α (rotational to ion diamagnetic drift frequency ratio), in addition to a view of plasma kinematics useful for benchmarking plasma models of higher order than MHD

  17. High-Specificity Targeted Functional Profiling in Microbial Communities with ShortBRED.

    James Kaminski

    2015-12-01

    Full Text Available Profiling microbial community function from metagenomic sequencing data remains a computationally challenging problem. Mapping millions of DNA reads from such samples to reference protein databases requires long run-times, and short read lengths can result in spurious hits to unrelated proteins (loss of specificity. We developed ShortBRED (Short, Better Representative Extract Dataset to address these challenges, facilitating fast, accurate functional profiling of metagenomic samples. ShortBRED consists of two components: (i a method that reduces reference proteins of interest to short, highly representative amino acid sequences ("markers" and (ii a search step that maps reads to these markers to quantify the relative abundance of their associated proteins. After evaluating ShortBRED on synthetic data, we applied it to profile antibiotic resistance protein families in the gut microbiomes of individuals from the United States, China, Malawi, and Venezuela. Our results support antibiotic resistance as a core function in the human gut microbiome, with tetracycline-resistant ribosomal protection proteins and Class A beta-lactamases being the most widely distributed resistance mechanisms worldwide. ShortBRED markers are applicable to other homology-based search tasks, which we demonstrate here by identifying phylogenetic signatures of antibiotic resistance across more than 3,000 microbial isolate genomes. ShortBRED can be applied to profile a wide variety of protein families of interest; the software, source code, and documentation are available for download at http://huttenhower.sph.harvard.edu/shortbred.

  18. Educational Robotics as Mindtools

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

    Although there are many studies on the constructionist use of educational robotics, they have certain limitations. Some of them refer to robotics education, rather than educational robotics. Others follow a constructionist approach, but give emphasis only to design skills, creativity and collaboration. Some studies use robotics as an educational…

  19. ROILA : RObot Interaction LAnguage

    Mubin, O.

    2011-01-01

    The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

  20. Robotic Hand

    1993-01-01

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

  1. Velocity-curvature patterns limit human-robot physical interaction.

    Maurice, Pauline; Huber, Meghan E; Hogan, Neville; Sternad, Dagmar

    2018-01-01

    Physical human-robot collaboration is becoming more common, both in industrial and service robotics. Cooperative execution of a task requires intuitive and efficient interaction between both actors. For humans, this means being able to predict and adapt to robot movements. Given that natural human movement exhibits several robust features, we examined whether human-robot physical interaction is facilitated when these features are considered in robot control. The present study investigated how humans adapt to biological and non-biological velocity patterns in robot movements. Participants held the end-effector of a robot that traced an elliptic path with either biological (two-thirds power law) or non-biological velocity profiles. Participants were instructed to minimize the force applied on the robot end-effector. Results showed that the applied force was significantly lower when the robot moved with a biological velocity pattern. With extensive practice and enhanced feedback, participants were able to decrease their force when following a non-biological velocity pattern, but never reached forces below those obtained with the 2/3 power law profile. These results suggest that some robust features observed in natural human movements are also a strong preference in guided movements. Therefore, such features should be considered in human-robot physical collaboration.

  2. Profiling of integral membrane proteins and their post translational modifications using high-resolution mass spectrometry

    Souda, Puneet; Ryan, Christopher M.; Cramer, William A.; Whitelegge, Julian

    2011-01-01

    Integral membrane proteins pose challenges to traditional proteomics approaches due to unique physicochemical properties including hydrophobic transmembrane domains that limit solubility in aqueous solvents. A well resolved intact protein molecular mass profile defines a protein’s native covalent state including post-translational modifications, and is thus a vital measurement toward full structure determination. Both soluble loop regions and transmembrane regions potentially contain post-translational modifications that must be characterized if the covalent primary structure of a membrane protein is to be defined. This goal has been achieved using electrospray-ionization mass spectrometry (ESI-MS) with low-resolution mass analyzers for intact protein profiling, and high-resolution instruments for top-down experiments, toward complete covalent primary structure information. In top-down, the intact protein profile is supplemented by gas-phase fragmentation of the intact protein, including its transmembrane regions, using collisionally activated and/or electroncapture dissociation (CAD/ECD) to yield sequence-dependent high-resolution MS information. Dedicated liquid chromatography systems with aqueous/organic solvent mixtures were developed allowing us to demonstrate that polytopic integral membrane proteins are amenable to ESI-MS analysis, including top-down measurements. Covalent post-translational modifications are localized regardless of their position in transmembrane domains. Top-down measurements provide a more detail oriented high-resolution description of post-transcriptional and post-translational diversity for enhanced understanding beyond genomic translation. PMID:21982782

  3. Molecular classification of fatty liver by high-throughput profiling of protein post-translational modifications.

    Urasaki, Yasuyo; Fiscus, Ronald R; Le, Thuc T

    2016-04-01

    We describe an alternative approach to classifying fatty liver by profiling protein post-translational modifications (PTMs) with high-throughput capillary isoelectric focusing (cIEF) immunoassays. Four strains of mice were studied, with fatty livers induced by different causes, such as ageing, genetic mutation, acute drug usage, and high-fat diet. Nutrient-sensitive PTMs of a panel of 12 liver metabolic and signalling proteins were simultaneously evaluated with cIEF immunoassays, using nanograms of total cellular protein per assay. Changes to liver protein acetylation, phosphorylation, and O-N-acetylglucosamine glycosylation were quantified and compared between normal and diseased states. Fatty liver tissues could be distinguished from one another by distinctive protein PTM profiles. Fatty liver is currently classified by morphological assessment of lipid droplets, without identifying the underlying molecular causes. In contrast, high-throughput profiling of protein PTMs has the potential to provide molecular classification of fatty liver. Copyright © 2016 Pathological Society of Great Britain and Ireland. Published by John Wiley & Sons, Ltd.

  4. Further experiments for mean velocity profile of pipe flow at high Reynolds number

    Furuichi, N.; Terao, Y.; Wada, Y.; Tsuji, Y.

    2018-05-01

    This paper reports further experimental results obtained in high Reynolds number actual flow facility in Japan. The experiments were performed in a pipe flow with water, and the friction Reynolds number was varied up to Reτ = 5.3 × 104. This high Reynolds number was achieved by using water as the working fluid and adopting a large-diameter pipe (387 mm) while controlling the flow rate and temperature with high accuracy and precision. The streamwise velocity was measured by laser Doppler velocimetry close to the wall, and the mean velocity profile, called log-law profile U+ = (1/κ) ln(y+) + B, is especially focused. After careful verification of the mean velocity profiles in terms of the flow rate accuracy and an evaluation of the consistency of the present results with those from previously measurements in a smaller pipe (100 mm), it was found that the value of κ asymptotically approaches a constant value of κ = 0.384.

  5. Robotic Milking Implementation in the Sverdlovsk Region

    Egor Artyomovich Skvortcov

    2017-03-01

    Full Text Available The research topic is relevant due to a high rate of the implementation of milking robots (automatic milking system, AMS in Western Europe and in the Middle Urals. As of January 1, 2016, 21 milking robot systems of six different brands of foreign production were installed in the region. Milking robotics is used in small, medium and large enterprises (by the number of personnel, in contrast to Western Europe, where it is mainly used on the farms of family type. The article examines the socioeconomic causes of the introduction of robotics, as well as the impact of the use of robots to the economic indicators of milk production. The expert survey has revealed as the main reasons for the introduction of robotics, a desire to reduce the risks of personnel (45.5 % and a shortage of staff (18.2 %. The analysis of the utilization efficiency of fixed assets in all organizations introduced robots has shown both a decrease of capital productivity after the introduction of milking robots for 15–60 % or more, and the reduce of the profit rate in 9 out of 11 of the analysed organizations because of the high capital intensity of robotics projects. The analysis of labour indicators and the net cost of milk is carried out in 45.5 % of organizations, where we have obtained the consistent results of the use of robotics. The authors have analysed the direct costs for the production of 1 quintal of milk. In a group of 5 companies, on a robotic farm, it is 5.1 % lower than in a conventional farm. The complexity of the production of milk on a robotic farm is lower by 48.7 %, and labour productivity per person is higher on 95.3 % than on conventional farms. The results of the study can be used as the recommendations for agricultural organizations to use robotics milking to reduce the deficit of staff and to minimize the impact of personnel risks on production results. The growth of the importance of the reasons for the introduction of milking robots and a high

  6. Nondestructive strain depth profiling with high energy X-ray diffraction: System capabilities and limitations

    Zhang, Zhan; Wendt, Scott; Cosentino, Nicholas; Bond, Leonard J.

    2018-04-01

    Limited by photon energy, and penetration capability, traditional X-ray diffraction (XRD) strain measurements are only capable of achieving a few microns depth due to the use of copper (Cu Kα1) or molybdenum (Mo Kα1) characteristic radiation. For deeper strain depth profiling, destructive methods are commonly necessary to access layers of interest by removing material. To investigate deeper depth profiles nondestructively, a laboratory bench-top high-energy X-ray diffraction (HEXRD) system was previously developed. This HEXRD method uses an industrial 320 kVp X-Ray tube and the Kα1 characteristic peak of tungsten, to produces a higher intensity X-ray beam which enables depth profiling measurement of lattice strain. An aluminum sample was investigated with deformation/load provided using a bending rig. It was shown that the HEXRD method is capable of strain depth profiling to 2.5 mm. The method was validated using an aluminum sample where both the HEXRD method and the traditional X-ray diffraction method gave data compared with that obtained using destructive etching layer removal, performed by a commercial provider. The results demonstrate comparable accuracy up to 0.8 mm depth. Nevertheless, higher attenuation capabilities in heavier metals limit the applications in other materials. Simulations predict that HEXRD works for steel and nickel in material up to 200 µm, but experiment results indicate that the HEXRD strain profile is not practical for steel and nickel material, and the measured diffraction signals are undetectable when compared to the noise.

  7. Modular Robotic Wearable

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

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

  8. Welding robot package; Arc yosetsu robot package

    Nishikawa, S. [Yaskawa Electric Corp., Kitakyushu (Japan)

    1998-09-01

    For the conventional high-speed welding robot, the welding current was controlled mainly for reducing the spatters during short circuits and for stabilizing the beads by the periodic short circuits. However, an increase of deposition amount in response to the speed is required for the high-speed welding. Large-current low-spatter welding current region control was added. Units were integrated into a package by which the arc length is kept in short without dispersion of arc length for welding without defects such as undercut and unequal beads. In automobile industry, use of aluminum parts is extended for the light weight. The welding is very difficult, and automation is not so progressing in spite of the poor environment. Buckling of welding wire is easy to occur, and supply of wire is obstructed by the deposition of chipped powders on the torch cable, which stay within the contact chip resulting in the deposition. Dislocation of locus is easy to occur at the corner of rectangular pipe during the welding. By improving these troubles, an aluminum MIG welding robot package has been developed. 13 figs.

  9. Practice Makes Perfect: Correlations Between Prior Experience in High-level Athletics and Robotic Surgical Performance Do Not Persist After Task Repetition.

    Shee, Kevin; Ghali, Fady M; Hyams, Elias S

    Robotic surgical skill development is central to training in urology as well as in other surgical disciplines. Here, we describe a pilot study assessing the relationships between robotic surgery simulator performance and 3 categories of activities, namely, videogames, musical instruments, and athletics. A questionnaire was administered to preclinical medical students for general demographic information and prior experiences in surgery, videogames, musical instruments, and athletics. For follow-up performance studies, we used the Matchboard Level 1 and 2 modules on the da Vinci Skills Simulator, and recorded overall score, time to complete, economy of motion, workspace range, instrument collisions, instruments out of view, and drops. Task 1 was run once, whereas task 2 was run 3 times. All performance studies on the da Vinci Surgical Skills Simulator took place in the Simulation Center at Dartmouth-Hitchcock Medical Center. All participants were medical students at the Geisel School of Medicine. After excluding students with prior hands-on experience in surgery, a total of 30 students completed the study. We found a significant correlation between athletic skill level and performance for both task 1 (p = 0.0002) and task 2 (p = 0.0009). No significant correlations were found for videogame or musical instrument skill level. Students with experience in certain athletics (e.g., volleyball, tennis, and baseball) tended to perform better than students with experience in other athletics (e.g., track and field). For task 2, which was run 3 times, this association did not persist after the third repetition due to significant improvements in students with low-level athletic skill (levels 0-2). Our study suggests that prior experience in high-level athletics, but not videogames or musical instruments, significantly influences surgical proficiency in robot-naive students. Furthermore, our study suggests that practice through task repetition can overcome initial differences

  10. High-resolution phenotypic profiling of natural products-induced effects on the single-cell level

    Kremb, Stephan Georg; Voolstra, Christian R.

    2017-01-01

    Natural products (NPs) are highly evolved molecules making them a valuable resource for new therapeutics. Here we demonstrate the usefulness of broad-spectrum phenotypic profiling of NP-induced perturbations on single cells with imaging-based High

  11. Hexapod Robot

    Begody, Ericka

    2016-01-01

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

  12. High speed rail and coastal tourism: Identifying passenger profiles and travel behaviour.

    Gutiérrez, Aaron; Ortuño, Armando

    2017-01-01

    In this paper, we characterise tourists most likely to visit a coastal destination by high-speed rail (HSR). Our data came from a survey conducted among HSR passengers during 2014's high season (July and August) at Spain's Camp de Tarragona and Alicante Stations, each of which is near a mass tourism destination on the Mediterranean coast: the Costa Daurada and the Costa Blanca, respectively. We used responses to the survey, which presented binary discrete-choice situations, to construct a database necessary for a logistic regression model that allowed us to examine how passenger profile, trip characteristics, and stay conditions influenced the use of HSR services on visits to each coastal destination. Results highlighted significant differences in the profiles of tourists who arrived at each destination by HSR and, in turn, that no specific tourist profile is associated with HSR, even for two stations that serve sunny beach destinations. Among its implications, to analyse travellers that HSR can attract, it is vital to consider the specific characteristics of each destination and its current market.

  13. Triacylglycerol profiling of microalgae strains for biofuel feedstock by liquid chromatography-high-resolution mass spectrometry

    MacDougall, Karen M.; McNichol, Jesse; McGinn, Patrick J.; O' Leary, Stephen J.B.; Melanson, Jeremy E. [Institute for Marine Biosciences, National Research Council of Canada, Halifax, NS (Canada)

    2011-11-15

    Biofuels from photosynthetic microalgae are quickly gaining interest as a viable carbon-neutral energy source. Typically, characterization of algal feedstock involves breaking down triacylglycerols (TAG) and other intact lipids, followed by derivatization of the fatty acids to fatty acid methyl esters prior to analysis by gas chromatography (GC). However, knowledge of the intact lipid profile could offer significant advantages for discovery stage biofuel research such as the selection of an algal strain or the optimization of growth and extraction conditions. Herein, lipid extracts from microalgae were directly analyzed by ultra-high pressure liquid chromatography-mass spectrometry (UHPLC-MS) using a benchtop Orbitrap mass spectrometer. Phospholipids, glycolipids, and TAGs were analyzed in the same chromatographic run, using a combination of accurate mass and diagnostic fragment ions for identification. Using this approach, greater than 100 unique TAGs were identified over the six algal strains studied and TAG profiles were obtained to assess their potential for biofuel applications. Under the growth conditions employed, Botryococcus braunii and Scenedesmus obliquus yielded the most comprehensive TAG profile with a high abundance of TAGs containing oleic acid. (orig.)

  14. Leadership development study :success profile competencies and high-performing leaders at Sandia National Laboratories.

    Becker, Katherine M.; Mulligan, Deborah Rae; Szenasi, Gail L.; Crowder, Stephen Vernon

    2005-04-01

    Sandia is undergoing tremendous change. Sandia's executive management recognized the need for leadership development. About ten years ago the Business, Leadership, and Management Development department in partnership with executive management developed and implemented the organizational leadership Success Profile Competencies to help address some of the changes on the horizon such as workforce losses and lack of a skill set in the area of interpersonal skills. This study addresses the need for the Business, Leadership, and Management Development department to provide statistically sound data in two areas. One is to demonstrate that the organizational 360-degree success profile assessment tool has made a difference for leaders. A second area is to demonstrate the presence of high performing leaders at the Labs. The study utilized two tools to address these two areas. Study participants were made up of individuals who have solid data on Sandia's 360-degree success profile assessment tool. The second assessment tool was comprised of those leaders who participated in the Lockheed Martin Corporation Employee Preferences Survey. Statistical data supports the connection between leader indicators and the 360-degree assessment tool. The study also indicates the presence of high performing leaders at Sandia.

  15. High-resolution altitude profiles of the atmospheric turbulence with PML at the Sutherland Observatory

    Catala, L.; Ziad, A.; Fanteï-Caujolle, Y.; Crawford, S. M.; Buckley, D. A. H.; Borgnino, J.; Blary, F.; Nickola, M.; Pickering, T.

    2017-05-01

    With the prospect of the next generation of ground-based telescopes, the extremely large telescopes, increasingly complex and demanding adaptive optics systems are needed. This is to compensate for image distortion caused by atmospheric turbulence and fully take advantage of mirrors with diameters of 30-40 m. This requires a more precise characterization of the turbulence. The Profiler of Moon Limb (PML) was developed within this context. The PML aims to provide high-resolution altitude profiles of the turbulence using differential measurements of the Moon limb position to calculate the transverse spatio-angular covariance of the angle of arrival fluctuations. The covariance of differential image motion for different separation angles is sensitive to the altitude distribution of the seeing. The use of the continuous Moon limb provides a large number of separation angles allowing for the high-resolution altitude of the profiles. The method is presented and tested with simulated data. Moreover, a PML instrument was deployed at the Sutherland Observatory in South Africa in 2011 August. We present here the results of this measurement campaign.

  16. Robots that can adapt like animals.

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

    2015-05-28

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

  17. Software for Project-Based Learning of Robot Motion Planning

    Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

    2013-01-01

    Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can…

  18. Fable II: Design of a Modular Robot for Creative Learning

    Pacheco, Moises; Fogh, Rune; Lund, Henrik Hautop

    2015-01-01

    Robotic systems have a high potential for creative learning if they are flexible, accessible and engaging for the user in the experimental process of building and programming robots. In this paper we describe the Fable modular robotic system for creative learning which we develop to enable and mo...

  19. Dynamic analysis of space robot remote control system

    Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem

    2018-05-01

    The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

  20. Alpha spectrum profiling of plutonium in leached simulated high-level radioactive waste-glass

    Diamond, H.; Friedman, A.M.

    1981-01-01

    Low-geometry X-ray spectra from /sup 239/Pu and /sup 237/Np, incorporated into simulated high-level radioactive waste-glass, were transformed into depth distributions for these elements. Changes in the depth profiles were observed for a series of static leachings in 75/degree/C water. Radiochemical assay of the leach solutions revealed that little neptunium or plutonium was leached, and that the amount leached was independent of leaching time. The depth profiles of the leached specimens showed that there was selective leaching of nonradioactive components of the glass, concentrating the remaining neptunium and plutonium in a broad zone near (but not at) the glass surface. Eventual redeposition of nonradioactive material onto the glass surface inhibited further leaching

  1. Unequal on top: Gender profiling and the income gap among high earner male and female professionals.

    Merluzzi, Jennifer; Dobrev, Stanislav D

    2015-09-01

    We develop a comprehensive, multi-level model of income inequality between high earner men and women during the early career stages. We argue that young women are routinely subjected to "gender profiling" by employers-women's potential contribution to the organization is interpreted through the lens of social stereotypes and cultural norms that attribute to them weaker labor market commitment than men. We investigate two specific mechanisms that arise from this profiling and lead to income inequality: First, women have diminished access to resources and advancement opportunities within the firm which results in lower returns to tenure for women than for men. Second, external mobility is greatly beneficial for men but much less so for women because it reinforces the image of weak commitment. Salary regressions of early career history data of young MBA alumni of a prestigious U.S. business school accord with our conjectures. Copyright © 2015 Elsevier Inc. All rights reserved.

  2. Profiling high performance dense linear algebra algorithms on multicore architectures for power and energy efficiency

    Ltaief, Hatem

    2011-08-31

    This paper presents the power profile of two high performance dense linear algebra libraries i.e., LAPACK and PLASMA. The former is based on block algorithms that use the fork-join paradigm to achieve parallel performance. The latter uses fine-grained task parallelism that recasts the computation to operate on submatrices called tiles. In this way tile algorithms are formed. We show results from the power profiling of the most common routines, which permits us to clearly identify the different phases of the computations. This allows us to isolate the bottlenecks in terms of energy efficiency. Our results show that PLASMA surpasses LAPACK not only in terms of performance but also in terms of energy efficiency. © 2011 Springer-Verlag.

  3. Carbon filament beam profile monitor for high energy proton-antiproton storage rings

    Evans, L.R.; Shafer, R.E.

    1979-01-01

    The measurement of the evolution of the transverse profile of the stored beams in high energy proton storage rings such as the p-anti p colliders at CERN and at FNAL is of considerable importance. In the present note, a simple monitor is discussed which will allow almost non-destructive measurement of the profile of each individual proton and antiproton bunch separately. It is based on the flying wire technique first used at CEA and more recently at the CPS. A fine carbon filament is passed quickly through the beam, acting as a target for secondary particle production. The flux of secondary particles is measured by two scintillator telescopes, one for protons and one for antiprotons, having an angular acceptance between 30 and 100 mrad. Measurements of secondary particle production performed at FNAL in this angular range show that a very respectable flux can be expected

  4. Multi-sensor measurement system for robotic drilling

    Frommknecht, Andreas; Kühnle, Jens; Pidan, Sergej; Effenberger, Ira

    2015-01-01

    A multi-sensor measurement system for robotic drilling is presented. The system enables a robot to measure its 6D pose with respect to the work piece and to establish a reference coordinate system for drilling. The robot approaches the drill point and performs an orthogonal alignment with the work piece. Although the measurement systems are readily capable of achieving high position accuracy and low deviation to perpendicularity, experiments show that inaccuracies in the robot's 6D-pose and e...

  5. Robotic system for glovebox size reduction

    KWOK, KWAN S.; MCDONALD, MICHAEL J.

    2000-01-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories (SNL) is developing technologies for glovebox size reduction in the DOE nuclear complex. A study was performed for Kaiser-Hill (KH) at the Rocky Flats Environmental Technology Site (RFETS) on the available technologies for size reducing the glovebox lines that require size reduction in place. Currently, the baseline approach to these glovebox lines is manual operations using conventional mechanical cutting methods. The study has been completed and resulted in a concept of the robotic system for in-situ size reduction. The concept makes use of commercially available robots that are used in the automotive industry. The commercially available industrial robots provide high reliability and availability that are required for environmental remediation in the DOE complex. Additionally, the costs of commercial robots are about one-fourth that of the custom made robots for environmental remediation. The reason for the lower costs and the higher reliability is that there are thousands of commercial robots made annually, whereas there are only a few custom robots made for environmental remediation every year. This paper will describe the engineering analysis approach used in the design of the robotic system for glovebox size reduction

  6. Legal and ethical issues in robotic surgery.

    Mavroforou, A; Michalodimitrakis, E; Hatzitheo-Filou, C; Giannoukas, A

    2010-02-01

    With the rapid introduction of revolutionary technologies in surgical practice, such as computer-enhanced robotic surgery, the complexity in various aspects, including medical, legal and ethical, will increase exponentially. Our aim was to highlight important legal and ethical implications emerged from the application of robotic surgery. Search of the pertinent medical and legal literature. Robotic surgery may open new avenues in the near future in surgical practice. However, in robotic surgery, special training and experience along with high quality assessment are required in order to provide normal conscientious care and state-of-the-art treatment. While the legal basis for professional liability remains exactly the same, litigation with the use of robotic surgery may be complex. In case of an undesirable outcome, in addition to physician and hospital, the manufacturer of the robotic system may be sued. In respect to ethical issues in robotic surgery, equipment safety and reliability, provision of adequate information, and maintenance of confidentiality are all of paramount importance. Also, the cost of robotic surgery and the lack of such systems in most of the public hospitals may restrict the majority from the benefits offered by the new technology. While surgical robotics will have a significant impact on surgical practice, it presents challenges so much in the realm of law and ethics as of medicine and health care.

  7. Utilizing a Robotic Sprayer for High Lateral and Mass Resolution MALDI FT-ICR MSI of Microbial Cultures

    Anderton, Christopher R.; Chu, Rosalie K.; Tolic, Nikola; Creissen, Alain V.; Pasa-Tolic, Ljiljana

    2016-01-07

    The ability to visualize biochemical interactions between microbial communities using MALDI MSI has provided tremendous insights into a variety of biological fields. Matrix application using a sieve proved to be incredibly useful, but it had many limitations that include uneven matrix coverage and limitation in the types of matrices one could employ in their studies. Recently, there has been a concerted effort to improve matrix application for studying agar plated microbial cultures, many of which utilized automated matrix sprayers. Here, we describe the usefulness of using a robotic sprayer for matrix application. The robotic sprayer has two-dimensional control over where matrix is applied and a heated capillary that allows for rapid drying of the applied matrix. This method provided a significant increase in MALDI sensitivity over the sieve method, as demonstrated by FT-ICR MS analysis, facilitating the ability to gain higher lateral resolution MS images of Bacillus Subtilis than previously reported. This method also allowed for the use of different matrices to be applied to the culture surfaces.

  8. Modeling and identification for robot motion control

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Kurfess, T.R.

    2004-01-01

    This chapter deals with the problems of robot modelling and identification for high-performance model-based motion control. A derivation of robot kinematic and dynamic models was explained. Modelling of friction effects was also discussed. Use of a writing task to establish correctness of the models

  9. Lazy motion planning for robotic manipulators

    Andrien, A.R.P.; van de Molengraft, M.J.G.; Bruyninckx, H.P.J.

    2017-01-01

    Robotic manipulators are making a shift towards mobile bases in both industry and domestic environments, which puts high demands on efficient use of the robot’s limited energy resources. In this work, the problem of reducing energy usage of a robot manipulator during a task is investigated. We

  10. RoboEarth: connecting robots worldwide

    Zweigle, O.; Molengraft, van de M.J.G.; D'Andrea, R.; Häussermann, K.

    2009-01-01

    In this paper, we present the core concept and the benefits of an approach called RoboEarth which will be highly beneficial for future robotic applications in science and industry. RoboEarth is a world-wide platform which robots can use to exchange position and map information as well as

  11. Robotics Team Lights Up New Year's Eve

    LeBlanc, Cheryl

    2011-01-01

    A robotics team from Muncie, Indiana--the PhyXTGears--is made up of high school students from throughout Delaware County. The group formed as part of the FIRST Robotics program (For Inspiration and Recognition of Science and Technology), an international program founded by inventor Dean Kamen in which students work with professional engineers and…

  12. Balance Maintenance in High-Speed Motion of Humanoid Robot Arm-Based on the 6D Constraints of Momentum Change Rate

    Da-song Zhang

    2014-01-01

    Full Text Available Based on the 6D constraints of momentum change rate (CMCR, this paper puts forward a real-time and full balance maintenance method for the humanoid robot during high-speed movement of its 7-DOF arm. First, the total momentum formula for the robot’s two arms is given and the momentum change rate is defined by the time derivative of the total momentum. The author also illustrates the idea of full balance maintenance and analyzes the physical meaning of 6D CMCR and its fundamental relation to full balance maintenance. Moreover, discretization and optimization solution of CMCR has been provided with the motion constraint of the auxiliary arm’s joint, and the solving algorithm is optimized. The simulation results have shown the validity and generality of the proposed method on the full balance maintenance in the 6 DOFs of the robot body under 6D CMCR. This method ensures 6D dynamics balance performance and increases abundant ZMP stability margin. The resulting motion of the auxiliary arm has large abundance in joint space, and the angular velocity and the angular acceleration of these joints lie within the predefined limits. The proposed algorithm also has good real-time performance.

  13. Eocene Antarctic seasonality inferred from high-resolution stable isotope profiles of fossil bivalves and driftwood

    Judd, E. J.; Ivany, L. C.; Miklus, N. M.; Uveges, B. T.; Junium, C. K.

    2017-12-01

    The Eocene Epoch was a time of large-scale global climate change, experiencing both the warmest temperatures of the Cenozoic and the onset of southern hemisphere glaciation. The record of average global temperatures throughout this transition is reasonably well constrained, however considerably less is known about the accompanying changes in seasonality. Seasonally resolved temperature data provide a wealth of information not readily available from mean annual temperature data alone. These data are particularly important in the climatically sensitive high latitudes, as they can elucidate the means by which climate changes and the conditions necessary for the growth of ice sheets. Several recent studies, however, have suggested the potential for monsoonal precipitation regimes in the early-middle Eocene high latitudes, which complicates interpretation of seasonally resolved oxygen isotope records in shallow nearshore marine settings. Seasonal precipitation and runoff could create a brackish, isotopically depleted lens in these environments, depleting summertime δ18Ocarb and thereby inflating the inferred mean and range of isotope-derived temperatures. Here, we assess intra-annual variations in temperature in shallow nearshore Antarctic waters during the middle and late Eocene, inferred from high-resolution oxygen isotope profiles from accretionary bivalves of the La Meseta Formation, Seymour Island, Antarctica. To address concerns related to precipitation and runoff, we also subsample exceptionally preserved fossil driftwood from within the formation and use seasonal differences in δ13Corg values to estimate the ratio of summertime to wintertime precipitation. Late Eocene oxygen isotope profiles exhibit strongly attenuated seasonal amplitudes and more enriched mean annual values in comparison with data from the middle Eocene. Preliminary fossil wood data are not indicative of a strongly seasonal precipitation regime, implying that intra-annual variation in oxygen

  14. Optimum DMOS cell doping profiles for high-voltage discrete and integrated device technologies

    Shenai, Krishna

    1992-05-01

    It is shown that the implantation and activation sequences of B and As result in significant variations in the contact resistance and p-base sheet resistance beneath the n+-source diffusion of a DMOSFET cell. For identical process parameters, the contact resistance of As-doped n+ silicon was significantly improved when high-dose B was implanted due to higher As surface concentration. The SUPREM III process modeling results were found to be in qualitative agreement with the measured spreading resistance profiles and the discrepancies could be attributed to larger high-temperature diffusion constants used in SUPREM III and the coupled As-B diffusion/activation effects that are not accounted for in process modeling. The experimental results are discussed within the framework of fabricating high-performance DMOSFET cells and CMOS high-voltage devices on the same chip for discrete and smart-power applications.

  15. Clinical profile of high-risk febrile neutropenia in a tertiary care hospital

    Mohan V Bhojaraja

    2016-06-01

    Full Text Available Background Infection in the immunocompromised host has been a reason of concern in the clinical setting and a topic of debate for decades. In this study, the aim was to analyse the clinical profile of high-risk febrile neutropenic patients. Aims To study the clinical profile of high risk febrile neutropenia patients with the objective of identifying the most common associated malignancy, most common associated pathogen, the source of infection, to correlate the treatment and management with that of the Infectious Diseases Society of America (IDSA 2010 guidelines and to assess the clinical outcome. Methods A cross-sectional time bound study was carried out and a total of 80 episodes of high-risk febrile neutropenia were recorded among patients with malignancies from September 2011 to July 2013 with each episode being taken as a new case. Results Non-Hodgkin’s lymphoma (30 per cent was the most common malignancy associated, commonest source of infection was due to central venous catheters, the commonest pathogens were gram negative (52 per cent the treatment and management of each episode of high risk febrile neutropenia correlated with that of IDSA 2010 guidelines and the mortality rate was 13.75 per cent. Conclusion Febrile neutropenia is one of the major complications and cause of mortality in patients with malignancy and hence understanding its entire spectrum can help us reduce morbidity and mortality.

  16. Active Learning Strategies for Phenotypic Profiling of High-Content Screens.

    Smith, Kevin; Horvath, Peter

    2014-06-01

    High-content screening is a powerful method to discover new drugs and carry out basic biological research. Increasingly, high-content screens have come to rely on supervised machine learning (SML) to perform automatic phenotypic classification as an essential step of the analysis. However, this comes at a cost, namely, the labeled examples required to train the predictive model. Classification performance increases with the number of labeled examples, and because labeling examples demands time from an expert, the training process represents a significant time investment. Active learning strategies attempt to overcome this bottleneck by presenting the most relevant examples to the annotator, thereby achieving high accuracy while minimizing the cost of obtaining labeled data. In this article, we investigate the impact of active learning on single-cell-based phenotype recognition, using data from three large-scale RNA interference high-content screens representing diverse phenotypic profiling problems. We consider several combinations of active learning strategies and popular SML methods. Our results show that active learning significantly reduces the time cost and can be used to reveal the same phenotypic targets identified using SML. We also identify combinations of active learning strategies and SML methods which perform better than others on the phenotypic profiling problems we studied. © 2014 Society for Laboratory Automation and Screening.

  17. Analysis of senior high school students’ creative thinking skills profile in Klaten regency

    Sugiyanto, F. N.; Masykuri, M.; Muzzazinah

    2018-04-01

    The aim of this research is to analyze the initial profile of creative thinking skills in Senior High School students on biology learning. This research was a quantitative descriptive research using test method. Analysis was conducted by giving tests containing creative thinking skills. The research subject was grade 11 students of Senior High School that categorized by its accreditation as category A (high grade) and category B (low grade). These schools are placed in Klaten Regency, Central Java. Based on the analysis, it showed that the percentage of creative thinking skill achievement in category A school is: fluency (46.35%), flexibility (13.54%), originality (20%), and elaboration (34.76%); meanwhile, category B school is fluency (30.39%), flexibility (2.45%), originality (9.11 %) and elaboration (12.87%). The lowest percentage of that result in both school categories was found on flexibility and originality indicator. Based on the result, the average of creative thinking skills in category A school was 28.66%, and category B school was 13.71%. The conclusion of this research is the initial profile of students’ creative thinking skills in biology learning was relatively in low grade. The result indicates that creative thinking skills of Senior High School students should become a serious attention considering the low percentage on each indicator.

  18. Next generation light robotic

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

    2017-01-01

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

  19. Distributed Robotics Education

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  20. An Adaptive Robot Game

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

    2010-01-01

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

  1. Robotic intelligence kernel

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  2. Towards safe robots approaching Asimov’s 1st law

    Haddadin, Sami

    2014-01-01

    The vision of seamless human-robot interaction in our everyday life that allows for tight cooperation between human and robot has not become reality yet. However, the recent increase in technology maturity finally made it possible to realize systems of high integration, advanced sensorial capabilities and enhanced power to cross this barrier and merge living spaces of humans and robot workspaces to at least a certain extent. Together with the increasing industrial effort to realize first commercial service robotics products this makes it necessary to properly address one of the most fundamental questions of Human-Robot Interaction: How to ensure safety in human-robot coexistence? In this authoritative monograph, the essential question about the necessary requirements for a safe robot is addressed in depth and from various perspectives. The approach taken in this book focuses on the biomechanical level of injury assessment, addresses the physical evaluation of robot-human impacts, and isolates the major factor...

  3. Selected Topics in MicroNano-robotics for Biomedical Applications

    2013-01-01

    Selected Topics in Micro/Nano-robotics for Biomedical Applications features a system approach and incorporates modern methodologies in autonomous mobile robots for programmable and controllable micro/nano-robots aiming at biomedical applications. The book provides chapters of instructional materials and cutting-edge research results in micro/nanorobotics for biomedical applications. The book presents new sensing technology on nanofibers, new power supply techniques including miniature fuel cells and energy harvesting devices, and manipulation techniques including AFM-based nano-robotic manipulation, robot-aided optical tweezers, and robot-assisted catheter surgery systems. It also contains case studies on using micro/nano-robots in biomedical environments and in biomedicine, as well as a design example to conceptually develop a Vitamin-pill sized robot to enter human’s gastrointestinal tract. Each chapter covers a different topic of the highly interdisciplinary area. Bring together the selected topics into ...

  4. Robotic membranes

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  5. A high-frequency sonar for profiling small-scale subaqueous bedforms

    Dingler, J.R.; Boylls, J.C.; Lowe, R.L.

    1977-01-01

    A high-resolution ultrasonic profiler has been developed which permits both laboratory and field studies of small-scale subaqueous bedforms. The device uses a 2.5-cm diameter piezoelectric ceramic crystal pulsed at a frequency of 4.5 MHz to obtain vertical accuracy and resolution of at least 1 mm. Compared to other small-scale profiling methods, this ultrasonic technique profiles the bottom more accurately and more rapidly without disturbing the bedforms. These characteristics are vital in wave-dominated nearshore zones where oscillatory flow and low visibility for the most part have stymied detailed bedform studies. In the laboratory the transducer is mounted directly to an instrument carriage. For field work the transducer housing is mounted in a 2 m long aluminum frame which is situated and operated by scuba divers. Observations using the device include ripple geometry and migration, the suspension height of sand during sheet flow, and long-term erosion/deposition at a point. ?? 1977.

  6. Velocity profile measurement of lead-lithium flows by high-temperature ultrasonic doppler velocimetry

    Ueki, Y.; Kunugi, T.; Hirabayashi, Masaru; Nagai, Keiichi; Saito, Junichi; Ara, Kuniaki; Morley, N.B.

    2014-01-01

    This paper describes a high-temperature ultrasonic Doppler Velocimetry (HT-UDV) technique that has been successfully applied to measure velocity profiles of the lead-lithium eutectic alloy (PbLi) flows. The impact of tracer particles is investigated to determine requirements for HT-UDV measurement of PbLi flows. The HT-UDV system is tested on a PbLi flow driven by a rotating-disk in an inert atmosphere. We find that a sufficient amount of particles contained in the molten PbLi are required to successfully measure PbLi velocity profiles by HT-UDV. An X-ray diffraction analysis is performed to identify those particles in PbLi, and indicates that those particles were made of the lead mono-oxide (PbO). Since the specific densities of PbLi and PbO are close to each other, the PbO particles are expected to be well-dispersed in the bulk of molten PbLi. We conclude that the excellent dispersion of PbO particles enables in HT-UDV to obtain reliable velocity profiles for operation times of around 12 hours. (author)

  7. Calculation of the non-inductive current profile in high-performance NSTX plasmas

    Gerhardt, S. P.; Fredrickson, E.; Gates, D.; Kaye, S.; Menard, J.; Bell, M. G.; Bell, R. E.; Le Blanc, B. P.; Kugel, H.; Sabbagh, S. A.; Yuh, H.

    2011-03-01

    The constituents of the current profile have been computed for a wide range of high-performance plasmas in NSTX (Ono et al 2000 Nucl. Fusion 40 557); these include cases designed to maximize the non-inductive fraction, pulse length, toroidal-β or stored energy. In the absence of low-frequency MHD activity, good agreement is found between the reconstructed current profile and that predicted by summing the independently calculated inductive, pressure-driven and neutral beam currents, without the need to invoke any anomalous beam ion diffusion. Exceptions occur, for instance, when there are toroidal Alfvén eigenmode avalanches or coupled m/n = 1/1 + 2/1 kink-tearing modes. In these cases, the addition of a spatially and temporally dependent fast-ion diffusivity can reduce the core beam current drive, restoring agreement between the reconstructed profile and the summed constituents, as well as bringing better agreement between the simulated and measured neutron emission rate. An upper bound on the fast-ion diffusivity of ~0.5-1 m2 s-1 is found in 'MHD-free' discharges, based on the neutron emission, the time rate of change in the neutron signal when a neutral beam is stepped and reconstructed on-axis current density.

  8. Calculation of the Non-Inductive Current Profile in High-Performance NSTX Plasmas

    Gerhardt, S.P.; Fredrickson, E.; Gates, D.; Kaye, S.; Menard, J.; Bell, M.G.; Bell, R.E.; Le Blanc, B.P.; Kugel, H.; Sabbagh, S.A.; Yuh, H.

    2011-01-01

    The constituents of the current profile have been computed for a wide range of high-performance plasmas in NSTX [M. Ono, et al., Nuclear Fusion 40, 557 (2000)]; these include cases designed to maximize the non-inductive fraction, pulse length, toroidal-β, or stored energy. In the absence of low-frequency MHD activity, good agreement is found between the reconstructed current profile and that predicted by summing the independently calculated inductive, pressure-driven, and neutral beam currents, without the need to invoke any anomalous beam ion diffusion. Exceptions occur, for instance, when there are toroidal Alfven eigenmode avalanches or coupled m/n=1/1+2/1 kink-tearing modes. In these cases, the addition of a spatially and temporally dependent fast ion diffusivity can reduce the core beam current drive, restoring agreement between the reconstructed profile and the summed constituents, as well as bringing better agreement between the simulated and measured neutron emission rate. An upper bound on the fast ion diffusivity of ∼0.5-1 m 2 /sec is found in 'MHD-free' discharges, based on the neutron emission, time rate of change of the neutron signal when a neutral beam is stepped, and reconstructed on-axis current density.

  9. Tropical cyclone turbulent mixing as observed by autonomous oceanic profilers with the high repetition rate

    Baranowski, D B; Malinowski, S P; Flatau, P J

    2011-01-01

    Changes in the ocean mixed layer caused by passage of two consecutive typhoons in the Western Pacific are presented. Ocean profiles were measured by a unique Argo float sampling the upper ocean in high repetition cycle with a period of about one day. It is shown that the typhoon passage coincides with cooling of the mixed layer and variations of its salinity. Independent data from satellite measurements of surface winds were used to set-up an and idealized numerical simulation of mixed layer evolution. Results, compared to Argo profiles, confirm known effect that cooling is a result of increased entrainment from the thermocline due to enhancement of turbulence in the upper ocean by the wind stress. Observed pattern of salinity changes in the mixed layer suggest important role of typhoon precipitation. Fast changes of the mixed layer in course of typhoon passage show that fast profiling (at least once a day) is crucial to study response of the upper ocean to tropical cyclone.

  10. A distribution-free multi-factorial profiler for harvesting information from high-density screenings.

    Besseris, George J

    2013-01-01

    Data screening is an indispensable phase in initiating the scientific discovery process. Fractional factorial designs offer quick and economical options for engineering highly-dense structured datasets. Maximum information content is harvested when a selected fractional factorial scheme is driven to saturation while data gathering is suppressed to no replication. A novel multi-factorial profiler is presented that allows screening of saturated-unreplicated designs by decomposing the examined response to its constituent contributions. Partial effects are sliced off systematically from the investigated response to form individual contrasts using simple robust measures. By isolating each time the disturbance attributed solely to a single controlling factor, the Wilcoxon-Mann-Whitney rank stochastics are employed to assign significance. We demonstrate that the proposed profiler possesses its own self-checking mechanism for detecting a potential influence due to fluctuations attributed to the remaining unexplainable error. Main benefits of the method are: 1) easy to grasp, 2) well-explained test-power properties, 3) distribution-free, 4) sparsity-free, 5) calibration-free, 6) simulation-free, 7) easy to implement, and 8) expanded usability to any type and size of multi-factorial screening designs. The method is elucidated with a benchmarked profiling effort for a water filtration process.

  11. A distribution-free multi-factorial profiler for harvesting information from high-density screenings.

    George J Besseris

    Full Text Available Data screening is an indispensable phase in initiating the scientific discovery process. Fractional factorial designs offer quick and economical options for engineering highly-dense structured datasets. Maximum information content is harvested when a selected fractional factorial scheme is driven to saturation while data gathering is suppressed to no replication. A novel multi-factorial profiler is presented that allows screening of saturated-unreplicated designs by decomposing the examined response to its constituent contributions. Partial effects are sliced off systematically from the investigated response to form individual contrasts using simple robust measures. By isolating each time the disturbance attributed solely to a single controlling factor, the Wilcoxon-Mann-Whitney rank stochastics are employed to assign significance. We demonstrate that the proposed profiler possesses its own self-checking mechanism for detecting a potential influence due to fluctuations attributed to the remaining unexplainable error. Main benefits of the method are: 1 easy to grasp, 2 well-explained test-power properties, 3 distribution-free, 4 sparsity-free, 5 calibration-free, 6 simulation-free, 7 easy to implement, and 8 expanded usability to any type and size of multi-factorial screening designs. The method is elucidated with a benchmarked profiling effort for a water filtration process.

  12. New Mexico Look for the STARS--AIM HIGH: QRS Profile. The Child Care Quality Rating System (QRS) Assessment

    Child Trends, 2010

    2010-01-01

    This paper presents a profile of New Mexico's Look for the STARS--AIM HIGH prepared as part of the Child Care Quality Rating System (QRS) Assessment Study. The profile consists of several sections and their corresponding descriptions including: (1) Program Information; (2) Rating Details; (3) Quality Indicators for Center-Based Programs; (4)…

  13. Evaluation of a new high-dimensional miRNA profiling platform

    Lamblin Anne-Francoise

    2009-08-01

    Full Text Available Abstract Background MicroRNAs (miRNAs are a class of approximately 22 nucleotide long, widely expressed RNA molecules that play important regulatory roles in eukaryotes. To investigate miRNA function, it is essential that methods to quantify their expression levels be available. Methods We evaluated a new miRNA profiling platform that utilizes Illumina's existing robust DASL chemistry as the basis for the assay. Using total RNA from five colon cancer patients and four cell lines, we evaluated the reproducibility of miRNA expression levels across replicates and with varying amounts of input RNA. The beta test version was comprised of 735 miRNA targets of Illumina's miRNA profiling application. Results Reproducibility between sample replicates within a plate was good (Spearman's correlation 0.91 to 0.98 as was the plate-to-plate reproducibility replicates run on different days (Spearman's correlation 0.84 to 0.98. To determine whether quality data could be obtained from a broad range of input RNA, data obtained from amounts ranging from 25 ng to 800 ng were compared to those obtained at 200 ng. No effect across the range of RNA input was observed. Conclusion These results indicate that very small amounts of starting material are sufficient to allow sensitive miRNA profiling using the Illumina miRNA high-dimensional platform. Nonlinear biases were observed between replicates, indicating the need for abundance-dependent normalization. Overall, the performance characteristics of the Illumina miRNA profiling system were excellent.

  14. Ground-based lidar and microwave radiometry synergy for high vertical resolution absolute humidity profiling

    Barrera-Verdejo, María; Crewell, Susanne; Löhnert, Ulrich; Orlandi, Emiliano; Di Girolamo, Paolo

    2016-08-01

    Continuous monitoring of atmospheric humidity profiles is important for many applications, e.g., assessment of atmospheric stability and cloud formation. Nowadays there are a wide variety of ground-based sensors for atmospheric humidity profiling. Unfortunately there is no single instrument able to provide a measurement with complete vertical coverage, high vertical and temporal resolution and good performance under all weather conditions, simultaneously. For example, Raman lidar (RL) measurements can provide water vapor with a high vertical resolution, albeit with limited vertical coverage, due to sunlight contamination and the presence of clouds. Microwave radiometers (MWRs) receive water vapor information throughout the troposphere, though their vertical resolution is poor. In this work, we present an MWR and RL system synergy, which aims to overcome the specific sensor limitations. The retrieval algorithm combining these two instruments is an optimal estimation method (OEM), which allows for an uncertainty analysis of the retrieved profiles. The OEM combines measurements and a priori information, taking the uncertainty of both into account. The measurement vector consists of a set of MWR brightness temperatures and RL water vapor profiles. The method is applied to a 2-month field campaign around Jülich (Germany), focusing on clear sky periods. Different experiments are performed to analyze the improvements achieved via the synergy compared to the individual retrievals. When applying the combined retrieval, on average the theoretically determined absolute humidity uncertainty is reduced above the last usable lidar range by a factor of ˜ 2 with respect to the case where only RL measurements are used. The analysis in terms of degrees of freedom per signal reveal that most information is gained above the usable lidar range, especially important during daytime when the lidar vertical coverage is limited. The retrieved profiles are further evaluated using

  15. Towards automatic metabolomic profiling of high-resolution one-dimensional proton NMR spectra

    Mercier, Pascal; Lewis, Michael J.; Chang, David, E-mail: dchang@chenomx.com [Chenomx Inc (Canada); Baker, David [Pfizer Inc (United States); Wishart, David S. [University of Alberta, Department of Computing Science and Biological Sciences (Canada)

    2011-04-15

    Nuclear magnetic resonance (NMR) and Mass Spectroscopy (MS) are the two most common spectroscopic analytical techniques employed in metabolomics. The large spectral datasets generated by NMR and MS are often analyzed using data reduction techniques like Principal Component Analysis (PCA). Although rapid, these methods are susceptible to solvent and matrix effects, high rates of false positives, lack of reproducibility and limited data transferability from one platform to the next. Given these limitations, a growing trend in both NMR and MS-based metabolomics is towards targeted profiling or 'quantitative' metabolomics, wherein compounds are identified and quantified via spectral fitting prior to any statistical analysis. Despite the obvious advantages of this method, targeted profiling is hindered by the time required to perform manual or computer-assisted spectral fitting. In an effort to increase data analysis throughput for NMR-based metabolomics, we have developed an automatic method for identifying and quantifying metabolites in one-dimensional (1D) proton NMR spectra. This new algorithm is capable of using carefully constructed reference spectra and optimizing thousands of variables to reconstruct experimental NMR spectra of biofluids using rules and concepts derived from physical chemistry and NMR theory. The automated profiling program has been tested against spectra of synthetic mixtures as well as biological spectra of urine, serum and cerebral spinal fluid (CSF). Our results indicate that the algorithm can correctly identify compounds with high fidelity in each biofluid sample (except for urine). Furthermore, the metabolite concentrations exhibit a very high correlation with both simulated and manually-detected values.

  16. Towards automatic metabolomic profiling of high-resolution one-dimensional proton NMR spectra

    Mercier, Pascal; Lewis, Michael J.; Chang, David; Baker, David; Wishart, David S.

    2011-01-01

    Nuclear magnetic resonance (NMR) and Mass Spectroscopy (MS) are the two most common spectroscopic analytical techniques employed in metabolomics. The large spectral datasets generated by NMR and MS are often analyzed using data reduction techniques like Principal Component Analysis (PCA). Although rapid, these methods are susceptible to solvent and matrix effects, high rates of false positives, lack of reproducibility and limited data transferability from one platform to the next. Given these limitations, a growing trend in both NMR and MS-based metabolomics is towards targeted profiling or “quantitative” metabolomics, wherein compounds are identified and quantified via spectral fitting prior to any statistical analysis. Despite the obvious advantages of this method, targeted profiling is hindered by the time required to perform manual or computer-assisted spectral fitting. In an effort to increase data analysis throughput for NMR-based metabolomics, we have developed an automatic method for identifying and quantifying metabolites in one-dimensional (1D) proton NMR spectra. This new algorithm is capable of using carefully constructed reference spectra and optimizing thousands of variables to reconstruct experimental NMR spectra of biofluids using rules and concepts derived from physical chemistry and NMR theory. The automated profiling program has been tested against spectra of synthetic mixtures as well as biological spectra of urine, serum and cerebral spinal fluid (CSF). Our results indicate that the algorithm can correctly identify compounds with high fidelity in each biofluid sample (except for urine). Furthermore, the metabolite concentrations exhibit a very high correlation with both simulated and manually-detected values.

  17. Examining the profile of high-potency cannabis and its association with severity of cannabis dependence.

    Freeman, T P; Winstock, A R

    2015-11-01

    Cannabis use is decreasing in England and Wales, while demand for cannabis treatment in addiction services continues to rise. This could be partly due to an increased availability of high-potency cannabis. Adults residing in the UK were questioned about their drug use, including three types of cannabis (high potency: skunk; low potency: other grass, resin). Cannabis types were profiled and examined for possible associations between frequency of use and (i) cannabis dependence, (ii) cannabis-related concerns. Frequent use of high-potency cannabis predicted a greater severity of dependence [days of skunk use per month: b = 0.254, 95% confidence interval (CI) 0.161-0.357, p effect became stronger as age decreased (b = -0.006, 95% CI -0.010 to -0.002, p = 0.004). By contrast, use of low-potency cannabis was not associated with dependence (days of other grass use per month: b = 0.020, 95% CI -0.029 to 0.070, p = 0.436; days of resin use per month: b = 0.025, 95% CI -0.019 to 0.067, p = 0.245). Frequency of cannabis use (all types) did not predict severity of cannabis-related concerns. High-potency cannabis was clearly distinct from low-potency varieties by its marked effects on memory and paranoia. It also produced the best high, was preferred, and most available. High-potency cannabis use is associated with an increased severity of dependence, especially in young people. Its profile is strongly defined by negative effects (memory, paranoia), but also positive characteristics (best high, preferred type), which may be important when considering clinical or public health interventions focusing on cannabis potency.

  18. Exploring the ethical landscape of robot-assisted Search and Rescue

    Harbers, M.; Greeff, J. de; Kruijff-Korbayová, I.; Neerincx, M.A.; Hindriks, K.V.

    2017-01-01

    As robots are increasingly used in Search and Rescue (SAR) missions, it becomes highly relevant to study how SAR robots can be developed and deployed in a responsible way. In contrast to some other robot application domains, e.g. military and healthcare, the ethics of robot-assisted SAR are

  19. Robotics Potential Fields

    Jordi Lucero

    2009-01-01

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

  20. A simulation study on burning profile tailoring of steady state, high bootstrap current tokamaks

    Nakamura, Y.; Takei, N.; Tobita, K.; Sakamoto, Y.; Fujita, T.; Fukuyama, A.; Jardin, S.C.

    2007-01-01

    From the aspect of fusion burn control in steady state DEMO plant, the significant challenges are to maintain its high power burning state of ∝3-5 GW without burning instability, hitherto well-known as ''thermal stability'', and also to keep its desired burning profile relevant with internal transport barrier (ITB) that generates high bootstrap current. The paper presents a simulation modeling of the burning stability coupled with the self-ignited fusion burn and the structure-formation of the ITB. A self-consistent simulation, including a model for improved core energy confinement, has pointed out that in the high power fusion DEMO plant there is a close, nonlinear interplay between the fusion burnup and the current source of non-inductive, ITB-generated bootstrap current. Consequently, as much distinct from usual plasma controls under simulated burning conditions with lower power (<<1 GW), the selfignited fusion burn at a high power burning state of ∝3-5 GW becomes so strongly selforganized that any of external means except fuelling can not provide the effective control of the stable fusion burn.It is also demonstrated that externally applied, inductive current perturbations can be used to control both the location and strength of ITB in a fully noninductive tokamak discharge. We find that ITB structures formed with broad noninductive current sources such as LHCD are more readily controlled than those formed by localized sources such as ECCD. The physics of the inductive current is well known. Consequently, we believe that the controllability of the ITB is generic, and does not depend on the details of the transport model (as long as they can form an ITB for sufficiently reversed magnetic shear q-profile). Through this external control of the magnetic shear profile, we can maintain the ITB strength that is otherwise prone to deteriorate when the bootstrap current increases. These distinguishing capabilities of inductive current perturbation provide steady

  1. Affective profiles in Italian high school students: life satisfaction, psychological well-being, self-esteem, and optimism

    Annamaria eDi Fabio

    2015-09-01

    Full Text Available The affective profiles model distinguishes between individuals who are self-fulfilling (high positive affect, low negative affect, high affective (high positive affect, high negative affect, low affective (low positive affect, low negative affect, and self-destructive (low positive affect, high negative affect. The literature shows that the affective profiles model has been used with Swedish people in particular in order to determine differences among profiles in relation to life satisfaction, psychological well-being, self-esteem, and optimism. The present research investigated these differences in Italian high school students. Two studies were conducted: the first with 156 Italian high school students and the second with 148 Italian high school students. The first study analyzed differences among affective profiles with regard to life satisfaction and psychological well-being while the second study analyzed differences among affective profiles with regard to self-esteem and optimism. In the first study, the Positive and Negative Affect Schedule (PANAS, the Satisfaction With Life Scale (SWLS, and the Meaningful Life Measure (MLM were administered to the participants. In the second study, the Positive and Negative Affect Schedule (PANAS, the Self-Esteem Scale (SES, the Life Orientation Test - revised (LOT-r were administered to the participants. The results of the first study showed that, with respect to the other profiles, the self-fulfilling participants had greater life satisfaction and psychological well-being. The results of the second study showed that, with respect to the other profiles, the self-fulfilling participants had higher self-esteem and optimism. These results revealed differences among affective profiles regarding life satisfaction, psychological well-being, self-esteem, and optimism in the Italian context as well thereby offering new possibilities for cross-cultural research and for enhancing self-fulfilling profiles.

  2. Affective profiles in Italian high school students: life satisfaction, psychological well-being, self-esteem, and optimism.

    Di Fabio, Annamaria; Bucci, Ornella

    2015-01-01

    The affective profiles model distinguishes between individuals who are self-fulfilling (high positive affect, low negative affect), high affective (high positive affect, high negative affect), low affective (low positive affect, low negative affect), and self-destructive (low positive affect, high negative affect). The literature shows that the affective profiles model has been used with Swedish people in particular in order to determine differences among profiles in relation to life satisfaction, psychological well-being, self-esteem, and optimism. The present research investigated these differences in Italian high school students. Two studies were conducted: the first with 156 Italian high school students and the second with 148 Italian high school students. The first study analyzed differences among affective profiles with regard to life satisfaction and psychological well-being while the second study analyzed differences among affective profiles with regard to self-esteem and optimism. In the first study, the Positive and Negative Affect Schedule (PANAS), the Satisfaction with Life Scale, and the Meaningful Life Measure were administered to the participants. In the second study, the PANAS, the Self-Esteem Scale, the Life Orientation Test-revised were administered to the participants. The results of the first study showed that, with respect to the other profiles, the self-fulfilling participants had greater life satisfaction and psychological well-being. The results of the second study showed that, with respect to the other profiles, the self-fulfilling participants had higher self-esteem and optimism. These results revealed differences among affective profiles regarding life satisfaction, psychological well-being, self-esteem, and optimism in the Italian context as well thereby offering new possibilities for cross-cultural research and for enhancing self-fulfilling profiles.

  3. Robotic Stereotaxy in Cranial Neurosurgery: A Qualitative Systematic Review.

    Fomenko, Anton; Serletis, Demitre

    2017-12-14

    Modern-day stereotactic techniques have evolved to tackle the neurosurgical challenge of accurately and reproducibly accessing specific brain targets. Neurosurgical advances have been made in synergy with sophisticated technological developments and engineering innovations such as automated robotic platforms. Robotic systems offer a unique combination of dexterity, durability, indefatigability, and precision. To perform a systematic review of robotic integration for cranial stereotactic guidance in neurosurgery. Specifically, we comprehensively analyze the strengths and weaknesses of a spectrum of robotic technologies, past and present, including details pertaining to each system's kinematic specifications and targeting accuracy profiles. Eligible articles on human clinical applications of cranial robotic-guided stereotactic systems between 1985 and 2017 were extracted from several electronic databases, with a focus on stereotactic biopsy procedures, stereoelectroencephalography, and deep brain stimulation electrode insertion. Cranial robotic stereotactic systems feature serial or parallel architectures with 4 to 7 degrees of freedom, and frame-based or frameless registration. Indications for robotic assistance are diversifying, and include stereotactic biopsy, deep brain stimulation and stereoelectroencephalography electrode placement, ventriculostomy, and ablation procedures. Complication rates are low, and mainly consist of hemorrhage. Newer systems benefit from increasing targeting accuracy, intraoperative imaging ability, improved safety profiles, and reduced operating times. We highlight emerging future directions pertaining to the integration of robotic technologies into future neurosurgical procedures. Notably, a trend toward miniaturization, cost-effectiveness, frameless registration, and increasing safety and accuracy characterize successful stereotactic robotic technologies. Copyright © 2017 by the Congress of Neurological Surgeons

  4. 2×2 dominant achievement goal profiles in high-level swimmers.

    Fernandez-Rio, Javier; Cecchini Estrada, Jose A; Mendez-Giménez, Antonio; Fernández-Garcia, Benjamín; Saavedra, Pablo

    2014-01-01

    The goal of this study was to assess achievement goal dominance, self-determined situational motivation and competence in high-level swimmers before and after three training sessions set at different working intensities (medium, sub-maximal and maximal). Nineteen athletes (males, n=9, 18.00±2.32 years; females, n=10, 16.30±2.01 years, range = 14-18) agreed to participate. They completed a questionnaire that included the Dominant Achievement Goal assessment instrument, the 2×2 Achievement Goals Questionnaire for Sport (AGQ-S), The Situational Motivation Scale (SIMS) and the Competence subscale of the Basic Psychological Needs in Exercise questionnaire (BPNES). Results indicated that participants overwhelmingly showed mastery-approach achievement goal dominance, and it remained stable at the conclusion of the different training sessions under all intensity levels. This profile was positively correlated to self-determined situational motivation and competence. However, swimmers' feelings of competence increased only after the medium intensity level training session. After the completion of the maximal intensity training session, swimmers' self-determined motivation was significantly lower compared to the other two training sessions, which could be caused by a temporary period of burnout. Results indicated that high-level swimmers had a distinct mastery-approach dominant achievement goal profile that was not affected by the workload of the different training sessions. They also showed high levels of self-determined situational motivation and competence. However, heavy workloads should be controlled because they can cause transitory burnout.

  5. Highly multiplexed and quantitative cell-surface protein profiling using genetically barcoded antibodies.

    Pollock, Samuel B; Hu, Amy; Mou, Yun; Martinko, Alexander J; Julien, Olivier; Hornsby, Michael; Ploder, Lynda; Adams, Jarrett J; Geng, Huimin; Müschen, Markus; Sidhu, Sachdev S; Moffat, Jason; Wells, James A

    2018-03-13

    Human cells express thousands of different surface proteins that can be used for cell classification, or to distinguish healthy and disease conditions. A method capable of profiling a substantial fraction of the surface proteome simultaneously and inexpensively would enable more accurate and complete classification of cell states. We present a highly multiplexed and quantitative surface proteomic method using genetically barcoded antibodies called phage-antibody next-generation sequencing (PhaNGS). Using 144 preselected antibodies displayed on filamentous phage (Fab-phage) against 44 receptor targets, we assess changes in B cell surface proteins after the development of drug resistance in a patient with acute lymphoblastic leukemia (ALL) and in adaptation to oncogene expression in a Myc-inducible Burkitt lymphoma model. We further show PhaNGS can be applied at the single-cell level. Our results reveal that a common set of proteins including FLT3, NCR3LG1, and ROR1 dominate the response to similar oncogenic perturbations in B cells. Linking high-affinity, selective, genetically encoded binders to NGS enables direct and highly multiplexed protein detection, comparable to RNA-sequencing for mRNA. PhaNGS has the potential to profile a substantial fraction of the surface proteome simultaneously and inexpensively to enable more accurate and complete classification of cell states. Copyright © 2018 the Author(s). Published by PNAS.

  6. A highly accurate wireless digital sun sensor based on profile detecting and detector multiplexing technologies

    Wei, Minsong; Xing, Fei; You, Zheng

    2017-01-01

    The advancing growth of micro- and nano-satellites requires miniaturized sun sensors which could be conveniently applied in the attitude determination subsystem. In this work, a profile detecting technology based high accurate wireless digital sun sensor was proposed, which could transform a two-dimensional image into two-linear profile output so that it can realize a high update rate under a very low power consumption. A multiple spots recovery approach with an asymmetric mask pattern design principle was introduced to fit the multiplexing image detector method for accuracy improvement of the sun sensor within a large Field of View (FOV). A FOV determination principle based on the concept of FOV region was also proposed to facilitate both sub-FOV analysis and the whole FOV determination. A RF MCU, together with solar cells, was utilized to achieve the wireless and self-powered functionality. The prototype of the sun sensor is approximately 10 times lower in size and weight compared with the conventional digital sun sensor (DSS). Test results indicated that the accuracy of the prototype was 0.01° within a cone FOV of 100°. Such an autonomous DSS could be equipped flexibly on a micro- or nano-satellite, especially for highly accurate remote sensing applications.

  7. Advanced mechanics in robotic systems

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

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

  8. Generation of highly confined photonic nanojet using crescent-shape refractive index profile in microsphere

    Patel, H. S.; Kushwaha, P. K.; Swami, M. K.

    2018-05-01

    Photonic nanojets (PNJs) owing to their sub-wavelength near-field features have found many interesting applications like nanoscopy, nano photolithography, high density optical storage, enhancement of Raman signal and single molecule spectroscopy etc. More recently, the focus of research has been on tailoring of PNJs either for better confinement and thus higher peak intensity or for elongation of nanojet for high resolution far field applications. In this paper, we show that crescent-shape refractive index profile (CSRP) of microspheres can be used to generate highly confined PNJ. By optimizing the refractive index of different layers in CSRP microsphere, we show a free space confinement down to ∼ λ / 4 . 5 (FWHM ∼ 110 nm for excitation with 500 nm wavelength). Further, it was observed that the optical properties of substrates also modulate the PNJ characteristics and lead to a further improvement in the transverse confinement to ∼ λ / 6 . 7.

  9. The role of silicon interstitials in the deactivation and reactivation of high concentration boron profiles

    Aboy, Maria [Campus Miguel Delibes, University of Valladolid, 47011 Valladolid (Spain)]. E-mail: marabo@tel.uva.es; Pelaz, Lourdes [Campus Miguel Delibes, University of Valladolid, 47011 Valladolid (Spain); Marques, Luis A. [Campus Miguel Delibes, University of Valladolid, 47011 Valladolid (Spain); Lopez, Pedro [Campus Miguel Delibes, University of Valladolid, 47011 Valladolid (Spain); Barbolla, Juan [Campus Miguel Delibes, University of Valladolid, 47011 Valladolid (Spain); Venezia, V.C. [Philips Research Leuven, Leuven (Belgium); Duffy, R. [Philips Research Leuven, Leuven (Belgium); Griffin, Peter B. [Stanford University, Stanford, CA (United States)

    2004-12-15

    Boron cluster formation and dissolution in high concentration B profiles and the role of Si interstitials in these processes are analyzed by kinetic non-lattice Monte Carlo atomistic simulations. For this purpose, we use theoretical structures as simplifications of boron implants into preamorphized Si, followed by low-temperature solid phase epitaxial (SPE) regrowth or laser thermal annealing process. We observe that in the presence of high B concentrations (above 10{sup 20} cm{sup -3}), significant deactivation occurs during high temperature anneal, even in the presence of only equilibrium Si interstitials. The presence of additional Si interstitials from an end of range (EOR) damage region accelerates the deactivation process and makes B deactivation slightly higher. We show that B deactivation and reactivation processes can be clearly correlated to the evolution of Si interstitial defects at the EOR. The minimum level of activation occurs when the Si interstitial defects at EOR dissolve or form very stable defects.

  10. From Child-Robot Interaction to Child-Robot-Therapist Interaction: A Case Study in Autism

    I. Giannopulu

    2012-01-01

    Full Text Available Troubles in social communication as well as deficits in the cognitive treatment of emotions are supposed to be a fundamental part of autism. We present a case study based on multimodal interaction between a mobile robot and a child with autism in spontaneous, free game play. This case study tells us that the robot mediates the interaction between the autistic child and therapist once the robot-child interaction has been established. In addition, the child uses the robot as a mediator to express positive emotion playing with the therapist. It is thought that the three-pronged interaction i.e., child-robot-therapist could better facilitate the transfer of social and emotional abilities to real life settings. Robot therapy has a high potential to improve the condition of brain activity in autistic children.

  11. Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

  12. High-dimensional gene expression profiling studies in high and low responders to primary smallpox vaccination.

    Haralambieva, Iana H; Oberg, Ann L; Dhiman, Neelam; Ovsyannikova, Inna G; Kennedy, Richard B; Grill, Diane E; Jacobson, Robert M; Poland, Gregory A

    2012-11-15

    The mechanisms underlying smallpox vaccine-induced variations in immune responses are not well understood, but are of considerable interest to a deeper understanding of poxvirus immunity and correlates of protection. We assessed transcriptional messenger RNA expression changes in 197 recipients of primary smallpox vaccination representing the extremes of humoral and cellular immune responses. The 20 most significant differentially expressed genes include a tumor necrosis factor-receptor superfamily member, an interferon (IFN) gene, a chemokine gene, zinc finger protein genes, nuclear factors, and histones (P ≤ 1.06E(-20), q ≤ 2.64E(-17)). A pathway analysis identified 4 enriched pathways with cytokine production by the T-helper 17 subset of CD4+ T cells being the most significant pathway (P = 3.42E(-05)). Two pathways (antiviral actions of IFNs, P = 8.95E(-05); and IFN-α/β signaling pathway, P = 2.92E(-04)), integral to innate immunity, were enriched when comparing high with low antibody responders (false discovery rate, < 0.05). Genes related to immune function and transcription (TLR8, P = .0002; DAPP1, P = .0003; LAMP3, P = 9.96E(-05); NR4A2, P ≤ .0002; EGR3, P = 4.52E(-05)), and other genes with a possible impact on immunity (LNPEP, P = 3.72E(-05); CAPRIN1, P = .0001; XRN1, P = .0001), were found to be expressed differentially in high versus low antibody responders. We identified novel and known immunity-related genes and pathways that may account for differences in immune response to smallpox vaccination.

  13. Robotics_MobileRobot Navigation, Phase I

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

  14. Robots Social Embodiment in Autonomous Mobile Robotics

    Brian Duffy

    2008-11-01

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

  15. Reasoning robots the art and science of programming robotic agents

    Thielscher, Michael

    2005-01-01

    The book provides an in-depth and uniform treatment of a mathematical model for reasoning robotic agents. The book also contains an introduction to a programming method and system based on this model. The mathematical model, known as the "Fluent Calculus,'' describes how to use classical first-order logic to set up symbolic models of dynamic worlds and to represent knowledge of actions and their effects. Robotic agents use this knowledge and their reasoning facilities to make decisions when following high-level, long-term strategies. The book covers the issues of reasoning about sensor input, acting under incomplete knowledge and uncertainty, planning, intelligent troubleshooting, and many other topics. The mathematical model is supplemented by a programming method which allows readers to design their own reasoning robotic agents. The usage of this method, called "FLUX,'' is illustrated by many example programs. The book includes the details of an implementation of FLUX using the standard programming language...

  16. Controlling Tensegrity Robots Through Evolution

    Iscen, Atil; Agogino, Adrian; SunSpiral, Vytas; Tumer, Kagan

    2013-01-01

    Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

  17. High throughput screening and profiling of high-value carotenoids from a wide diversity of bacteria in surface seawater.

    Asker, Dalal

    2018-09-30

    Carotenoids are valuable natural colorants that exhibit numerous health promoting properties, and thus are widely used in food, feeds, pharmaceutical and nutraceuticals industries. In this study, we isolated and identified novel microbial sources that produced high-value carotenoids using high throughput screening (HTS). A total of 701 pigmented microbial strains library including marine bacteria and red yeast was constructed. Carotenoids profiling using HPLC-DAD-MS methods showed 88 marine bacterial strains with potential for the production of high-value carotenoids including astaxanthin (28 strains), zeaxanthin (21 strains), lutein (1 strains) and canthaxanthin (2 strains). A comprehensive 16S rRNA gene based phylogenetic analysis revealed that these strains can be classified into 30 species belonging to five bacterial classes (Flavobacteriia, α-Proteobacteria, γ-Proteobacteria, Actinobacteria and Bacilli). Importantly, we discovered novel producers of zeaxanthin and lutein, and a high diversity in both carotenoids and producing microbial strains, which are promising and highly selective biotechnological sources for high-value carotenoids. Copyright © 2018 Elsevier Ltd. All rights reserved.

  18. Integrated Microfluidic Lectin Barcode Platform for High-Performance Focused Glycomic Profiling

    Shang, Yuqin; Zeng, Yun; Zeng, Yong

    2016-02-01

    Protein glycosylation is one of the key processes that play essential roles in biological functions and dysfunctions. However, progress in glycomics has considerably lagged behind genomics and proteomics, due in part to the enormous challenges in analysis of glycans. Here we present a new integrated and automated microfluidic lectin barcode platform to substantially improve the performance of lectin array for focused glycomic profiling. The chip design and flow control were optimized to promote the lectin-glycan binding kinetics and speed of lectin microarray. Moreover, we established an on-chip lectin assay which employs a very simple blocking method to effectively suppress the undesired background due to lectin binding of antibodies. Using this technology, we demonstrated focused differential profiling of tissue-specific glycosylation changes of a biomarker, CA125 protein purified from ovarian cancer cell line and different tissues from ovarian cancer patients in a fast, reproducible, and high-throughput fashion. Highly sensitive CA125 detection was also demonstrated with a detection limit much lower than the clinical cutoff value for cancer diagnosis. This microfluidic platform holds the potential to integrate with sample preparation functions to construct a fully integrated “sample-to-answer” microsystem for focused differential glycomic analysis. Thus, our technology should present a powerful tool in support of rapid advance in glycobiology and glyco-biomarker development.

  19. Profiles of classroom behavior in high schools: associations with teacher behavior management strategies and classroom composition.

    Pas, Elise T; Cash, Anne H; O'Brennan, Lindsey; Debnam, Katrina J; Bradshaw, Catherine P

    2015-04-01

    Although there has been considerable attention to the issue of classroom management and processes in educational reform models, there has been relatively limited research on these factors in high schools. The current study utilized observational data from 1262 classrooms in 52 high schools to examine teacher classroom management strategies and ratings of student compliance, engagement, and social disruption. Latent profile analysis (LPA) was conducted to examine specific patterns of classroom-wide student behavior in relation to teachers' use of classroom management strategies and classroom composition. The LPA revealed three distinct classroom behavioral profiles where students consistently met behavioral expectations (71%), inconsistently met expectations (23%), and were noncompliant (6%). Analyses indicated a functional association between patterns of student behavior and teachers' classroom management. In classrooms where students consistently met expectations, teachers provided more opportunities to respond and less disapproval and reactive behavioral management. Classrooms with noncompliant students had teachers who used the most disapproval and reactive behavior management. In addition, classrooms characterized as consistent had fewer males and more White students than classrooms characterized by inconsistent and noncompliant behaviors. These findings highlight the link between student patterns of behavior and teacher classroom management and have important implications for screening and professional development. Copyright © 2014 Society for the Study of School Psychology. Published by Elsevier Ltd. All rights reserved.

  20. A high repetition rate transverse beam profile diagnostic for laser-plasma proton sources

    Dover, Nicholas; Nishiuchi, Mamiko; Sakaki, Hironao; Kando, Masaki; Nishitani, Keita

    2016-10-01

    The recently upgraded J-KAREN-P laser can provide PW peak power and intensities approaching 1022 Wcm-2 at 0.1 Hz. Scaling of sheath acceleration to such high intensities predicts generation of protons to near 100 MeV, but changes in electron heating mechanisms may affect the emitted proton beam properties, such as divergence and pointing. High repetition rate simultaneous measurement of the transverse proton distribution and energy spectrum are therefore key to understanding and optimising the source. Recently plastic scintillators have been used to measure online proton beam transverse profiles, removing the need for time consuming post-processing. We are therefore developing a scintillator based transverse proton beam profile diagnostic for use in ion acceleration experiments using the J-KAREN-P laser. Differential filtering provides a coarse energy spectrum measurement, and time-gating allows differentiation of protons from other radiation. We will discuss the design and implementation of the diagnostic, as well as proof-of-principle results from initial experiments on the J-KAREN-P system demonstrating the measurement of sheath accelerated proton beams up to 20 MeV.

  1. Professional choice self-efficacy: predicting traits and personality profiles in high school students

    Rodolfo Augusto Matteo Ambiel

    2016-01-01

    Full Text Available Abstract This study aimed to verify the predictive capacity of the Big Five personality factors related to professional choice self-efficacy, as well as to draw a personality profile of people with diverse self-efficacy levels. There were 308 high school students participating, from three different grades (57.5 % women, from public and private schools, average 26.64 years of age. Students completed two instruments, Escala de Autoeficácia para Escolha Profissional (Professional Choice Self-efficacy Scale and Bateria Fatorial de Personalidade (Factorial Personality Battery. Results were obtained using multiple regression analysis, analysis of variance with repeated measures profile and Cohen’s d to estimate the effect size of differences. Results showed that Extraversion, Agreeableness and Conscientiousness were the main predictors of self-efficacy. Differences from medium to large were observed between extreme groups, and Extraversion and Conscientiousness were the personality factors that better distinguish people with low and high levels of self-efficacy. Theses results partially corroborate with the hypothesis. Results were discussed based on literature and on the practical implications of the results. New studies are proposed.

  2. Parameters affecting profile shape of a high energy low current thin ion beam. Vol. 2

    Abdel Salam, F W; Moustafa, O A; El-Khabeary, H [Accelerators Department, Nuclear Research Center, Atomic Energy Authority, Cairo, (Egypt)

    1996-03-01

    The shape of the profile of a high energy, low current beam of finite length has beam investigated. The beam profile shape depends on the initial beam radius, beam perveance, atomic mass number, charge state of ions, and beam length. These parameters can affect the relation between the initial beam radius and the corresponding final one. An optimum initial beam radius corresponding to minimum final beam at the target has been formulated and the relation between them is deduced taking account of the space charge effect. The minimum beam radius at the target was found to be equal to 2.3 of the optimum initial radius. It is concluded that in order to obtain a small beam radius at a target placed at a finite distance from an ion source, a beam of a low perveance, low atomic mass number and high number of electronic charge is required. This is an important detection for micro machining applications using the oscillating electron ion source which produces nearly paraxial thin beam of low perveance. 12 figs.

  3. Springer handbook of robotics

    Khatib, Oussama

    2016-01-01

    The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

  4. Project ROBOTICS 2008

    Conrad, Finn

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

  5. Project Tasks in Robotics

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  6. CMS cavern inspection robot

    Ibrahim, Ibrahim

    2017-01-01

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

  7. HPV type-related chromosomal profiles in high-grade cervical intraepithelial neoplasia

    Bierkens Mariska

    2012-01-01

    Full Text Available Abstract Background The development of cervical cancer and its high-grade precursor lesions (Cervical Intraepithelial Neoplasia grade 2/3 [CIN2/3] result from a persistent infection with high-risk human papillomavirus (hrHPV types and the accumulation of (epigenetic host cell aberrations. Epidemiological studies have demonstrated variable CIN2/3 and cancer risks between different hrHPV types. Recent genomic profiling studies revealed substantial heterogeneity in the chromosomal aberrations detected in morphologically indistinguishable CIN2/3 suggestive of varying cancer risk. The current study aimed to investigate whether CIN2/3 with different hrHPV types vary with respect to their chromosomal profiles, both in terms of the number of aberrations and chromosomal loci affected. Methods Chromosomal profiles were determined of 43 p16INK4a-immunopositive CIN2/3 of women with long-term hrHPV infection (≥ 5 years. Sixteen lesions harboured HPV16, 3 HPV18, 14 HPV31, 1 HPV33, 4 HPV45, 1 HPV51, 2 HPV52 and 2 HPV58. Results Unsupervised hierarchical clustering analysis of the chromosomal profiles revealed two major clusters, characterised by either few or multiple chromosomal aberrations, respectively. A majority of 87.5% of lesions with HPV16 were in the cluster with relatively few aberrations, whereas no such unbalanced distribution was seen for lesions harbouring other hrHPV types. Analysis of the two most prevalent types (HPV16 and HPV31 in this data set revealed a three-fold increase in the number of losses in lesions with HPV31 compared to HPV16-positive lesions. In particular, losses at chromosomes 2q, 4p, 4q, 6p, 6q, 8q & 17p and gain at 1p & 1q were significantly more frequent in HPV31-positive lesions (FDR Conclusions Chromosomal aberrations in CIN2/3 are at least in part related to the hrHPV type present. The relatively low number of chromosomal aberrations observed in HPV16-positive CIN2/3 suggests that the development of these lesions is

  8. High-Resolution Analysis of Coronavirus Gene Expression by RNA Sequencing and Ribosome Profiling.

    Irigoyen, Nerea; Firth, Andrew E; Jones, Joshua D; Chung, Betty Y-W; Siddell, Stuart G; Brierley, Ian

    2016-02-01

    Members of the family Coronaviridae have the largest genomes of all RNA viruses, typically in the region of 30 kilobases. Several coronaviruses, such as Severe acute respiratory syndrome-related coronavirus (SARS-CoV) and Middle East respiratory syndrome-related coronavirus (MERS-CoV), are of medical importance, with high mortality rates and, in the case of SARS-CoV, significant pandemic potential. Other coronaviruses, such as Porcine epidemic diarrhea virus and Avian coronavirus, are important livestock pathogens. Ribosome profiling is a technique which exploits the capacity of the translating ribosome to protect around 30 nucleotides of mRNA from ribonuclease digestion. Ribosome-protected mRNA fragments are purified, subjected to deep sequencing and mapped back to the transcriptome to give a global "snap-shot" of translation. Parallel RNA sequencing allows normalization by transcript abundance. Here we apply ribosome profiling to cells infected with Murine coronavirus, mouse hepatitis virus, strain A59 (MHV-A59), a model coronavirus in the same genus as SARS-CoV and MERS-CoV. The data obtained allowed us to study the kinetics of virus transcription and translation with exquisite precision. We studied the timecourse of positive and negative-sense genomic and subgenomic viral RNA production and the relative translation efficiencies of the different virus ORFs. Virus mRNAs were not found to be translated more efficiently than host mRNAs; rather, virus translation dominates host translation at later time points due to high levels of virus transcripts. Triplet phasing of the profiling data allowed precise determination of translated reading frames and revealed several translated short open reading frames upstream of, or embedded within, known virus protein-coding regions. Ribosome pause sites were identified in the virus replicase polyprotein pp1a ORF and investigated experimentally. Contrary to expectations, ribosomes were not found to pause at the ribosomal

  9. High-Resolution Analysis of Coronavirus Gene Expression by RNA Sequencing and Ribosome Profiling.

    Nerea Irigoyen

    2016-02-01

    Full Text Available Members of the family Coronaviridae have the largest genomes of all RNA viruses, typically in the region of 30 kilobases. Several coronaviruses, such as Severe acute respiratory syndrome-related coronavirus (SARS-CoV and Middle East respiratory syndrome-related coronavirus (MERS-CoV, are of medical importance, with high mortality rates and, in the case of SARS-CoV, significant pandemic potential. Other coronaviruses, such as Porcine epidemic diarrhea virus and Avian coronavirus, are important livestock pathogens. Ribosome profiling is a technique which exploits the capacity of the translating ribosome to protect around 30 nucleotides of mRNA from ribonuclease digestion. Ribosome-protected mRNA fragments are purified, subjected to deep sequencing and mapped back to the transcriptome to give a global "snap-shot" of translation. Parallel RNA sequencing allows normalization by transcript abundance. Here we apply ribosome profiling to cells infected with Murine coronavirus, mouse hepatitis virus, strain A59 (MHV-A59, a model coronavirus in the same genus as SARS-CoV and MERS-CoV. The data obtained allowed us to study the kinetics of virus transcription and translation with exquisite precision. We studied the timecourse of positive and negative-sense genomic and subgenomic viral RNA production and the relative translation efficiencies of the different virus ORFs. Virus mRNAs were not found to be translated more efficiently than host mRNAs; rather, virus translation dominates host translation at later time points due to high levels of virus transcripts. Triplet phasing of the profiling data allowed precise determination of translated reading frames and revealed several translated short open reading frames upstream of, or embedded within, known virus protein-coding regions. Ribosome pause sites were identified in the virus replicase polyprotein pp1a ORF and investigated experimentally. Contrary to expectations, ribosomes were not found to pause at the

  10. Knowledge based systems for intelligent robotics

    Rajaram, N. S.

    1982-01-01

    It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

  11. SMARBot: a modular miniature mobile robot platform

    Meng, Yan; Johnson, Kerry; Simms, Brian; Conforth, Matthew

    2008-04-01

    Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

  12. Active Boundary Layer Control on a Highly Loaded Turbine Exit Case Profile

    Julia Kurz

    2018-03-01

    Full Text Available A highly loaded turbine exit guide vane with active boundary layer control was investigated experimentally in the High Speed Cascade Wind Tunnel at the University of the German Federal Armed Forces, Munich. The experiments include profile Mach number distributions, wake traverse measurements as well as boundary layer investigations with a flattened Pitot probe. Active boundary layer control by fluidic oscillators was applied to achieve improved performance in the low Reynolds number regime. Low solidity, which can be applied to reduce the number of blades, increases the risk of flow separation resulting in increased total pressure losses. Active boundary layer control is supposed to overcome these negative effects. The experiments show that active boundary layer control by fluidic oscillators is an appropriate way to suppress massive open separation bubbles in the low Reynolds number regime.

  13. RHOBOT: Radiation hardened robotics

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

    1997-10-01

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

  14. Micro robot bible

    Yoon, Jin Yeong

    2000-08-01

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  15. RHOBOT: Radiation hardened robotics

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

    1997-10-01

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

  16. Two Legged Walking Robot

    Kraus, V.

    2015-01-01

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

  17. Micro robot bible

    Yoon, Jin Yeong

    2000-08-15

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  18. Robots at Work

    Graetz, Georg; Michaels, Guy

    2015-01-01

    Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

  19. Robots in the Roses

    2014-01-01

    2014-04 Robots in the Roses A CRUSER Sponsored Event. The 4th Annual Robots in the Roses provides a venue for Faculty & NPS Students to showcase unmanned systems research (current or completed) and recruit NPS Students to join in researching on your project. Posters, robots, vehicles, videos, and even just plain humans welcome! Families are welcome to attend Robots in the Roses as we'll have a STEM activity for children to participate in.

  20. Adaptive heterogeneous multi-robot teams

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  1. Modular robot

    Ferrante, T.A.

    1997-01-01

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

  2. Mechanical design for a hydraulically actuated quadruped robot

    Erkekli, Koray

    2017-01-01

    Considerable amount of research efforts are spent on the field of legged robotics in the past 60 years. Studies in this area extend from running on one leg to humanoid robots, from four legged robots (quadruped) to multi-legged bug-inspired robots. The advantage of four legged structure is that it is more balanced compared structures with less legs. This feature makes four legged robots candidates rough terrain conditions and for dangerous tasks. Because of the high power-to-weight ratio and ...

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

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

    2016-01-01

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

  4. Kinematics analysis and simulation of a new underactuated parallel robot

    Wenxu YAN

    2017-04-01

    Full Text Available The number of degrees of freedom is equal to the number of the traditional robot driving motors, which causes defects such as low efficiency. To overcome that problem, based on the traditional parallel robot, a new underactuated parallel robot is presented. The structure characteristics and working principles of the underactuated parallel robot are analyzed. The forward and inverse solutions are derived by way of space analytic geometry and vector algebra. The kinematics model is established, and MATLAB is implied to verify the accuracy of forward and inverse solutions and identify the optimal work space. The simulation results show that the robot can realize the function of robot switch with three or four degrees of freedom when the number of driving motors is three, improving the efficiency of robot grasping, with the characteristics of large working space, high speed operation, high positioning accuracy, low manufacturing cost and so on, and it will have a wide range of industrial applications.

  5. Building a Better Robot

    Navah, Jan

    2012-01-01

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

  6. Open middleware for robotics

    Namoshe, M

    2008-12-01

    Full Text Available and their technologies within the field of multi-robot systems to ease the difficulty of realizing robot applications. And lastly, an example of algorithm development for multi-robot co-operation using one of the discussed software architecture is presented...

  7. Learning robotics using Python

    Joseph, Lentin

    2015-01-01

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

  8. Robots de servicio

    Rafael Aracil

    2008-04-01

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

  9. Beyond Speculative Robot Ethics

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  10. Robotic hand and fingers

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

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

  11. Human guidance of mobile robots in complex 3D environments using smart glasses

    Kopinsky, Ryan; Sharma, Aneesh; Gupta, Nikhil; Ordonez, Camilo; Collins, Emmanuel; Barber, Daniel

    2016-05-01

    In order for humans to safely work alongside robots in the field, the human-robot (HR) interface, which enables bi-directional communication between human and robot, should be able to quickly and concisely express the robot's intentions and needs. While the robot operates mostly in autonomous mode, the human should be able to intervene to effectively guide the robot in complex, risky and/or highly uncertain scenarios. Using smart glasses such as Google Glass∗, we seek to develop an HR interface that aids in reducing interaction time and distractions during interaction with the robot.

  12. The profile of high-risk pregnancy in El-Mansoura city.

    Yassin, Shadia A T; Gamal El-Deen, Amany A; Emam, Mohamed A; Omer, Abeer K F

    2005-01-01

    Proper screening techniques should be used for all pregnant women attending antenatal clinics to pick up the factors that qualify the pregnant women for a risky pregnancy. High-risk pregnancy identification is a challenging work. This study aimed to describe the profile of high-risk pregnancy in El-Mansoura city. The study was conducted on 750 pregnant women attending antenatal clinics in three hospitals in El-Mansoura city, where 250 women were chosen from each setting. A modified version of Morrison and Olsen (1979) high risk scoring inventory tool was used to collect the socioeconomic, biological, medical, reproductive and current pregnancy risk factors in the study sample. It also assessed the risk level whether low, moderate or high. The results revealed that among all women, 63.8% of the sample were at a high-risk, while 25.0 % of them were at a moderate-risk and only 11.2% were at low-risk. About 70.0% of the high-risk pregnant women were in their third trimester followed by 23.0% in the second trimester and only 7.1% were in the first trimester. About 5.9% of the women were at a high-risk because of polluted housing condition, 1.9% because of heart diseases Class capital I, Ukrainian or II, 5.2% because of diabetes mellitus, 4.2% because of hypertension and 14.9% because of previous cesarean section. On the other hand 14.8% women were at moderate risk because of their illiteracy, 29.2% of them for being short, 14.7%, 10.6% of them because of being teenagers or over 35 years of age, respectively, 12.6% of because they had a history of gestational diabetes and 32.8%of them because of anemia, 23.2% because urinary tract infection, 16.9% because of albuminuria, and 12.0% because of glucoseuria. Finally identifying the profile of high -risk pregnancy women is mandatory.

  13. Profiling stem cell states in three-dimensional biomaterial niches using high content image informatics.

    Dhaliwal, Anandika; Brenner, Matthew; Wolujewicz, Paul; Zhang, Zheng; Mao, Yong; Batish, Mona; Kohn, Joachim; Moghe, Prabhas V

    2016-11-01

    A predictive framework for the evolution of stem cell biology in 3-D is currently lacking. In this study we propose deep image informatics of the nuclear biology of stem cells to elucidate how 3-D biomaterials steer stem cell lineage phenotypes. The approach is based on high content imaging informatics to capture minute variations in the 3-D spatial organization of splicing factor SC-35 in the nucleoplasm as a marker to classify emergent cell phenotypes of human mesenchymal stem cells (hMSCs). The cells were cultured in varied 3-D culture systems including hydrogels, electrospun mats and salt leached scaffolds. The approach encompasses high resolution 3-D imaging of SC-35 domains and high content image analysis (HCIA) to compute quantitative 3-D nuclear metrics for SC-35 organization in single cells in concert with machine learning approaches to construct a predictive cell-state classification model. Our findings indicate that hMSCs cultured in collagen hydrogels and induced to differentiate into osteogenic or adipogenic lineages could be classified into the three lineages (stem, adipogenic, osteogenic) with ⩾80% precision and sensitivity, within 72h. Using this framework, the augmentation of osteogenesis by scaffold design exerted by porogen leached scaffolds was also profiled within 72h with ∼80% high sensitivity. Furthermore, by employing 3-D SC-35 organizational metrics, differential osteogenesis induced by novel electrospun fibrous polymer mats incorporating decellularized matrix could also be elucidated and predictably modeled at just 3days with high precision. We demonstrate that 3-D SC-35 organizational metrics can be applied to model the stem cell state in 3-D scaffolds. We propose that this methodology can robustly discern minute changes in stem cell states within complex 3-D architectures and map single cell biological readouts that are critical to assessing population level cell heterogeneity. The sustained development and validation of bioactive

  14. A Metacognitive Profile of Vocational High School Student’s Field Independent in Mathematical Problem Solving

    Nugraheni, L.; Budayasa, I. K.; Suwarsono, S. T.

    2018-01-01

    The study was designed to discover examine the profile of metacognition of vocational high school student of the Machine Technology program that had high ability and field independent cognitive style in mathematical problem solving. The design of this study was exploratory research with a qualitative approach. This research was conducted at the Machine Technology program of the vocational senior high school. The result revealed that the high-ability student with field independent cognitive style conducted metacognition practices well. That involved the three types of metacognition activities, consisting of planning, monitoring, and evaluating at metacognition level 2 or aware use, 3 or strategic use, 4 or reflective use in mathematical problem solving. The applicability of the metacognition practices conducted by the subject was never at metacognition level 1 or tacit use. This indicated that the participant were already aware, capable of choosing strategies, and able to reflect on their own thinking before, after, or during the process at the time of solving mathematical problems.That was very necessary for the vocational high school student of Machine Technology program.

  15. Tumor Classification Using High-Order Gene Expression Profiles Based on Multilinear ICA

    Ming-gang Du

    2009-01-01

    Full Text Available Motivation. Independent Components Analysis (ICA maximizes the statistical independence of the representational components of a training gene expression profiles (GEP ensemble, but it cannot distinguish relations between the different factors, or different modes, and it is not available to high-order GEP Data Mining. In order to generalize ICA, we introduce Multilinear-ICA and apply it to tumor classification using high order GEP. Firstly, we introduce the basis conceptions and operations of tensor and recommend Support Vector Machine (SVM classifier and Multilinear-ICA. Secondly, the higher score genes of original high order GEP are selected by using t-statistics and tabulate tensors. Thirdly, the tensors are performed by Multilinear-ICA. Finally, the SVM is used to classify the tumor subtypes. Results. To show the validity of the proposed method, we apply it to tumor classification using high order GEP. Though we only use three datasets, the experimental results show that the method is effective and feasible. Through this survey, we hope to gain some insight into the problem of high order GEP tumor classification, in aid of further developing more effective tumor classification algorithms.

  16. Personalized comprehensive molecular profiling of high risk osteosarcoma: Implications and limitations for precision medicine.

    Subbiah, Vivek; Wagner, Michael J; McGuire, Mary F; Sarwari, Nawid M; Devarajan, Eswaran; Lewis, Valerae O; Westin, Shanon; Kato, Shumei; Brown, Robert E; Anderson, Pete

    2015-12-01

    Despite advances in molecular medicine over recent decades, there has been little advancement in the treatment of osteosarcoma. We performed comprehensive molecular profiling in two cases of metastatic and chemotherapy-refractory osteosarcoma to guide molecularly targeted therapy. Hybridization capture of >300 cancer-related genes plus introns from 28 genes often rearranged or altered in cancer was applied to >50 ng of DNA extracted from tumor samples from two patients with recurrent, metastatic osteosarcoma. The DNA from each sample was sequenced to high, uniform coverage. Immunohistochemical probes and morphoproteomics analysis were performed, in addition to fluorescence in situ hybridization. All analyses were performed in CLIA-certified laboratories. Molecularly targeted therapy based on the resulting profiles was offered to the patients. Biomedical analytics were performed using QIAGEN's Ingenuity® Pathway Analysis. In Patient #1, comprehensive next-generation exome sequencing showed MET amplification, PIK3CA mutation, CCNE1 amplification, and PTPRD mutation. Immunohistochemistry-based morphoproteomic analysis revealed c-Met expression [(p)-c-Met (Tyr1234/1235)] and activation of mTOR/AKT pathway [IGF-1R (Tyr1165/1166), p-mTOR [Ser2448], p-Akt (Ser473)] and expression of SPARC and COX2. Targeted therapy was administered to match the P1K3CA, c-MET, and SPARC and COX2 aberrations with sirolimus+ crizotinib and abraxane+ celecoxib. In Patient #2, aberrations included NF2 loss in exons 2-16, PDGFRα amplification, and TP53 mutation. This patient was enrolled on a clinical trial combining targeted agents temsirolimus, sorafenib and bevacizumab, to match NF2, PDGFRα and TP53 aberrations. Both the patients did not benefit from matched therapy. Relapsed osteosarcoma is characterized by complex signaling and drug resistance pathways. Comprehensive molecular profiling holds great promise for tailoring personalized therapies for cancer. Methods for such profiling are

  17. Robotics in space-age manufacturing

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  18. Motivational profiles of slovenian high school students and their academic performance outcomes.

    Vrtačnik, Margareta; Juriševič, Mojca; Savec, Vesna Ferk

    2010-09-01

    Self-determination theory defines motivation as a multidimensional concept, with autonomous and controlled motivation as central factors of broader distinctions. Previous research has proven that academic achievements are positively correlated with autonomous motivation. Students from 10 Slovenian grammar schools were involved in empirical study, in which a cluster analysis revealed two motivational profiles: a low quantity motivation group (low controlled and autonomous motivation) and a good quality motivation group (high autonomous and low or average controlled motivation). Statistically significant differences between the two identified motivational profiles were found for students' general as well as chemistry performance in three grades of schooling. Furthermore, a good quality motivation group is also more in favour of autonomy-supportive teaching methods used in chemistry classes. Examination of students' opinions about important chemistry topics, and on the other hand, unimportant ones, and not connected with life, reveals that the basic reason for distinction might lie in the chemistry teacher's approach used while presenting these topics. Some chemistry teachers are not using an autonomy-supportive way of teaching which would contribute to better teaching outcomes; therefore a need for further research on Slovenian chemistry teachers' motivation and their teaching approaches was recognized.

  19. Massively parallel digital high resolution melt for rapid and absolutely quantitative sequence profiling

    Velez, Daniel Ortiz; Mack, Hannah; Jupe, Julietta; Hawker, Sinead; Kulkarni, Ninad; Hedayatnia, Behnam; Zhang, Yang; Lawrence, Shelley; Fraley, Stephanie I.

    2017-02-01

    In clinical diagnostics and pathogen detection, profiling of complex samples for low-level genotypes represents a significant challenge. Advances in speed, sensitivity, and extent of multiplexing of molecular pathogen detection assays are needed to improve patient care. We report the development of an integrated platform enabling the identification of bacterial pathogen DNA sequences in complex samples in less than four hours. The system incorporates a microfluidic chip and instrumentation to accomplish universal PCR amplification, High Resolution Melting (HRM), and machine learning within 20,000 picoliter scale reactions, simultaneously. Clinically relevant concentrations of bacterial DNA molecules are separated by digitization across 20,000 reactions and amplified with universal primers targeting the bacterial 16S gene. Amplification is followed by HRM sequence fingerprinting in all reactions, simultaneously. The resulting bacteria-specific melt curves are identified by Support Vector Machine learning, and individual pathogen loads are quantified. The platform reduces reaction volumes by 99.995% and achieves a greater than 200-fold increase in dynamic range of detection compared to traditional PCR HRM approaches. Type I and II error rates are reduced by 99% and 100% respectively, compared to intercalating dye-based digital PCR (dPCR) methods. This technology could impact a number of quantitative profiling applications, especially infectious disease diagnostics.

  20. Combined Atmospheric and Ocean Profiling from an Airborne High Spectral Resolution Lidar

    Hair Johnathan

    2016-01-01

    Full Text Available First of its kind combined atmospheric and ocean profile data were collected by the recently upgraded NASA Langley Research Center’s (LaRC High Spectral Resolution Lidar (HSRL-1 during the 17 July – 7 August 2014 Ship-Aircraft Bio-Optical Research Experiment (SABOR. This mission sampled over a region that covered the Gulf of Maine, open-ocean near Bermuda, and coastal waters from Virginia to Rhode Island. The HSRL-1 and the Research Scanning Polarimeter from NASA Goddard Institute for Space Studies collected data onboard the NASA LaRC King Air aircraft and flight operations were closely coordinated with the Research Vessel Endeavor that made in situ ocean optical measurements. The lidar measurements provided profiles of atmospheric backscatter and particulate depolarization at 532nm, 1064nm, and extinction (532nm from approximately 9km altitude. In addition, for the first time HSRL seawater backscatter, depolarization, and diffuse attenuation data at 532nm were collected and compared to both the ship measurements and the Moderate Resolution Imaging Spectrometer (NASA MODIS-Aqua satellite ocean retrievals.